WO2017077362A1 - Self balancing single wheel board with shock absorber - Google Patents

Self balancing single wheel board with shock absorber Download PDF

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Publication number
WO2017077362A1
WO2017077362A1 PCT/IB2015/058495 IB2015058495W WO2017077362A1 WO 2017077362 A1 WO2017077362 A1 WO 2017077362A1 IB 2015058495 W IB2015058495 W IB 2015058495W WO 2017077362 A1 WO2017077362 A1 WO 2017077362A1
Authority
WO
WIPO (PCT)
Prior art keywords
board
unit
wheel
self
shock
Prior art date
Application number
PCT/IB2015/058495
Other languages
French (fr)
Inventor
Song Qi Ondy MA
Original Assignee
Koofy Development Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koofy Development Limited filed Critical Koofy Development Limited
Priority to PCT/IB2015/058495 priority Critical patent/WO2017077362A1/en
Priority to US15/258,634 priority patent/US9707470B2/en
Priority to CA3003806A priority patent/CA3003806A1/en
Priority to KR1020187015496A priority patent/KR20180077258A/en
Priority to SG11201803705VA priority patent/SG11201803705VA/en
Priority to PCT/IB2016/056630 priority patent/WO2017077484A1/en
Priority to CN201610956676.7A priority patent/CN106621297A/en
Priority to EP16861706.6A priority patent/EP3371039A4/en
Priority to RU2018119938A priority patent/RU2018119938A/en
Priority to JP2018543469A priority patent/JP2018536590A/en
Priority to AU2016347912A priority patent/AU2016347912B2/en
Priority to CN201621178777.8U priority patent/CN206566479U/en
Publication of WO2017077362A1 publication Critical patent/WO2017077362A1/en
Priority to US15/652,137 priority patent/US9789384B1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/12—Roller skates; Skate-boards with driving mechanisms
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/0046—Roller skates; Skate-boards with shock absorption or suspension system
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/01—Skateboards
    • A63C17/014—Wheel arrangements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/01—Skateboards
    • A63C17/014—Wheel arrangements
    • A63C17/016—Wheel arrangements with wheels arranged in one track
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
    • A63C17/06—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type
    • A63C17/08—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type single-wheel type with single axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K1/00—Unicycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K25/00—Axle suspensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/12—Electrically powered or heated
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/20—Shock or vibration absorbing
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/24—Processing or storing data, e.g. with electronic chip
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/42—Details of chassis of ice or roller skates, of decks of skateboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2201/00—Springs used in cycle frames or parts thereof
    • B62K2201/04—Helical springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2201/00—Springs used in cycle frames or parts thereof
    • B62K2201/06—Leaf springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2202/00—Motorised scooters

