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.

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.