WO2019106553A1

WO2019106553A1 - Machine for tattooing a skin surface, corresponding system and method

Info

Publication number: WO2019106553A1
Application number: PCT/IB2018/059388
Authority: WO
Inventors: Ignazio IACONA; Sergio CARAMANNO; Monica MAZZARA
Original assignee: Iacona Ignazio; Caramanno Sergio; Mazzara Monica
Priority date: 2017-11-28
Filing date: 2018-11-28
Publication date: 2019-06-06

Abstract

A machine (2) for tattooing comprises a support (10) and an electric motor (3) mechanically associated to the support, commutation means (20) coupled to the electric motor (3) and associated to a tattooing cartridge (14) provided with a needle (12) associated to an elastic return element (15), the commutation means (20) being actuated by the electric motor (3) for generating an alternating motion of the needle (12) with respect to the support (10); a balancing unit (32) associated to the needle (12) and configured to balance an elastic force (Fe) generated by the elastic element (15) during each period of the alternating motion, the balancing unit (32) comprises magnetic means configured to continuously generate a countering force during each period to adjust the alternating motion of the needle (12) by controlling the motor (3). A system (1) and a corresponding tattooing method are also described.

Description

TITLE: "MACHINE FOR TATTOOING A SKIN SURFACE, CORRESPONDING

SYSTEM AND METHOD"

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FIELD OF THE INVENTION

The present invention refers to a machine for tattooing a skin surface of a person or animal. Further, the present invention refers to a system for tattooing a skin surface, provided with a machine. The present invention refers also to a method of tattooing a skin surface of a person or animal.

PRIOR ART

It is known that tattoos are obtained by three common types of strokes: "line", "shading" and "filling" which are inscribed by a needle or a group of needles dipped into suitable inks. Nowadays, tattoos are inscribed by machines, known also as "guns", enabling to automatically oscillate the needle . There are substantially two types of machines mainly characterized by the employed mechanics : the "coil" machine and the "rotary" machine .

The coil machines comprise one or more electromagnetic coils fixed to a frame and actuated for controlling the displacement of a hammer, known as bar, to which a sliding element transferring the movement to a needle or a needle group, is hooked. The sliding element is inserted in a cartridge having a handle or grip which comprises a tube, fixed to the frame, by a tube-locking screw, and a ferrule. The hammer controls the movement of the needle with respect to the ferrule of the cartridge, enabling to adjust the "softness" by which the needle or a needle group are inserted under the skin. A spring element placed between the hammer and frame, enab1 es the need1e to return . The translation of the hammer is manually adjusted by acting on a contract screw and also by adjusting the value of the supply voltage. The spring element can be also manually substituted for obtaining a further setting.

The rotary machines employ an electric motor and commutation means provided with an eccentric for moving the needle or needle group . The frequency of the needle or needles is controlled by varying the value of the supply voltage while the translation of the needle or needles is adjusted by adjusting screws, or by substituting the eccentric.

With reference to the types of strokes and to the associated

. a possible calibration provides to adjust

.encies in a range comprised between 100-140 Hz.

The travel of the needle depends on factors such aå

-hardness, resiliency, and thickness of the skin, which vary according to the zone to be tattooed and/or the subj ect to be tattooed;

- the type of the drawing to be tattooed with reference to the amount of ink and how i t is released.

Further, the tattooers, for quickly perform a tattoo, have on hand two or more suitably calibrated machines for sequentially performing different types of strokes. The adjustments of the known-type machines are not easily and quickly obtained. Coarse settings of the machines, approximate adjustments and calibrations, with reference to the skin of the subject to be tattooed, compromise the quality of the obtained tattoo.

Moreover, the known-type machines and particularly the coil ones, even though are advantageous from different points of view, exhibit the inconvenience of generating a noise caused by the excited coils. The noise is particularly annoying. Further, the vibrations generated by the coils and/or electric motor exhaust the tattooer when he/she performs a tattoo consequently the precision of the strokes is negatively affected.

An actuating pedal is actuated by the tattooer for turning on the machine. The pedal is substantially a pedal button associated to the power supply of the machine, by a wire. During a tattooing session, the actuating pedal is repeatedly pressed by the tattooer by a foot pressure. Even though the known-type actuating pedal is satisfying from different points of viewy it exhibits a low stability and smoothness and the frequent use can cause problems to the movement of the tattooer foot.

The U.S. patent application No. US 2017/0157382A1, filed in the name of Siciliano Gaston, describes a system of a tattoo machine with a pilot bar provided with a tattooing needle, which is associated to a damping element , e.g. a spring or a closed-cell foam element, the damping element acts for limiting and damping the longitudinal impact generated by the needle during the ascent step . The U.S. patent application No . US 2011/0288575A1, filed in the name of Colton et al . , describes a wireless tattooing system.

