Device for forming, shaping and straightening a workpiece

Abstract

A device includes a frame having a first portion and a second portion axially spaced from the first portion along a longitudinal axis. The device further includes a first tool coupled to the first portion and configured to translate and rotate along the longitudinal axis, and a second tool coupled to the second portion and configured to rotate about the longitudinal axis.

Description

INTRODUCTION

[0001] The information provided in this section is intended to provide a general context for the disclosure. The work of the presently named inventors, to the extent described in this section, as well as those aspects of the description that do not otherwise qualify as prior art at the time of filing, are neither expressly nor implicitly admitted as prior art against the present disclosure.

[0002] The present disclosure relates generally to a system for modifying sheet metal, and more particularly to a system for rotating and translating tools that modify sheet metal.

[0003] Adding features to a sheet metal workpiece by incrementally forming, shaping, and straightening it with one or more tools may require rotating the workpiece or tools to achieve a desired geometry. Typically, this can be accomplished through complex redirection of the workpiece. However, limitations resulting from accessibility, equipment interaction, and tool geometry have resulted in expensive and time-consuming techniques that negatively impact the quality, accuracy, and feasibility of the resulting features. The deficiencies of known systems are addressed by one or more aspects of the present disclosure. SUMMARY

[0004] According to one configuration, an apparatus is provided that includes a frame having a first portion and a second portion axially spaced from the first portion along a longitudinal axis. The apparatus may further include a first unit coupled to the first portion, 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 apparatus may further include a second unit coupled to the second section, a second tool coupled to the second section and disposed along the longitudinal axis, and a second motor coupled to the second section for actuating the second tool about the longitudinal axis and relative to the second section. The apparatus may further include a common interface for modifying a workpiece axially disposed between the first tool and the second tool.

[0005] The device may include one or more of the following optional features. For example, the first unit may further include a first shaft coupled to the first portion of the frame at a first end and to the first tool at a second end, wherein the first shaft may be configured to translate and rotate with respect to the frame along the longitudinal axis. The first shaft may be configured to be externally actuated via a drive mechanism coupled to the first motor. The first shaft may be configured to translate and rotate with respect to the longitudinal axis. The first shaft may include an inner shaft and an outer shaft, wherein the inner shaft may be configured to translate and rotate with respect to the outer shaft along the longitudinal axis.The internal shaft may be configured to be internally actuated via a drive mechanism coupled to the first motor. The second unit may further include a tool platform coupled to the second portion of the frame, the tool platform configured to rotate relative to the frame about the longitudinal axis. A position of the first tool and a position of the second tool may be simultaneously and continuously maintained by the first motor and the second motor such that the first tool and the second tool remain tangential to a path of the workpiece within the common interface. The first unit and the second unit may be configured to receive identical electrical inputs to maintain consistent movement of the first and second units. The first tool and the second tool may be asymmetrical.The first tool and the second tool may be symmetrical. The first tool may be arranged along a first plane, and the second tool may be arranged along a second plane.

[0006] According to one configuration, an apparatus is provided that includes a frame having a first portion and a second portion axially spaced from the first portion along a longitudinal axis. The apparatus further includes a first tool coupled to the first portion and configured to translate along and rotate about the longitudinal axis, and a second tool 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 be further configured to translate along the longitudinal axis by an actuator. The first tool and the second tool may be configured to continuously translate along the longitudinal axis and simultaneously rotate about it. A common interface may be disposed axially between the first tool and the second tool. A workpiece may be guided along a path within the common interface and contact the first tool and the second tool. A portion of the first tool and the second tool may contact the workpiece and remain within the common interface tangent to the path. The first tool and the second tool may be computer controlled.The first tool and the second tool can be controlled by a manual analog input. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure; they show: Fig. 1 is a perspective view of an apparatus for modifying a workpiece according to the principles of the present disclosure; Fig. 2 a perspective view of the device of Fig. 1; Fig. 3 a perspective close-up view of a drive train of the device of Fig. 1; Fig. 4 a side view of the device of Fig. 1; Fig. 5 is a plan view of a workpiece showing one or more positions of a first tool of the device of Fig. 1 shows; and Fig. 6 is a perspective view of an apparatus for modifying a workpiece in accordance with the principles of the present disclosure.

[0009] Throughout the drawings, corresponding reference numerals designate corresponding parts. DETAILED DESCRIPTION

[0010] Example configurations will now be described more fully with reference to the accompanying drawings. Example configurations are provided so that this disclosure will be thorough and will fully convey the scope of the disclosure to those skilled in the art. Specific details, such as examples of specific components, devices, and methods, are set forth to provide a thorough understanding of configurations of the present disclosure. Those skilled in the art will appreciate that specific details need not be employed, that example configurations may be embodied in many different forms, and that the specific details and example configurations should not be construed to limit the scope of the disclosure.

[0011] The terminology used herein is for the purpose of describing specific example configurations only and is not intended to be limiting. As used herein, the singular articles "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. The terms "comprises," "including," "containing," and "having" are inclusive and therefore specify the presence of features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more additional features, steps, operations, elements, components, and / or groups thereof.The method steps, processes, and operations described herein should not be construed as necessarily requiring their performance in the particular order discussed or illustrated, unless specifically identified as an order of performance. Additional or alternative steps may be employed.

[0012] When an element or layer is described as being "on," "engaging with," "connected to," "attached to," or "coupled to" another element or layer, it may be directly on, engaging with, connected to, attached to, or coupled to the other element or layer, or there may be intervening elements or layers. Conversely, when an element is described as being "directly on," "directly engaging with," "directly connected to," "directly attached to," or "directly coupled to" another element or layer, there need not be any intervening elements or layers. Other words used to describe the relationship between elements should be interpreted in a similar way (e.g., "between," "adjacent," etc.).As used herein, the term “and / or” includes any combination of one or more of the associated listed elements.

[0013] 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 are not intended to be limited by these terms. These terms may be used solely to distinguish one element, component, region, layer, or section from another region, layer, or section. Terms such as "first," "second," and other numerical terms do not imply a sequence or order unless clearly indicated by the context.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 example configurations.

[0014] In this application, including the definitions below, the term "module" may be replaced with the term "circuit." The term "module" may refer to, be part of, or include an application-specific integrated circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinational logic circuit; a field-programmable gate array (FPGA); a processor (shared, dedicated, or group) that executes code; memory (shared, dedicated, or group) that stores code executed by a 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 a chip.

[0015] The term "code" as used above may include software, firmware, and / or microcode and may 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 multiple modules. The term "shared memory" includes a single memory that stores some or all of the code from multiple modules. The term "group memory" includes memory that, in combination with additional memory, stores some or all of the code from one or more modules. The term "memory" may be a subset of the term "computer-readable medium."The term "computer-readable medium" encompasses non-transitory electrical and electromagnetic signals propagating through a medium and can therefore be considered tangible and non-transitory storage. Non-limiting examples of non-transitory storage include tangible computer-readable medium, including non-volatile memory, magnetic storage, and optical storage.

[0016] The devices and methods described in this application may 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 may also include and / or access stored data.

[0017] A software application (i.e., a software resource) may refer to computer software that causes a computing device to perform a task. In certain examples, a software application may be referred to as an "application," an "app," or a "program." 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.

[0018] Non-transitory memory may be physical devices used to store programs (e.g., sequences of instructions) or data (e.g., program state information) on a temporary or permanent basis for use by a computing device. Non-transitory memory may 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) / electronically erasable programmable read-only memory (EEPROM) (which, for example, is typically 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 disk or tape.

[0019] These computer programs (also known as programs, software, software applications, or code) contain machine instructions for a programmable processor and may be implemented in a high-level procedural and / or object-oriented programming language and / or assembly / machine language. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to a computer program product, a non-transitory computer-readable medium, an apparatus, and / or a device (e.g., magnetic disks, optical disks, memories, programmable logic devices (PLDs)) used to provide machine instructions and / or data to a programmable processor, which contains a machine-readable medium that embodies machine instructions as a machine-readable signal.The term “machine-readable signal” refers to a signal used to provide machine instructions and / or data to a programmable processor.

[0020] Various implementations of the systems and techniques described herein may be realized in digital electronics and / or optical circuitry, integrated circuitry, specially designed ASICs (Application Specific Integrated Circuits), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include implementation in one or more computer programs executable and / or interpretable in a programmable system including at least one programmable processor, which may be special-purpose or general-purpose and coupled to receive data and instructions from and send data and instructions to a memory system, at least one input device, and at least one output device.