Definitions

  • This invention relates to transportation vehicles for individuals, particularly a motor-driven single wheel board with a self-balancing function involving motion sensors and a motor control system.
  • a third type of self-balancing vehicle is based on a single wheel.
  • US201 1220427A1 (Chen) discloses a self-balanced vehicle with a large wheel and footrests on either side of the wheel. Friction pads extending upwards from each foot rest are designed to give the rider more stability and comfort by providing support to the inside of the rider's calves. Summary of Invention
  • a Self-Balancing Single Wheel Board for lateral transportation of individuals.
  • a rider is standing on a board top surface straddling a centrally and symmetrically positioned wheel with his or her feet, aiming to travel generally along a lateral direction relative to their body position.
  • a shock absorber is provided in the interface between the motor drive shaft and the board frame, in order to provide a more smooth and comfortable ride.
  • Fig. 1 shows the intended user mode of the self-balancing board and a reference coordinate system
  • Fig. 2 shows a 3D view of the preferred embodiment
  • Fig. 3 shows orthogonal plan views of the preferred embodiment, reference axes indicated.
  • Fig. 4 shows an exploded view of main components of the preferred embodiment
  • Fig. 5 shows a detail exploded view of the shock absorber mechanism according to the preferred embodiment.
  • FIG 1 there is a single wheel self-balancing board, below generally referred to as 'board', with a general user mode as described in figure 1 , where the rider is standing on a board top surface, generally referred to as the x-z plane of the board, straddling the centrally and symmetrically positioned wheel with his or her feet, aiming to travel generally along the x axis, either to their left or their right.
  • Both the board and the rider have a center-of- gravity each, marked CoG_board and CoG_rider.
  • the CoG_board is always
  • the control system of the board is able to adjust the power supply to the motor to drive the wheel forwards or backwards, in order to maintain vertical alignment of the two CoGs,
  • the rider is able to lean left or right along the x direction, thereby changing the alignment of the CoGs and the orientation of the x-z plane of the boards, and the board will.
  • FIG. 2 showing the general design of the board.
  • Two side frames (3) and two end caps (2) and cover plates (1 ) define a boxed frame structure.
  • Cover plates (1 ) provide position for the rider's feet.
  • a wheel (5) is located inside the frame structure of the board and houses a motor unit with a drive shaft which is connected to the side frames (3) of the board via a shock absorber (4).
  • the shock absorbers (4) are connected to the motor drive shaft in one end and to the side frames (3) in the other end, and secured with a shock absorber nut (8.
  • Fenders (6) are provided to prevent the rider's feet touching the wheel (5) and wheel cover (7) further prevents access to the wheel (5) surface.
  • a motor unit (18) has a drive shaft with two ends (19), which have a two flats or a so-called 'double D' shape.
  • Each side of the drive shaft (19) is assembled through two motor shaft nuts (21 ), a drive slider (22), a slider bushing (23), the side frame (3) through an opening (3b) and the lower end bushing of a shock absorber (4).
  • Slider bushing (23) is fitted to opening (3b) of side frame (3) and allows drive slider (22) a vertical movement (along axis z as defined in figure 3).
  • Drive slider (22) allows axial movement relative to motor shaft (19) but not rotational movement, due to the 'double D' flats cut in to both motor shaft (19) and drive slider (22), and is thereby able to transmit torque from motor shaft (19) to side frame (3) via slider bushing (23).
  • the vertical movement allowed between drive slider (22) and slider bushing (23) is what is allowing the wheel (5) to move relative to the board thereby enabling the function of shock absorber (4).
  • battery tray (16) and PCB tray (1 1 ) complete the box structure of the board by sealing off the structure defined by side frames (3), end caps (2) and cover plates (1 ).
  • PCB (10) Located in and positioned by PCB tray (1 1 ) is PCB (10) which is comprising the control circuit.
  • the motor unit (18) is housed by the wheel rim (20) which is preferably constructed in two halves. A tire (5) and motor (18) is fitted to one of the wheel rim halves (20) before the other half of the wheel rim is secured by four screws, not shown.
  • the shock absorber type chosen in the preferred embodiment of the innovation is a so-called coil-over type which is readily available in the automotive and motorcycle part market.
  • This type of shock absorber has two components: a) a coil spring to provide load bearing capability and b) a pneumatic or hydraulic tube for absorbing the force from sudden vertical movements.
  • the over-coil shock absorber (4) is allowed one degree of freedom, along the y axis, governed by the interaction between drive slider (22) and slider bushing (23). It is assumed throughout this description that provision of a shock absorber is given on both sides of the board, in a symmetrical manner. It is of course also possible to envisage shock absorption only on a single side.
  • shock absorber with more than one degree of freedom, for example by using an arrangement of two shock absorbers in a V-shape, thereby giving the system two degrees of freedom.
  • a shock absorber with unlimited degrees of freedom is possible by replacing the coil-over component of the preferred embodiment with an axle bushing of resilient material, for example a ring of rubber or expanded foam, or other material which gives sufficient properties of load bearing and shock absorption.
  • an axle bushing of resilient material for example a ring of rubber or expanded foam, or other material which gives sufficient properties of load bearing and shock absorption.
  • the function of load bearing can be separated from the function of shock absorbing.
  • a load bearing function provided by a coil spring, a leaf spring or a resilient material
  • a shock absorbing property function provided by a pneumatic or hydraulic tube, or the single- or twin tube types, or generally by using friction generated by principles of dry solid friction, fluid viscous friction or fluid dynamic friction.

Abstract

A Self-Balancing Single Wheel Board, where a rider is standing on a board top surface straddling a centrally and symmetrically positioned wheel (5) with his or her feet, aiming to travel generally along a lateral direction relative to their body position. A shock absorber (4) is provided in the interface between the motor drive shaft and the board frame, in order to provide a more smooth and comfortable ride.

Description

DESCRIPTION
Self-Balancing Single Wheel Board with Shock Absorber
Technical Field
[0001 ] This invention relates to transportation vehicles for individuals, particularly a motor-driven single wheel board with a self-balancing function involving motion sensors and a motor control system.
Background Art
[0002] Self-balancing vehicles for transportation of individuals are known in the art. As described in US 6302230 B1 and AT299826 (Kamen), typically such vehicles are equipped with two concentric individually driven wheels, spaced apart and with a platform between, onto which the rider of the vehicle may stand facing in the intended fore/aft direction of motion. Gyroscopic and accelerometer sensors detect changes in orientation of the platform and feed information to a motor control system which is programmed to maintain platform orientation horizontal within a certain range by rotating the wheels in any direction, having the effect of aligning the centers-of-gravity of the vehicle and the rider whilst the vehicle is in constant motion. On some types there is an upright handlebar connected to the platform, giving the rider ability to further control the vehicle by leaning sideways, whereby the wheels will rotate at different speeds and/or direction, causing the vehicle to turn.
Another variant of the above described self-balancing is taught by US8738278 B2 (Chen) in which a vehicle has two spaced individually powered wheels, controlled by a motor control system, with a platform between which is split laterally in two halves. Each half of the platform is associated to one wheel, sensors and motor, and corresponds to the position of left and right feet of the rider of the vehicle, whereby the rider can control the relative speed and rotation direction of the two wheels using their feet to tilt the two platform sections relative to each other. One benefit of this type of self-balancing vehicle is the lack of need for an upright handlebar, making the unit smaller and maneuverable without using the hands.
A third type of self-balancing vehicle is based on a single wheel. US201 1220427A1 (Chen) discloses a self-balanced vehicle with a large wheel and footrests on either side of the wheel. Friction pads extending upwards from each foot rest are designed to give the rider more stability and comfort by providing support to the inside of the rider's calves. Summary of Invention
[0003] Disclosed is a Self-Balancing Single Wheel Board for lateral transportation of individuals. A rider is standing on a board top surface straddling a centrally and symmetrically positioned wheel with his or her feet, aiming to travel generally along a lateral direction relative to their body position. A shock absorber is provided in the interface between the motor drive shaft and the board frame, in order to provide a more smooth and comfortable ride.
Brief Description of Drawings
[0004] Fig. 1 shows the intended user mode of the self-balancing board and a reference coordinate system
Fig. 2 shows a 3D view of the preferred embodiment
Fig. 3 shows orthogonal plan views of the preferred embodiment, reference axes indicated.
Fig. 4 shows an exploded view of main components of the preferred embodiment
Fig. 5 shows a detail exploded view of the shock absorber mechanism according to the preferred embodiment.
[0005] List of Components
1 . Cover plate 12. Battery pack
2. End cap 13. Battery PCB
3. Side frame 14. Battery box
3b. Side frame opening 15. Battery cover
4. Shock absorber 16. Battery tray
5. Wheel 17. Battery drawer
6. Fender 18. Motor unit
7. Wheel cover 19. Motor shaft
8. Shock absorber nut 20. Wheel rim
9. Bumper pads 21 . Motor shaft nuts
10. PCB 22. Drive slider
1 1 . PCB tray 23. Slider bushing
Description of Embodiments
[0006] Referring to figure 1 , according to a first embodiment of the invention, there is a single wheel self-balancing board, below generally referred to as 'board', with a general user mode as described in figure 1 , where the rider is standing on a board top surface, generally referred to as the x-z plane of the board, straddling the centrally and symmetrically positioned wheel with his or her feet, aiming to travel generally along the x axis, either to their left or their right. Both the board and the rider have a center-of- gravity each, marked CoG_board and CoG_rider. The CoG_board is always
approximately coincident with the rotation axis of the wheel, the control system of the board is able to adjust the power supply to the motor to drive the wheel forwards or backwards, in order to maintain vertical alignment of the two CoGs, Thus, the rider is able to lean left or right along the x direction, thereby changing the alignment of the CoGs and the orientation of the x-z plane of the boards, and the board will.
