Suspension systems for one-wheeled vehicles
First Claim
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 orientation information of the board;
a motor controller configured to receive orientation information measured by the at least one sensor and to cause the motor assembly to propel the vehicle based on the orientation information;
a suspension system comprising a pair of Watt'"'"'s linkages connecting opposing end portions of the axle to the frame, each of the Watt'"'"'s linkages including a central link coupled to the axle of the wheel, a first pivoting link coupled to a first end portion of the central link at a first rotating joint and coupled to the first end portion of the frame at a second rotating joint, and a second pivoting link coupled to a second end portion of the central link at a third rotating joint and coupled to the second end portion of the frame at a fourth rotating joint, 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 Watt'"'"'s linkages and a second end coupled to the board, such that the shock absorber is configured to damp movement of the board relative to the axle.
3 Assignments
0 Petitions
Accused Products
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.
115 Citations
20 Claims
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1. A self-balancing electric vehicle, comprising:
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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 orientation information of the board; a motor controller configured to receive orientation information measured by the at least one sensor and to cause the motor assembly to propel the vehicle based on the orientation information; a suspension system comprising a pair of Watt'"'"'s linkages connecting opposing end portions of the axle to the frame, each of the Watt'"'"'s linkages including a central link coupled to the axle of the wheel, a first pivoting link coupled to a first end portion of the central link at a first rotating joint and coupled to the first end portion of the frame at a second rotating joint, and a second pivoting link coupled to a second end portion of the central link at a third rotating joint and coupled to the second end portion of the frame at a fourth rotating joint, 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 Watt'"'"'s linkages and a second end coupled to the board, such that the shock absorber is configured to damp movement of the board relative to the axle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A self-balancing electric vehicle, comprising:
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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 a wheel rotatable on an axle, wherein the wheel 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 orientation information of the board; a motor controller configured to receive orientation information measured by the at least one sensor and to cause the motor assembly to propel the vehicle based on the orientation information; a suspension system comprising a pair of Watt'"'"'s linkages connecting opposing end portions of the axle to the frame, each of the Watt'"'"'s linkages including a central link coupled to the axle of the wheel, a first pivoting link coupled to a first end portion of the central link at a first rotating joint and coupled to the first end portion of the frame at a second rotating joint, and a second pivoting link coupled to a second end portion of the central link at a third rotating joint and coupled to the second end portion of the frame at a fourth rotating joint, 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 Watt'"'"'s linkages and a second end coupled to the board, such that the shock absorber is configured to damp movement of the board relative to the axle. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A self-balancing electric vehicle, comprising:
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a board defining a plane, the board including a first end portion and a second end portion, the first and second end 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 extending above and below the plane defined by the board; a motor assembly configured to rotate the wheel about an axle to propel the vehicle; at least one sensor configured to measure orientation information of the board; a motor controller configured to receive orientation information measured by the at least one sensor and to cause the motor assembly to propel the vehicle based on the orientation information; a suspension system comprising a pair of linkages connecting opposing end portions of the axle to the board, each of the linkages including a central link coupled to the axle of the wheel, a first pivoting link coupled to a first end portion of the central link at a first rotating joint and coupled to the first end portion of the board at a second rotating joint, and a second pivoting link coupled to a second end portion of the central link at a third rotating joint and coupled to the second end portion of the board at a fourth rotating joint, 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 each of the linkages and a second end coupled to the board, such that the shock absorber is configured to damp movement of the board relative to the axle. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification