Balancing vehicle with camber and toe-in

• US 6,357,544 B1
• Filed: 04/08/1999
• Issued: 03/19/2002
• Est. Priority Date: 04/08/1999
• Status: Expired due to Fees

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Kamen, Dean L., Field, Douglas
• Primary Examiner(s): Swann, J. J.
• Assistant Examiner(s): ZEENDER, FLORIAN M
• Application Number:
  US09/289,272
• Time in Patent Office: 1,076 Days
• Field of Search: 180/218, 180/7.1, 180/907, 180/21, 280/250.1, 280/304.1, 280/86.753, 280/86.751, 701/124
• US Class Current: 180/218
• 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 17/00 Cycles not otherwise provided for
• CPC Class Codes: Y10S 180/907 Motorized wheelchairs

Abstract

A balancing vehicle having enhanced stability for transporting a payload. The vehicle has two substantially coaxial wheels coupled to a platform. Each wheel rotates about an axis, with the axis of each wheel disposed at a non-zero angle with respect to an axis that is defined by the centers of the respective wheels and that is substantially perpendicular to the direction of forward motion of the vehicle. The vehicle has a motorized drive that provides locomotion of the vehicle in an operating position that is unstable with respect to tipping if the motorized drive is not powered.

Claims

1. A method for stabilizing a vehicle in a fore-aft plane with respect to tipping forward, the vehicle having a platform and a first and second wheel, each of the first and second wheels having a center, the center of the first wheel and the center of the second wheel defining a lateral axis, the first and second wheels being substantially coaxially disposed, the vehicle further having a motorized drive for causing locomotion of the vehicle in an operating position that is always unstable with respect to tipping in the fore-aft plane when the motorized drive is not powered, the method comprising:

a) coupling the first wheel to the platform in such a manner as to rotate about a first rotational axis such that a non-zero vertical angle is defined between the first rotational axis and the lateral axis;

b) coupling the second wheel to the platform in such a manner as to rotate about a second rotational axis, such that a non-zero vertical angle is defined between the second rotational axis and the lateral axis; and

c) balancing the vehicle on the first and second wheels with respect to tipping in the fore-aft plane.