Device for forming, shaping and flattening workpieces

Abstract

An apparatus includes a frame including a first portion and a second portion axially spaced from the first portion along a longitudinal axis. The apparatus also includes a first tool coupled to the first portion and configured to rotate and translate about the longitudinal axis, and a second tool coupled to the second portion and configured to rotate about the longitudinal axis.

Description

Technical Field

[0001] The information provided in this section is for the purpose of generally presenting the context of the present disclosure. The work of the presently named inventors, to the extent it is described in this section, and aspects that may not be eligible as prior art at the time of filing, are not, either expressly or implicitly, admitted as prior art against the present disclosure.

[0002] The present disclosure generally relates to a system for trimming a metal sheet, and more particularly, to a system for rotating and translating a tool for trimming a metal sheet. Background Art

[0003] Adding features to a metal sheet workpiece by incremental forming, shaping, and flattening via one or more tools may require rotating the workpiece or the tool to achieve the desired geometry. Typically, this can be accomplished through complex articulation of the workpiece. However, limitations arising from reach, collisions with the equipment, and tool geometry result in costly and time-consuming techniques that negatively impact the quality, fidelity, and feasibility of the final features. The disadvantages of existing systems will be addressed by one or more aspects of the present disclosure. Summary of the Invention

[0004] In one configuration, a device is provided and includes a frame that includes a first portion and a second portion axially spaced from the first portion along a longitudinal axis. The device may also include a first unit coupled to the first portion, the first unit including a first tool coupled to the first portion and disposed along the longitudinal axis and a first motor coupled to the first portion for actuating the first tool about the longitudinal axis and relative to the first portion. The device may also include a second unit coupled to the second portion, the second unit including a second tool coupled to the second portion and disposed along the longitudinal axis, and a second motor coupled to the second portion for actuating the second tool about the longitudinal axis and relative to the second portion. The device may also include a common interface for modifying a workpiece, the common interface being axially disposed between the first tool and the second tool.

[0005] The apparatus may include one or more of the following optional features. For example, the first unit may further include a first shaft that is coupled to a first portion of the frame at a first end and to a first tool at a second end, and the first shaft may be configured to translate along a longitudinal axis and rotate about the longitudinal axis relative to the frame. The first shaft may be configured to be actuated externally via a drive mechanism coupled to a first motor. The first shaft may be configured to translate along the longitudinal axis and rotate about the longitudinal axis simultaneously. The first shaft may include an inner shaft and an outer shaft, and the inner shaft may be configured to translate along the longitudinal axis and rotate about the longitudinal axis relative to the outer shaft. The inner shaft may be configured to be actuated internally via a drive mechanism coupled to a first motor. The second unit may further include a tool platform coupled to a second portion of the frame, and the tool platform may be configured to rotate about the longitudinal axis relative to the frame. The positions of the first tool and the second tool may be continuously and simultaneously maintained by a first motor and a second motor such that the first tool and the second tool remain tangent to a path of a workpiece within a common interface. The first unit and the second unit may be configured to receive the same electrical input to maintain consistent movement of the first unit and the second unit. The first tool and the second tool may be asymmetric. The first tool and the second tool may be symmetric. The first tool may be arranged along a first plane, and the second tool may be arranged along a second plane.

[0006] In one configuration, an apparatus is provided and includes a frame that includes a first portion and a second portion axially spaced from the first portion along a longitudinal axis. The apparatus further includes a first tool and a second tool, the first tool being coupled to the first portion and configured to rotate and translate about the longitudinal axis, and the second tool being coupled to the second portion and configured to rotate about the longitudinal axis.

[0007] The apparatus may include one or more of the following optional features. The second tool may further be configured to translate along the longitudinal axis via an actuator. The first tool and the second tool may be configured to rotate continuously and simultaneously about the longitudinal axis and translate along the longitudinal axis. The common interface may be axially disposed between the first tool and the second tool. A workpiece may be guided along a path within the common interface and contacted by the first tool and the second tool. A portion of the first tool and the second tool may contact the workpiece and remain tangent to the path within the common interface. The first tool and the second tool may be controlled by a computer. The first tool and the second tool may be controlled by a manual analog input. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The drawings described herein are for illustrative purposes only of selected configurations and are not intended to limit the scope of the present disclosure.

[0009] Figure 1Perspective view of a device for modifying a workpiece according to the principles of the present disclosure;

[0010] Figure 2 is Figure 1 Perspective view of the device;

[0011] Figure 3 is Figure 1 Close-up perspective view of the drive train of the device;

[0012] Figure 4 is Figure 1 Side view of the device;

[0013] Figure 5 is a top view of the workpiece, showing Figure 1 one or more positions of the first tool of the device; and

[0014] Figure 6 Perspective view of a device for modifying a workpiece according to the principles of the present disclosure.

[0015] In all the figures, corresponding reference numerals denote corresponding parts. Detailed Description

[0016] Example configurations will now be described more fully with reference to the accompanying drawings. The example configurations are provided so that this disclosure will be thorough and will fully convey the scope of the disclosure to those of ordinary skill in the art. Specific details, such as examples of specific components, devices, and methods, are set forth to provide a thorough understanding of the configurations of the present disclosure. It will be apparent to those of ordinary skill in the art that the example configurations may be embodied in many different forms and that specific details and example configurations should not be construed as limiting the scope of the present disclosure.

[0017] The terminology used herein is for the purpose of describing particular example configurations only and is not intended to be limiting. As used herein, the singular articles "a", "an", and "the" may also be intended to include the plural forms, unless the context clearly dictates otherwise. The terms "comprises", "comprising", "including", and "having" are inclusive and thus specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein should not be construed as necessarily requiring them to be performed in the particular order discussed or illustrated, unless specifically identified as an order of performance. Additional or alternative steps may be employed.

[0018] When an element or layer is referred to as being “on another element or layer,” “engaged to,” “connected to,” “attached to,” or “coupled to” another element or layer, it can be directly on the other element or layer, directly engaged, connected, attached, or coupled to the other element or layer, or intervening elements or layers may be present. In contrast, when an element is referred to as being “directly on another element or layer,” “directly engaged to,” “directly connected to,” “directly attached to,” or “directly coupled to” another element or layer, intervening elements or layers may not be present. Other words used to describe the relationship between elements should be interpreted in a like manner (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items.

[0019] The terms “first,” “second,” “third,” etc. may be used herein to describe various elements, components, regions, layers, and / or sections. These elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another. Unless the context clearly indicates otherwise, terms such as “first,” “second,” and other numerical terms do not imply an order or sequence. Thus, a first element, component, region, layer, or section discussed below may be referred to as a second element, component, region, layer, or section without departing from the teachings of the exemplary configuration.

[0020] In this application, including the definitions below, the term “module” may be replaced with the term “circuit.” The term “module” may refer to an application specific integrated circuit (ASIC), be part of, or include an ASIC; a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinatorial logic circuit; a field programmable gate array (FPGA); a processor (shared, dedicated, or group) that executes code; a memory (shared, dedicated, or group) that stores code executed by the processor; other suitable hardware components that provide the described functionality; or a combination of some or all of the above, such as in a system-on-chip.

[0021] As used above, the term "code" can include software, firmware, and / or microcode, and can refer to programs, routines, functions, classes, and / or objects. The term "shared processor" includes a single processor that executes some or all of the code from multiple modules. The term "group processor" includes a processor that, in combination with additional processors, executes some or all of the code from one or more modules. The term "shared memory" encompasses a single memory that stores some or all of the code from multiple modules. The term "group memory" includes a memory that, in combination with additional memories, stores some or all of the code from one or more modules. The term "memory" can be a subset of the term "computer-readable medium". The term "computer-readable medium" does not include transient electrical and electromagnetic signals propagated through a medium, and thus can be considered tangible and non-transient memory. Non-limiting examples of non-transitory memory include tangible computer-readable media that include non-volatile memory, magnetic memory, and optical memory.

[0022] The apparatus and methods described in this application can be implemented in part or in whole by one or more computer programs executed by one or more processors. The computer programs include processor-executable instructions stored on at least one non-transitory tangible computer-readable medium. The computer programs can also include and / or rely on stored data.

[0023] A software application (i.e., a software resource) can refer to computer software that causes a computing device to perform tasks. Example applications include, but are not limited to, system diagnostic applications, system management applications, system maintenance applications, word processing applications, spreadsheet applications, messaging applications, media streaming applications, social networking applications, and gaming applications.

[0024] Non-transitory memory can be a physical device for storing programs (e.g., sequences of instructions) or data (e.g., program state information) temporarily or permanently for use by a computing device. Non-transitory memory can be volatile and / or non-volatile addressable semiconductor memory. Examples of non-volatile memory include, but are not limited to, flash memory and read-only memory (ROM) / programmable read-only memory (PROM) / erasable programmable read-only memory (EPROM) / electrically erasable programmable read-only memory (EEPROM) (e.g., commonly used for firmware, such as boot programs). Examples of volatile memory include, but are not limited to, random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), phase change memory (PCM), and magnetic disks or tapes.

[0025] These computer programs (also called programs, software, software applications or code) include machine instructions for a programmable processor and can be implemented in high-level procedural and / or object-oriented programming languages and / or assembly / machine languages. As used herein, the terms “machine-readable medium” and “computer-readable medium” refer to any computer program product, non-transitory computer-readable medium, apparatus, and / or device (e.g., a magnetic disk, an optical disk, a memory, a programmable logic device (PLDs)) that provides machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term “machine-readable signal” refers to any signal that provides machine instructions and / or data to a programmable processor.

[0026] Various implementations of the systems and techniques described herein can be implemented in digital electronic circuitry and / or optical circuitry, integrated circuitry, specially designed ASICs (application specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementations in one or more computer programs executable and / or interpretable on a programmable system including at least one programmable processor, which may be special purpose or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0027] The processes and logical flows described in this specification can be performed by one or more programmable processors (also referred to as data processing hardware) that execute one or more computer programs to perform functions by operating on input data and generating output. The processes and logical flows can also be performed by special-purpose logic circuitry, such as an FPGA (field programmable gate array) or ASIC (application specific integrated circuit). By way of example, processors suitable for the execution of a computer program include both general and special purpose microprocessors, and any one or more processors of any type of digital computer. Generally, a processor will receive instructions and data from a read only memory or a random access memory or both. The essential elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include one or more mass storage devices (such as magnetic disks, magneto-optical disks, or optical disks) for storing data, or operatively coupled to receive data therefrom or transfer data thereto or both. However, a computer need not have such devices. Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including by way of example semiconductor memory devices, such as EPROM, EEPROM, and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and CD ROM and DVD-ROM disks. The processor and the memory can be supplemented by, or incorporated in, special-purpose logic circuitry.

[0028] For providing interaction with a user, one or more aspects of the present disclosure may be implemented on a computer having a display device (e.g., a CRT (cathode ray tube), an LCD (liquid crystal display) monitor, or a touch screen) for displaying information to the user and, optionally, a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices may also be used to provide interaction with the user; for example, feedback provided to the user may be any form of sensory feedback, such as visual feedback, auditory feedback, or tactile feedback; and input received from the user may be in any form, including sound, speech, or tactile input. Additionally, a computer may interact with the user by sending documents to and receiving documents from the device used by the user; for example, by sending a web page to a web browser on a client device of the user in response to a request received from the web browser.

[0029] Specific reference Figure 1 shows a device (i.e., apparatus) 10 for modifying a workpiece, which includes a frame 50, a first or upper unit 100, and a second or lower unit 200. For the purposes of the present disclosure, the term "modifying" may be used interchangeably with terms associated with machining a workpiece, such as forming, shaping, and / or flattening.

[0030] Reference Figure 1 , the frame 50 may include a first or upper portion 52 and a second or lower portion 54 that is axially spaced from the upper portion 52 along a first or longitudinal axis 12. The frame 50 may be stationary (e.g., coupled to the ground) or may be coupled to a robot, a gantry device, or another device that can move the frame 50 along an additional axis to add additional degrees of freedom to the system 10.

