Gimbal assembly for tool support
First Claim
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1. A support and orienting system comprising:
- an inner gimbal portion having a tool grasping device configured to grasp a tool and having a first rotation component;
an outer gimbal portion configured to be disposed concentrically with and outside of the inner gimbal portion and having a second rotation component complementary to the first rotation component and interfaced therewith such that the inner gimbal portion rotates within the outer gimbal about a first axis;
the outer gimbal connecter to a yoke structure, the yoke structure having a yoke rotatable with the outer gimbal about a second axis;
the yoke connected to a yoke support and rotatable there with about a third axis wherein the first axis, second axis and third axis are mutually perpendicular;
pivot mounting ears disposed on the outer gimbal portion to offset the pivotal attachment point of the outer gimbal on the yoke from the plane of the outer gimbal portion; and
the pivot ears are adjustable to vary the offset amount.
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Abstract
A supporting and orienting apparatus that is angularly agile and can balance the weight of tools, and permits quick tool replacement is disclosed. An inner gimbal portion holds the tool at its center of balance and is rotationally disposed within an outer gimbal portion. The gimbal portion combination is rotationally attached to an articulated arm. The tool with one or both gimbal portions attached can be removed and replaced with another tool, also having gimbal portions attached such that the tool is automatically balanced when inserted into the support apparatus.
94 Citations
13 Claims
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1. A support and orienting system comprising:
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an inner gimbal portion having a tool grasping device configured to grasp a tool and having a first rotation component; an outer gimbal portion configured to be disposed concentrically with and outside of the inner gimbal portion and having a second rotation component complementary to the first rotation component and interfaced therewith such that the inner gimbal portion rotates within the outer gimbal about a first axis; the outer gimbal connecter to a yoke structure, the yoke structure having a yoke rotatable with the outer gimbal about a second axis; the yoke connected to a yoke support and rotatable there with about a third axis wherein the first axis, second axis and third axis are mutually perpendicular; pivot mounting ears disposed on the outer gimbal portion to offset the pivotal attachment point of the outer gimbal on the yoke from the plane of the outer gimbal portion; and the pivot ears are adjustable to vary the offset amount. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification