Universal rotation front steering of riding device

Abstract

Riding devices, such as bicycles, scooters and personal mobility devices, comprising four rigid bodies, three rotary joints, further comprising a front hanger and wheels that rotate universally about a front hanger pivot axis, a front bogie assembly with a twist steering and a rear bogie assembly with a tilt steering, where the twist steering is independent of the tilt steering, and where the twist steering is independent of the tilt steering. The deck rotates about a longitudinal rolling axis between a front virtual pivot point in the front pylon and a rear virtual pivot point in the rear pylon.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority under 35 U.S.C. Section 119(e) to U.S. Provisional Application Serial No. 63 / 337,713, filed on May 3, 2022, the entire contents of which are incorporated herein by reference. Technical Field

[0003] (a) Technical field

[0004] The present disclosure relates to a riding device, and more particularly, to a universal swivel front steering device for a riding device, comprising a front bogie assembly with twist steering and a rear bogie assembly with tilt steering, wherein the twist steering is independent of the tilt steering. Background Art

[0005] (b) Description of Related Art

[0006] U.S. Patent No. 6,520,517 discloses a riding device with a combined steering type, including twist steering of the front wheel and tilt steering of the rear wheel, so that the steering of the front and rear wheels is independently controlled. The front steering is controlled by twisting the front handlebar like a bicycle or scooter, for example, twisting the front handlebar to the right can turn the front wheel to the right, and twisting the front handlebar to the left can turn the front wheel to the left. The steering of the rear wheel can be controlled by relying on the deck, the front handlebar, and the steering column to the left or right. Just like the rear wheel of a skateboard, tilting the deck, the front handlebar and the steering column to the right can turn the rear wheel to the left, and tilting to the left can turn the rear wheel to the right. This type of combined steering can produce driving power well known in the art. However, the front wheel arrangement disclosed in U.S. Patent No. 6,520,517 has limitations that may constrain the minimum width of the front wheel track and limit the ability to travel on steep terrain.

[0007] Figure 1 (Prior Art), which corresponds to U.S. Patent No. 6,520,517 Figure 1 , a first rigid body is shown including a deck 12, a neck 24, a cylindrical member 22, and a rear base. A second rigid body includes a steering column 18, a steering handle 20, and a channel member 28 having two legs 32. A third rigid body includes a front bogie 15 having an axle member 26 supporting two laterally spaced wheels. A fourth rigid body is a rear bogie 16 supporting laterally spaced rear wheels 40.

[0008] In U.S. Pat. No. 6,520,517, the first rigid body (i.e., the deck 12, the neck 24, and the cylindrical member 22) and the second rigid body (i.e., the steering handle 20, the steering column 18, and the channel member 28) are arranged so that the steering column 18 is rotatably assembled through the cylindrical member 22. Therefore, the connection between the first rigid body and the second rigid body is understood to be similar to the rotational joint of the head tube of a bicycle, providing a single rotational degree of freedom around the steering axis.

[0009] In U.S. Pat. No. 6,520,517, the connection between the second rigid body 14 (i.e., the steering handle 20, the steering column 18, and the channel member 28) and the third rigid body (i.e., the front truck 15) is such that the shaft member 26 is fitted within the channel member 28. The pin 30 passes through the leg 32 of the channel member 28 and the shaft member 26 around the pivot axis 31, thereby pivotally coupling the shaft member 26 to the steering column 18. Therefore, the connection between the second rigid body and the third rigid body is understood to be an axially constrained rotational joint between the inner walls of the leg 32 of the channel member 28, providing a single rotational degree of freedom around the pivot axis 31.

[0010] The riding device disclosed in U.S. Pat. No. 6,520,517 has a front fork (i.e., channel member 28) and front hanger (i.e., axle member 26) design that intentionally limits the rotation range of the front truck 15 about the pivot axis 31 and a wide front wheel track to prevent unnecessary contact between the front wheel and the channel member 28, cylindrical member 22 and steering column 18. Summary of the invention

[0011] The unique kinematic and mechanical design of the present disclosure overcomes the limitations of the prior art while preserving and extending the driving dynamics achieved by combined steering.

[0012] As described herein, the front wheel twist steering space mechanism includes a unique motion called "universal rotation", which includes a rigid body connected by a kinematic joint and constrained by wheels on the ground. In particular, the feature of "universal rotation" is that the front hanger and the wheels can preferably rotate 360 ​​degrees around the front hanger pivot axis.

[0013] According to one embodiment of the present disclosure, a riding device for riding on a riding surface includes: a first rigid body, including a deck, a neck, a head tube and a rear truck base with a rear pivot axis; a second rigid body, including a handlebar, a seat tube, a fork steering tube, a fork with a front hanger pivot axis and a front virtual pivot point; a third rigid body, including a front hanger assembly, the front hanger assembly including a front hanger and at least one axle, wherein the axle is connected to two laterally spaced front wheels; a fourth rigid body, including a rear hanger assembly, the rear hanger assembly including a rear hanger, at least one rear hanger pivot bolt, a rear virtual pivot point and at least one axle, wherein the axle is connected to two laterally spaced rear wheels; a rear truck assembly, the rear truck assembly including a rear truck base, an elastic member, a fourth rigid body and a third rotary joint; a first rotary joint connecting the first rigid body and the rear truck assembly. body and a second rigid body, wherein the first rotating joint rotates around the front torsional steering axis for torsional steering movement of the front wheel; a second rotating joint, having universal rotation, connects the second rigid body and a third rigid body, wherein the third rigid body and the connected front wheel universally rotate around the front hanger pivot axis; a third rotating joint connects the first rigid body and a fourth rigid body, wherein the third rotating joint includes a constrained first rear spherical joint and a constrained second rear spherical joint, wherein the first spherical joint and the second spherical joint rotate in unison around the rear hanger pivot axis in a constrained manner to achieve the tilting steering movement of the rear wheel, and wherein the torsional steering movement of the front wheel is independent of the tilting steering movement of the rear wheel; a longitudinal rolling axis along a virtual line between the front virtual pivot point and the rear virtual pivot point, wherein the first rigid body rotates around the longitudinal rolling axis.

[0014] The fork may be shaped to allow the front hanger and the laterally spaced front wheels to universally rotate about the front hanger pivot axis.

[0015] The rear hanger pivot axis may have an angle relative to the riding surface, wherein an increase in the angle increases the lean steering movement.

[0016] The rear hanger pivot axis may have an angle relative to the riding surface, wherein a reduction in the angle reduces the lean steering movement.

[0017] The front fork can have a C-shape, the top of the C-shape is connected to the fork steering tube, the bottom of the C-shape is connected to the front fork shaft, the front fork shaft coincides with the front hanger pivot axis, and the front hanger rotates universally around the front fork shaft at the second rotating joint to make the second rigid body and the connected front wheel rotate universally around the front hanger pivot axis.

[0018] The second swivel joint may include a front hanger, a front fork shaft with a threaded end, a front hanger bearing, and a retaining lock nut.

[0019] The front fork may include a C-shape, the top of the C-shape is connected to the fork steering tube, the bottom of the C-shape is connected to the fork shaft boss coinciding with the front hanger pivot axis, and the front hanger rotates universally around the fork shaft boss at the second rotating joint to allow the second rigid body and the connected front wheel to rotate universally around the front hanger pivot axis.

[0020] The second rotary joint may include a front hanger, a fork shaft boss with a threaded hole, a front hanger compression bearing with an angular thrust surface, an inner radial bearing surface, an outer bearing surface, a compression groove, a retaining bolt and a locking set screw.

[0021] The front fork may include an inverted U-shape having a first fork leg, a second fork leg and a front hanger pivot bolt coinciding with the front hanger pivot axis, wherein the front hanger pivot bolt passes through the first fork leg, through a central pivot hole of the front hanger, and through the second fork leg, wherein the front hanger is universally rotatable about the front hanger pivot bolt at the second rotating joint to allow the second rigid body and the connected front wheel to universally rotate about the front hanger pivot axis.

[0022] Adjusting the connection between the front fork and the front hanger can adjust the tolerance stack-up of the bearing assembly that connects the fork to the front hanger assembly.

[0023] The connection between the front fork and the front hanger may be configured to be adjustable to control the speed and resistance of rotation of the front hanger about the front hanger pivot axis.

[0024] According to another embodiment of the present disclosure, a riding device for riding on a riding surface includes: a first rigid body including a deck, a neck, a head tube and a rear truck base having a rear pivot axis; a second rigid body including a handlebar, an integrated seat tube and fork connected to the steering tube base, and a cantilever shaft coinciding with the front hanger pivot axis, wherein the steering tube base protrudes rearwardly and is connected to the steering tube offset rearwardly from the integrated seat tube and fork, and the cantilever shaft protrudes rearwardly from the integrated seat tube plate and fork and is located below the steering tube base; a third rigid body including a front hanger assembly, the front hanger assembly including a hanger and at least one shaft, wherein the shaft is connected to two laterally spaced front wheels; a fourth rigid body including a rear hanger assembly, the rear hanger assembly including a hanger, at least one rear hanger pivot bolt and at least one shaft, wherein the shaft is connected to two laterally spaced rear wheels; a rear truck assembly, the rear truck assembly including a rear truck base, a spring a rigid component, a fourth rigid body and a third rotation joint; a first rotation joint connecting the first rigid body and the second rigid body, wherein the first rotation joint rotates around a front torsional steering axis for torsional steering movement of the front wheel; a second rotation joint having universal rotation, connecting the second rigid body and the third rigid body, wherein the third rigid body and the connected front wheel universally rotate around a front hanger pivot axis; a third rotation joint connecting the first rigid body and the fourth rigid body, wherein the third rotation joint includes a constrained first rear spherical joint and a constrained second rear spherical joint, wherein the first spherical joint and the second spherical joint rotate in unison around the rear hanger pivot axis in a constrained manner to generate a tilting steering movement of the rear wheel, and wherein the torsional steering movement of the front wheel is independent of the tilting steering movement of the rear wheel; a longitudinal rolling axis along a virtual line between a front virtual pivot point and a rear virtual pivot point, wherein the first rigid body rotates around the longitudinal rolling axis.

[0025] The cantilever axis may coincide with the front hanger pivot axis, and the front hanger is universally rotated about the cantilever axis at the second rotary joint to allow the second rigid body and the connected front wheel to universally rotate about the front hanger pivot axis.

[0026] The integrated seat tube and fork may be configured to contact a portion of the first rigid body to constrain a front torsional steering range about the front steering axis.

[0027] The rear hanger pivot axis may have an angle relative to the riding surface, wherein an increase in the angle increases the lean steering movement.

[0028] The rear hanger pivot axis may have an angle relative to the riding surface, wherein a reduction in the angle reduces the lean steering movement.

[0029] Adjusting the connection between the front fork and the front hanger can adjust the tolerance stack-up of the bearing assembly that connects the fork to the front hanger assembly.

[0030] The connection between the front fork and the front hanger may be configured to be adjustable to control the speed and resistance of rotation of the front hanger about the front hanger pivot axis.

[0031] In this paper, a rigid body is defined so that it does not deform under the action of applied forces.

[0032] A flexible body is defined in this article as an elastic body that couples and constrains the motion of a rigid body so that an input force and displacement are transmitted to an output force and displacement at another location through the deformation of the elastic body. In addition, a compressed or deformed flexible body may generate a return spring force.

[0033] The specific joints that define the resultant degrees of freedom of the rigid body kinematic pairs and rigid body kinematic chains of the present disclosure will be described.

[0034] This article defines a kinematic joint as a frictionless joint.

[0035] The specific geometries of the rigid and flexible bodies and the orientations and relationships of the kinematic joints required to produce the motion of the present disclosure are described herein.

[0036] This article describes constraints on the range of motion of kinematic joints.

[0037] Given that laterally spaced wheels that are in contact with the ground and designed to roll on the ground are common, the kinematic joints connecting the wheels and wheel bearings to the hanger axle will not be counted in the total degrees of freedom of the spatial mechanism in accordance with the present disclosure.

[0038] The ground plane is defined herein as the surface on which laterally spaced wheels roll, with the wheels connected to the ground or surface (ie, riding surface) by gravity. The ground plane is also the fixed frame of a space machine.

[0039] The ground or riding surface is defined herein as any riding surface including, but not limited to, sloped and vertical walls of skate parks, etc.

[0040] A twist steer spatial mechanism is defined herein as a spatial mechanism where a rider input of twisting the handlebars produces a steering response of the front wheel on the ground. A common example of a twist steer is the front wheel of a bicycle or tricycle.

[0041] A lean-steer spatial mechanism is defined herein as a spatial mechanism in which rider input causes the deck and or handlebars to tilt left or right, producing a steering response of the rear wheel on the ground. A common example of lean-steer is the bogie of a skateboard, which typically consists of a pair of kinematic rigid bodies, a base plate rigidly connected to the deck, and a hanger and axle assembly supporting a pair of laterally spaced wheels that roll on the ground. Lean-steer bogies are typically distinguished by kinematic design, geometry, and the design and function of the elastic components.

[0042] The present disclosure discloses a class of front wheel steering having unique kinematics, dynamics and ride dynamics with improved deep deck lean, improved terrain following, improved steering control and improved straight line stability at all speeds. Thus, by providing this combination of functional attributes, the present disclosure is very useful for riders seeking better control at all speeds, especially on uneven and or steep terrain at skate parks and street obstacles.

