Suspension systems for one-wheeled vehicles

• US 10,010,784 B1
• Filed: 12/05/2017
• Issued: 07/03/2018
• Est. Priority Date: 12/05/2017
• Status: Active Grant

• Current Assignee: Future Motion, Inc.
• Original Assignee: Future Motion, Inc.
• Inventors: Doerksen, Kyle Jonathan, O'Brien, Matthew Michael
• Primary Examiner(s): Ebner, Katy M
• Application Number:
  US15/832,051
• Time in Patent Office: 210 Days
• CPC Class Codes: A63C 17/0046 with shock absorption or suspension system
• CPC Class Codes: A63C 17/01 Skateboards A63C17/02 - A63C17/28 take precedence; rolling devices on skis A63C5/035
• CPC Class Codes: A63C 17/08 single-wheel type with single axis
• CPC Class Codes: A63C 17/12 with driving mechanisms
• CPC Class Codes: A63C 2203/12 Electrically powered or heated
• CPC Class Codes: A63C 2203/18 Measuring a physical parameter, e.g. speed, distance
• CPC Class Codes: A63C 2203/20 Shock or vibration absorbing
• CPC Class Codes: A63C 2203/24 Processing or storing data, e.g. with electronic chip
• CPC Class Codes: A63C 2203/42 Details of chassis of ice or roller skates, of decks of skateboards
• CPC Class Codes: B62D 51/02 the driver standing in the vehicle
• CPC Class Codes: B62K 1/00 Unicycles
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: B62K 25/00 Axle suspensions for vehicles in general B60G
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles

Abstract

A self-balancing electric vehicle may include a board having a frame, and a suspension system including at least one four-bar linkage coupling opposing end portions of a hub motor axle to the first end portion of the frame. The four-bar linkage(s) may have a first fixed link connected to the axle, a second fixed link comprising the frame, and two pivotable links joining the first fixed link to the second fixed link, such that the board is configured to be movable up and down relative to the axle. A shock absorber may be coupled to the four-bar linkage(s) and to the first end portion of the frame, such that the shock absorber is configured to damp up and down movement of the board relative to the axle.

Claims

1. A self-balancing electric vehicle, comprising:

a board including a frame, a first deck portion disposed at a first end portion of the frame, and a second deck portion disposed at a second end portion of the frame, the first and second deck portions each configured to receive a left or right foot of a rider oriented generally perpendicular to a direction of travel of the board;

a wheel assembly including exactly one wheel rotatable on an axle, wherein the wheel is disposed between and extends above and below the first and second deck portions;

a motor assembly configured to rotate the wheel about the axle to propel the vehicle;

at least one sensor configured to measure an orientation of the board;

a motor controller configured to receive board orientation information measured by the at least one sensor and to cause the motor assembly to propel the vehicle based on the board orientation information;

a suspension system including a pair of four-bar linkages coupling opposing end portions of the axle to the first end portion of the frame, each of the four-bar linkages having a first fixed link connected to the axle, a second fixed link comprising the frame, and two pivotable links joining the first fixed link to the second fixed link, such that the board is configured to be movable up and down relative to the axle; and

a shock absorber having a first end coupled to the pair of four-bar linkages and a second end coupled to the first end portion of the frame, such that the shock absorber is configured to damp up and down movement of the board relative to the axle.

2. The vehicle of claim 1, wherein each of the four-bar linkages comprises a double-rocker four-bar linkage.

3. The vehicle of claim 1, wherein each of the pivotable links is coupled to the first fixed link by a first rotating joint and coupled to the frame by a second rotating joint.

4. The vehicle of claim 3, wherein, for each of the four-bar linkages, the second rotating joints of the pivotable links are closer together than the first rotatable joints.

5. The vehicle of claim 1, further comprising a transverse member extending across the frame generally perpendicular to the direction of travel, the transverse member connecting an opposing pair of the pivotable links of the four-bar linkages.

