U.S. patent application number 14/846173 was filed with the patent office on 2016-01-28 for gimbal assembly for tool support.
This patent application is currently assigned to Garrett W. Brown. The applicant listed for this patent is Garrett W. Brown. Invention is credited to Garrett W. Brown, Anthony D. Sacksteder.
Application Number | 20160023348 14/846173 |
Document ID | / |
Family ID | 40468279 |
Filed Date | 2016-01-28 |
United States Patent
Application |
20160023348 |
Kind Code |
A1 |
Brown; Garrett W. ; et
al. |
January 28, 2016 |
GIMBAL ASSEMBLY FOR TOOL SUPPORT
Abstract
A supporting and orienting apparatus for balancing tools. An
inner gimbal portion holds and balances a tool and is rotationally
disposed within an outer gimbal portion. An outer gimbal portion is
rotationally attached to a yoke. The yoke is rotationally attached,
either directly or indirectly to an additional apparatus component
to provide at least three degrees of freedom.
Inventors: |
Brown; Garrett W.;
(Philadelphia, PA) ; Sacksteder; Anthony D.;
(Philadelphia, PA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Brown; Garrett W. |
Philadelphia |
PA |
US |
|
|
Assignee: |
Brown; Garrett W.
Philadelphia
PA
|
Family ID: |
40468279 |
Appl. No.: |
14/846173 |
Filed: |
September 4, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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12677179 |
Aug 16, 2010 |
9156154 |
|
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PCT/US2008/076331 |
Sep 13, 2008 |
|
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14846173 |
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60972979 |
Sep 17, 2007 |
|
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Current U.S.
Class: |
248/648 ;
248/661 |
Current CPC
Class: |
B25H 1/0021 20130101;
B25H 1/0028 20130101; B25H 1/10 20130101 |
International
Class: |
B25H 1/00 20060101
B25H001/00; B25H 1/10 20060101 B25H001/10 |
Claims
1. A support and orienting apparatus comprising: an inner gimbal
ring having a tool grasping device adapted to selectively secure
tools of different shapes and sizes by being adapted to grasp tools
at different locations to balance them; the inner gimbal ring
having a circumferential peripheral track; an outer gimbal ring
disposed concentrically with and outside of the inner gimbal ring;
the outer gimbal ring having at least three roller wheels
operatively and complementary fit to the track and adjustably
engageable therewith such that the inner gimbal portion rotates
within the outer gimbal portion about a first axis; the roller
wheels having axes of rotation parallel to the first axis; the
outer gimbal ring comprising segments connected by a hinge having
an axle, the hinge axle being parallel to the first axis; the outer
gimbal ring connected to a yoke structure, the yoke structure
having a yoke rotatable with the outer gimbal about a second axis;
and the yoke rotatably connected about a third axis to one of
either a yoke support or articulating arm; wherein the first axis,
second axis and third axis are approximately mutually
perpendicular.
2. The support and orienting apparatus of claim 1 wherein the yoke
is rotatably attached to the yoke support, the apparatus further
comprising: an articulating arm attached by a rigid component to
the yoke support, the articulating arm having at least one
equipoising segment.
3. The support and orienting apparatus of claim 2 wherein the rigid
component is rotatable with respect to the articulating arm about a
fourth axis.
4. The support and orienting apparatus of claim 1 having a tool
securing device comprising at least three set screws extending
radially inward from the inner gimbal ring and positioned to
appropriate lengths to engage accessible portions of the tool
structure and permit a radial offset in a direction that
compensates for any irregularity in the axial center-of-balance of
the tool.
5. The support and orienting apparatus of claim 1 wherein the hinge
has a threaded bolt adapted to adjust clearance between the outer
gimbal ring and the inner gimbal ring to provide the adjustable
engagement between the track and roller wheels.
6. The support and orienting apparatus of claim 1 further
comprising: pivot mounting ears extending from the outer gimbal
ring to offset the pivotal attachment point of the outer gimbal
ring to the yoke from the plane of the outer gimbal portion.
7. The support and orienting apparatus of claim 6 wherein the pivot
ears are adjustable to vary the offset amount.
8. A method of using a support and orienting apparatus comprising:
providing a support and orienting apparatus according to claim 1;
securing a tool within the inner gimbal portion so it is balanced;
using the tool to accomplish a task.
Description
[0001] This application is based on, and claims priority to, U.S.
Provisional Application No. 60/972,979, filed Sep. 17, 2007,
entitled Removable Gimbal for Tool Support; International
Application No. PCT/US2008/076331, filed Sep. 13, 2008 entitled
Gimbal Assembly for Tool Support, and U.S. application Ser. No.