[0031] The first or upper unit 100 may be coupled to the upper portion 52 of the frame 50. According to one aspect of the present disclosure, the upper unit 100 may include a first shaft 102 (e.g., a tool shaft) coupled to the upper portion 52 of the frame 50. More specifically, the first shaft 102 may have a first end or proximal end 104 coupled to the upper portion 52 and an opposite second end or distal end 106 that is axially spaced from the proximal end 104 along the longitudinal axis 12. The first shaft 102 may be movable relative to the frame 50. In other words, the first shaft 102 may be configured such that it can rotate about the longitudinal axis 12 (e.g., via a gear set, pulley, chain, belt, etc.) and / or translate along the longitudinal axis 12 (e.g., via an actuator having a mechanical linkage, pneumatic device, or hydraulic device).

[0032] As Figure 1 shown, the gear 108 may be axially disposed along an outer portion of the first shaft 102 such that the first shaft 102 can be driven externally by one or more drive mechanisms 110 coupled to the upper portion 52 of the frame 50. The gear 108 may include a height 114 such that the gear 108 can remain in contact with at least one of the one or more drive mechanisms 110. For example, maintaining contact between the gear 108 and the one or more drive mechanisms 110 can provide control of the rotational position of the first shaft 102 before, during, and / or after translation of the first shaft 102. The drive mechanism 110 may be actuated by a first motor 112, which may also be coupled to the upper portion 52 of the frame 50. The first motor 112 may be coupled to and communicate with an industrial computer (e.g., a programmable logic controller, etc.) or a manual analog input (e.g., a foot pedal) such that the rotational speed and angle of the first motor 112 can be controlled.

[0033] According to another aspect of the present disclosure, an alternative to the first shaft 102 may be provided, and this alternative includes a first shaft 102' coupled to the upper portion 52 of the frame 50. The first shaft 102' may be, for example, one of a drill press that generally rotates and / or translates along the longitudinal axis 12. Reference Figure 6, the first shaft 102' may include an inner shaft 116 axially disposed within the outer shaft 118 along the longitudinal axis 12. The inner shaft 116 may be disposed within the outer shaft 118 such that the inner shaft 116 may rotate about the longitudinal axis 12 (e.g., via a gear set, pulley, chain, belt, etc.) and / or translate along the longitudinal axis 12 (e.g., via an actuator having a mechanical linkage, pneumatic device, or hydraulic device). Additionally, the inner shaft 116 may rotate about the longitudinal axis 12 and / or translate along the longitudinal axis 12 relative to the outer shaft 118. At the proximal end 104', the inner shaft 116 may be configured to be actuated internally via the above-described drive mechanism 110 and the first motor 112. In other words, the inner shaft 116 may include splines 120, and the splines 120 may be coupled to the internal splines 122 of the gear 108'. The gear 108' may have a height 114', and the height 114' may be selected such that the splines 120 may remain in contact with the internal splines 122 of the gear 108' during translation of the inner shaft 116 along the longitudinal axis 12. Maintaining contact between the splines 120 and the internal splines 122 may allow the inner shaft 116 to be internally driven before, during, and / or after translation along the longitudinal axis 12.

[0034] Reference Figure 2 and Figure 4 , the first tool 126 may be coupled to the upper portion 52 and disposed along the longitudinal axis 12. The first shaft 102 may include a tool chuck 124, and the tool chuck 124 is coupled to the distal end 106 of the first shaft 102 such that the first tool 126 may be removably coupled to the first shaft 102 at the distal end 106. The tool chuck 124 may be configured such that the first tool 126 may be easily interchanged with various tools. For example, the tool chuck 124 may include movable jaws or clamps that may be easily engaged with and disengaged from the first tool 126 to secure the first tool 126 to the first shaft 102. Generally, the first tool 126 may include forming, shaping, and / or flattening tools configured as interchangeable tools. The first tool 126 may include tools such as rollers, steppers, chisels, or other tools that may be used for forming, shaping, and / or flattening operations. The first tool 126 may also include incremental (e.g., hammering) or continuous (e.g., English wheel) forming, shaping, and / or flattening tools. Additionally or alternatively, the first tool 126 may be a tool configured to rotate about the longitudinal axis 12. Further, the first tool 126 may be configured such that the position of a portion of the first tool 126 may be adjusted with respect to the first plane 128. The first plane 128 may be the XY plane, which extends through the longitudinal axis 12 and is perpendicular to the longitudinal axis 12. For example, this adjustment of the first tool 126 with respect to the first plane 128 may allow for further versatility in modifying the workpiece during operation.