6. The vehicle of claim 5, wherein the transverse member is configured to rotate as the board moves up and down relative to the axle.

7. The vehicle of claim 5, wherein the first end of the shock absorber is coupled to the transverse member.

8. The vehicle of claim 1, wherein the frame is coupled to the wheel assembly by only the suspension system.

9. The vehicle of claim 8, wherein the second end portion of the frame is unconnected with respect to the suspension system.

10. A self-balancing electric vehicle, comprising:

a board including a frame, a first deck portion disposed at a first end portion of the frame, and a second deck portion disposed at a second end portion of the frame, the first and second deck portions each configured to receive a left or right foot of a rider oriented generally perpendicular to a direction of travel of the board;

a wheel assembly including exactly one wheel rotatable on an axle, wherein the board is tiltable about a fulcral axis defined by the axle and the wheel is disposed between and extends above and below the first and second deck portions;

a motor assembly configured to rotate the wheel about the axle to propel the vehicle;

at least one sensor configured to measure a tilting orientation of the board;

a motor controller configured to receive tilting orientation information measured by the at least one sensor and to cause the motor assembly to propel the vehicle based on the tilting orientation information;

a suspension system including a four-bar linkage coupling an end portion of the axle to the first end portion of the frame, the four-bar linkage having a first fixed link connected to the axle, a second fixed link comprising the frame, and two pivotable links joining the first fixed link to the second fixed link, such that the board is configured to move generally vertically relative to the axle; and

a shock absorber having a first end coupled to the four-bar linkage and a second end coupled to the first end portion of the frame, such that the shock absorber is configured to damp generally vertical movement of the board relative to the axle.

11. The vehicle of claim 10, wherein each of the pivotable links is coupled to the first fixed link by a first rotating joint and coupled to the frame by a second rotating joint.

12. The vehicle of claim 11, wherein the second rotating joints of the pivotable links are closer together than the first rotatable joints.

13. The vehicle of claim 10, wherein the frame is coupled to the wheel assembly by only the suspension system.

14. The vehicle of claim 13, wherein the second end portion of the frame is unconnected with respect to the suspension system.

15. A method of reducing the impact of uneven terrain on an electric vehicle, the method comprising:

propelling a one-wheeled vehicle using a motor assembly of the vehicle to rotate a wheel about an axle oriented generally perpendicular to a direction of travel of the vehicle, the vehicle comprising a board tiltable about a fulcral axis defined by the axle, a first deck portion disposed at a first end portion of a frame of the board, and a second deck portion disposed at a second end portion of the frame of the board, such that the wheel is disposed between and extends above and below the first and second deck portions, wherein the first and second deck portions are each configured to receive a left or right foot of a rider oriented generally parallel to the fulcral axis;

causing the motor assembly to propel the vehicle based on board tilt information determined by an onboard tilt sensor;

in response to the wheel encountering an uneven support surface while being propelled, allowing generally vertical movement of the board relative to the axle using a suspension system, wherein the suspension system includes a four-bar linkage coupling an end portion of the axle to the first end portion of the frame, the four-bar linkage having a first fixed link connected to the axle, a second fixed link comprising the frame, and two pivotable links joining the first fixed link to the second fixed link; and

damping the generally vertical movement of the board relative to the axle using a shock absorber having a first end coupled to the four-bar linkage and a second end coupled to the first end portion of the frame.

16. The method of claim 15, wherein each of the pivotable links is coupled to the first fixed link by a first rotating joint and coupled to the frame by a second rotating joint.

17. The method of claim 16, wherein the second rotating joints of the pivotable links are closer together than the first rotatable joints.

18. The method of claim 15, wherein the frame is coupled to the wheel by only the suspension system.

19. The method of claim 18, wherein the second end portion of the frame is unconnected with respect to the suspension system.

20. The method of claim 15, wherein the motor assembly comprises a hub motor.