Electric-powered self-balancing unicycle with steering linkage between handlebars and wheel forks

• US 9,611,004 B2
• Filed: 03/05/2014
• Issued: 04/04/2017
• Est. Priority Date: 09/01/2009
• Status: Expired due to Fees

• Current Assignee: Ryno Motors, Inc.
• Original Assignee: Ryno Motors, Inc.
• Inventors: Hoffmann, Christopher J., Ozrelic, Anthony J.
• Primary Examiner(s): Barnes-Bullock, Crystal J
• Assistant Examiner(s): Sivanesan, Sivalingam
• Application Number:
  US14/198,128
• Publication Number:
  US 20140196962A1
• Time in Patent Office: 1,126 Days
• Field of Search: 180 21
• CPC Class Codes: B60L 2200/14 Vehicles with one wheel only
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B60T 7/042 by electrical means, e.g. using travel or force sensors
• CPC Class Codes: B60T 7/085 by electrical means, e.g. travel, force sensors
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B62H 1/02 Articulated stands, e.g. in the shape of hinged arms B62H1/10 takes precedence
• CPC Class Codes: B62J 25/06 Bar-type foot rests
• 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: B62M 7/12 with the engine beside or within the driven wheel

Abstract

A one-wheeled vehicle may include electric motors, a self-balancing system, and steering mechanism, wherein the electric motors and self-balancing system are disposed within the wheel of the one-wheeled vehicle. A computational resource such as a microprocessor-based controller receives input signals indicative of operation of a twist throttle and brake, and produces signals to adjust the tilt angle relative to the acceleration and thereby reduce the need for a rider to lean forward or backwards.

Claims

1. A powered, self-balancing unicycle, comprising:

a wheel assembly including a wheel having a rim, an inner surface of the wheel rim defining an inside volume;

a plurality of motors rotatably coupled to a first end of a jackshaft, such that the plurality of motors are configured to drive the jackshaft, a second end of the jackshaft including a jackshaft sprocket rotatably coupled to a drive sprocket of the wheel, the motors, the jackshaft, and the drive sprocket each being disposed within the inside volume of the wheel rim;

a body coupled to the wheel assembly by a support frame, the body being configured for transporting a load; and

a handlebar disposed entirely outside of the inside volume of the wheel rim and operatively connected to the wheel assembly, the handlebar being configured to aid in steering of the unicycle.

2. The unicycle of claim 1, further comprising a battery that supplies energy to the motor, the battery being disposed within the inside volume of the wheel rim.

3. The unicycle of claim 2, further comprising:

a flexible link coupling the drive sprocket of the wheel to the jackshaft sprocket;

wherein the motor, the drive sprocket, the battery, the jackshaft, the jackshaft sprocket, and the flexible link are all enclosed within the inside volume of the wheel rim.

4. The unicycle of claim 1, wherein the wheel assembly further comprises an electromechanical braking system.

5. The unicycle of claim 4, wherein the braking system includes a servo motor operatively connected to a pair of brake pads configured to impart a clamping force on a brake disc coupled to the wheel, and a brake controller configured to modulate the clamping force by controlling an amount of DC power applied to the servo motor.

6. The self-balancing unicycle of claim 1, further comprising an accelerometer enclosed within the inside volume of the wheel rim.

7. A powered, self-balancing unicycle, comprising:

a wheel rim coupled to a wheel, the wheel rim forming an inside volume;

at least one motor coupled to a first end of a jackshaft, a second end of the jackshaft being coupled to a drive sprocket configured to drive the wheel;

a battery configured to supply energy to the motor;

the battery, the at least one motor, the jackshaft, and the drive sprocket being disposed in the inside volume of the wheel rim to aid in self-balancing;

a supporting arm coupled to the wheel;

a body coupled to the supporting arm, the body being configured for transporting a load; and

a handlebar disposed above and outside the inside volume of the wheel rim, the handlebar being configured to aid in steering of the unicycle.

8. The unicycle of claim 7, further comprising one or more covers disposed on opposing lateral sides of the wheel rim such that the one or more covers and the wheel rim enclose the inside volume, wherein the opposing covers are spaced to house the motor and the battery within the inside volume such that no portion of the motor or the battery extends beyond the one or more covers.

9. The unicycle of claim 7, wherein only one wheel is configured to contact the ground during movement of the unicycle.

10. The unicycle of claim 7, further comprising a computer-controlled braking system that includes an electromechanical actuator, the braking system being disposed within the inside volume of the wheel rim, wherein a braking force applied by the braking system is modulated by an amount of DC power applied to a servo motor.

11. The self-balancing unicycle of claim 10, further comprising an electronic gyro stabilization control system disposed within the inside volume of the rim.

12. A powered, self-balancing unicycle, comprising:

a wheel rim coupled to a wheel, the wheel rim forming an inside area;

a motor coupled to a first end of a jackshaft, a second end of the jackshaft being coupled to a drive sprocket configured to drive the wheel, the motor, the jackshaft, and the drive sprocket each being disposed in the inside area of the wheel rim to aid in self-balancing;

a supporting arm coupled to the wheel;

a body coupled to the supporting arm, the body being configured for transporting a load; and

a handlebar disposed above and outside the inside area of the wheel rim, the handlebar being configured to aid in steering of the unicycle.

13. The unicycle of claim 12, further comprising a battery that supplies energy to the motor, the battery being disposed within the inside area of the wheel rim.

14. The unicycle of claim 13, wherein a squeeze pressure applied by a braking system of the unicycle is modulated by an amount of DC power applied to a servo motor.

15. The unicycle of claim 12, wherein the wheel assembly further comprises a braking system that is controlled by a computer.

16. The unicycle of claim 12, further comprising:

a jackshaft sprocket on the second end of the jackshaft; and

a belt coupling the drive sprocket to the jackshaft sprocket;

wherein the motor, the drive sprocket, the battery, the jackshaft, the jackshaft sprocket, and the belt are all enclosed within an inside volume formed by the wheel rim coupled to a wheel cover.

17. A powered, self-balancing unicycle, comprising:

a wheel rim coupled to a wheel, the wheel rim forming an inside area;

a battery that supplies energy to a motor coupled to a first end of a jackshaft, a second end of the jackshaft being coupled to a drive sprocket configured to drive the wheel, the battery, the jackshaft, and the motor being disposed in the inside area of the wheel rim to aid in self-balancing;

a supporting arm coupled to the wheel rim;

a handlebar disposed above and outside the inside area of the wheel rim, the handlebar being configured to aid in steering of the unicycle.

18. The unicycle of claim 17, further comprising one or more covers disposed on each side of the wheel rim such that the one or more covers and the wheel rim enclose the inside area, wherein a width of the wheel rim is sized to house the motor and the battery within the inside area such that no portion of the motor and the battery extend beyond either outermost edge of the width of the wheel rim.

19. The unicycle of claim 18, further comprising a computer-controlled braking system that includes an electromechanical actuator, the braking system being disposed within the inside area of the wheel rim, wherein a squeeze pressure applied by the braking system is modulated by an amount of DC power applied to a servo motor.

20. The self-balancing unicycle of claim 19, further comprising one of a gyro stabilization device and an accelerometer disposed within the inside area of the rim.