GIMBAL ASSEMBLY FOR TOOL SUPPORT

• US 20100301179A1
• Filed: 09/13/2008
• Published: 12/02/2010
• Est. Priority Date: 09/17/2007
• Status: Active Grant

• Current Assignee: Garrett W. Brown
• Original Assignee: Ekso Bionics, Inc. (Ekso Bionics Holdings, Inc.)
• Inventors: Sacksteder, Anthony D., Brown, Garrett W.
• Granted Patent: US 9,156,154 B2
• Time in Patent Office: Days
• US Class Current: 248/124.1
• CPC Class Codes: B25H 1/0021 Stands, supports or guiding devices for positioning portable tools or for securing them to the work B23B41/00 takes precedence
• CPC Class Codes: B25H 1/0028 Tool balancers
• CPC Class Codes: B25H 1/10 with provision for adjusting holders for tool or work

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.

Claims

1. A support and orienting system comprising:

an inner gimbal portion configured to grasp a tool at its center of balance and having a first rotation component;

an outer gimbal portion configured to be disposed around the inner gimbal portion and having a second rotation component complimentary to the first rotation component and interfaced therewith such that the inner gimbal portion rotates within the outer gimbal portion; and

a yoke structure having the outer gimbal portion pivotally attached thereto such that the axis of rotation of the outer gimbal portion with respect to the yoke structure is substantially perpendicular to the axis of rotation of the inner gimbal portion with respect to the outer gimbal portion.

2. The support and orienting apparatus of claim 1 wherein the inner gimbal portion is releasably secured to the outer gimbal portion to allow tool removal with the tool and inner gimbal portion attached to one another.

3. The support and orienting apparatus of claim 1 wherein the outer gimbal portion is releasably secured to the yoke structure to allow tool removal with the tool, inner gimbal portion and outer gimbal portion attached to each other.

4. The support and orienting apparatus of claim 1 further comprising:

an articulated support arm attached to the yoke structure.

5. The support and orienting apparatus of claim 4 wherein the yoke structure is pivotally attached to the articulating arm.

6. The support and orienting apparatus of claim 1 wherein the inner gimbal portion comprises:

a tool holding ring comprised of a plurality of arcuate segments such that the ring can be assembled around the tool; and

a tool grasping mechanism to hold the tool within the ring.

7. The support and orienting apparatus of claim 6 wherein the tool grasping mechanism comprises a plurality of set screws.

8. The support and orienting apparatus of claim 6 wherein the tool grasping mechanism comprises a plurality clamping screws.

9. The support and orienting apparatus of claim 1 wherein;

one of the first or second rotation components is a race in one of the outer surface of the inner gimbal portion or the inner surface of the outer gimbal portion;

the other of the first or second rotation component is a plurality of wheels rotatably mounted in the other of the inner gimbal portion or outer gimbal portion, the wheels disposed in the same plane as the race; and

wherein when the inner gimbal portion is disposed in the outer gimbal portion the plurality of wheels is disposed edgewise within the race, thus allowing the inner gimbal portion to rotate within the outer gimbal portion.

10. The support and orienting apparatus of claim 1 wherein:

the first rotation component is a race in the outer surface of the inner gimbal portion;

the second rotation component is a race in the inner surface of the outer gimbal portion;

both races are in substantially the same plane, and the apparatus further comprises;

at least one ball bearing notch disposed in and extending to the upper surface of the inner gimbal portion;

at least one ball bearing notch disposed in and extending to the upper surface of the outer gimbal portion;

wherein when the inner gimbal portion is disposed within the outer gimbal portion, and the notches in each are aligned with one another, they form a ball bearing insertion opening; and

a plurality of ball bearings disposed within the races such that each ball bearing is partially disposed in both races, thus allowing the inner gimbal portion to rotate within the outer gimbal portion.

11. The support and orienting apparatus of claim 1 wherein the inner gimbal portion comprises a plurality of arcuate segments.

12. The support and orienting apparatus of claim 11 wherein the outer gimbal portion is hinged at the interface of at least two arcuate segments allowing one hinged segment to swing open from the other hinged segment thereby facilitating removal of the inner gimbal portion.

13. The support and orienting apparatus of claim 12 further comprising a quick-release clamp to secure the arcuate segments together at a point opposite the hinged interface.

14. The support and orienting apparatus of claim 12 further comprising a gate hinge extender.

15. The support and orienting apparatus of claim 1 further comprising:

an adjustable balancing component to adjust the center of mass of the tool.

16. The support and orienting apparatus of claim 1 further comprising:

pivot mounting ears disposed on the outer gimbal portion to offset the pivotal attachment point of the outer gimbal on the yoke.

17. The support and orienting apparatus of claim 16 wherein the pivot ears are adjustable to vary the offset amount.

18. A method of using a support and orienting apparatus comprising:

securing a tool at its center of balance in an inner gimbal portion;

securing the inner gimbal portion to an outer gimbal portion, such that the inner gimbal portion rotates within the outer gimbal portion;

wherein the inner and outer gimbal portion combination is either directly or indirectly attached to an articulating arm; and

using the tool to accomplish a task.

19. The method of claim 18 further comprising:

replacing the tool attached to the inner gimbal portion with another tool secured into another inner gimbal portion at the tool'"'"'s center of balance.

20. A support and orienting system comprising:

a plurality of tools, each secured in an inner gimbal portion, configured to be inserted into an outer gimbal portion, the inner gimbal portion rotatable within the outer gimbal portion;

the outer gimbal portion configured to be connected to a frame; and

the frame configured to be connected to an articulating arm.

21. The support and orienting system of claim 20 further comprising the frame.

22. The support and orienting system of claim 20 further comprising the frame and the articulating arm.