With reference to some known-type machines, the position and shape of the gripping element or grip hinders the tattooer executing some strokes or can cause the tattooer to take uncomfortab1e work positions .

ue to the above cited reasons, the prior art machines and systems are substantially a tradeoff solution and, as such, they are not completely satisfying with reference to the comfort O G tattooing and to the quality of the obtained tattoo.

The technical problem underlying the present patent application consists of devising a machine for tattooing a skin surface, showing an improved control of the needle movement and having structural and operative features capable of satisfying the required needs, in order to overcome the cited inconveniences of the prior art.

Particularly, it is an object of the present invention to implement a controlled-motion machine enabling to reduce skin tears and which is quiet, adaptable, reliable and user friendly and which can be easily adjusted without requiring a particular technical knowledge and capable of easily and quickly making different types of strokes.

A further object of the present application consists of implementing a system enabling to pilot in a controlled way the movement of the needle.

BRIEF SUMMARY OF THE INVENTION

The solution idea forming the basis of the present invention is that of controlling the elastic return element during the execution of a tattoo, in order to precisely control the movement of the needle in order to improve the sharpness of the obtained stroke without simultaneously reducing the desired features of a simple adjustment.

Based upon such a solution idea, the technical problem is solved by a machine of the previously discussed type, characterized by comprising a balancing unit associated to said at least one needle and configured to balance an elastic force generated by the elastic return element during each period T of the alternating motion of said at least one needle, the balancing unit comprising magnetic means configured to continuously generate a countering force substantially opposite and in contrast to said elastic force during each period T in order to adjust said alternating motion of said at least one needle, by controlling said electric motor.

Suitably, the countering force generated by said balancing unit varies during said alternating motion of said at least one needle .

Advantageously, the magnetic means of said balancing unit comprise at least one first permanent magnet and at least one second permanent magnet facing each other with the same polarity, said first magnet being movable with respect to said at least one second magnet, said at least one second magnet being selectively stationary positioned with respect to said support. Further embodiments are described in the dependent claims regarding the machine .

The technical problem is also solved by a system according to claim 7 and by preferred embodiments described in the dependent claims .

Based upon such solution idea, the technical problem is also solved by a method according to claim 11 and by preferred embodiments described in the dependent claims.

The characteristics of the machine for tattooing a skin surface and of the associated system, and also of method according to the present invention, will appear from the following description of an embodiment example given in an indicative and non-limiting purposes with reference to the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

In such drawings :

- Figure 1 illustrates a perspective schematic view of a system implemented according to the present invention;

- Figure 2 illustrates an exploded view of an embodiment of the machine according to the present invention;

- Figures 3 and 4 illustrate front views of the machine in Figure 2 in two different work states;

Figures 5 and 6 illustrate details of the machine respectively shown in Figures 3 and 4;

- Figures 7 and 8 illustrate schematic details of the machine of Figure 2;

- Figure 9 illustrates a schematic view of a variant of the detail of Figure 7;

- Figure 10 illustrates a schematic perspective view of a movab1e grip;

- Figure 11 schematically illustrates a block diagram of the system of Figure 1 ;

- Figure 12 schematically illustrates a block diagram of some operative modes of a machine implemented according to the present invention;

- Figure 13 schematically illustrates a block diagram of an actuating pedal implemented according to the present invention. With reference to such figures, 1 illustrates as a whole a portable system for tattooing a skin surface implemented according to the present invention. The system 1 comprises a portable machine 2 having an electric motor 3, an actuating pedal 4, and a control unit. 5 adapted to turn on/ turn off the electric motor 3. A handle or grip 6 is removably associable to the machine 2 for being gripped by the hand of a tattooer . The machine 2 comprises a supporting frame or support 10 to which the electric motor 3 is mechanically associated .

According to the present invention, the electric motor 3 is a controlled-motion motor of the type : stepper motor, for example a linear induction motor, a piezoelectric motor, and a voice coil motor. Such types of motors are controlled by a driver 54 commanded by suitable command means . In the example described in the following, in an indicative non-limiting way, it is made reference to a stepper motor 3.

Commutation means 20 are coupled to the stepper motor 3 and are associated to a tattooing cartridge 14, for commanding the needle 12. The commutation means 20 are actuated by said electric motor 3 for generating an oscillatory motion of said at least one needle 12 at a set frequency. The cartridge 14 is substantially provided with a tubular shaped container 16, comprising the tattooing needle 12 to which a return elastic element or spring 15 is associated.