12/677,179, filed Aug. 16, 2010, entitled Gimbal Assembly for Tool
Support.
FIELD OF THE INVENTION
[0002] Illustrative embodiments of the invention relate to
equipment for supporting and orienting objects such as tools.
BACKGROUND OF THE INVENTION
[0003] In many industrial and business environments, workers are
often required to repetitively lift, position and orient tools,
sometimes of significant weight, and deploy them anywhere within
the reach of their arms, from low to overhead to extend out in
front. The resulting stresses, particularly from overhead usages,
or near-full extension of the arm, are a common cause of
work-related shoulder and forearm injuries.
[0004] Ergonomic equipment supports are known in the art, including
`tool balancers` that suspend tools on wires from retractable
reels. Tool balancers require unobstructed access to overhead,
usually fixed, attachment points, which tend to restrict the users
lateral freedom of movement. Also, since the tools usually dangle
in a bottom heavy condition from crude attaching eyelets,
maintaining a desired angular orientation is impeded. Even those
few balancer installations that connect to annular bearings around
the tool body are still restrictive of other axes of freedom.
Furthermore, they can only be installed on tools of a cylindrical
construction that permit the unobstructed passage of the inner
bearing race along the tool body to the desired point of
attachment. Importantly, such balancers cannot be used at all for
work locations that are inaccessible to overhead support, such as
underneath cars on assembly lines.
[0005] Articulated support arms that do not require overhead
mounting exist for supporting cameras and medical devices such as
x-ray machines. Some may include two or three-axis gimbal
attachments to provide angular freedom between the arm and the
supported equipment, but these gimbal designs are not appropriate
for the majority of tool configurations and/or conditions of use.
Additionally, the center-of-gravity of a given tool is often
located within a non-cylindrical section of the tool body, which
may be inaccessible to the sliding installation of a bearing of
appropriate size. Conventional gimbals also cannot be conveniently
and quickly removed to facilitate the use of the tool in a separate
location, or the rapid replacement of the tool with another. The
use of conventional three-axis gimbals would mandate a
proliferation of expensive supporting and orienting means, each
adapted to a different tool, to be located within the same
workplace or production line station.
[0006] Accordingly, there is a need for versatile, ergonomic, and
angularly agile tool support systems, which can accommodate tools
of various sizes, shapes, configurations and internal distributions
of mass. There is also a need for a support system allowing the
quick replacement and substitution of tools within the local
workplace, without cluttering the tools with redundant and
expensive affixed hardware.
[0007] What is needed is a quickly removable gimbal attachment,
adaptable to be mounted around the tool's center-of-mass, and that
provides substantially unrestricted angular freedom for orienting
and positioning a variety of tools, but is preferably not bulky or
expensive.
[0008] What is also needed is an angularly agile tool mount that
can accommodate a tool around its center of mass, even if
obstructions, bends, bulges or projections prevent the sliding
installation of a conventional, unitary bearing assembly.
SUMMARY OF THE INVENTION
[0009] Illustrative embodiments of the invention are directed to a
supporting and orienting apparatus that is angularly agile and can
balance the weight of tools, and that preferably permits quick tool
or tool component replacement or substitution. Particular
embodiments of the invention can be installed around tool-body
locations that preclude the use of traditional tool mounts
providing rotational freedom.
[0010] Embodiments of the invention provide a support and orienting
system for tools or other objects. "Tools" is used herein in a
broad sense and includes various types of equipment, instruments
and devices.
[0011] Illustrative embodiments of the support and orienting system
include a device into which a tool is secured. The securing device
is an inner portion of a gimbal or similar device. The securing
device with the tool held therein, is inserted into an outer gimbal
portion or analogous structure allowing the tool, along with the
securing device, to rotate therein. The rotation can be
accomplished in a number of ways, but generally requires
complementary rotational components disposed on the device to which
the tool is secured and the component into which the tool securing
device is inserted.
[0012] Additional axes of rotation can be provided by pivotally
securing the gimbal assembly to a yoke. The yoke can then be
pivotally secured to an articulated support arm. The articulated
support arm allows the tool to be positioned over an area of reach
of the support arm. This freedom of movement, together with the
various axes of rotation, allows the tool to be positioned in
locations and orientations analogous to those attainable without
the support system when a user is stationed in that area.
Preferably the support arm has an upwardly biasing force to act
against the force of gravity. Thus, the advantage of the support
system is that it reduces the effective weight being lifted or
moved by the user, while still allowing the freedom of movement
necessary to operate or utilize the tool.
[0013] The tool securing device can be designed to be readily
removable from the complementary outer component to allow easy
replacement of tools or components thereof. This can be
accomplished for example, by providing an outer component that is
segmented into arcuate pieces and hinging at least two adjacent
segments together. Thus, the receptacle can be opened to lift the
tool together with its securing device out of the outer
component.
[0014] The invention also includes methods of utilizing tools and
relieving workplace stresses by providing a support and orienting
system.
DESCRIPTION OF THE DRAWINGS
[0015] For further detail regarding illustrative embodiments of the
invention, reference is made to the detailed description provided
below, in conjunction with the following illustrations:
[0016] FIG. 1a depicts a `squeezer` rivet tool mounted in a gimbal
assembly attached to an articulated support arm shown at nearly its
highest position according to an illustrative embodiment of the
invention.
[0017] FIG. 1b shows a gimbal with a bucking bar mounted within an
inner gimbal portion, which is rotatable within a wheeled outer
gimbal portion that is pivotally attached to a gimbal yoke that is
itself pivotable around an additional axis according to an
illustrative embodiment of the invention.
[0018] FIG. 2a depicts a four-section inner gimbal portion assembly
including a grooved central track to accept roller wheels of an
outer gimbal portion according to an illustrative embodiment of the
invention.
[0019] FIG. 2b shows a separated two-section, outer gimbal portion
including roller wheels, yoke pivots and gimbal yoke according to
an illustrative embodiment of the invention.
[0020] FIG. 3a shows an assembled two-section inner gimbal portion
with circumferential track and mounted at the center of balance of
a bucking bar by means of a plurality of set screws according to an
illustrative embodiment of the invention.
[0021] FIG. 3b shows a sectional inner gimbal portion mounted to
the irregular surfaces of a rivet squeezer, also by means of a
plurality of set-screws according to an illustrative embodiment of
the invention.
[0022] FIG. 4a depicts a hinged gated outer gimbal portion shown in
the open position, with its sectional inner gimbal portion assembly
removed according to an illustrative embodiment of the
invention.
[0023] FIG. 4b shows a hinge offset beyond the centerline yoke
pivot location according to an illustrative embodiment of the
invention.
[0024] FIG. 5a depicts a V-shaped roller wheel mounted within an
outer gimbal portion and engaging and capturing an inner gimbal
portion groove according to an illustrative embodiment of the
invention.
[0025] FIG. 5b shows a gated embodiment of a gimbal assembly
including inner gimbal portion, outer gimbal portion with hinge and
clamp, interconnecting wheels and doubly pivoting gimbal yoke
according to an illustrative embodiment of the invention.
[0026] FIG. 6 shows a gimbal assembly including a hinged, clamping
outer gimbal portion gate according to an illustrative embodiment
of the invention.
[0027] FIG. 7 shows a gimbal assembly including `ears` to offset
outer gimbal portion pivot locations to coincide with a tool's
center-of-balance according to an illustrative embodiment of the
invention.
[0028] FIGS. 8a and 8b depict a gimbal employing segmented inner
and outer gimbal portions and captured ball bearings inserted
between them according to an illustrative embodiment of the
invention.
[0029] FIG. 9 depicts a gimbal assembly according to a further
illustrative embodiment of the invention.
DETAILED DESCRIPTION OF THE INVENTION
[0030] Illustrative embodiments of the invention offer a support
and orienting apparatus that can provide numerous degrees of
freedom. Preferably, one or more of the system's elements are
modular, sectional, removable and/or capable of disassembly in
order to provide mounting flexibility and/or interchangeability, as
well uncluttered access to the tool.
[0031] FIG. 1a depicts a tool support system according to an
illustrative embodiment of the invention. A `squeezer` rivet tool 2
is shown mounted in a gimbal assembly 1 attached to an articulated
support arm 8, shown at nearly its highest position. For many
applications it is preferable that the gimbal assembly is removable
from the articulated support arm 8 and/or that various parts within
the assembly are detachable from one another, particularly in a
readily removable manner. Rivet tool 2 is captured at nearly its
longitudinal center of balance within gimbal assembly 1. Balancing
component 11 provides a balance adjustment so the tool can be
balanced around a line between outer gimbal portion pivot locations
6 on yoke 4. The balancing component can be adjustable, such as by
including substitutable weights or an adjustment to the weight's
location, to effectively adjust the center of mass of the tool.
Inner gimbal portion 9, as more clearly seen in FIG. 1b, rotates by
engaging a plurality of roller wheels 16 (see FIG. 2b) preferably
attached symmetrically around the inner surface of outer gimbal
portion 7, and also pivots around outer gimbal portion pivots 6 and
in an additional plane via yoke pivot 5.
[0032] Advantageously, the angular freedom created by the movement
of the inner gimbal portion within the outer gimbal portion allows
the user to orient the tool by rotation of the user's wrist and/or
arm, closely mimicking unsupported tool use. This added degree of
freedom greatly enhances the benefits of the support system. The
swiveling action of yoke mounting socket 22 around arm mounting
post 23 provides an additional degree of freedom. Therefore, as can
be seen in FIG. 1b, a total of four axes of angular freedom for
tool 2 are provided in this embodiment. Additional degrees of
freedom can be provided by adding pivotally connected components at
various locations. In a preferred embodiment of the invention, the
combination of the gimbal and the support arm permits positioning
and orientation of a heavy tool almost anywhere within reach of the
operator's arms, and in almost any direction, with only fingertip
pressure, and relieves the continual strain of supporting and
accurately pointing a burdensome object. Although some aspects of
the invention are described with respect to heavy objects,
embodiments of the invention can be used for relatively lightweight
tools.
[0033] FIG. 1b shows a tool support according to an illustrative
embodiment of the invention. A gimbal assembly 1 is mounted by
means of yoke socket 22 to arm mounting post 23, which is attached
to articulated support arm 8 (partially visible). A `bucking bar` 3
is mounted within inner gimbal portion 9 by means of a plurality of
mounting set screws 10, which engage bucking bar 3 at approximately
its longitudinal center of balance. Inner gimbal portion 9 is
preferably arcuately segmented to facilitate insertion of a tool.
For certain applications it may not be necessary to segment inner
gimbal portion 9.
[0034] Inner gimbal portion 9 is rotatable within wheeled outer
gimbal portion 7. The wheels provide freedom of movement of inner
gimbal portion 9 within outer gimbal portion 7. This effect can
also be achieved with the wheels positioned on inner gimbal portion
9 and engaged with a race in outer gimbal portion 7. Other
mechanisms to provide freedom of movement can be used, such as ball
bearings or low friction materials. An example of use of a low
friction material includes a circumferential channel on the inner
surface of outer gimbal portion 7, with a complementary ridge on
the outer surface of inner gimbal portion 9, or vice versa, wherein
the channel and/or ridge are fabricated of a low friction material
such as Teflon.RTM..
[0035] FIG. 1b shows outer gimbal portion 7 pivotally attached via
outer gimbal portion pivot 6 to gimbal yoke 4, which is itself
pivotable around an additional axis by means of yoke pivot 5. This
combination enables a worker to position and precisely orient the
bucking bar (which provides reactive mass to counter the impact of
rivet-pounding tools).
[0036] Turning now to FIGS. 2b and 4a, viewed in conjunction with
FIG. 1b, replacement of the bucking bar will now be explained. In
an illustrative embodiment of the invention, support arm 8 can be
`docked`, for example by engaging a conventional pin and socket.
The bucking bar 3 can be tilted to lie horizontally in outer gimbal
portion major section 14 (see FIGS. 2b and 4a). By unclamping the
gated minor section 15 of outer gimbal portion 7 and swinging it
open on its hinge, bucking bar 3 with its inner gimbal portion 9
attached can be lifted out and quickly replaced by a version with a
different profile, for example, but with its own pre-mounted inner
gimbal portion.
[0037] FIG. 2a shows an inner gimbal portion assembly 9 according
to an illustrative embodiment of the invention, adapted to be
either clamped, by radial clamping screws 12 and/or a plurality of
mounting set screws 10, so that even an irregularly-shaped tool can
be securely attached to the assembly. Track groove or race 19
captures roller wheels 16 associated with outer gimbal portion 7,
to allow inner gimbal portion 9 to rotate freely within outer
gimbal portion 7 while being held in place. Pinch grooves 13 can be
provided to prevent resilient material disposed on a tool from
bulging between inner gimbal portion segments and interrupting the
rolling integrity of inner gimbal portion 9 within outer gimbal
portion 7. The track rollers or wheels should have slightly smaller
sectional diameters than the corresponding track grooves in which
they are to ride.
[0038] FIG. 2b depicts a gimbal assembly 1 according to an
illustrative embodiment of the invention, showing major outer
gimbal portion segment 14 and minor outer gimbal portion gate 15 in
an opened position. Clamp screws 18 (only one shown) attach outer
gimbal portion segments 14, 15 to one another at clamp screw
locations 18a.
[0039] Note that one or more over-centers clamps 25 (see FIG. 6),
of the sort that seal `Mason Jars` could be employed, optionally in
conjunction with a hinge to permit instantaneous opening of the
outer gimbal portion gate and substitution of other tools fitted
with appropriate inner gimbal portions. Other closing mechanisms
that allow removal of inner gimbal portion 9 with the tool are
within the spirit and scope of the invention. Preferably the
mechanism allows easy opening and closing, but additional
mechanisms may be useful or necessary depending in part on the type
of tool and the use of the tool.
[0040] A plurality of roller wheels 16, turn on axles 17 and engage
a track groove 19 of an inner gimbal portion to permit rotation of
the inner gimbal portion. Yoke 4 is attached to outer gimbal
portion 7 at pivot locations 6 by for example screws, as can be
seen in FIG. 1b, which pass through pivot bearings within the
extremities of yoke 4.
[0041] FIG. 3a is an illustrative embodiment of a tool positioned
in an inner gimbal portion assembly. FIG. 3a shows an assembled
inner gimbal portion 9 with machined peripheral track 19, mounted
at the longitudinal center of balance of bucking bar 3 by means of
a plurality of set screws 10 positioned to appropriate lengths to
engage accessible portions of the tool structure and, preferably,
to permit any radial offset of the inner race track 19 in a
direction that compensates for any irregularity in the axial
center-of-balance of the tool--in this case caused by the central
notch of missing steel in the construction of the bucking bar.
[0042] FIG. 3b shows an illustrative embodiment of a portion of a
sectional inner gimbal portion 9 mounted to the irregular surfaces
of a rivet squeezer 2, by means of a plurality of set-screws 10.
Circumferentially spaced rollers 16, turning on axles 17 mounted
within notches in outer gimbal portion 7 engage a track in inner
gimbal portion 9 to permit free rotation of rivet tool 2 within
outer gimbal portion 7. Outer gimbal portion 7 consists of major
segment 14 and minor segment 15 hinged together at gate hinge axle
20 to permit removal of rivet squeezer 2 together with the attached
inner gimbal portion 9. Yoke 4 is pivotally engaged with outer
gimbal portion 7 at yoke pivot locations 6.
[0043] FIG. 4a shows an illustrative embodiment of a gated outer
gimbal portion 7 in an opened position, with its inner gimbal
portion 9 removed. Gate section 15 can be unclamped from major
section 14 and/or released by a screw fastening at screw location
18a to swing aside, as shown, around gate hinge axle 20, to permit
removal of inner gimbal portion 9 and any associated tool. Roller
wheels 16, turning on axles 17 engage track groove19. When gate
section 15 is in an open position, inner gimbal portion 9 can be
removed from the apparatus as shown. Strategic bevels to the inner
edges of segment 14 can be incorporated to facilitate removal of
inner gimbal portion 9.
[0044] FIG. 4b depicts hinge axle 20 according to an illustrative
embodiment of the invention. Outer gimbal portion minor segment 15
is shown in a position extended beyond the centerline that extends
between the yoke pivot locations 6. Thus, outer gimbal portion
segment 14 can pivot within yoke 4 even if minor outer gimbal
portion segment 15 is swung aside. Gate hinge threaded eyebolt 21
permits gimbal portion segment 15 to be rotated in full-turn
increments to adjust the diametric clearance between outer 7 and
inner gimbal portion 9, and alter the tightness of engagement of
wheels 16 with inner gimbal portion groove 19.
[0045] FIG. 5a depicts an illustrative embodiment of a roller wheel
16 mounted within outer gimbal portion 7 on axle 17 and engaging
and capturing inner gimbal portion track groove 19. Inner gimbal
portion 9 is shown attached to rivet tool 3 by means of a plurality
of set screws 10.
[0046] FIG. 5b shows an illustrative embodiment of a gimbal
assembly 1. Inner gimbal portion 9 is disposed within outer gimbal
portion 7. Outer gimbal portion 7 has hinge 20 to allow opening and
closing of the gimbal portion. Wheels 16 are shown in this
embodiment projecting from the exterior of outer gimbal portion 7
however, they may be situated flush with, or within the outer
diameter of outer gimbal portion 7. The latter arrangements can
provide protection of the wheels. Yoke 4 is shown pivotally
connected to outer gimbal portion 7 at outer gimbal portion pivot
locations 6 and to mounting socket 22 at yoke pivot 5.
[0047] Inner and outer gimbal portions 7 and 9 pivot around pivot
axles 6 and pivot axis 5, which in this illustrative embodiment of
the invention are about perpendicular to one another. Thus, gimbal
assembly 1 provides three axes of angular freedom for a tool
mounted within inner gimbal portion 9, not including any additional
pivot points present, such as at the attachment point of gimbal
assembly 1 to a support arm. Gimbal assembly 1 can be pivotally
connected to a support arm (such as is shown in FIGS. 1a and 1b) by
a yoke mounting socket 22 to provide the additional degree of
angular freedom for the tool and associated gimbal assembly. Other
attachment mechanisms can also be used. For example, the yoke
structure may have a mounting post that fits within a mounting
socket contained in the support arm or a mounting block attached
thereto.
[0048] FIG. 6 shows an illustrative embodiment of a gimbal assembly
1 including a hinged, outer gimbal portion gate having a minor
outer gimbal portion segment 15 hinged to major outer gimbal
portion segment 14 by hinge 29. Outer gimbal portion segments 14
and 15 are clamped together by an over-centers gate clamp assembly
25 having a gate clamp latch 26 engaged by clamp catch 28 and drawn
tightly by clamp lever 27 in the manner of the well-known `Mason
jar` wire sealing clamps. Shown here in the unclamped mode, gate
segment 15 can be swung away releasing an inner gimbal portion,
having a tool encased therein, from engagement with roller wheels
16. When the tool and attached inner gimbal portion are
re-installed, gate 15 can be swung shut and quickly clamped closed.
Other clamps are within the spirit and scope of the invention,
provided they can withstand any stresses created by tool and use of
the apparatus.
[0049] FIG. 7 shows an illustrative embodiment of gimbal assembly 1
including pivot-mounting `ears` 31 attached to outer gimbal portion
major segment 14 or integral therewith. Pivot-mounting ears offset
outer gimbal portion pivot locations 6 from the plane of outer
gimbal portion 7 and coincide with centerline 30 in the event the
center-of-balance of a tool is displaced from a possible mounting
location with respect to an inner gimbal portion. In this
embodiment, spring pins 41 engage pivot axis axle bearings 42, and
if pulled apart also permit gimbal yoke 4 to be quickly
removed.
[0050] FIGS. 8a and 8b are cross-sections of an illustrative
embodiment of a gimbal employing ball bearings to facilitate
rotation of segmented inner and outer gimbal portions 9 and 7 with
respect to one another. Inner and outer gimbal portions 9 and 7 may
or may not be segmented in alternative embodiments of the
invention. Outer gimbal portion 7 has a groove 39 disposed therein
to accommodate ball bearings 36. Inner gimbal portion 9 has a
groove 40 disposed therein, to accommodate ball bearings 36. The
diameters of grooves 39 and 40 are slightly larger than the
diameter of ball bearings 36, so ball bearings 36 can freely rotate
therein with a minimum of amount wobbling. Ball bearing profiles 34
shown as dotted circles, indicate the position of ball bearings
captured between gimbal portions 9 and 7 prior to final tightening.
To install the assembly, inner gimbal portion 9 is positioned at
the appropriate location on a tool body and secured using a
clamping mechanism such as inner gimbal portion clamp screws 37
and/or set screws (such as shown in FIG. 2a). Inner gimbal portion
9, with tool in place, is positioned and aligned with outer gimbal
portion 7. Outer gimbal portion 7 is then partly tightened, for
example by using outer gimbal portion clamp screws 38, so that ball
bearing insertion notches 35a and 35b coincide with one another and
yet are sufficiently apart to permit insertion of the ball
bearings. Once final ball bearings 36 are inserted, clamp screws 38
can be tightened, reducing the size of the opening formed by
notches 35a and 35b, thereby retaining the ball bearings in a
channel formed between gimbal portions 7 and 9. The channel in
which the ball bearings are contained is shown by dotted lines 32
and 33. This configuration of gimbal portions and ball bearings
permits relative rotation of inner gimbal portion 9 and outer
gimbal portion 7. In the illustrative embodiment shown in FIG. 8a,
both the inner and outer gimbal portions would be secured to the
tool, and this entire structure is intended to be removed for tool
replacement. This can be achieved for example, using an easily
releasable gimbal yoke attachment, such as by pivot extension ears
and spring pins (shown for example in FIG. 7). It is possible to
utilize ball bearings in a configuration wherein the inner and/or
outer gimbal portions can be disengaged without removal or loss of
the ball bearings. The outer gimbal portion can have ball bearings
trapped therein in the inside circumference and the inner gimbal
portion can have a complementary track on its outer circumference,
or vice versa.
[0051] FIG. 9 depicts a gimbal assembly 108 according to an
illustrative embodiment of the invention wherein an alternative to
pivot-mounting `ears` 31 (shown in FIG. 7) is provided. In both
instances the pivot mounting ears offset the outer gimbal portion
pivot locations from the plane of the outer gimbal portion. The
pivot ears 102, shown in FIG. 9 however, include an adjustment
mechanism to vary the position of the tool holder with respect to
the yoke. The mechanism shown in FIG. 9 includes threaded members
104 attached to blocks 106. Blocks 106 are disposed on opposite
sides of gimbal assembly 108. Threaded members 104 can be
lengthened or shortened by rotating them with respect to blocks
106. Threaded members 104 are pivotally attached to yoke 112 at
pivot locations 114. In this particular embodiment of the
invention, threaded members 104 are inserted into blocks 106 and
adjusted to the desired length. Blocks 106 are then attached to
gimbal assembly 108 by screws 110. The particular embodiment of the
invention shown in FIG. 9 has axle mounting locations 116
(partially shown) on blocks 106 to allow gimbal assembly 108 to be
disposed within yoke 112 such that the pivot axis extends through
outer gimbal portion 118, rather than it being offset using
threaded members 104. Other mechanisms for displacing outer gimbal
portion 118 away from the pivot axis are within the scope of the
invention. For example, telescoping mechanisms with appropriate
stops and locking mechanisms can be used.
[0052] FIG. 9 also depicts yoke arm extension members 120. Yoke arm
extension members 120 function in a similar manner to threaded
members 104, and also can be substituted with other extension
mechanisms such as telescoping extensions. The offsets provided by
threaded members 104 and extension members 120 can facilitate
installation and use of tools of sizes and shapes that are not
compatible with the non-extended yoke arms or the gimbal assembly
in its non-offsetted position.
[0053] FIG. 9 also depicts a yoke mounting mechanism 122 having a
first end attached to yoke 112 and a second end attached to an
articulating arm or part intermediate thereto. Yoke mounting
mechanism 122 comprises two attachment parts 124, 126 which either
separate completely from one another or are hinged together, so
they can be positioned to encircle the top bar 128 of yoke 112. A
screw 130 or other fastener secures yoke mounting mechanism 122 to
yoke 112. It is also possible for yoke mounting mechanism 112 to
slide on to yoke top bar 128. Yoke mounting mechanism 112
optionally pivots at location 132. If no pivot is provided on yoke
mounting mechanism 112, the yoke can be pivotally connected to an
articulating arm or intermediate component to obtain an analogous
degree of freedom.
[0054] A number of embodiments of the invention will now be
generally described. In illustrative embodiments of the invention,
the support and orienting apparatus will comprise a tool holder
(such as inner gimbal portion 9) to secure the tool within the
apparatus. To provide freedom of movement of the tool analogous to
arm and wrist rotation for example, the secured tool will rotate
within an outer component (such as outer gimbal portion 7). The
inner and outer gimbal portions each have a rotation component
complementary to one another that allows or facilitates the inner
gimbal portion rotating within the outer gimbal portion. An example
of complementary rotation components are inner gimbal portion race
19 ("first rotation component") and outer gimbal portion wheels 16
("second rotation component"). The receptacles are preferably
designed to facilitate removal or replacement of tools or tool
components. Various configurations can be used to accomplish this,
such as the arcuate segmenting shown in the figures (for example
major and minor segments 14 and 15, respectively). The number of
segments and the means for attaching them to one another can vary,
provided they withstand the anticipated application of the device.
Quick release, or hand-removable attachment mechanisms lend
themselves well to the goal of easy tool replacement. As shown in
FIG. 4a, for example, segments of the outer gimbal portion can be
hinged. Hinging can also be used for the inner gimbal portion.
[0055] The inner gimbal portion will have a tool grasping mechanism
such as set screws or clamps. Any mechanism that adequately secures
the tool in the inner gimbal portion is within the scope and spirit
of the invention.
[0056] The inner and outer gimbal portion combination can pivot on
a yoke such as part 4 in the figures. The shape of the yoke can
vary from the U-shape shown in the diagrams, for example for
particular types of tools or applications. The primary function of
the yoke structure is to support the gimbal portions and provide a
frame for an additional axis of rotation. In the illustrative
figures, the inner gimbal portion has an axis of rotation with
respect to the outer gimbal portion that is substantially
perpendicular to the axis of rotation of the outer gimbal portion
with respect to the yoke.
[0057] The yoke is preferably pivotally connected to a yoke support
(such as part 44 in FIG. 1b). It is noted that the yoke support can
be pivotally connected directly to the outer gimbal portion,
thereby eliminating the U-shaped portion of the yoke structure.
This removes the degree of freedom provided by the pivotal
connection between the yoke and yoke support, however that degree
of freedom can be created by additional pivoting components.
[0058] The yoke support can be pivotally attached to a support arm,
such as articulated arm 8.