[0035] The upper unit 100 can be replicated and connected in parallel to the lower portion 54 of the frame 50. Accordingly, both the upper portion 52 and the lower portion 54 of the frame 50 can have the upper unit 100, which is configured to rotate and translate relative to the longitudinal axis 12.

[0036] Referring again to Figure 1 , the second or lower unit 200 can be connected to the lower portion 54 of the frame 50. Similar to the upper unit 100, the lower unit 200 can also include a shaft that can move along the longitudinal axis 12 and relative to the frame 50. However, here, the lower unit 100 includes a tool platform 202 connected to the lower portion 54 of the frame 50. The tool platform 202 can include a first or upper surface 204 and an opposite second or lower surface 206. As Figure 3 best shown in

[0037] As Figure 1 shown, the upper surface 204 can face the first unit 100. The tool platform 202 can be configured such that the tool platform 202 can rotate about the longitudinal axis 12 and relative to the frame 50. In other words, gear teeth 208 can be arranged radially around the tool platform 202. For example, the tool platform 202 can be actuated (e.g., via a gear set, pulley, chain, belt, etc.).

[0038] Referring to Figure 2 and Figure 4, the second tool 226 can be coupled to the lower portion 54 and disposed along the longitudinal axis 12. The tool platform 202 can include a tool chuck 224 coupled to the upper surface 204 of the tool platform 202. The tool chuck 224 can be configured such that the second tool 226 can be easily interchanged with various tools. The tool chuck 224 can include a movable clamp or fixture that can be easily engaged with and disengaged from the second tool 226 to secure the second tool 226 to the tool platform 202. Generally, the second tool 226 can include forming, shaping, and / or flattening tools configured as interchangeable tools. The second tool 226 can include tools such as rollers, steppers, chisels, or other tools that can be used for forming, shaping, and / or flattening operations. The second tool 226 can also include incremental (e.g., hammering) or continuous (e.g., English wheel) forming, shaping, and / or flattening tools. Additionally or alternatively, the second tool 226 can be a tool configured to rotate about the longitudinal axis 12. Further, the second tool 226 can be configured such that the position of a portion of the first tool 226 can be adjusted with respect to a second plane 228. The second plane 228 can be the XY plane that extends through the longitudinal axis 12 and is perpendicular to the longitudinal axis 12. For example, such adjustment of the second tool 226 with respect to the second plane 228 can allow for further versatility in modifying the workpiece during operation.

[0039] In operation, the first motor 112 can be coupled to the upper portion 52 for actuating the first tool 126 about the longitudinal axis 12 and relative to the upper portion 52. Similarly, the second motor 212 can be coupled to the lower portion 54 for actuating the second tool 226 about the longitudinal axis 12 and relative to the lower portion 54. The movement of the first unit 100 and the second unit 200 can be maintained by receiving the same electrical input (e.g., linear or rotary encoders) and can be controlled independently of each other. Thus, the positions of the first tool 126 and the second tool 226 can be continuously and simultaneously maintained by the first motor 112 and the second motor 212, and the first motor 112 and the second motor 212 can provide parallel features on the workpiece 20. Additionally or alternatively, the positions of the first tool 126 and the second tool 226 can be independently maintained by the first motor 112 and the second motor 212, and the first motor 112 and the second motor 212 can provide tapered features on the workpiece 20. The positions of the first tool 126 and the second tool 226 can be maintained such that the first tool 126 and the second tool 226 remain tangent to the path 22 of the workpiece 20 within the common interface 300. The common interface 300 for modifying the workpiece 20 can be axially disposed between the first tool 126 or the upper unit 100 and the second tool 226 or the lower unit 200, as Figure 1As shown. For example, the common interface 300 can be defined as the region between the first plane 128 and the second plane 228, or as the region axially between the first tool 126 and the second tool 226. The first tool 126 and the second tool 226 can contact and modify the workpiece 20 within the common interface 300. In other words, the first tool 126 can contact the upper surface of the workpiece 20, and the second tool 226 can contact the lower surface of the workpiece 20. Note that the first tool 126 and the second tool 226 can be asymmetric (e.g., the first tool 126 is a punch and the second tool 226 is a die) or symmetric (i.e., the first tool 126 and the second tool 226 are the same tool). The workpiece 20 can be guided by an operator or a machine (e.g., a robot) along a predetermined path and contacted by the first tool 126 and the second tool 226 within the common interface 300.