[0007] Now turning to figure 2, showing the general design of the board. Two side frames (3) and two end caps (2) and cover plates (1 ) define a boxed frame structure. Cover plates (1 ) provide position for the rider's feet. A wheel (5) is located inside the frame structure of the board and houses a motor unit with a drive shaft which is connected to the side frames (3) of the board via a shock absorber (4). The shock absorbers (4) are connected to the motor drive shaft in one end and to the side frames (3) in the other end, and secured with a shock absorber nut (8. Fenders (6) are provided to prevent the rider's feet touching the wheel (5) and wheel cover (7) further prevents access to the wheel (5) surface.
[0008] Moving to figure 3, the preferred embodiment of the board is shown in four orthogonal projections, and further showing the reference coordinate system.
[0009] Now referring to figure 4 and 5, a motor unit (18) has a drive shaft with two ends (19), which have a two flats or a so-called 'double D' shape. Each side of the drive shaft (19) is assembled through two motor shaft nuts (21 ), a drive slider (22), a slider bushing (23), the side frame (3) through an opening (3b) and the lower end bushing of a shock absorber (4). Slider bushing (23) is fitted to opening (3b) of side frame (3) and allows drive slider (22) a vertical movement (along axis z as defined in figure 3). Drive slider (22) allows axial movement relative to motor shaft (19) but not rotational movement, due to the 'double D' flats cut in to both motor shaft (19) and drive slider (22), and is thereby able to transmit torque from motor shaft (19) to side frame (3) via slider bushing (23). The vertical movement allowed between drive slider (22) and slider bushing (23) is what is allowing the wheel (5) to move relative to the board thereby enabling the function of shock absorber (4). [0010] Still referring to figure 4, battery tray (16) and PCB tray (1 1 ) complete the box structure of the board by sealing off the structure defined by side frames (3), end caps (2) and cover plates (1 ). Located in and positioned by PCB tray (1 1 ) is PCB (10) which is comprising the control circuit. Located in and positioned by the battery tray (16) is the removable power pack, defined by battery pack (12), battery PCB (13), battery box (14), battery cover (15) and battery drawer (17). The motor unit (18) is housed by the wheel rim (20) which is preferably constructed in two halves. A tire (5) and motor (18) is fitted to one of the wheel rim halves (20) before the other half of the wheel rim is secured by four screws, not shown.
[001 1 ] Referring now to figure 5, the shock absorber type chosen in the preferred embodiment of the innovation is a so-called coil-over type which is readily available in the automotive and motorcycle part market. This type of shock absorber has two components: a) a coil spring to provide load bearing capability and b) a pneumatic or hydraulic tube for absorbing the force from sudden vertical movements. According to the preferred embodiment, the over-coil shock absorber (4) is allowed one degree of freedom, along the y axis, governed by the interaction between drive slider (22) and slider bushing (23). It is assumed throughout this description that provision of a shock absorber is given on both sides of the board, in a symmetrical manner. It is of course also possible to envisage shock absorption only on a single side.
[0012] It should be obvious to anyone skilled in the art that a function of shock absorption could be achieved in different ways as long as sufficient load bearing and shock absorbing properties are achieved. Therefore, according to an alternative embodiment of the invention, there could be provided a shock absorber with more than one degree of freedom, for example by using an arrangement of two shock absorbers in a V-shape, thereby giving the system two degrees of freedom.
[0013] According to another embodiment, a shock absorber with unlimited degrees of freedom is possible by replacing the coil-over component of the preferred embodiment with an axle bushing of resilient material, for example a ring of rubber or expanded foam, or other material which gives sufficient properties of load bearing and shock absorption.
[0014] According to yet another embodiment, the function of load bearing can be separated from the function of shock absorbing. Thus, there could on one hand be a load bearing function provided by a coil spring, a leaf spring or a resilient material, and on the other hand be a shock absorbing property function provided by a pneumatic or hydraulic tube, or the single- or twin tube types, or generally by using friction generated by principles of dry solid friction, fluid viscous friction or fluid dynamic friction. Citation List
Patent Literature
[0015] Kamen, D. US patent application no US 6302230 B1 , priority date Jun 4,
1999.
Chen, S. US patent application US 8738278 B2, priority date Feb 12, 2012. Chen, S. US patent application US 201 1220427A1 , priority date Mar 9, 2010. Non-patent literature
[0016] Dixon, J. The Shock Absorber Handbook. Wiley, 2007.