[0043] The present disclosure includes a ride device with front twist steering and rear lean steering having a unique spatial mechanism that allows the front hanger and front wheel to rotate 360 ​​degrees about the hanger pivot axis, thereby allowing the use of a narrow front wheel track. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 (Prior Art) A front perspective view of a prior art riding device is shown.

[0045] Figure 2 (Prior Art) shows Figure 1 Multiple steering and articulated views of the ride.

[0046] Figure 3 A top view of a riding device of the present disclosure is shown.

[0047] Figure 4 An exploded view of a rigid body according to a first embodiment of the present disclosure is shown.

[0048] Figure 5 A kinematic diagram of a first embodiment of the present disclosure is shown.

[0049] Figure 6 A side view of the first embodiment of the present disclosure is shown with the front hanger and front wheel rotating within the gap of the front fork to illustrate the universal rotational movement of the front hanger and front wheel about the front hanger pivot axis.

[0050] Figure 7 An exploded perspective view of a first embodiment of the present disclosure is shown.

[0051] Figure 8 A side cutaway kinematic diagram of a rear truck assembly according to a first embodiment of the present disclosure is shown.

[0052] Fig. 9 An exploded perspective view of a rear truck according to a first embodiment of the present disclosure is shown, as well as a cross-sectional view of a rear truck base.

[0053] Fig.10 A cross-section of a typical skate park is shown with horizontal surfaces, copings, vertical surfaces, and curved transition surfaces.

[0054] Fig.11A view of the present disclosure is shown with the rear wheel traveling on the level surface of the skate park and the front hanger and front wheel steer along the top of the skate park wall.

[0055] Fig.12 A view of the present disclosure is shown with the rear wheel traveling on the horizontal surface of the skate park and the front hanger and front wheel falling off the top of the skate park wall and turning downward toward the vertical surface of the skate park.

[0056] Fig.13 The bogie and rear wheel of the present disclosure are shown suspended in the air, with the bottom of the deck sliding on top of the wall, and the front hanger and front wheel traveling on the level surface of the skate park.

[0057] Fig.14 An exploded view of a rigid body according to a second embodiment of the present disclosure is shown.

[0058] Fig.15 An assembled perspective view of a second embodiment of the present disclosure is shown with a primary axis of rotation of movement.

[0059] Fig.16 A side view of a second embodiment of the present disclosure is shown wherein the front hanger and front wheel rotate within a front fork clearance with fork legs and illustrating the universal rotational movement of the front hanger and front wheel about the front hanger pivot axis.

[0060] Fig.17 An exploded view of a second embodiment of the present disclosure is shown.

[0061] Fig.18 An exploded view of a rigid body according to a third embodiment of the present disclosure is shown.

[0062] Fig.19 An assembled perspective view of a third embodiment of the present disclosure is shown with a primary axis of rotation of movement.

[0063] Fig. 20 A side view of a third embodiment of the present disclosure is shown with the front hanger and front wheel rotating within the gap between the front fork and the neck to illustrate the universal rotational movement of the front hanger and front wheel about the front hanger pivot axis.

[0064] Fig.21 An exploded view of a third embodiment of the present disclosure is shown.

[0065] Fig. 22 A side view of a fourth embodiment of the present disclosure is shown with the front hanger and front wheel rotating within the gap of the front fork to illustrate the universal rotational movement of the front hanger and front wheel about the front hanger pivot axis.

[0066] Fig.23 An exploded perspective view of a fourth embodiment of the present disclosure is shown having an alternative method of connecting the front hanger to the front fork. DETAILED DESCRIPTION

[0067] The disclosed riding device combines front twist steering and rear tilt steering spatial mechanisms.

[0068] As described herein, the present disclosure is a spatial mechanism having a closed kinematic chain consisting of rigid bodies connected by kinematic joints as shown or others known in the art that allow the same degrees of freedom, functional geometry, and primary motion.

[0069] Spatial mechanisms will allow for different motions depending on the specific kinematic design, the input forces to the mechanism, and how the motion is constrained. As described herein, skateboards, scooters, skates, and wheeled vehicles typically use wheels that are connected to a ground plane by gravity. As used herein, the term "ground" may refer to any riding surface, including but not limited to the inclined and vertical walls of a skate park, etc.

[0070] The present disclosure has a kinematic design such that the loadpaths for input and output forces are shared by the rigid bodies under all conditions of use.

[0071] In the kinematic design of the present disclosure, the specific geometry can be adjusted to accommodate the various steering responses and performance requirements of a variety of lean-to-steer vehicles (such as skateboards, scooters, personal electric mobility devices, etc.).

[0072] All embodiments of the present disclosure share equivalent kinematics, dynamics, and ride dynamics. Therefore, the numbering of all rotation axes and virtual pivot points is the same.

[0073] Despite the differences in the design of rigid bodies and the methods of connection between rigid bodies, the equivalence of kinematics, dynamics, and riding dynamics remains the same.

[0074] As used herein, a revolute joint connects a pair of rigid bodies to allow a single rotational degree of freedom about a common central axis.

[0075] As used herein, a kinematic joint is considered to be frictionless.

[0076] Figure 3 A top view of a first embodiment of the present disclosure is shown, showing a deck 120 having a width and a front hanger having a front wheel track 105. Existing designs typically require a sufficiently wide front wheel track to prevent the rotating front wheel from contacting non-rotating parts of the ride, typically using a mechanical stop to limit rotation of the front hanger about the front hanger pivot axis.

[0077] The present disclosure does not limit the front wheel track. In the present disclosure, the front wheel can rotate 360 ​​degrees about the front hanger pivot axis without contacting non-rotating parts of the ride. The track width is defined as the range between the minimum width required to accommodate the mechanical connection between the hanger and the fork and the widest width required for drivability or aesthetics. The present disclosure allows the front wheel track 105 to be the same size as the deck, narrower than the deck, or wider than the deck.

[0078] Figure 4 Four rigid bodies of the first embodiment of the present disclosure are shown, including a first rigid body 101 , a second rigid body 102 , a third rigid body 103 and a fourth rigid body 104 .

[0079] The first rigid body 101 is composed of a deck 120 , a neck 121 , a head pipe 122 and a rear bogie base 123 .

[0080] The second rigid body 102 is comprised of a handlebar 124, a handlebar riser 125, a fork 126 and a fork steerer tube 127. The shape of the fork 126 allows the front hanger and the laterally spaced front wheels to rotate about the front hanger pivot axis and allows the front hanger and the laterally spaced front wheels to rotate about the front axle axis.

[0081] The third rigid body 103 consists of a front hanger assembly comprising a front hanger 128 and at least one axle 129. The front hanger assembly supports two wheels 160 that are laterally spaced apart.

[0082] The fourth rigid body 104 is composed of a rear hanger assembly, which includes a rear hanger 157, at least one axle and at least one rear hanger pivot bolt. In a preferred embodiment, there may be two rear hanger pivot bolts, namely a first hanger pivot bolt 152a and a second hanger pivot bolt 152b. The rear hanger assembly supports two laterally spaced wheels 160.

[0083] Figure 5 A kinematic diagram is shown, wherein the axes of rotation consist of the front twist steer axis 106, the front hanger pivot axis 107, and the longitudinal roll axis 111. The present disclosure also includes a rear hanger pivot axis 108, a front virtual point 109, a vertical line 116 projecting upward from the center of the rear axle axis 115, a rear virtual pivot point 110, a first rotational joint 112, a second rotational joint 113, a third rotational joint 145, a plane of the riding surface 146, and a hanger pivot axis angle 147. The front twist steer axis 106 rotates about the first rotational joint 112. The front hanger pivot axis rotates about the second rotational joint 113. The rear hanger pivot axis 108 rotates about the third rotational joint 145. The longitudinal roll axis 111 is a virtual straight line between the front virtual pivot point 109 and the rear virtual pivot point 110. The first rigid body rotates about the longitudinal roll axis 111.

[0084] Figure 6 Shown are the front hanger 128 and wheels 160 rotating about the front hanger pivot axis 107. The gimbaled motion allows the wheels 160 to rotate within the provided clearance of the fork 126 so that the pair of front wheels 160 can rotate 360 ​​degrees about the front hanger pivot axis 107 without contacting any part of the fork 126 or any other rigid body. Figure 6 Shows from Figure 5 The position shown is with the wheel 160 rotated 180 degrees.

[0085] Figure 4-Figure 9 The rigid bodies of the present disclosure are shown to be composed of the following parts: A first rigid body 101 is an assembly consisting of a deck 120, a neck 121, a head tube 122 and a rear truck base 123, which are clamped, welded or bolted together. A second rigid body 102 is an assembly consisting of a handlebar 124, a handlebar stem 125, a fork 126 and a fork steering tube 127, which are clamped, welded or bolted together. A third rigid body 103 is an assembly consisting of a front hanger assembly, which is composed of a front hanger 128 having at least one axle 129. The axle 129 supports two laterally spaced front wheels 160. The axle 129 can be made of one or two separate axles. As shown in FIG. Figure 7 As shown, there may be two axles 129 supporting two laterally spaced front wheels.

[0086] The fourth rigid body 104 is a clamped, welded or bolted assembly consisting of a rear hanger assembly consisting of a rear hanger 157, at least one shaft 159 and at least one or optionally two rear hanger pivot bolts 152a and 152b. The shaft 159 can be made of one or two separate shafts. Fig. 9 As shown, there may be two axles 159 supporting two laterally spaced rear wheels. Obviously, these components may be created by any other means known in the art.

[0087] Figure 4-Figure 9A first rigid body 101 is shown connected to a second rigid body 102 by a first rotation joint (headgear rotation joint) 112. The first rotation joint 112 rotates around a front torsion steering axis 106. A second rotation joint (front hanger rotation joint) 113 connects the second rigid body 102 to a third rigid body 103, forming a front hanger pivot axis 107. The second rotation joint 113 provides universal rotation of the third rigid body 103 around the front hanger pivot axis 107. The universal rotation of the second rotation joint 113 connects the second rigid body to the third rigid body, allowing the third rigid body and the connected front wheel 160 to universally rotate around the front hanger pivot axis 107. The universal rotation allows the third rigid body and the connected front wheel 160 to rotate 360 ​​degrees or more around the front hanger pivot axis 107 when the wheels are not in contact with the ground.

[0088] The third rotating joint (rear hanger rotating joint) 145 connects the first rigid body with the fourth rigid body and rotates around the rear hanger pivot axis 108. The third rotating joint 145 includes a constrained first rear spherical joint and a constrained second rear spherical joint. The first spherical joint and the second spherical joint are constrained to rotate in unison around the rear hanger pivot axis 108, generating a tilting and steering motion.

[0089] In a preferred embodiment, the first rotating joint 112 is composed of an upper headgear bearing component 130 and a lower headgear bearing component 131 to form the front twist steering axis 106. The first rotating joint 112 can be made of other bearing assemblies known in the art to form the front twist steering axis 106.

[0090] The fork 126 of the second rigid body 102 is connected to the third rigid body 103 by a second swivel joint (front hanger swivel joint) 113 that rotates around the front hanger pivot axis 107. In a preferred embodiment, the second swivel joint 113 is composed of a front fork shaft 132 with a threaded end 140, front hanger bearings 133a and 133b, and a retaining lock nut 134. Tightening or loosening the retaining lock nut 134 controls the preload of the front hanger bearings 133a and 133b to increase or decrease the tolerance stack of the connection between the front fork 126 and the front hanger 128. Tightening the retaining lock nut 134 results in a greater preload and greater resistance to prevent the front hanger 128 from rotating around the front hanger pivot axis 107. The second swivel joint 113 rotates around the front hanger pivot axis 107. The second swivel joint 113 can be formed by other means known in the art to rotate around the front hanger pivot axis 107.

[0091] The fork 126 has a shape that allows the front hanger 128 and attached front wheel 160 to rotate 360 ​​degrees or more about the front hanger pivot axis 107 so that the front wheel 160 does not contact any portion of the fork 126 when the wheel is not in contact with the ground. One such shape is shown as fork 126. In one embodiment, the fork 126 has a C-shape, where the top of the C-shape (the top of the fork 126) is connected to the fork steerer tube 127. The bottom of the C-shape is connected to the front fork axle. The front fork axle coincides with the front hanger pivot axis, as shown in FIG. Figure 7 As shown. The front hanger is universally rotated about the front fork shaft at the second rotation joint 113. In other words, the front hanger can be rotated 360 degrees or more about the front fork shaft to allow the second rigid body and the connected front wheel to be universally rotated about the front hanger pivot axis. This is defined herein as universal rotation of the second rigid body and the connected front wheel about the front hanger pivot axis so that the wheel does not contact any part of the riding device except for the typical mating contact with the wheel 160 and the axle 129.

[0092] Similarly, the shape of the neck 121 allows the front hanger 128 and attached front wheel 160 to rotate 360 ​​degrees or more about the front hanger pivot axis 107 at all turning points about the front twist steering axis 106 without the wheel 160 contacting any portion of the neck 121 or deck 120.

[0093] The third swivel joint (rear hanger swivel joint) 145 includes and is defined by the constrained motion of the first rear ball joint 117 and the second rear ball joint 118. The rear ball joints 117 and 118 are housed so that when assembled, the rear ball joints 117 and 118 are constrained to rotate in unison about the rear hanger pivot axis 108, producing a lean steering motion.