[0021] The processes and logic sequences described in this application text may be performed by one or more programmable processors, also referred to as data processing hardware, which execute one or more computer programs to perform functions by operating on input data and generating outputs. The processes and logic sequences may also be performed by special-purpose logic circuitry, such as an FPGA (field-programmable gate array) or an ASIC (application-specific integrated circuit). Processors suitable for executing a computer program include, by way of example, both general-purpose and special-purpose microprocessors and one or more processors of any type of digital computer. Generally, a processor will receive instructions and data from read-only memory and / or random access memory.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 also includes, or is operatively coupled to, receiving data from and / or sending data to one or more mass storage devices for storing data, e.g., magnetic storage media, magneto-optical storage media, or optical storage media. However, a computer is not required to include such devices. Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and storage devices, including, by way of example, semiconductor storage devices, e.g., EPROM, EEPROM, and flash memory devices; magnetic storage devices, e.g., internal hard disks or removable storage devices; magneto-optical storage devices, and CD-ROM and DVD-ROM storage devices.The processor and memory may be supplemented by or incorporated into special-purpose logic circuitry.

[0022] To provide interaction with a user, one or more aspects of the disclosure may be implemented in 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 trackball, with which the user can provide input to the computer. Other types of devices may also be used to provide interaction with a user; e.g., feedback provided to the user may be any form of sensory feedback, e.g.,visual feedback, auditory feedback, or haptic feedback; and input may be received from the user in any form including auditory, verbal, or tactile input. Additionally, a computer may interact with a user by sending documents to and receiving documents from a device used by the user; e.g., by sending web pages to an internet browser on a user's client device in response to requests received from the internet browser.

[0023] With special reference to Fig. 1, an apparatus 10 for modifying a workpiece (i.e., a device) is shown, including a frame 50, a first or upper unit 100, and a second or lower unit 200. For the purposes of this disclosure, the term "modifying" may be used interchangeably with terms associated with machining a workpiece, such as forming, shaping, and / or straightening.

[0024] As in Fig. 1, the frame 50 may include a first or upper portion 52 and a second or lower portion 54 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, crane device, or other device capable of moving the frame 50 along an additional axis, such that an additional degree of freedom is added to the system 10.

[0025] 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 or proximal end 104 coupled to the upper portion 52 and an opposite second or distal end 106 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 to rotate about the longitudinal axis 12 (e.g., via a gear set, pulleys, a chain, or a belt) and / or to move translationally along the longitudinal axis 12 (e.g., via an actuator with mechanical coupling gears, pneumatics, or hydraulics).

[0026] As in Fig. 1, a gear 108 may be disposed axially along an outer portion of the first shaft 102 such that the first shaft 102 may be externally driven by one or more drive mechanisms 110 coupled to the upper portion 52 of the frame 50. The gear 108 may have a height 114 such that the gear 108 may maintain contact with at least one of the one or more drive mechanisms 110. Maintaining contact between the gear 108 and the one or more drive mechanisms 110 may, for example, provide control for a rotational position of the first shaft 102 before, during, and / or after translational movement of the first shaft 102. The drive mechanisms 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 can be controlled by an industrial computer (e.g.a programmable logic controller) or a manual analog input (e.g., a foot pedal) and communicate with it such that the speed and angle of rotation of the first motor 112 can be controlled.

[0027] According to another aspect of the present disclosure, an alternative to the first shaft 102 may be provided and may include a first shaft 102' coupled to the upper portion 52 of the frame 50. The first shaft 102' may, for example, be a pillar drill that typically translates along the longitudinal axis 12 and / or rotates about it. As shown in Fig. 6, the first shaft 102' may include an inner shaft 116 disposed within an outer shaft 118 axially 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, pulleys, a chain, a belt) and / or translate along the longitudinal axis 12 (e.g., via an actuator with mechanical linkages, pneumatics, or hydraulics). Additionally, the inner shaft 116 may translate with respect to the outer shaft 118 along the longitudinal axis 12 and / or rotate about it. The inner shaft 116 may be configured at a proximal end 104' to be internally actuated via the drive mechanism 110 and the first motor 112, as described above.In other words, the inner shaft 116 may include a toothing 120 that can be coupled to an internal toothing 122 of the gear 108'. The gear 108' may have a height 114' that can be selected such that the toothing 120 can remain in contact with the internal toothing 122 of the gear 108' during the translational movement of the inner shaft 116 along the longitudinal axis 12. Maintaining contact between the toothing 120 and the internal toothing 122 can enable the inner shaft 116 to be driven from the inside before, during, and / or after the translational movement along the longitudinal axis 12.