Claims

Claim 1
A Self-Balancing Single Wheel Board for lateral transportation of individuals, comprising,
A motor unit with extending drive shaft, defining a reference z-axis and an x-y plane normal to the z axis;
A power unit, for supplying power to the motor unit;
A wheel unit, comprising at least one wheel, having a main rotation axis and adapted to receive the motor unit with said rotation axis and said z-axis aligned concentrically;
An elongated board unit, predominantly inscribed in a cuboid shape, its sides extending along respective symmetry axes defining reference axes x, y and z and an imaginary board center-point of gravity, defining an x-z plane and a normal axis y, having a recess adapted to receive the wheel unit symmetrically and with concentric z-axes, the said drive shaft fixed in both ends by bushing means on the board unit, and the board being adapted for a rider to stand on along the x-z plane straddling the wheel unit, the rider's feet being oriented predominantly along the x direction;
Movement sensors attached to the board unit;
A control unit, adapted to read data from said sensors and selectively control power supply to said motor unit in order to maintain vertical alignment between the centers-of- gravity of board and rider;
Wherein, there is at least one shock-absorbing interface between said board unit and drive shaft of said motor unit.
Claim 2
A Self-Balancing Single Wheel Board according to claim 1 , wherein the shock- absorbing interface has a single degree of freedom.
Claim 3
Self-Balancing Single Wheel Board according to claim 2, wherein the shock-absorbing interface comprises a pneumatic damper.
Claim 4
Self-Balancing Single Wheel Board according to claim 2, wherein the shock-absorbing interface comprises a hydraulic damper. Claim 5
Self-Balancing Single Wheel Board according to claim 2, wherein the shock-absorbing interface comprises a dry-friction damper.
Claim 6
Self-Balancing Single Wheel Board according to claim 2, wherein the shock-absorbing interface comprises a damper made of a resilient material, such as rubber or foam.
PCT/IB2015/058495 2015-11-03 2015-11-03 Self balancing single wheel board with shock absorber WO2017077362A1 (en)

Priority Applications (13)

Application Number Priority Date Filing Date Title
PCT/IB2015/058495 WO2017077362A1 (en) 2015-11-03 2015-11-03 Self balancing single wheel board with shock absorber
US15/258,634 US9707470B2 (en) 2015-11-03 2016-09-07 Self-balancing board having a suspension interface
PCT/IB2016/056630 WO2017077484A1 (en) 2015-11-03 2016-11-03 Self-balancing board having a suspension interface
KR1020187015496A KR20180077258A (en) 2015-11-03 2016-11-03 Self-balancing board with suspension interface
SG11201803705VA SG11201803705VA (en) 2015-11-03 2016-11-03 Self-balancing board having a suspension interface
CA3003806A CA3003806A1 (en) 2015-11-03 2016-11-03 Self-balancing board having a suspension interface
CN201610956676.7A CN106621297A (en) 2015-11-03 2016-11-03 Self-balancing board having a suspension interface
EP16861706.6A EP3371039A4 (en) 2015-11-03 2016-11-03 Self-balancing board having a suspension interface
RU2018119938A RU2018119938A (en) 2015-11-03 2016-11-03 SELF-BALANCING SKATEBOARD WITH SUSPENDED CONNECTION
JP2018543469A JP2018536590A (en) 2015-11-03 2016-11-03 Self-balancing board with suspension interface
AU2016347912A AU2016347912B2 (en) 2015-11-03 2016-11-03 Self-balancing board having a suspension interface
CN201621178777.8U CN206566479U (en) 2015-11-03 2016-11-03 Self-balancing plate with suspension interface
US15/652,137 US9789384B1 (en) 2015-11-03 2017-07-17 Self-balancing board having a suspension interface

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2015/058495 WO2017077362A1 (en) 2015-11-03 2015-11-03 Self balancing single wheel board with shock absorber

Publications (1)

Publication Number Publication Date
WO2017077362A1 true WO2017077362A1 (en) 2017-05-11

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ID=58638498

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/IB2015/058495 WO2017077362A1 (en) 2015-11-03 2015-11-03 Self balancing single wheel board with shock absorber
PCT/IB2016/056630 WO2017077484A1 (en) 2015-11-03 2016-11-03 Self-balancing board having a suspension interface

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/IB2016/056630 WO2017077484A1 (en) 2015-11-03 2016-11-03 Self-balancing board having a suspension interface

Country Status (10)

Country Link
US (2) US9707470B2 (en)
EP (1) EP3371039A4 (en)
JP (1) JP2018536590A (en)
KR (1) KR20180077258A (en)
CN (2) CN106621297A (en)
AU (1) AU2016347912B2 (en)
CA (1) CA3003806A1 (en)
RU (1) RU2018119938A (en)
SG (1) SG11201803705VA (en)
WO (2) WO2017077362A1 (en)

Cited By (4)

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US9789384B1 (en) 2017-10-17

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