[0059] Turning back to FIG. 1a, support arm 8 and other articulated
arms will be described in more detail. The lifting structure or arm
attached to embodiments of the inventive gimbal assembly comprises
for example, a double section parallelogram spring arm, with
preferably reduced friction joints, including, starting at the
proximal end: a hinge with one or more vertical pivots, a first
parallelogram segment with four horizontal pivots, a central hinge
with one or more vertical pivots, a distal parallelogram segment
with four horizontal pivots and a distal vertical pivot. A single
parallelogram arm may also be used. Various other hinges, pivots
and fastening components may also be employed.
[0060] Various spring powered `equipoising` parallelogram arms,
such as those employed to support and position objects such as
lamps, x-ray machines and dental equipment, can be employed in
embodiments of the invention. These arms rely to a greater or
lesser extent on friction to retain a selected angle or position,
but do not necessarily provide consistent lift throughout the
entire angular excursion of the parallelogram links. Arms having
consistent lift can be particularly useful for many applications of
embodiments of the invention. Arms that also may be appropriate
include those described in applicant's U.S. Pat. No. 4,017,168 (Re.
32,213), the diagrams of which are incorporated herein by
reference. Applicant's U.S. Pat. No. 5,360,196, diagrams of which
are also incorporated herein by reference, provides examples of
iso-elastic arms that will be particularly suitable for use in
illustrative embodiments of the invention. "Iso-elastic" as used
herein describes the consistent lifting performance of these arms
in which the fixed weight of the object being lifted is supported
throughout the vertical range of articulation with nearly constant
buoyancy.
[0061] Arms described in applicant's application no.
PCT/US2006/014036 or U.S. application Ser. No. 11/403,731,
Equipoising Support Apparatus, incorporated herein by reference,
are also suitable for use with illustrative embodiments of the
invention. The applications describe a variety of single-spring
geometries employing cams or cranks to dynamically improve lifting
consistency and range of parallelogram articulation. The adjustment
mechanisms described in the application can be employed in
embodiments of the present invention, and can be user-adjusted.
[0062] It is noted that other tensioning mechanisms can be used in
place of the springs referred to herein.
[0063] Hinges, such as those described in patent application
PCT/US2008/056511, incorporated herein by reference, also are
suitable for use with illustrative embodiments of the invention.
Application PCT/US2008/056511 describes a `biased hinge` that may
further improve arm performance by helping to maintain the selected
lateral position of the arm segments (which is termed
`centering`).
[0064] Equipoising arms, such as those described in the
patents/applications mentioned above can provide the desired
iso-elasticity and lateral and vertical range. Features, such as
knob-adjusted payload adjustment to float the range of human arm
weights from the lightest to the heaviest, and analogous `shoulder,
upper arm, elbow and forearm` segments can be advantageous to
illustrative embodiments of the invention.
[0065] A parking device can be incorporated, which may be either
electrically or mechanically activated, to permit a tool to be
parked in a convenient stable position when not in use. Such
devices can include for example, mechanical docking components or
magnetic or electromagnetic devices. In an illustrative embodiment
of the invention, a hook and mating eye permits immobilizing the
entire support arm at a convenient position and height by, for
example, swinging over to that position and permitting the hook to
rise into the receiving eye. The operator can then open the gimbal
gate and remove the tool in order to exchange it with another tool
or perform other work with the tool that may preclude or does not
require gimbaled support.
[0066] Combinations and permutations of any of the features
described herein or their equivalents are within the scope of the
invention.
[0067] Embodiments of the invention also include a method of using
a support and orienting apparatus. The method comprises: (1)
securing a tool in an inner gimbal portion; (2) securing the inner
gimbal portion to an outer gimbal portion, such that the inner
gimbal portion rotates within the outer gimbal portion; and (3)
attaching the inner and outer gimbal portion combination either
directly or indirectly to an articulating arm. The method can
further include using the tool to accomplish a task.
[0068] A further illustrative embodiment of the invention includes
a plurality of tools, each secured in an inner gimbal portion,
configured to be inserted into an outer gimbal portion that is a
part of a pivoting and articulating support system. The invention
further includes a system comprising the plurality of tools, each
in an inner gimbal portion, an outer gimbal portion, the outer
gimbal portion secured to a frame that can be pivotally attached to
an articulated arm. The system can further include the arm.
[0069] Though the invention is described with reference to the
particular embodiments of the invention herein set forth, it is
understood that the present disclosure is made only by way of
example and that numerous changes in the details of construction
may be resorted to without departing from the spirit and scope of
the invention. Accordingly, it is intended that the invention not
be limited to the specific illustrative embodiments, but be
interpreted within the full spirit and scope of the appended claims
and their equivalents.
* * * * *