# US 2019/0168103 A1 · Suspension systems for one-wheeled vehicles

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- Number: US 2019/0168103 A1
- Document ID: US20190168103A1
- Status: Published application
- Kind: A1
- Application number: 16/025,860
- Filed: 2018-07-02
- Published: 2019-06-06
- Earliest claimed: 2017-12-05
- Assignees: Future Motion, Inc.
- Applicants: Future Motion, Inc.
- Inventors: Kyle Jonathan DOERKSEN; Matthew Michael O'BRIEN
- Web page: https://patentgrep.com/patent/US20190168103A1

## CPC

- A63C 17/0046: {with shock absorption or suspension system}
- A63C 17/08: single-wheel type {with single axis}
- A63C 17/12: with driving mechanisms
- B62D 51/02: the driver standing in the vehicle
- B62K 1/00: Unicycles
- B62K 11/007: {Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider}
- B62K 25/00: Axle suspensions (for vehicles in general B60G)
- G05D 1/0891: {specially adapted for land vehicles}
- A63C 17/01: Skateboards (A63C17/02 - A63C17/28 take precedence)
- A63C 2203/12: Electrically powered or heated
- A63C 2203/18: Measuring a physical parameter, e.g. speed, distance
- A63C 2203/20: Shock or vibration absorbing
- A63C 2203/24: Processing or storing data, e.g. with electronic chip
- A63C 2203/42: Details of chassis of ice or roller skates, of decks of skateboards
- 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)
- B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## 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

### 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; and
a suspension system coupling the wheel assembly to the board, such that the board is configured to be movable up and down relative to the axle, the suspension system including:
a first and a second pivotable link, each of the pivotable links coupled at a proximal end to a respective end portion of the axle and coupled at a distal end to the first end portion of the frame by a distal rotating joint;
a first bell crank and a second bell crank, the first and second bell cranks opposing each other across a width of the board, wherein each of the bell cranks respectively has a first and a second moving pivot and is rotatably coupled to the first end portion of the frame by a respective fixed pivot;
a first pushrod coupling the first pivotable link to the first moving pivot of the first bell crank, and a second pushrod coupling the second pivotable link to the first moving pivot of the second bell crank; and
a shock absorber having a first end coupled to the second moving pivot of the first bell crank and a second end coupled to the second moving pivot of the second bell crank, such that the shock absorber is configured to damp movement of the board relative to the axle.

### Claim 2 (depends on 1)

The vehicle of claim 1, wherein the first pushrod is coupled to the first pivotable link at a first rotating joint and coupled to the first bell crank at a second rotating joint, the first and second rotating joints having orthogonal axes of rotation.

### Claim 3 (depends on 1)

The vehicle of claim 1, further comprising a transverse member joining the distal ends of the first and second pivotable links.

### Claim 4 (depends on 1)

The vehicle of claim 1, wherein the bell cranks are disposed above a plane defined by the first deck portion.

### Claim 5 (depends on 1)

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

### Claim 6 (depends on 5)

The vehicle of claim 5, wherein the second end portion of the frame is unconnected to the suspension system.

### Claim 7 (depends on 1)

The vehicle of claim 1, wherein each pushrod defines a pair of rotating joints having orthogonal axes of rotation.

### Claim 8

A self-balancing electric vehicle, comprising:
a board defining a plane and including 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 rotatable on an axle and extending above and below the plane defined by the board;
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; and
a suspension system coupling the wheel to the board, the suspension system including:
a first bell crank and a second bell crank, each rotatably coupled to the first end portion of the board by a respective fixed pivot, and each including a first moving pivot and a second moving pivot;
a first pivotable link coupled at one end to a first end of the axle and coupled at another end to a first pushrod which is also coupled to the first moving pivot of the first bell crank;
a second pivotable link coupled at one end to a second end of the axle and coupled at another end to a second pushrod which is also coupled to the first moving pivot of the second bell crank; and
a shock absorber having a first end coupled to the second moving pivot of the first bell crank and a second end coupled to the second moving pivot of the second bell crank.

### Claim 9 (depends on 8)

The vehicle of claim 8, wherein each pushrod is coupled to one of the pivotable links at a respective first rotating joint and is coupled to one of the bell cranks at a respective second rotating joint, and wherein the first and second rotating joints have orthogonal axes of rotation.

### Claim 10 (depends on 8)

The vehicle of claim 8, further comprising a transverse member joining the distal ends of the first and second pivotable links.

### Claim 11 (depends on 8)

The vehicle of claim 8, wherein the bell cranks are disposed above the plane defined by the board.

### Claim 12 (depends on 8)

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

### Claim 13 (depends on 12)

The vehicle of claim 12, wherein the second end portion of the board is unconnected to the suspension system.

### Claim 14 (depends on 8)

The vehicle of claim 8, wherein each pushrod defines a pair of rotating joints having different axes of rotation.

### Claim 15

A self-balancing electric vehicle, comprising:
a board defining a plane and including first and second end portions each configured to receive a left or right foot of a rider;
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;
a sensor configured to measure orientation information of the board;
a motor controller configured to receive orientation information measured by the sensor and to cause the motor assembly to propel the vehicle based on the orientation information; and
a suspension system coupling the wheel to the board, the suspension system including:
a first bell crank and a second bell crank, each including a first moving pivot, a second moving pivot, and a fixed pivot rotatably coupling the respective bell crank to the board;
a first pivotable link member rotatably coupled at one end to a first end of the axle and rotatably coupled at another end to a first pushrod which is rotatably coupled to the first moving pivot of the first bell crank;
a second pivotable link member rotatably coupled at one end to a second end of the axle and rotatably coupled at another end to a second pushrod which is rotatably coupled to the first moving pivot of the second bell crank; and
a shock absorber having a first end rotatably coupled to the second moving pivot of the first bell crank and a second end rotatably coupled to the second moving pivot of the second bell crank.

### Claim 16 (depends on 15)

The vehicle of claim 15, wherein each pushrod defines two rotating joints having different axes of rotation.

### Claim 17 (depends on 15)

The vehicle of claim 15, wherein the first pushrod is coupled to the first pivotable link and to the first bell crank at rotating joints having orthogonal axes of rotation, and the second pushrod is coupled to the second pivotable link and to the second bell crank at rotating joints having orthogonal axes of rotation.

### Claim 18 (depends on 15)

The vehicle of claim 15, wherein the vehicle includes exactly one wheel.

### Claim 19 (depends on 15)

The vehicle of claim 15, wherein the first and second end portions of the board define foot 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.

### Claim 20 (depends on 15)

The vehicle of claim 15, further comprising a transverse member joining distal ends of the first and second pivotable links.