Autonomous driving vehicle
Disclosed is an autonomous driving vehicle including a front wheel support connected to a front wheel as one body and supporting the front wheel, and a knuckle arm angle adjustment assembly having one side to which a knuckle arm is connected, the knuckle arm moving with the front wheel during steering the front wheel, and knuckle arm angle adjustment assembly being coupled to one side of the front wheel support to be capable of angle adjustment for setting an inclination angle of the knuckle arm.
1. An autonomous driving vehicle comprising:
a front wheel support connected to a front wheel as one body and supporting the front wheel; and
a knuckle arm angle adjustment assembly having one side to which a knuckle arm is connected, the knuckle arm coupled to the front wheel for steering the front wheel, and the knuckle arm angle adjustment assembly being coupled to one side of the front wheel support to be capable of angle adjustment for setting an inclination angle of the knuckle arm;
the knuckle arm angle adjustment assembly comprising a serrated knuckle arm angle adjustment assembly that is capable of angle adjustment by a preset angle with respect to the front wheel support;
the serrated knuckle arm angle adjustment assembly comprising:
an assembly body including an arm connection portion to which the knuckle arm is connected;
a rotation shaft coupled to the assembly body to have both end portions of the rotation shaft exposed, and forming a rotation axis of the assembly body;
an angle adjustment module connected to the rotation shaft forming one body, and having a first serration formed on one side of the angle adjustment module; and
a module restriction portion restricting the angle adjustment module to one side of the front wheel support;
the module restriction portion comprising
a module restriction main block having a second serration that is engaged with the first serration of the angle adjustment module; and
a main fastening member fastening the module restriction main block to the front wheel support.
2. The autonomous driving vehicle of claim 1 , wherein the module restriction portion further comprises:
a module restriction sub-block supporting the module restriction main block at a side of the module restriction main block;
a block fastening member fastening the module restriction sub-block and the module restriction main block; and
a sub-fastening member fastening the module restriction sub-block to the front wheel support.
3. The autonomous driving vehicle of claim 2 , wherein the front wheel support comprises:
a support inner body disposed inside the front wheel;
a lower shaft coupling portion connected to a lower portion of one side of the support inner body, and to which a lower end portion of the rotation shaft is coupled;
an upper shaft coupling portion connected to an upper portion of the one side of the support inner body, and to which an upper end portion of the rotation shaft is coupled;
a support outer body supporting the front wheel at a side opposite to the support inner body with the front wheel therebetween; and
a plurality of body fastening members fastening the support outer body and the support inner body.
4. The autonomous driving vehicle of claim 3 , wherein first and second through-holes, through which the main fastening member and the sub-fastening member pass, are formed in the upper shaft coupling portion, and
first and second fastening holes, through which the main fastening member and the sub-fastening member having passed through the first and second through-hole are fastened, are formed in the module restriction main block and the module restriction sub-block, the first fastening hole being provided as a slot.
5. The autonomous driving vehicle of claim 3 , wherein a step portion is formed in a lower end portion of the upper shaft coupling portion that is contacted by the module restriction main block and the module restriction sub-block.
6. The autonomous driving vehicle of claim 1 , further comprising:
a pair of rear wheel driving portions respectively connected to a pair of rear wheels disposed at a side opposite to the front wheel, and providing a driving force to the pair of rear wheels;
a common driving force providing portion commonly providing a driving force to drive the pair of rear wheel driving portions; and
a rear wheel motion transmitting portion connected between the common driving force providing portion and each of the pair of rear wheel driving portions, and transmitting a motion of the common driving force providing portion to the pair of rear wheel driving portions.
7. The autonomous driving vehicle of claim 6 , wherein the common driving force providing portion is provided as a modular composite device of an engine for generating a driving force, a reducer for reducing a speed of the engine, and a differential gear.
8. The autonomous driving vehicle of claim 6 , wherein the rear wheel motion transmitting portion comprises a Schmidt coupling.
9. An autonomous driving vehicle comprising:
a front wheel support connected to a front wheel as one body and supporting the front wheel;
a knuckle arm angle adjustment assembly having one side to which a knuckle arm is connected, the knuckle arm coupled to the front wheel for steering the front wheel, and the knuckle arm angle adjustment assembly being coupled to one side of the front wheel support to be capable of angle adjustment for setting an inclination angle of the knuckle arm; and
a vertical driving suspension connected to an assembly body through a rotation shaft of the knuckle arm angle adjustment assembly, and providing a shock-absorption force to a body of the autonomous driving vehicle by performing only a linear motion in a vertical direction to remove a change in a vehicle width;
the knuckle arm angle adjustment assembly comprising a serrated knuckle arm angle adjustment assembly that is capable of angle adjustment by a preset angle with respect to the front wheel support;
the serrated knuckle arm angle adjustment assembly comprising:
the assembly body including an arm connection portion to which the knuckle arm is connected;
a rotation shaft coupled to the assembly body to have both end portions of the rotation shaft exposed, and forming a rotation axis of the assembly body;
an angle adjustment module connected to the rotation shaft forming one body, and having a first serration formed on one side of the angle adjustment module; and
a module restriction portion restricting the angle adjustment module to one side of the front wheel support.
10. The autonomous driving vehicle of claim 9 , wherein the vertical driving suspension is independently mounted on the front wheel and a rear wheel disposed at a side opposite to the front wheel.
11. The autonomous driving vehicle of claim 9 , wherein the vertical driving suspension comprises:
a suspension body;
a spring coupled to the suspension body and performing shock-absorption in the vertical direction;
a pair of coupling arms extending from the suspension body and coupled to both end portions of the assembly body;
a lower head connected to a lower portion of the suspension body apart therefrom and coupled to a body frame; and
an upper head connected to an upper portion of the suspension body apart therefrom and restricted to a front frame cover coupled to the body frame.
12. The autonomous driving vehicle of claim 9 , further comprising:
a steering motor generating a driving force to steer the front wheel;
a pinion connected to the steering motor and rotated by the steering motor; and
a rack gear-engaged with the pinion, and transmitting a rotational motion of the pinion as a linear motion.
13. The autonomous driving vehicle of claim 12 , further comprising:
a pair of knuckle arm support units each supporting the knuckle arm in an area of the front wheel; and
a motion transmitting member coupled to the rack such that both end portions of the motion transmitting member are rotatably connected to the pair of knuckle arm support units, and transmitting a linear motion of the rack as a turning motion of the knuckle arm.
14. The autonomous driving vehicle of claim 13 , wherein the knuckle arm support unit comprises:
an arm penetration support portion through which the knuckle arm passes and is supported thereon;
a unit supporter supporting the arm penetration support portion; and
a rotating head portion rotatably connected to the unit supporter and disposed and fixed to a penetration portion formed in an end portion of the motion transmitting member.
15. The autonomous driving vehicle of claim 14 , wherein the pinion comprises:
a pinion body having a disc shape; and
a plurality of power transmission pins connected to the pinion body at equal intervals in a circumferential direction of the pinion body, and providing rotational power mutually corresponding to shapes of teeth formed on the rack.