[0040] Reference Figure 5 , a portion of the first tool 126 is shown at several different positions along the path 22 of the workpiece 20. As shown, at the first position 126a, the second position 126b, the third position 126c, and the fourth position 126d, the first tool 126 remains tangent to the path 22 of the workpiece 20. Note that although Figure 5 the second tool 226 is not shown in, the second tool 226 can also be controlled such that a portion of the second tool 226 also remains tangent to the path 22 of the workpiece 20. The first motor 112 and the second motor 212 coupled to the drive mechanisms 110, 210 can be actuated to align the first tool 126 and the second tool 226 to the desired positions and orientations. Manipulating the orientations of the first tool 126 and the second tool 226 relative to the path 22 in this way allows the first tool 126 and the second tool 226 to form, modify, and / or displace the custom geometric feature 24 in the workpiece 20.

[0041] Numerous embodiments have been described. However, it should be understood that various modifications can be made without departing from the spirit and scope of the present disclosure. Accordingly, other embodiments are within the scope of the appended claims.

[0042] The foregoing description has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the present disclosure. The individual elements or features of a particular configuration are generally not limited to that particular configuration but, where applicable, are interchangeable and can be used in a selected configuration, even if not specifically shown or described. It can also vary in many ways. Such variations should not be regarded as a departure from the present disclosure, and all such modifications are intended to be included within the scope of the present disclosure.

Claims

1. A device, comprising: A frame, the frame including a first part and a second part, the second part being axially spaced from the first part along a longitudinal axis; A first unit, the first unit being coupled to the first part, the first unit including: A first tool, the first tool being coupled to the first part and arranged along the longitudinal axis; A first motor, the first motor being coupled to the first part for actuating the first tool about the longitudinal axis and relative to the first part; A second unit, the second unit being coupled to the second part, the second unit including: A second tool, the second tool being coupled to the second part and arranged along the longitudinal axis, A second motor, the second motor being coupled to the second part for actuating the second tool about the longitudinal axis and relative to the second part; and A common interface for modifying a workpiece, the common interface being axially arranged between the first tool and the second tool.

2. The device according to claim 1, wherein, The first unit further includes a first shaft, the first shaft being coupled to the first part of the frame at a first end and to the first tool at a second end, the first shaft being configured to translate along the longitudinal axis and rotate about the longitudinal axis relative to the frame.

3. The apparatus according to claim 2, wherein, The first shaft is configured to be actuated externally via a drive mechanism coupled to the first motor.

4. The apparatus according to claim 3, wherein The first shaft is configured to translate along the longitudinal axis and rotate about the longitudinal axis simultaneously.

5. The device according to claim 2, wherein, The first shaft includes an inner shaft and an outer shaft, the inner shaft being configured to translate along the longitudinal axis and rotate about the longitudinal axis relative to the outer shaft.

6. The device according to claim 5, wherein, The inner shaft is configured to be actuated internally via a drive mechanism coupled to the first motor.

7. The apparatus according to claim 1, wherein The second unit further includes a tool platform coupled to the second part of the frame, the tool platform being configured to rotate about the longitudinal axis relative to the frame.

8. The device according to claim 1, wherein The positions of the first tool and the second tool are continuously and simultaneously maintained by the first motor and the second motor such that the first tool and the second tool remain tangent to the path of the workpiece within the common interface.

9. The device according to claim 1, wherein the first unit and the second unit are configured to receive the same electrical input to maintain consistent movement of the first unit and the second unit.

10. The device according to claim 1, wherein The first tool and the second tool are asymmetrical.

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