[0094] The rear ball joints 117 and 118 are located and constrained within the rear truck mount 123. The rear ball joints 117 and 118 are geometrically constrained in two ways. First, the rear ball joints 117 and 118 are contained within the rear truck mount 123 and therefore rotate in a nominally fixed position within the rear truck mount 123. Second, the motion of the rear ball joints 117 and 118 is further constrained by the fourth rigid body 104 (including the rear hanger 157 and the hanger pivot bolts 152a and 152b) so that when assembled, the rear ball joints 117 and 118 are constrained to rotate in unison about the rear hanger pivot axis 108.

[0095] The rear hanger pivot axis 108 can also be understood to be defined by the center of mass of the rear ball joints 117 and 118. Therefore, the rear hanger pivot axis 108 is a fixed part of the geometry of the rear truck base 123.

[0096] The rear hanger pivot axis angle 147 is the angle of the rear hanger pivot axis 108 relative to the plane 146 of the riding surface when the first rigid body 101 is not tilted and the fourth rigid body 104 is not turned.

[0097] The rear hanger pivot axis angle 147 controls the lean steer response of the rear truck assembly 150 such that when the rear hanger pivot axis angle 147 is steeper, typically in the range of 45 to 60 degrees, a faster lean steer response of the rear wheels to the motion of the second rigid body 102 results. Likewise, when the rear hanger pivot axis angle 147 is lower, typically below 45 degrees, a relatively slower lean steer response of the rear wheels to the motion of the second rigid body 102 results. Changing the angle of the rear hanger pivot axis 108 changes the ride dynamics to increase or decrease the lean steer motion or response. The larger the angle, the faster the lean steer motion, and the smaller the angle, the slower the lean steer motion.

[0098] Assembly of the front end of the first embodiment of the present disclosure requires mounting the upper and lower headcup bearing components 130, 131 to the fork steerer tube 127 and the head tube 122 in a conventional manner. In a preferred embodiment, the fork steerer tube 127 passes upward through the lower headcup bearing component 131, the head tube 122, the upper headcup bearing component 130, and the internal compression gasket 136. A fork compression cap 137 is located on the top internal compression gasket 136. A fork compression bolt 138 passes downward through the fork compression cap 137 and is threaded into the fork steerer tube 127. Tightening torque on the fork compression bolt 138 controls the headcup bearing preload adjustment and completes the connection of the first rigid body 101 to the second rigid body 102 via the first swivel joint 112. The handlebar 125 passes downward through a riser clamp 135 to accommodate the internal compression gasket 136. The torque applied to tighten the riser clamp bolts 139 compresses the handlebar riser 125, the internal compression washers 136, and the fork steerer tube 127 to fix the position of the handlebar riser 125 and handlebar 124 relative to the fork 126 and steerer tube 127 and lock the preload adjustment of the upper and lower headgear bearing components 130 and 131. The assembly and connection of the first rigid body 101 to the second rigid body 102 is completed by the first rotational joint 112 defining the front torsion steering axis 106.

[0099] In the preferred embodiment, a further component has a fork shaft 132, whose threaded end 140 passes through the front hanger bearing 133a, the central pivot hole 141 of the front hanger 128, and the front hanger bearing 133b. A locking nut 134 is threaded onto the fork shaft thread 140. The tightening torque on the locking nut 134 controls the front hanger bearing adjustment and completes the connection of the second rigid body 102 to the third rigid body 103 through the second rotary joint 113 defining the front hanger pivot axis 107.

[0100] Figure 6 A front virtual pivot point 109 is shown formed at the intersection of the front axle axis 114 , the front hanger pivot axis 107 , and the front twist steer axis 106 .

[0101] Figure 8 and Fig. 9 A rear bogie assembly 150 is shown. The rear bogie assembly 150 is part of the tilt steering motion and can be used with any of the aforementioned embodiments. The rear bogie assembly 150 consists of a rear bogie base 123, an elastic member 153, a fourth rigid body 104, and a third rotary joint connecting the first rigid body 101 and the fourth rigid body 104.

[0102] The elastic member 153 constrains the rotation of the first rigid body 101 relative to the fourth rigid body 104 about the rear hanger pivot axis 108, thereby providing suspension and return-to-center forces. The elastic member 153 further transmits torque about the rear hanger pivot axis 108 between the first rigid body 101 and the fourth rigid body 104. The suspension, return-to-center and torque functions of the elastic member 153 may be achieved by any means known in the art.

[0103] The rear axle axis 115 is defined by and concentric with the rear axle 159. The rear hanger pivot axis 108 is defined by the two centroid points of the hemispherical bearings 155a and 155b.

[0104] The rear virtual pivot point 110 is formed at the intersection of the rear hanger pivot axis 108 and a vertical line 116 protruding vertically upward from the center of the rear hanger shaft axis 115 .

[0105] The longitudinal roll axis 111 is defined by the front virtual pivot point 109 and the rear virtual pivot point 110 .

[0106] In a preferred embodiment, the rear (tilt steering) truck assembly 150 of the first embodiment of the present disclosure has a rear truck base 123 connected to the deck 120, which is fixed by the top screw 142, the rear truck base transverse bolt 143 and the rear truck base transverse bolt locking nut 144. Further assembly is performed by passing the rear hanger pivot bolts 152a and 152b of the rear hanger 157 upward through the through holes 149a and 149b of the elastic member 153, through the hemispherical bearing surfaces 154a and 154b of the rear truck base 123, and through the hemispherical bearings 155a and 155b. The pivot bolt locking nuts 156a and 156b are screwed onto the rear hanger pivot bolts 152a and 152b to complete the assembly of the rear (tilt steering) truck assembly 150.

[0107] Tightening or loosening the pivot bolt lock nuts 156a and 156b controls the preload of the elastic member 153 which is now sandwiched between the rear truck base 123 and the rear hanger 157.

[0108] The unique kinematic design of the disclosed embodiments allows for unique universal rotational movement of the front hanger 128 and attached front wheel 160 about the front hanger pivot axis 107 .

[0109] Twisting of the handlebars is the rider's input that is directly steered to the front hanger 128 and front wheel 160, wherein gimbaled motion of the front hanger 128 and front wheel 160 about the front hanger pivot axis 107 provides consistent front steering, even during extreme articulation of the front hanger 128 and front wheel 160 about the front hanger pivot axis 107. The shape and provided clearances of components such as the front fork 126, neck 121, or deck 120 ensure that the front hanger 128 and front wheel 160 do not contact a fixed surface of the ride. Thus, all combinations of front twist steering and gimbaled rotation are available without the safety concerns of loss of steering, loss of stability, or unnecessary deceleration that could occur if unwanted contact could occur between the rotating wheel 160 and other rigid bodies of the ride.

[0110] Deck and handlebar tilt side to side is the rider input that rotates the ride device about the longitudinal roll axis, thereby rotating the hanger pivot, producing corresponding steering geometry for the rear (lean steer) truck assembly 150.

[0111] The kinematic design of the present disclosure provides that the motions of the twist steering of the front wheels and the lean steering of the rear wheels are independent of each other, so that the front wheels can be steered to the right or left simultaneously without being interfered by the lean steering of the rear wheels, and vice versa, the rear wheels can be steered to the right or left simultaneously without being interfered by the twist steering of the front wheels. This form of independent twist steering of the front wheels and lean steering of the rear wheels shall be named and defined herein as "hybrid steering technology".

[0112] All embodiments of the present disclosure utilize hybrid steering technology and have a front fork and frame design that allows universal rotational movement of the front hanger about the front hanger pivot axis, which in turn allows the use of a narrow front wheel track.

[0113] Figures 11 to 13 is an example showing that universal rotation combined with a narrow front wheel track allows the front wheel 160 to maintain consistent contact with the riding surface, thereby allowing the front wheel 160 to maintain consistent contact with the riding surface when riding across steep inclined surfaces, ledges, curbs, uneven terrain, etc., or in situations such as Fig.10 Provides improved control and stability as well as precise front steering when on riding surfaces 401, 402, 403 or 404 as shown.

[0114] Figure 14-17A second embodiment of the present disclosure is shown. The second embodiment shares the same kinematic design, dynamics, and riding dynamics as the first embodiment. The second embodiment is also composed of four rigid bodies. The first rigid body 201 is the same as the first rigid body 101 of the first embodiment. Likewise, the fourth rigid body 204 of the second embodiment is shown to be the same as the first rigid body 104 of the first embodiment. The second rigid body 202 is an assembly of a handlebar 209, a handlebar stem 210, a fork 211 having a first fork leg 218a and a second fork leg 218b, and a fork steerer tube 212 clamped, welded, or bolted together. The third rigid body 203 is composed of a front hanger 213 supporting two laterally spaced front wheels 160.

[0115] Figure 14-17 It is shown that the assembly and connection between the rigid bodies 201 and 202 are the same as the first embodiment. In addition, the assembly and connection between the rigid bodies 201 and 204 are the same as the first embodiment. As with the first embodiment, it is obvious that these components can be formed by any means known in the art.

[0116] The fork 211 of the second embodiment has an inverted U-shape. The fork 211 includes a first fork leg 218a and a second fork leg 218b protruding downward. The first fork leg 218a and the second fork leg 218b contain and support the front hanger pivot bolt 219 and the hanger 213. The front hanger pivot bolt 219 coincides with the front hanger pivot axis 107. The front hanger 213 is universally rotated around the front hanger pivot bolt at the second rotary joint to make the second rigid body and the connected front wheel universally rotate around the front hanger pivot axis.

[0117] In a preferred embodiment, a front hanger pivot bolt 219 having a threaded end 221 is passed from the outside of the fork leg 218a through the front hanger bearing 227a, through the center pivot hole of the front hanger 213, through the front hanger bearing 227b, and through the fork leg 218b. A hanger pivot bolt lock nut 220 is threaded onto the threaded end 221 of the hanger pivot bolt 219 to complete the assembly.

[0118] The shape of the fork 211, the first fork leg 218a and the second fork leg 218b allows for universal rotation of the second rigid body and the connected front wheel.

[0119] The front wheel can be universally rotated between the fork legs and about the hanger pivot axis, such as Fig.16107. This is the same as the gimbaling of the front hanger and front wheel about the front hanger pivot axis 107 described in the first embodiment. The wheel 160 does not contact any portion of the fork 211 or fork legs 218a and 218b. Likewise, the shape of the neck 206 and deck 205 allows clearance for gimbaling during all combinations of front twist turns and gimbaling of the front hanger 213 and wheel 160 so that the wheel 160 does not contact any portion of the neck 206 or deck 205.

[0120] Figure 18-Figure 21 A third embodiment of the present disclosure is shown. The third embodiment shares the same kinematic design, dynamics, and similar riding dynamics as the first and second embodiments. The third embodiment is also composed of four rigid bodies. The first rigid body 301 is an assembly consisting of a deck 305, a neck 306, a head tube 307, and a rear truck base 308 that are clamped, welded, or bolted together.

[0121] In contrast to some scooters that have a fork and fork steerer tube that are first independent of the seat tube 125 and then connected to the seat tube 125 , in the third embodiment, the integrated seat tube and fork 310 is provided with a steerer tube 322 .

[0122] The second rigid body 302 is an assembly that is clamped, welded, or bolted together, and is composed of a handlebar 309, an integrated seat tube and fork 310, a steering tube base 311, a steering tube 322, a fork shaft boss 318, and a cantilever shaft 319 with a threaded end 320. The steering tube base 311 protrudes rearward from the integrated seat tube and fork 310 and supports the steering tube 322. The cantilever shaft 319 is connected to the integrated seat tube and fork 310 and protrudes rearward from the integrated seat tube and fork 310. The cantilever shaft 319 coincides with the front hanger pivot axis 107. The cantilever shaft 319 is located below the steering tube base 311, near the bottom of the integrated seat tube and fork 310. The fork shaft boss and the cantilever shaft are located at or near the bottom of the integrated seat tube and fork, as shown in FIG. Fig.21 As shown. The cantilever axis coincides with the front hanger pivot axis 107. Figure 18-Figure 21 As shown, the steering tube 322 is offset rearward from the integrated seat tube and fork 310. The steering tube 322 is offset rearward from the integrated seat tube and fork 310 and is supported by the rearwardly protruding steering tube base 311, as shown in FIG. Figure 18-Figure 21 shown.

[0123] The third rigid body 303 includes a front hanger assembly, the front hanger assembly includes a hanger and at least one axle, wherein the axle is connected to two laterally spaced front wheels.

[0124] The fourth rigid body 304 includes a rear hanger assembly including a hanger, at least one rear hanger pivot bolt, and at least one axle, wherein the axle is connected to two laterally spaced rear wheels, similar to the rear hanger rigid body 104 of the first embodiment.

[0125] Figure 18-Figure 21 Showing the design, assembly and connection of the rigid body 301, the rigid body 302 of the third embodiment differs from the first and second embodiments. The design differs in that the integrated seat tube and fork 310 serves as both the seat tube and fork to support the steering tube 322. When assembled, the sliding compression clamp 323 contains the upper portion of the steering tube 322.