[0028] As in the Fig. 2 and Fig. 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 clamping device 124 coupled to the distal end 106 of the first shaft 102 such that a first tool 126 may be removably coupled to the first shaft 102 at the distal end 106. The tool clamping device 124 may be configured such that the first tool 126 may be easily interchangeable with multiple tools. For example, the tool chuck 124 may include movable jaws or clamps that can easily engage and disengage from the first tool 126 to secure the first tool 126 to the first shaft 102. In general, the first tool 126 may include forming, shaping, and / or straightening tools configured as interchangeable tools.The first tool 126 may include tools such as rollers, step benders, chisels, or other tools that can be used for forming, shaping, and / or straightening operations. The first tool 126 may also include incremental (e.g., hammers) or continuous (e.g., the English wheel) forming, shaping, and / or straightening tools. Additionally or alternatively, the first tool 126 may be a tool configured to be rotated about the longitudinal axis 12. The first tool 126 may also be configured such that a position of a portion of the first tool 126 can be adjusted about a first plane 128. The first plane 128 may be an XY plane that extends across and is perpendicular to the longitudinal axis 12. Such adjustments of the first tool 126 about the first plane 128 may, for example, enable further adjustment versatility of a workpiece during operation.

[0029] The upper unit 100 can be duplicated and coupled to the lower portion 54 of the frame 50. Therefore, both the upper portion 52 and the lower portion 54 of the frame 50 can have upper units 100 configured to translate and rotate with respect to the longitudinal axis 12.

[0030] As in Fig. 1, the second or lower unit 200 may be coupled to the lower portion 54 of the frame 50. Similar to the upper unit 100, the lower unit 200 may also include a shaft that is movable along the longitudinal axis 12 and with respect to the frame 50. However, here, the lower unit 100 includes a tool platform 202 coupled to the lower portion 54 of the frame 50. The tool platform 202 may include a first or upper surface 204 and an opposing second or lower surface 206. As best shown in Fig. 3, the upper surface 204 may face the first unit 100. The tool platform 202 may be configured such that the tool platform 202 can rotate about the longitudinal axis 12 and relative to the frame 50. In other words, the gear teeth 208 may be arranged, for example, radially around the tool platform 202, which may be actuated (e.g., via a gear set, pulleys, a chain, or a belt).

[0031] As in Fig. 1, the tool platform 202 may be coupled to and actuated by one or more drive mechanisms 210 coupled to the lower portion 54 of the frame 50. The drive mechanisms 210 may be identical to the drive mechanisms 110 coupled to the upper portion of the frame 52. The drive mechanisms 210 may be actuated by a second motor 212 that may be coupled to the lower portion 54 of the frame 50. The second motor 212 may be identical to the first motor 112 of the first or upper unit 100. The second motor 212 may be coupled to and communicate with an industrial computer (e.g., a programmable logic controller) or a manual analog input (e.g., a foot pedal) such that the speed and angle of rotation of the second motor 212 may be controlled.

[0032] As in the Fig. 2 and Fig. 4, the second tool 226 may be coupled to the lower portion 54 and disposed along the longitudinal axis 12. The tool platform 202 may include a tool clamping device 224 coupled to the upper surface 204 of the tool platform 202. The tool clamping device 224 may be configured such that a second tool 226 may be easily interchangeable with multiple tools. The tool clamping device 224 may include movable jaws or clamps that can easily engage and disengage from the second tool 226 to secure the second tool 226 to the tool platform 202. In general, the second tool 226 may include forming, shaping, and / or straightening tools configured as interchangeable tools.The second tool 226 may include tools such as rollers, step benders, chisels, or other tools that can be used for forming, shaping, and / or straightening operations. The second tool 226 may also include incremental (e.g., hammering) or continuous (e.g., the English wheel) forming, shaping, and / or straightening tools. Additionally or alternatively, the second tool 226 may be a tool configured to be rotated about the longitudinal axis 12. The second tool 226 may also be configured such that a position of a portion of the first tool 226 can be adjusted about a second plane 228. The second plane 228 may be an XY plane that passes through and is perpendicular to the longitudinal axis 12. Such adjustments of the second tool 226 about the second plane 228 may, for example, enable further adjustment versatility of a workpiece during operation.

[0033] In operation, the first motor 112 can be coupled to the upper section 52 to actuate the first tool 126 about the longitudinal axis 12 and with respect to the upper section 52. Likewise, the second motor 212 can be coupled to the lower section 54 to actuate the second tool 226 about the longitudinal axis 12 and with respect to the lower section 54. The movement of the first unit 100 and the second unit 200 can be maintained and independently controlled by receiving identical electrical inputs (e.g., linear or rotary encoders). Therefore, a position of the first tool 126 and a position of the second tool 226 can be continuously maintained simultaneously by the first and second motors 112, 212, which can provide parallel features for a workpiece 20.Additionally or alternatively, the position of the first tool 126 and the position of the second tool 226 may be maintained independently by the first and second motors 112, 212, which may provide chamfered features on the workpiece 20. The position of the first tool 126 and the second tool 226 may be maintained such that the first tool 126 and the second tool 226 remain tangential to a path 22 of the workpiece 20 within a common interface 300. The common interface 300 for modifying the workpiece 20 may be as shown in FIG. Fig. 1, may be disposed axially between the first tool 126 or upper unit 100 and the second tool 226 or lower unit 200. The common interface 300 may be defined, for example, by a region between the first plane 128 and the second plane 228 or by a region axially located between the first tool 126 and the second tool 226. The first tool 126 and the second tool 226 may contact the workpiece 20 within the common interface 300 and modify the workpiece 20. In other words, the first tool 126 may contact an upper surface of the workpiece 20 and the second tool 226 may contact a lower surface of the workpiece 20. It should be noted that the first tool 126 and the second tool 226 can be asymmetrical (e.g., the first tool 126 is a punch and the second tool 226 is a die) or symmetrical (iethe first and second tools 126, 226 are identical tools). 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 and the second tool 126, 226 within the common interface 300.

[0034] Fig. Figure 5 shows a portion of the first tool 126 at several different positions along the path 22 of the workpiece 20. As shown, the first tool 126 remains at a first position 126a, a second position 126b, a third position 126c, and a fourth position 126d tangential to the path 22 of the workpiece 20. It should be noted that although the second tool 226 in Fig.5, the second tool 226 can also be controlled such that a portion of the second tool 226 also remains tangential to the path 22 of the workpiece 20. The first and second motors 112, 212, coupled to the drive mechanisms 110, 210, can be actuated to align the first and second tools 126, 226 to a desired location and in a desired direction. In this manner, managing the orientation of the first and second tools 126, 226 relative to the path 22 enables the first and second tools 126, 226 to, for example, form, modify, and / or translate geometric features 24 on the workpiece 20.

[0035] Several implementations have been described. Nevertheless, it should be understood that various modifications may be made without departing from the spirit and scope of the disclosure. Accordingly, other implementations are within the scope of the following claims.

[0036] The foregoing description has been provided for illustrative and descriptive purposes. It is not intended to be exhaustive or to limit the disclosure. Individual elements or features of a particular configuration are generally not limited to that particular configuration, but are, where applicable, interchangeable and may be used in a chosen configuration, even if not specifically shown or described. They may also be varied in many respects. Such variations are not to be regarded as a departure from the disclosure, and all such modifications are intended to be included within the scope of the disclosure.

Claims

[1] Device comprising: a frame comprising a first portion and a second portion axially spaced from the first portion along a longitudinal axis; a first unit coupled to the first section and comprising: a first tool coupled to the first portion and arranged along the longitudinal axis; a first motor coupled to the first section for actuating the first tool about the longitudinal axis and with respect to the first section; a second unit coupled to the second section and comprising: a second tool coupled to the second section and arranged along the longitudinal axis, a second motor coupled to the second section for actuating the second tool about the longitudinal axis and with respect to the second section; and a common interface for modifying a workpiece disposed axially between the first tool and the second tool. [2] The apparatus of claim 1, wherein the first unit further comprises a first shaft coupled to the first portion of the frame at a first end and to the first tool at a second end, and wherein the first shaft is configured to translate with respect to the frame along the longitudinal axis and to rotate about it. [3] The device of claim 2, wherein the first shaft is configured to be externally actuated via a drive mechanism coupled to the first motor. [4] The device of claim 3, wherein the first shaft is configured to move translationally along the longitudinal axis and simultaneously rotate about the longitudinal axis. [5] The device of claim 2, wherein the first shaft comprises an inner shaft and an outer shaft, and wherein the inner shaft is configured to translate along the longitudinal axis with respect to the outer shaft and to rotate about it. [6] The apparatus of claim 5, wherein the inner shaft is configured to be actuated from the inside via a drive mechanism coupled to the first motor. [7] The apparatus of claim 1, wherein the second unit further comprises a tool platform coupled to the second portion of the frame, and wherein the tool platform is configured to rotate relative to the frame about the longitudinal axis. [8] The apparatus of claim 1, wherein a position of the first tool and a position of 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 tangential to a path of the workpiece within the common interface. [9] The apparatus of claim 1, wherein the first unit and the second unit are configured to receive equal electrical inputs to maintain consistent movement of the first and second units. [10] The apparatus of claim 1, wherein the first tool and the second tool are asymmetric.

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