Gimbal assembly for tool support

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.

FIELD OF THE INVENTION

Illustrative embodiments of the invention relate to equipment for supporting and orienting objects such as tools.

BACKGROUND OF THE INVENTION

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.

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.

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.

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.

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.

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

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.

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.

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.

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.

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.

The invention also includes methods of utilizing tools and relieving workplace stresses by providing a support and orienting system.

DETAILED DESCRIPTION OF THE INVENTION

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.

FIG. 1adepicts a tool support system according to an illustrative embodiment of the invention. A ‘squeezer’ rivet tool2is shown mounted in a gimbal assembly1attached to an articulated support arm8, shown at nearly its highest position. For many applications it is preferable that the gimbal assembly is removable from the articulated support arm8and/or that various parts within the assembly are detachable from one another, particularly in a readily removable manner. Rivet tool2is captured at nearly its longitudinal center of balance within gimbal assembly1. Balancing component11provides a balance adjustment so the tool can be balanced around a line between outer gimbal portion pivot locations6on yoke4. 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 portion9, as more clearly seen inFIG. 1b, rotates by engaging a plurality of roller wheels16(seeFIG. 2b) preferably attached symmetrically around the inner surface of outer gimbal portion7, and also pivots around outer gimbal portion pivots6and in an additional plane via yoke pivot5.

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 socket22around arm mounting post23provides an additional degree of freedom. Therefore, as can be seen inFIG. 1b, a total of four axes of angular freedom for tool2are 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.

FIG. 1bshows a tool support according to an illustrative embodiment of the invention. A gimbal assembly1is mounted by means of yoke socket22to arm mounting post23, which is attached to articulated support arm8(partially visible). A ‘bucking bar’3is mounted within inner gimbal portion9by means of a plurality of mounting set screws10, which engage bucking bar3at approximately its longitudinal center of balance. Inner gimbal portion9is preferably arcuately segmented to facilitate insertion of a tool. For certain applications it may not be necessary to segment inner gimbal portion9.

Inner gimbal portion9is rotatable within wheeled outer gimbal portion7. The wheels provide freedom of movement of inner gimbal portion9within outer gimbal portion7. This effect can also be achieved with the wheels positioned on inner gimbal portion9and engaged with a race in outer gimbal portion7. 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 portion7, with a complementary ridge on the outer surface of inner gimbal portion9, or vice versa, wherein the channel and/or ridge are fabricated of a low friction material such as Teflon®.

FIG. 1bshows outer gimbal portion7pivotally attached via outer gimbal portion pivot6to gimbal yoke4, which is itself pivotable around an additional axis by means of yoke pivot5. 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).

Turning now toFIGS. 2band4a, viewed in conjunction withFIG. 1b, replacement of the bucking bar will now be explained. In an illustrative embodiment of the invention, support arm8can be ‘docked’, for example by engaging a conventional pin and socket. The bucking bar3can be tilted to lie horizontally in outer gimbal portion major section14(seeFIGS. 2band4a). By unclamping the gated minor section15of outer gimbal portion7and swinging it open on its hinge, bucking bar3with its inner gimbal portion9attached 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.

FIG. 2ashows an inner gimbal portion assembly9according to an illustrative embodiment of the invention, adapted to be either clamped, by radial clamping screws12and/or a plurality of mounting set screws10, so that even an irregularly-shaped tool can be securely attached to the assembly. Track groove or race19captures roller wheels16associated with outer gimbal portion7, to allow inner gimbal portion9to rotate freely within outer gimbal portion7while being held in place. Pinch grooves13can 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 portion9within outer gimbal portion7. The track rollers or wheels should have slightly smaller sectional diameters than the corresponding track grooves in which they are to ride.

FIG. 2bdepicts a gimbal assembly1according to an illustrative embodiment of the invention, showing major outer gimbal portion segment14and minor outer gimbal portion gate15in an opened position. Clamp screws18(only one shown) attach outer gimbal portion segments14,15to one another at clamp screw locations18a.

Note that one or more over-centers clamps25(seeFIG. 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 portion9with 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.

A plurality of roller wheels16, turn on axles17and engage a track groove19of an inner gimbal portion to permit rotation of the inner gimbal portion. Yoke4is attached to outer gimbal portion7at pivot locations6by for example screws, as can be seen inFIG. 1b, which pass through pivot bearings within the extremities of yoke4.

FIG. 3ais an illustrative embodiment of a tool positioned in an inner gimbal portion assembly.FIG. 3ashows an assembled inner gimbal portion9with machined peripheral track19, mounted at the longitudinal center of balance of bucking bar3by means of a plurality of set screws10positioned to appropriate lengths to engage accessible portions of the tool structure and, preferably, to permit any radial offset of the inner race track19in 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.

FIG. 3bshows an illustrative embodiment of a portion of a sectional inner gimbal portion9mounted to the irregular surfaces of a rivet squeezer2, by means of a plurality of set-screws10. Circumferentially spaced rollers16, turning on axles17mounted within notches in outer gimbal portion7engage a track in inner gimbal portion9to permit free rotation of rivet tool2within outer gimbal portion7. Outer gimbal portion7consists of major segment14and minor segment15hinged together at gate hinge axle20to permit removal of rivet squeezer2together with the attached inner gimbal portion9. Yoke4is pivotally engaged with outer gimbal portion7at yoke pivot locations6.

FIG. 4ashows an illustrative embodiment of a gated outer gimbal portion7in an opened position, with its inner gimbal portion9removed. Gate section15can be unclamped from major section14and/or released by a screw fastening at screw location18ato swing aside, as shown, around gate hinge axle20, to permit removal of inner gimbal portion9and any associated tool. Roller wheels16, turning on axles17engage track groove19. When gate section15is in an open position, inner gimbal portion9can be removed from the apparatus as shown. Strategic bevels to the inner edges of segment14can be incorporated to facilitate removal of inner gimbal portion9.

FIG. 4bdepicts hinge axle20according to an illustrative embodiment of the invention. Outer gimbal portion minor segment15is shown in a position extended beyond the centerline that extends between the yoke pivot locations6. Thus, outer gimbal portion segment14can pivot within yoke4even if minor outer gimbal portion segment15is swung aside. Gate hinge threaded eyebolt21permits gimbal portion segment15to be rotated in full-turn increments to adjust the diametric clearance between outer7and inner gimbal portion9, and alter the tightness of engagement of wheels16with inner gimbal portion groove19.

FIG. 5adepicts an illustrative embodiment of a roller wheel16mounted within outer gimbal portion7on axle17and engaging and capturing inner gimbal portion track groove19. Inner gimbal portion9is shown attached to rivet tool3by means of a plurality of set screws10.

FIG. 5bshows an illustrative embodiment of a gimbal assembly1. Inner gimbal portion9is disposed within outer gimbal portion7. Outer gimbal portion7has hinge20to allow opening and closing of the gimbal portion. Wheels16are shown in this embodiment projecting from the exterior of outer gimbal portion7however, they may be situated flush with, or within the outer diameter of outer gimbal portion7. The latter arrangements can provide protection of the wheels. Yoke4is shown pivotally connected to outer gimbal portion7at outer gimbal portion pivot locations6and to mounting socket22at yoke pivot5.

Inner and outer gimbal portions7and9pivot around pivot axles6and pivot axis5, which in this illustrative embodiment of the invention are about perpendicular to one another. Thus, gimbal assembly1provides three axes of angular freedom for a tool mounted within inner gimbal portion9, not including any additional pivot points present, such as at the attachment point of gimbal assembly1to a support arm. Gimbal assembly1can be pivotally connected to a support arm (such as is shown inFIGS. 1aand1b) by a yoke mounting socket22to 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.

FIG. 6shows an illustrative embodiment of a gimbal assembly1including a hinged, outer gimbal portion gate having a minor outer gimbal portion segment15hinged to major outer gimbal portion segment14by hinge29. Outer gimbal portion segments14and15are clamped together by an over-centers gate clamp assembly25having a gate clamp latch26engaged by clamp catch28and drawn tightly by clamp lever27in the manner of the well-known ‘Mason jar’ wire sealing clamps. Shown here in the unclamped mode, gate segment15can be swung away releasing an inner gimbal portion, having a tool encased therein, from engagement with roller wheels16. When the tool and attached inner gimbal portion are re-installed, gate15can 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.

FIG. 7shows an illustrative embodiment of gimbal assembly1including pivot-mounting ‘ears’31attached to outer gimbal portion major segment14or integral therewith. Pivot-mounting ears offset outer gimbal portion pivot locations6from the plane of outer gimbal portion7and coincide with centerline30in 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 pins41engage pivot axis axle bearings42, and if pulled apart also permit gimbal yoke4to be quickly removed.

