# US 11,020,651 B2 · Lean-to-steer mechanisms with linear or non-linear steering responses

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- Number: US 11,020,651 B2
- Document ID: US11020651B2
- Status: Granted
- Kind: B2
- Application number: 15/598,659
- Filed: 2017-05-18
- Published: 2017-09-07
- Granted: 2021-06-01
- Earliest claimed: 2015-07-21
- Assignees: Lean Steer Difference, LLC
- Applicants: Corey C. Smith
- Inventors: Corey C. Smith
- Web page: https://patentgrep.com/patent/US11020651B2

## CPC

- A63C 17/0093: {Mechanisms transforming leaning into steering through an inclined geometrical axis, e.g. truck (A63C17/011 takes precedence)}
- A63C 17/012: {with a truck, i.e. with steering mechanism comprising an inclined geometrical axis to convert lateral tilting of the board in steering of the wheel axis}
- A63C 17/013: {with parallelograms, follow up wheels or direct steering action}
- A63C 17/015: {with wheels arranged in two pairs}
- A63C 17/016: {with wheels arranged in one track}
- A63C 17/02: with wheels arranged in two pairs {(for skateboards A63C17/015)}
- A63C 17/06: single-track type
- A63C 17/223: {Wheel hubs}
- A63C 17/226: {Wheel mounting, i.e. arrangement connecting wheel and axle mount}
- B62D 9/02: combined with means for inwardly inclining vehicle body on bends
- A63C: SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE (water skis B63B32/00, B63B34/00)
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)

## Abstract

The present steerable wheel assembly incorporates a lean-to-steer mechanism into an inner race of a roller bearing, while a wheel is mounted to an outer race of the roller bearing. A shaft extending from the mechanism is attached to a body, and the mechanism acts to steer the outer race and the wheel about a vertical steering axis when the shaft is tilted about a horizontal axis. The mechanism can be a pivot joint, providing a linear steering response, or can be a lean-to-steer mechanism that provides a non-linear response where the steering action is not consistently responsive to tilting over the expected range of tilting. The present non-linear lean-to-steer mechanisms can also be incorporated into alternative lean-to-steer devices, and alternative mechanisms can employ tracking structures to coordinate tilting motion of a first moving element with steering motion of a second moving element to provide a non-linear lean-to-steer response.

## Claims

### Claim 1

A lean-to-steer mechanism for mounting at least one wheel to a body that traverses a nominally horizontal surface and for steering the at least one wheel about a nominally vertical steering axis in response to leaning of the body about a nominally horizontal longitudinal axis, the lean-to-steer mechanism having:
an inner spherical element;
a shaft attached to said inner spherical element and extending therefrom, said shaft being connected to a first moving element that is affixed with respect to the body;
an outer spherical socket in which said inner spherical element is movably mounted so as to allow motion between said inner spherical element and said outer spherical socket about a central point, and where such allowed motion is not limited to motion about a single axis, said outer spherical socket being incorporated into a second moving element to which the at least one wheel is rotatably mounted so as to rotate about a horizontal wheel axis;
at least one guided element mounted to one of said first moving element and said second moving element; and
at least one guiding element affixed to the other of said first moving element and said second moving element,
said guiding element being configured to engage said guided element to direct said guided element along a non-linear path defined by said guiding element, such engagement limiting the free motion between said first moving element and said second moving element to force steering motion of said second moving element about the steering axis in order to accommodate leaning of the body and said first moving element about the longitudinal axis, such leaning acting to move said guided element along said non-linear path.

### Claim 2 (depends on 1)

The lean-to-steer mechanism of claim 1 wherein said at least one guided element is mounted to said first moving element; and
wherein said at least one guiding element is affixed with respect to said second moving element.

### Claim 3 (depends on 2)

The lean-to-steer mechanism of claim 2 wherein said at least one guiding element is formed as a guide ramp that comprises:
a linear response segment that directs one of said guided elements along a path that is inclined such that said second moving element is forced to turn relative to said first moving element about the steering axis to accommodate leaning of said first moving element about the longitudinal axis; and
end segments that bracket said linear response segment and are inclined thereto.

### Claim 4

A lean-to-steer mechanism for mounting at least one wheel to a body that traverses a nominally horizontal surface and for steering the at least one wheel about a nominally vertical steering axis in response to leaning of the body about a nominally horizontal longitudinal axis, the lean-to-steer mechanism comprising:
a first moving element affixed with respect to the body;
a second moving element having the at least one wheel rotatably mounted thereto so as to rotate about a horizontal wheel axis,
said second moving element being movably connected to said first moving element so as to be movable with respect thereto about a central point that resides at the intersection of the steering axis and the longitudinal axis, but where such motion between said first and second moving elements is not limited to rotation about a single axis;
at least one guided element mounted with respect to one of said first moving element and said second moving element; and
at least one guiding element affixed with respect to the other of said first moving element and said second moving element,
said guiding element being configured to engage said guided element to direct said guided element along a non-linear path defined by said guiding element, such engagement limiting the free motion between said first moving element and said second moving element to force steering motion of said second moving element about the steering axis in order to accommodate leaning of the body and said first moving element about the longitudinal axis, such leaning acting to move said guided element along said non-linear path.

### Claim 5 (depends on 4)

The lean-to-steer mechanism of claim 4 wherein said at least one guided element is mounted to said first moving element; and
wherein said at least one guiding element is mounted to said second moving element.

### Claim 6 (depends on 5)

The lean-to-steer mechanism of claim 5 wherein said at least one guided element is provided by a plurality of guided elements;
further wherein said at least one guiding element is provided by a plurality of guiding elements; and
the lean-to-steer mechanism further comprising:
means for maintaining engagement between said guided elements and said guiding elements.

### Claim 7 (depends on 6)

The lean-to-steer mechanism of claim 6 wherein said guided elements are provided by guide bearings mounted to said first moving element so as to each rotate about a guide bearing axis that intersects the central point;
further wherein said guiding elements are shaped ramps protruding from said second moving element; and
yet further wherein said means for maintaining engagement between said guided elements and said guiding elements further comprises:
means for applying a compressive load between said first moving element and said second moving element so as to force said guide bearings against said shaped ramps.

### Claim 8 (depends on 7)

The lean-to-steer mechanism of claim 7 wherein said means for maintaining engagement between said guided elements and said guiding elements further comprises:
a shaft retaining element movably mounted to said second moving element so as to pivot with respect thereto at least about the steering axis;
a shaft engaging said shaft retaining element so as to extend perpendicular to the steering axis along said longitudinal axis,
said first moving element being configured to pivotably engage said shaft about the longitudinal axis.

### Claim 9 (depends on 8)

The lean-to-steer mechanism of claim 8 wherein said means for applying a compressive load between said first moving element and said second moving element further comprises:
at least one resilient retaining element through which said shaft passes, said resilient retaining element being configured to abut against a bearing surface associated with one of said first moving element and said second moving element; and
at least one shaft clamping element that is advanceable along said shaft toward said bearing surface so as to compress said resilient retaining element against said bearing surface.

### Claim 10 (depends on 9)

The lean-to-steer mechanism of claim 9 wherein said shaft retaining element is provided by an inner spherical element that is movably mounted in an outer spherical socket provided in said second moving element so as to be movable with respect to said outer spherical socket about the central point.

### Claim 11 (depends on 4)

The lean-to-steer mechanism of claim 4 wherein one of said first moving element and said second moving element is attached to an inner spherical element via a shaft, and the other of said first moving element and said second moving element is provided with an outer spherical socket that movably engages said inner spherical element so as to allow motion therebetween about the central point.