[0126] In a preferred embodiment, assembly of rigid bodies 301 and 302 requires installation of upper and lower headgear bearing components 316 and 317, respectively, within head tube 307 in a conventional manner. Steerer tube 322 is passed upward through lower headgear bearing component 317, through head tube 307, and through upper headgear bearing component 316. Sliding compression clamp 323 is slid downward along integrated seat tube and fork 310 to receive the upper portion of steerer tube 322. Headgear cap 324 is mounted on top of sliding compression clamp 323 and secured by headgear preload bolt 325 threaded into the top of steerer tube 322. Tightening torque on headgear preload bolt 325 provides axial compression of headgear bearing assemblies 316 and 317. Tightening compression clamp bolt 326 secures integrated seat tube and fork 310 and steerer tube 322 to secure headgear adjustment and completes assembly and connection of rigid body 301 to rigid body 302. The handlebar 309 is mounted on top of the seat tube and fork 310 and is secured by handlebar bolts 312 .

[0127] Rigid bodies 301 and 302 are connected to the concentric front twist steering axis 106 via a first rotary joint 112 in the form of a headgear bearing and clamp assembly as described above, or by other means known in the art.

[0128] The front twist steer axis 106 is defined by and coaxially aligned with the steerer tube 322 , the head tube 307 , and the head collar bearing assemblies 316 and 317 .

[0129] The steering tube 322 is offset rearwardly from the integrated seat tube fork tube 310, providing steering restriction through contact between the integrated seat tube fork tube 310 and the neck 306. In this embodiment, the front torsional steering restriction imposes a constraint on the extent of torsional steering. The presence of the front torsional steering restriction on the third embodiment makes it different from the unconstrained front torsional steering of the first and second embodiments of the present disclosure.

[0130] The assembly and connection of the rigid body 302 and the rigid body 303 are the same as those of the first embodiment and are fixed by the locking nut 134 .

[0131] The assembly and connection of the rigid body 301 and the rigid body 304 are the same as those in the first embodiment.

[0132] Figure 22-Figure 23A fork and hanger assembly of a fourth embodiment of the present disclosure is shown. The fourth embodiment shares the same kinematic design, dynamics, and similar riding dynamics as the first, second, and third embodiments. The apparatus has: a first rigid body including a deck, a neck, a head tube, and a rear truck mount; a second rigid body including a handlebar, a seat tube, a fork, and a fork steerer tube; a third rigid body including a front hanger assembly, the front hanger assembly including a hanger and at least one axle, wherein the axle is connected to two laterally spaced front wheels; a fourth rigid body including a rear hanger assembly, the rear hanger assembly including a hanger, at least one rear hanger pivot bolt, and at least one axle, wherein the axle is connected to two laterally spaced rear wheels; a rear truck assembly including a rear truck mount, an elastic member, a fourth rigid body, and a third rotary joint; a first rotary joint connecting the first rigid body to the second rigid body, wherein , a first rotary joint rotates around a front torsional steering axis for torsional steering movement of the front wheel; a second rotary joint has universal rotation, which connects the second rigid body with the third rigid body, wherein the third rigid body and the connected front wheel can be universally rotated around the front hanger pivot axis; a third rotary joint connects the first rigid body with a fourth rigid body, wherein the third rotary joint includes a constrained first rear spherical joint and a constrained second rear spherical joint, and wherein the first spherical joint and the second spherical joint rotate in unison around the rear hanger pivot axis in a constrained manner, thereby generating a tilting steering movement of the rear wheel; wherein the torsional steering movement of the front wheel is independent of the tilting steering movement of the rear wheel.

[0133] Figure 22-Figure 23 A fork 426 is shown connected to a front hanger 428 via a second swivel joint (hanger swivel joint) 113. In a preferred embodiment, the second swivel joint 113 is comprised of a fork shaft boss 432 having a threaded hole 430, a front hanger compression bearing 433 having an angular thrust surface 434, an inner radial bearing surface 435, an outer bearing surface 442 with a compression groove 436, a retaining bolt 438, and a locking set screw 431. As with other embodiments of the present disclosure, the fork 426 has a shape that allows the front hanger 428 and the attached front wheel 160 to rotate 360 ​​degrees about the front hanger pivot axis 107, such that the front wheel 160 does not contact any portion of the fork 426.

[0134] The front fork 426 preferably has a C-shape, wherein the top of the C-shape is connected to the fork steerer tube and the bottom of the C-shape is connected to the fork shaft boss 432. The fork shaft boss 432 coincides with the front hanger pivot axis. The front hanger universally rotates about the fork shaft boss at the second rotation joint to universally rotate the second rigid body and the connected front wheel about the front hanger pivot axis. Therefore, the front hanger can rotate 360 ​​degrees or more about the front fork shaft to universally rotate the second rigid body and the connected front wheel about the front hanger pivot axis so that the wheel does not contact any part of the riding device.

[0135] The preferred embodiment assembly of the fork 426 and hanger 428 includes a front hanger compression bearing 433 that slides onto the fork shaft boss 432. The hanger 428 is then slid onto the hanger compression bearing 433. The bearing 437 is press fit into the hanger recess 441. A retaining bolt 438 passes through the bearing 437 and is threaded into the fork threaded hole 430.

[0136] The retaining bolt 438 controls the rotational speed and resistance of the front hanger about the front hanger pivot axis.

[0137] Tightening the retaining bolt 438 compresses the angular thrust face 434 of the hanger compression bearing 433 between the inner thrust face 440 (not shown) of the hanger 428 and the fork 426. In the compressed state, the hanger compression bearing slot 436 narrows to allow the inner radial bearing face 435 to squeeze the fork shaft boss 432, thereby reducing the tolerance stack-up between the hanger inner thrust face 440, the angular thrust face 434 of the compression bearing 433, the inner radial bearing face 435 and the fork shaft boss 432. By tightening the retaining bolt 438, the gimbal movement of the hanger 428 about the front hanger pivot axis 107 can be adjusted to produce a slow and damped gimbal action. The set screw 431 is screwed into the fork threaded hole 430 and bottomed out at the end of the retaining bolt 438 to lock the adjustment.

[0138] The above description sets forth the best mode for implementing the disclosure described herein. However, this description is susceptible to alternative configurations of the embodiments shown in the drawings and drawings. Therefore, the present disclosure is not intended to be limited to the specific embodiments disclosed. On the contrary, the present disclosure is intended to cover all modifications, dimensions, and alternative configurations that fall within the spirit and scope of the embodiments of the present disclosure.

Claims

1. A riding device for riding on a riding surface, comprising: a first rigid body including a deck, a neck, a head tube, and a rear truck mount having a rear pivot axis; a second rigid body including a handlebar, a seat tube, a fork steerer tube, a fork having a front hanger pivot axis, and a front virtual pivot point; a third rigid body including a front hanger assembly, the front hanger assembly including a front hanger and at least one axle, wherein the axle is connected to two laterally spaced front wheels; a fourth rigid body comprising a rear hanger assembly, the rear hanger assembly comprising a rear hanger, at least one rear hanger pivot bolt, a rear virtual pivot point, and at least one axle, wherein the axle is connected to two laterally spaced rear wheels; A rear bogie assembly, comprising the rear bogie base, an elastic component, the fourth rigid body and a third rotary joint; a first rotating joint connecting the first rigid body and the second rigid body, wherein the first rotating joint rotates around a front torsional steering axis for torsional steering movement of the front wheel; A second rotary joint having universal rotation, wherein the second rotary joint connects the second rigid body and the third rigid body, wherein the third rigid body and the connected front wheel universally rotate around the front hanger pivot axis; the third rotating joint connecting the first rigid body and the fourth rigid body, wherein the third rotating joint comprises a constrained first rear spherical joint and a constrained second rear spherical joint, wherein the first spherical joint and the second spherical joint are constrained to rotate in unison about a rear hanger pivot axis to achieve a tilt steering movement of the rear wheels, and wherein the twist steering movement of the front wheels is independent of the tilt steering movement of the rear wheels; and A longitudinal rolling axis along an imaginary line between the front virtual pivot point and the rear virtual pivot point, wherein the first rigid body rotates about the longitudinal rolling axis.

2. The riding device according to claim 1, wherein: The fork has a shape that allows the front hanger and the laterally spaced front wheels to be universally rotated about the front hanger pivot axis.

3. The riding device according to claim 1, wherein: The rear hanger pivot axis has an angle relative to the riding surface, wherein an increase in the angle increases the lean steering motion.

4. The riding device according to claim 1, wherein: The rear hanger pivot axis has an angle relative to the riding surface, wherein a reduction in the angle reduces the lean steering motion.

5. The riding device according to claim 1, wherein: The front fork includes a C-shape, the top of the C-shape is connected to the fork steering tube, the bottom of the C-shape is connected to the front fork shaft coincident with the front hanger pivot axis, and the front hanger rotates universally around the front fork shaft at the second rotating joint to allow the second rigid body and the connected front wheel to rotate universally around the front hanger pivot axis.

6. The riding device according to claim 5, wherein: The second rotary joint includes the front hanger, the front fork shaft having a threaded end, a front hanger bearing and a retaining lock nut.

7. The riding device according to claim 1, wherein: The front fork includes a C-shape, the top of the C-shape is connected to the fork steering tube, the bottom of the C-shape is connected to the fork shaft boss coincident with the front hanger pivot axis, and the front hanger rotates universally around the fork shaft boss at the second rotating joint to allow the second rigid body and the connected front wheel to rotate universally around the front hanger pivot axis.

8. The riding device according to claim 7, wherein: The second rotary joint includes the front hanger, the fork shaft boss with a threaded hole, a front hanger compression bearing with an angular thrust surface, an inner radial bearing surface, an outer bearing surface, a compression groove, a retaining bolt and a locking screw.

9. The riding device according to claim 1, wherein: The front fork includes an inverted U-shape having a first fork leg, a second fork leg and a front hanger pivot bolt coinciding with the front hanger pivot axis, wherein the front hanger pivot bolt passes through the first fork leg, through the central pivot hole of the front hanger, and through the second fork leg, wherein, at the second rotating joint, the front hanger rotates universally around the front hanger pivot bolt to allow the second rigid body and the connected front wheel to rotate universally around the front hanger pivot axis.

10. The riding device according to claim 1, wherein: The connection between the front fork and the front hanger is adjusted to adjust the tolerance stack-up of a bearing assembly connecting the fork to the front hanger assembly.

11. The riding device according to claim 1, wherein: The connection between the front fork and the front hanger is configured to be adjusted to control the rotational speed and resistance of the front hanger about the front hanger pivot axis.

12. A riding device for riding on a riding surface, comprising: a first rigid body including a deck, a neck, a head tube, and a rear truck mount having a rear pivot axis; a second rigid body including a handlebar, an integrated seat tube and fork connected to a steering tube mount, and a cantilever shaft coinciding with a front hanger pivot axis, wherein the steering tube mount projects rearwardly and is connected to the steering tube, the steering tube is rearwardly offset from the integrated seat tube and fork, and the cantilever shaft projects rearwardly from the integrated seat tube and fork and is located below the steering tube mount; a third rigid body including a front hanger assembly including a hanger and at least one axle, wherein the axle is connected to two laterally spaced front wheels; a fourth rigid body comprising a rear hanger assembly including a hanger, at least one rear hanger pivot bolt, and at least one axle, wherein the axle is connected to two laterally spaced rear wheels; A rear bogie assembly, comprising the rear bogie base, an elastic component, the fourth rigid body and a third rotary joint; a first rotating joint connecting the first rigid body and the second rigid body, wherein the first rotating joint rotates around a front torsional steering axis for torsional steering movement of the front wheel; A second rotary joint having universal rotation, wherein the second rotary joint connects the second rigid body and the third rigid body, wherein the third rigid body and the connected front wheel universally rotate around the front hanger pivot axis; the third rotating joint connecting the first rigid body and the fourth rigid body, wherein the third rotating joint comprises a constrained first rear spherical joint and a constrained second rear spherical joint, wherein the first spherical joint and the second spherical joint are constrained to rotate in unison around a rear hanger pivot axis to generate a tilting steering movement of the rear wheels, and wherein the twisting steering movement of the front wheels is independent of the tilting steering movement of the rear wheels; and A longitudinal rolling axis along an imaginary line between the front virtual pivot point and the rear virtual pivot point, wherein the first rigid body rotates about the longitudinal rolling axis.

13. The riding device according to claim 12, wherein: The cantilever shaft coincides with the front hanger pivot axis, and the front hanger is universally rotated around the cantilever shaft at the second rotary joint so that the second rigid body and the connected front wheel are universally rotated around the front hanger pivot axis.

14. The riding device according to claim 12, wherein: The integrated seat tube and fork is configured to contact a portion of the first rigid body to constrain a range of front torsional steering about a front steering axis.

15. The riding device according to claim 12, wherein: The rear hanger pivot axis has an angle relative to the riding surface, wherein an increase in the angle increases the lean steering motion.

16. The riding device according to claim 12, wherein: The rear hanger pivot axis has an angle relative to the riding surface, wherein a reduction in the angle reduces the lean steering motion.

17. The riding device according to claim 12, wherein: The connection between the front fork and the front hanger is adjusted to adjust the tolerance stack-up of a bearing assembly connecting the fork to the front hanger assembly.

18. The riding device according to claim 12, wherein: The connection between the front fork and the front hanger is configured to be adjusted to control the rotational speed and resistance of the front hanger about the front hanger pivot axis.

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