FIGS. 8aand8bare cross-sections of an illustrative embodiment of a gimbal employing ball bearings to facilitate rotation of segmented inner and outer gimbal portions9and7with respect to one another. Inner and outer gimbal portions9and7may or may not be segmented in alternative embodiments of the invention. Outer gimbal portion7has a groove39disposed therein to accommodate ball bearings36. Inner gimbal portion9has a groove40disposed therein, to accommodate ball bearings36. The diameters of grooves39and40are slightly larger than the diameter of ball bearings36, so ball bearings36can freely rotate therein with a minimum of amount wobbling. Ball bearing profiles34shown as dotted circles, indicate the position of ball bearings captured between gimbal portions9and7prior to final tightening. To install the assembly, inner gimbal portion9is positioned at the appropriate location on a tool body and secured using a clamping mechanism such as inner gimbal portion clamp screws37and/or set screws (such as shown inFIG. 2a). Inner gimbal portion9, with tool in place, is positioned and aligned with outer gimbal portion7. Outer gimbal portion7is then partly tightened, for example by using outer gimbal portion clamp screws38, so that ball bearing insertion notches35aand35bcoincide with one another and yet are sufficiently apart to permit insertion of the ball bearings. Once final ball bearings36are inserted, clamp screws38can be tightened, reducing the size of the opening formed by notches35aand35b, thereby retaining the ball bearings in a channel formed between gimbal portions7and9. The channel in which the ball bearings are contained is shown by dotted lines32and33. This configuration of gimbal portions and ball bearings permits relative rotation of inner gimbal portion9and outer gimbal portion7. In the illustrative embodiment shown inFIG. 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 inFIG. 7).Itis 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.

FIG. 9depicts a gimbal assembly108according to an illustrative embodiment of the invention wherein an alternative to pivot-mounting ‘ears’31(shown inFIG. 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 ears102, shown inFIG. 9however, include an adjustment mechanism to vary the position of the tool holder with respect to the yoke. The mechanism shown inFIG. 9includes threaded members104attached to blocks106. Blocks106are disposed on opposite sides of gimbal assembly108. Threaded members104can be lengthened or shortened by rotating them with respect to blocks106. Threaded members104are pivotally attached to yoke112at pivot locations114. In this particular embodiment of the invention, threaded members104are inserted into blocks106and adjusted to the desired length. Blocks106are then attached to gimbal assembly108by screws110. The particular embodiment of the invention shown inFIG. 9has axle mounting locations116(partially shown) on blocks106to allow gimbal assembly108to be disposed within yoke112such that the pivot axis extends through outer gimbal portion118, rather than it being offset using threaded members104. Other mechanisms for displacing outer gimbal portion118away from the pivot axis are within the scope of the invention. For example, telescoping mechanisms with appropriate stops and locking mechanisms can be used.

FIG. 9also depicts yoke arm extension members120. Yoke arm extension members120function in a similar manner to threaded members104, and also can be substituted with other extension mechanisms such as telescoping extensions. The offsets provided by threaded members104and extension members120can 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.

FIG. 9also depicts a yoke mounting mechanism122having a first end attached to yoke112and a second end attached to an articulating arm or part intermediate thereto. Yoke mounting mechanism122comprises two attachment parts124,126which either separate completely from one another or are hinged together, so they can be positioned to encircle the top bar128of yoke112. A screw130or other fastener secures yoke mounting mechanism122to yoke112. It is also possible for yoke mounting mechanism112to slide on to yoke top bar128. Yoke mounting mechanism112optionally pivots at location132. If no pivot is provided on yoke mounting mechanism112, the yoke can be pivotally connected to an articulating arm or intermediate component to obtain an analogous degree of freedom.

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 portion9) 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 portion7). 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 race19(“first rotation component”) and outer gimbal portion wheels16(“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 segments14and15, 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 inFIG. 4a, for example, segments of the outer gimbal portion can be hinged. Hinging can also be used for the inner gimbal portion.

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.

The inner and outer gimbal portion combination can pivot on a yoke such as part4in 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.

The yoke is preferably pivotally connected to a yoke support (such as part44inFIG. 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.

The yoke support can be pivotally attached to a support arm, such as articulated arm8.

Turning back toFIG. 1a, support arm8and 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.

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.

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.

It is noted that other tensioning mechanisms can be used in place of the springs referred to herein.

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’).

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.

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.

Combinations and permutations of any of the features described herein or their equivalents are within the scope of the invention.

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.

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.

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.