The cartridge 14 is sold with the needle 12 positioned in a rest point Pmin generally inside the cartridge 14 itself . The needle 12 will move to an outside limit position or final point Pmax in which it is completely outside the free end of the container 16. The elastic element 15 enables to return the needle 12 to the inside of the cartridge 14. According to the present invention, the oscillatory motion of the needle 12 at the set frequency normally occurs inside a range comprised between the rest point Pmin and the final point Pmax, and particularly between an initial point Pin and a final point Pfin directly or indirectly selected by the tattooer.

In an embodiment, the commutation means 20 have an alternating sliding motion and convert a rotary motion of the stepper motor 3 into a substantially rectilinear alternating oscillatory motion of the needle 12 with respect to the support 10. Said oscillatory motion of the needle 12 having substantially a period T. A balancing unit 32 is coupled to said commutation means 20 and is configured to generate a countering force Fb varying in said period T, opposing the elastic force Fe generated by the return elastic element 15. The generated countering force Fb is substantially opposite and in contrast to the elastic force Fe .

In an embodiment, illustrated in Figures 1 and 2 , the stepper motor 3 exhibits a shaft 21 disposed according to an axis X-X. The shaft 21 is actuated by successive steps in a clockwise and anticlockwise direction with respect to an initial position for a predetermined number of positions. Consequently, the stepper motor 3 does not perform complete rotations of 360° but performs an oscillatory motion with respect to the initial position adapted to generate an alternating oscillatory motion of the needle 12, having substantially a period T. The oscillatory motion of the needle 12 is completely controlled, both with reference to the travel, in other words the distance travelled by the needle 12, and the travelling time of said travel.

The commutation means 20 comprise a commutator arm 23 keyed to the rotating shaft 21 and coupled, at an opposite end, to an idle rod 30 associated to the cartridge 1 and axially associated to the needle 12.

In an embodiment, the balancing unit 32 comprises magnetic means 35 adapted to generate the countering force which, in the present instance, is a magnetic force Fb (Fe-Fb=0) . Consequently, the motive force Fm generated by the stepper motor 3 is transmitted, via the commutation means 20, to the needle 12 and is substantially used for moving the needle 12 itself. At the same time, the magnetic force Fb counters the return elastic force Fe by substantially balancing it, during the entire period T of the oscillatory motion, enabling a controlled motion of the needle 12. Therefore, the needle 12 is substantially moved with an alternating linear motion.

In an embodiment schematically shown in Figures from 3 to 8, the magnetic means 35 comprise a first permanent magnet 36 and a second permanent magnet 38, which face each other with the same polarity. The first magnet 36 is movable with respect to the second magnet 38, and the second magnet 38 is stationary with respect to the support 10.

In the illustrated embodiment, the support 10 comprises a substantially box hollow half shell 100 provided with a base flange 101 and with a lateral wall 102. The base flange 101 has a substantially circular plan with a through hole 103 and a housing seat 104 made in the perimetral edge inside the hole 103, The lateral wall 102 of the half shell 100 is provided with four lateral connecting fins 105 parallelly developing to each other .

To the base flange 101 an outer flange 106 is removably coupled, which is provided with four spokes 107 disposed in the shape of a cross . Each spoke 107 is coupled to a fin 105 by removable coupling elements 108, such as rivets or screw_'s, or similar .

Moreover, the support 10 comprises a first bar 109 and a second bar 110 facing each other and coupled for defining a support seat 111 for the stepper motor 3, and a recess 112 adapted to slidingly receive the idle rod 30. The first bar 109 comprises a portion coupled to the lower fins 105 of the lateral wall 102 and a portion projecting from the half-shell 100. The second bar 110 is substantially analogous to the first bar 109 and comprises an appendage 114 developing perpendicularly to the second bar 110. This enables to connect by three points the stepper motor 3 and consequently enables a greater stability of the machine 2.

The stepper motor 3 is inserted in the support seat 111, the axis X-X being disposed perpendicularly to the first bar 109 and second bar 110 and is fixed, by removable means 108, to the fins 105 of the half shell 100.

In an embodiment, the stepper motor 3 exhibits a motor body 130 and a dissipating lid 131, this latter projecting outside the supporting seat 111. The dissipating lid 131 exhibits a plurality of perpendicularly protruding pins or fins 132 disposed proximate to each other as a heat dissipating element,

A guiding block 113 is disposed in the recess 112 and is fixed to the first bar 109 and second bar 110. The guiding block 113 is substantially a spacer for the idle rod 30 and for an element for connecting the handle 6, as will be better understood in the following description. The guiding block 113 is provided with a lower plate and upper plate substantially identical to each other, associated by a lateral wall and provided with corresponding concentric centering holes 115. An adjustable joint 116 is disposed inside the guiding block 113 and is interposed between the plates at the centering holes 115 for receiving the idle rod 30.

In a kind of adjustment, the joint 116 has a relative movement with respect to the guiding block 113 and particularly to the lateral wall. An adjusting element 117, for example a screw, coupled outside the guiding block 113 and passing through the lateral wall, adjusts the distance between the joint 116 and the lateral wall.

The commutation means 20 comprise the commutator arm 23 developing along a direction substantially perpendicular to the axis X-X, and which is provided with a sleeve 25 mounted to the shaft 21. Preferably, the sleeve 25 exhibits a shape coupling, of the male-female type, with the shaft 21. A land of the shaft 21 and a grub screw stop the axial sliding motion of the sleeve 25 along the axis X-X of the shaft 21.

The idle rod 30 is idly rotatively coupled to the commutator arm 23 by a bearing 30a inserted in a hooking element 26 or pin. The pin 26 protrudes perpendicularly from the commutator arm 23, preferably at the end opposite to the sleeve 25,

The commutator arm 23 exhibits, in a plan view, an angular shape and comprises a first portion 24a coupled to a second portion 24b associated, by a predefined inclination, to the first portion 24a. The second portion 24b, when is mounted, is disposed above the recess 112. Due to the angle shape of the commutator arm 23, the needle 12 has a substantially linear alternating motion, linear with the rod 30 and alternating according to a set frequency f. Moreover, the angle shape of the commutator arm 23 enables to reduce the overall weight of the machine 2 and also to reduce the inertia of the machine 2, enabling to speeding up the movement of the needle 12.

The idle rod 30 is coupled to the guiding block 113 by passing inside the handle 6, The idle rod 30 is idly pivoted to the commutator arm 23 and is inserted in the joint 116 by passing through the centering holes 115,

The cartridge 14 is made integral to the handle 6 by a standard hook not shown in the figures, so that the needle 12 is coupled to the idle rod 30.

According to an embodiment, the balancing unit 32 comprises the first permanent magnet 36 housed in a first seat 37 made in the commutator arm 23, The second magnet 38 is housed in a second seat 39 made in a disk-shaped plaque 27 removably associated to a plate 28. The plate 28 is housed in the seat 104 of the base flange 101. Consequently, the second magnet 38 faces the first magnet 36 by means of the hole 103.

By moving the commutator arm 23, the attractive magnetic force Fb between the magnetic means 35 varies and particularly increases as the distance between the first magnet 36 and second magnet 38 decreases. Still more particularly, when the first magnet 36 and second magnet 38 are aligned, the magnetic force Fb generated in- between is at its peak as shown in Figure 5. When the first magnet 36 is at the longest distance from the second magnet 38, which is positioned above or below, the magnetic force Fb substantially approaches to a null value, as schematically shown in Figure 6.

The balancing unit 32 exhibits adjusting means for selectively positioning the second magnet 38 in a predefined initial position R with reference to the support 10, and therefore with respect to the first magnet 36.

In an embodiment, the plaque 27 is housed in a third seat 29 made by an axial hole made in the plate 28. The axial hole exhibits a shaped edge 29a for enabling a relative axial rotative motion of the plaque 27 with respect to the plate 28, for enabling a first selective adjustment of the second magnet 38 with respect to the plate 28. In the present embodiment, the shaped edge 29a is made by a step . The plaque 27 exhibits first alignment means 129a enabling to select the value of the axial rotation of the plaque 27 with respect to the plate 28.

Analogously, a second selective adjustment is obtained by providing the housing seat 104 of the plate 28 with a further shaped edge 104a adapted to enable the plate 28 to rotate with respect to the base flange 101 of the half shell 100 and therefore with respect to the support 10. Second alignment means 129b are present on the plate 28 and on the base flange 101. Preferably, the first means 129a and second means 129b are obtained by suitable perimetral graduated scale indicators provided with reference points.

Varying the initial position of the second magnet 38 with respect to the first magnet 36 varies the initial value Vin and the direction of the magnetic flux and of the generated magnetic force Fb . Moreover, there is a variation of the magnetic force Fb gradient generated during the overall period T. Such selective predefined adjustments are parametrized by reference tables based on the type of used needle 12 and/or cartridge 14 and/or based on corresponding required settings, e.g. for example the initial point Pin of the needle 12. Such adjustments enable to balance the commutation means 20 located in an intermediate equilibrium position PB between the limits defined by an upper stop position Y0 and a lowe stop position Yot with respect to the frame 10.

An electric limit-switch, not illustrated in the figures, can be provided for defining the upper stop position Y0. The equilibrium position PB of the commutation means 20 enables to position the commutator arm 23 and idle rod 30 in a selective position .

Due to the present embodiment, during each period T of the oscillatory motion, the magnetic force Fb substantially balances the elastic force Fe, and the needle 12 is subjected to the motive force FM generated by the stepper motor 3. Consequently, the generated abutments are extremely precise and constant.

In an embodiment variant, illustrated in Figure 9, the balancing unit 32 comprises a further second magnet 38a associated to the plaque 27 and disposed in proximi ty of the second magnet 38 and adapted to increase or adjust the magnetic force Fb generated by said magnetic means 35,

The handle or grip 6 of the machine 2 is schematically illustrated in Figure 10. The handle 6 is provided with a substantially oval body 80 developing along a direction Z-Z with an anatomical shape. The body 80 is provided with two narrowed ends adapted to respectively form a cylindrical plan base 83, and a head end 84. A tubular connecting element 81 protrudes from said head end 84 along the direction Z-Z. An adjustment mechanism 82 is interposed between the head end 84 and the connection element 81. The connection element 81 is removably fixed to the guiding block 113 which is associated to the support 10.

The adjustment mechanism 82 is provided with a bearing adapted to rotate the body 80 with respect to the direction Z-Z. Preferably, a button 85 is positioned at said base 83 for actuating the adjustment mechanism 82,

Consequently, the machine 2 has a determined work position, while the handle 6, by rotating the body 80 with respect to the support 10, is movable by a command from the tattooer through the button 85. This enables to perform tattoos in hard-to-reach positions or in points where the size of the machine 2 encumbers the tattooer.

The handle 6, according to the present invention, can be used with different types of the existing machines by suitably adapting the connecting element 81.

In an embodiment, the control unit 5, schematically shown in Figure 11, commands the stepper motor 3, and particularly the driver 5. Specifically, the control unit 5 precisely monitors the following setting parameters 60 of the machine 2 in each period T of the needle 12:

- initial point Pin [nun] of the needle 12, stroke initial point, a position directly set by the tattooer;

- travel [nun] , in other words the distance from the initial point Pin to the final point Pfin reached during the oscillation of the needle 12. The travel value is directly set by the tattooer;

Duty Cycle [%] strictly depending on the operation set mode and which can define, during the oscillation period T, the residence of the needle 12 above and below the skin, or the downward speed or upward speed of the same;

oscillation frequency f [Hz] ,

The indicated setting parameters 60 vary as a function of the used tattooing technique and/or as a function of the type of line to be tattooed. Further, such setting parameters 60 depend also on: skin density of the zone to be tattooed, conformity of the part of the body to be tattooed, environment temperature, number and size of the used needles 12.

According to the embodiment illustrated in Figure 11 , the system 1 comprises the control unit 5 substantially provided with a microcontroller 50 and with one or more data storage and/or setting parameters means 60, these means are generally indicated by the number 52. The microcontroller 50 is configured to receive input and output signals from different connected modules and to process the values of the setting parameters 60. According to an embodiment, the values of the setting parameters 60 are processed by a first operative mode Model or by a second operative mode Model,

A displaying device 8, which in an embodiment comprises a LCD display and a touch screen provided with a graphic interface, is coupled to the control unit 5 and particularly to the microcontroller 50. The displaying device 8 is configured to receive the values of the setting parameters 60 set by the tattooer. The displaying device 8 enables also to turn on/turn off the machine, to input or display the processed data and the values of the setting parameters 60 input and/or stored in said storage means 62 and/or in further external storage means 59, According to an embodiment, the system 1 is supplied by a DC main electric network 53 through the interposition of an electric commutator module 56,

Further modules can be provided and coupled to the electric commutator module 56 for a voltage modulation or current modulation of the supply signal. The electric commutator module 56 is activated by the microcontroller 50 with an activation signal for supplying first pilot signals Dr to the driver 54 through an output OUT connected to an output. BUS-U.

In an embodiment, the microcontroller 50 comprises a counter implemented in the firmware, which uses a timer for precisely timing the clockwise or counterclockwise advancement of the steps of the stepper motor 3 with reference to an initial position. At the occurrence of a digital pulse of a square-wave period, timed by a so-called "timer interrupt", the microcontroller 50 generates the first pilot signals Dr which are processed by the driver 54 and which enable to generate second pilot signals Com for commanding the stepper motor 3. The stepper motor 3 advances by a step in the direction indicated by the Boolean variable and at the attainment of a final predefined step, inverts the motion direction and the state of the variable itself . Consequently, the needle 12 will be placed in the final point Pfin or in the initial point

Pin .

Further modules can be associated to the microcontroller 50 and/or to the module 51, e . g. for example Bluetooth 57 ' , Wi-Fi modules 58, and modules 59 for an USB connection or to be connected to an external storage of the micro SD-Card type for filing or receiving data and/or initial values of the setting parameters 60. In addition, one or more auxiliary connecting channels 58' for further control peripherals can be provided and connected to an

Moreover, in an embodiment, a lighting device 9, preferably a LED, provided with a driver, is associated to the machine 2 and is actuatable by the microcontroller 50 for suitably lighting the part to be tattooed .

In an embodiment, two or more machines 2 are associable to the control unit 5. So, a sensing module 7, provided with a capacitive touch sensor 7a is configured to receive capacitive dynamic measures from at least one plane or pad touch provided in one or more of said associated machines 2. Specifically, the capacitive dynamic measures, suitably processed by the sensing module enable to sense a human contact ffor respectively generating a first enabling signal A1 for enabling the microcontroller 50 of the control unit 5 to output a pilot signal Dr to the respective driver 54, or to automatically select a control screen, on the displaying device 8.

According to an embodiment, the system 1 comprises an actuating pedal 4, schematically illustrated in Figure 13, provided with at least one load cell 42 and with a further microcontroller 43 which are interfaced by an analog-digital converter A/D 44. Preferably, the converter A/D is of the 24-bit type. The load cell 42 and the further microcontroller 46 enable to translate the pressure exerted by the tattooer, on the external surface of the actuating pedal 4 into corresponding enabling signals B1. The enabling signals B1 are output to the microcontroller 50 for generating the first pilot signals Dr. The actuating pedal 4 comprises a battery element 4, preferably a lithium battery associable to an electric supply network 53 for recharging it by a charge regulator 46. A voltage regulator 48, connected to the battery element 47, regulates the voltage value for correctly supplying both the microcontroller 43 and all the active connected modules. An actuating button 49 and an actuating indicator 45 and also further Bluetooth modules and/or auxiliary modules can be provided.

The actuating pedal 4 provided with at least one load cell 42, is accurate, reliable and aids the tattooer which must exert a small pressure on the external surface of the actuating pedal 4 for turnincf on the machine 2.

The present invention refers also to a method of tattooing a skin surface. The method is described indicatively but i n 3

limiting way with reference to a machine 2 of the above desc :ribed type and, in the following, the details and the cooperating parts of the machine 2 and system 1 will be indicated by the same reference numbers and signs previously used.

The method of tattooing a skin surface of a person or arima l , according to the present invention, provides to manufact ure a portable machine 2 by mechanically associating an electric mo tor

3 to a support 10.

The method provides to couple commutation means 20 to the electric motor 3 for alternati ely moving a needle or a needle group 12 of a cartridge 14 associated to the frame 10 of the machine according to a set frequency f.

The needle 12 is alternatively moved from an initial point Pin to a final point Pfin outside the cartridge 1 , The initial point Pin and the final point Pfin are directly or indirectly selected by the tattooer in a range comprised between a rest point Pmin and an end point. Pmax of maximum projection from the cartridge 14. The cartridge 14 is provided with an elastic return element 15 associated to the needle 12, adapted to generate an elastic return force Fb towards the initial point. Pin.

The method provides to associate a balancing unit 32 to said commutation means 20 for generating a countering force Fb opposing the elastic force Fe . Particularly, the method provides to generate the countering force Fb substantially opposite and in contrast to the elastic force Fe . The needle 12 is suitably commanded in a controlled way and therefore is moved with ai ternating substantially linear or rectilinear oscillatory motion having substantially a period T, with respect to the support 10. In an embodiment, the method provides as an electric motor 3 a controlled-motion motor of the type: stepper motor, for example a linear induction motor, a piezoelectric motor and a voice coil motor . Such contro11ed-motion motors are provided i th a pi 1ot. module or driver 54. The method provides to command the driver 54 by a control unit 5 provided with a microcontroller 50, adapted to generate first pilot signals Dr.

According to an embodiment, the motor 3 is of the stepper type. The method provides to implement a counter in the firmware of the microcontroller 50 by using a timer for accurately timing the advancement of the steps of the stepper motor 3.

The method provides to electromechanically reset the machine 2 and to initialize 61, by the control unit 5, the initial values of the setting parameters 60 substantially referred to the needle 12 or to the alternating motion of the needle 12 during the period

- initial point Pin [mm] of the needle 12, travel initial point, a position directly set by the tattooer;

- travel mm] , in other words the distance from the initial point Pin to the final point Pfin;

Duty Cycle [%] strictly depending on the operation set mode, defines the residence of the needle 12 above and below the skin, or the downward speed or upward speed of the same;

- oscillation frequency f [Hz] .

In an embodiment, the step of electromechanically resetting the machine 2 provides

position the switching means 20 and particularly the commutator arm 23 and rod 30 in an upper stop position Y0.

Suitably, in an embodiment, electromechanically resetting the machine 2 provides also to impose a counterclockwise rotation to the stepper motor 3. Advantageously, according to the present invention, the method provides to process the initial values of the setting parameter 60 by a first operative mode Model or a second operative mode Mode2 as schematically illustrated in Figure 12. Consequently, the method provides to:

- assign 61 initial values to said setting parameters 60 according to values set by the tattooer;

- select 62 the first ooerative mode Model or the second operative mode Mode2 and process said setting parameters 60 as a function of the value of the "Duty-Cycle" and of the set oscillation frequency f, and output corresponding pilot signals Dr. Specifically, by the two operative modes Model and Model, the tattooer can vary the speed or idle time of the needle 12 with reference to the upward and downward oscillation semi-period T/2 of the needle 12, by a first processing 63 or second processing 64 respectively defining first data OUT1 and second data OUT2.

The first operative mode Model performs a first processing 63 substantially using the set value of the parameter Duty-Cycle based on the set value of the oscillation frequency f parameter for defining a downward speed and upward speed of the needle 12 during the oscillation period T. The second operative mode Mode2 performs a second processing

64 substantially using the set value of the Duty Cycle with reference to the value of the oscillation frequency f for defining a lower idle or under-skin time DTίh and an upper idle or above skin time ATsup for the needle 12, by considering a downward speed and upward speed equal to a predetermined constant value Vc . In an embodiment, the predetermined constant value Vc is substantially equal to a maximum speed attainable by the system 1.

The first data OUT1 and second data OUT2 are used by the block

65 for generating corresponding first pilot signals Dr to be delivered to the driver 54 for commanding the stepper motor 3, by second pilot signals Com.

The method provides to associate, to the control unit 5, a displaying device 8, e.g. for example a touch display provided with a graphic interface enabling to insert or display the values of the setting parameter 60. An external electronic module 59 or another data support can be provided for storing the values of the se11ing parameters 60.

Consequently, the values can be stored by the tattooer and retrieved or quickly modified by means of the graphic interface.

In an embodiment, the method provides the control unit 5 with at least a safety system having a pre-enabling authorized by a remote server 250 by means of a suitable hardware and firmware.

According to an embodiment, the method provides to use the control unit 5 for commanding two or more controlled-motion machines 2. Therefore, the control unit 5 is provided with a sensing module 7 comprising a capacitive touch sensor 7a configured to receive gripping signals of the capacitive dynamic type from at least one button and/or ground planes of said two or more associated machines 2. The gripping signals are processed by the sensing module 7 for automatically sensing when a machine 2 is gripped by a tattooer, by sending corresponding signals A1 to the microcontro11er 50.

Particularly, the sensing module 7 enables to sense a human contact by generating a signal Ad for turning on/off the control unit 5 and/or for automatically selecting a control screen corresponding to the machine 2 gripped by the tattooer.

According to an embodiment, the method provides to activate/deactivate the machine

implied both from the displaying device 8, touch display and from an actuating pedal 4 through respective enabling signals B1. The method provides the actuating pedal 4 with at least one load cell 42 and with a further microcontroller 43 interfaced with the microcontroller 50 by an analog-digital converter 44, preferably of a 24-bit type. Consequently, the pressure exerted by the tattooer on the external surface of the actuating pedal 4 is sensed by the load cell 42 and is translated in respective enabling signals B1.

In an operative mode, said values of the setting parameters

60 are also varied during the operation of the machine 2.

The firmware and hardware can be suitably modified according to specific needs.

Substantially, the used materials and also the dimensions could be anyone according to the needs .

It was observed that the machine and system, devised in this way, have met the prefixed task and objects, enabling to inscribe precise sharp strokes, lines and shadings by controlling the needle motion by means of the balancing unit countering the elastic force, enabling to command the needle motion mainly through the motive force. The time-varying countering force generated by the balancing unit improves the efficiency of the machine reducing the tears in the skin. An effective further improvement of the efficiency is due to the use of a motion-controlled motor commanded by the control unit.

Advantageously, the balancing unit, according to the present invention, enables to use low power motors, because the magnetic force generated by the balancing unit, enables to counter the elastic force generated by the spring. In addition, it is obtained also a reduction of the weight of the machine for the benefit of the handling and control of the same. Moreover, the initial value of the magnetic force is easily and quickly adjusted by rotating the magnetic means. Consequently, the initial setting can be modified according to the types of the used cartridges and also based on the needs of each tattooer.

Further, processing the values of the setting parameters by the first and second operative modes enables to optimally adjust and control the oscillatory substantially rectilinear motion of the needle in the interest of the sharpness of the strokes, of the point and of the shading of the obtained tattoo.

The invention, devised in this way, is susceptible to many modifications and variants all falling into the scope of the inventive step. Therefore, for example, with reference to the rotation of the balancing unit, 1 _“ second seat could rotate with respect to the plate, while the plaque could be stationary with respect to the support.

As an alternative, coupling together the commutation means and rotating shaft could be obtained by friction, in other 'words by an interference fit, by a screw conical coupling or similar . In an embodiment, the controlled-motion motor is of a stepper type; however could be used a linear induction, piezoelectric motors or a voice coil motor, and in this case, the commutation means and balancing unit will be adapted according to the need.

Moreover, all the details are replaceable by other technically equivalent elements.

Claims

1. Machine (2) for tattooing a skin surface comprising:

a support (10) and an electric motor (3) that is mechanically associated to the support;

- commutation means (20) coupled to said electric motor (3) and configured to be associated to a tattooing cartridge (14) which is provided with at least a needle (12) associated to an elastic return element (15), said commutation means (20) are actuated by said electric motor (3) for generating an alternating motion of said at least one needle (12) with respect to said support (10); characterized by comprising a balancing unit (32) associated to said at least one needle (12) and configured to balance an elastic force (Fe) that is generated from said elastic return element (15) during each oeriod (T) of said alternating motion of said at least one needle (12), said balancing unit (32) comprising magnetic means configured to continuously generate a countering force (Fb) that is substantially opposite and in contrast to said elastic force ( Fe ) during each period (T) , in order to adjust said a11ernating motion of said at least one needle (12) by controlling said electric motor (3) .

2. Machine (2) according to claim 1, characterized in that said countering force (Fb) generated by said balancing unit (32) is variable during said alternating motion of said at least one needle ( 12 ) .

3. Machine (2) according to claim 1, characterized in that said magnetic means (35) comprising at least one first permanent magnet (36) and at least one second permanent magnet (38) facing each other

the same po1 ar i ty, sa id fi rst

(36) being movable with respect to said at least one second magnet (38), said at least one second magnet (38) being selectively and stationary positioned with respect to said support (10) .

4. Machine (2) according to claim 1, characterized in that said commutation means (20) are reciprocally slide for generating an oscillatory substantially rectilinear alternating motion of said needle (12), said oscillatory motion having substantially said period (T) , said balancing unit (32) being coupled to said commutation means (20), said commutation means (20) comprising a commutator arm (23) and an idle rod (30) , said commutator arm (23) being keyed to a rotating shaft (21) of said electric motor (3) and said idle rod (30) being loosely pivoted to said commutator arm (23) and associated to said at least one needle (12) .

5. Machine (2) according to claim 1, characterized by comprising a grip (6) removably associable to the support (10), said grip (6) comprising a body (80) developing along a direction Z-Z, said body (80) being associated to a tubular connecting element (81) projecting along said direction Z-Z, an adjusting mechanism (82) being interposed between said connecting element (81) and said body (80) , said adjusting mechanism (82) being provided with at least one bearing for selectively rotating said body (80) with respect to said direction Z-Z.

6. Machine (2) according to claim 1, characterized in that said electric motor (3) is a controlled movement motor namely a stepper motor or a linear induction motor, a piezoelectric motor or a voice coil motor. 7, System (1) for tattooing a skin surface which comprises a machine (2) made according to one or more of claims from 1 to 6, characterized by comprising a control unit (5) prc>vided with a microcontroller (50) and coupled to said electric motor (3) , said control unit (5) being configured for receiving setting parameters

(60) of said machine (2), for processing ( 70) said setting- parameters (60) and for generating at least one pilot signal (Dr, Com) adapted to command said electric motor (3) j n order to control said period (T) of said alternating motion of said at least one needle ( 12 ) .

8. System according to claim 7, characterized in that said electric motor (3) is a controlled movement motor of the stepper type and said microcontroller (50) comprises a timed counter for commanding said motor (3) along an advancement direction for generating said at least one pilot signal (Dry Com) .

9, System according to claim 7, characterized by comprising a sensing module (7) provided with a capacitive touch sensor (7a) which is configured to receive at least one gripping signal delivered by at least one machine ( 2 ) , said sensing module (7) being configured to generate a first enabling signal (Al) for enabling said microcontroller (50) to generate said at least one respective pilot signal (Dr, Com) .

10. System according to claim 7, characterized by comprising an actuating pedal (4) provided with at least one load cell (42), said actuating pedal (4) being configured to deliver an enabling signal (Bl) to said microcontroller (50) upon sensing a pressure on the outer surface, said microcontroller (50) being enabled by said enabling signal (B1 ) to generate said pilot signals (Dr, Com) ,

11. Method of tattooing a skin surface that provides to :

- use a machine (2) by mechanically associating an electric motor (3) to a support (10), and by coupling commutation means (20) to said electric motor (3) , interposing said commutation means (20) between said electric motor (3) and a cartridge (14) having at least one needle (12) for generating an alternating motion of at least one needle (12), associating said at least one needle (12) to an elastic return element (15) of said cartridge (14); characterized by:

-providing a balancing unit (32) associated to said at least one needle (12) ;

providing said balancing unit (32) with magnetic means (35), and continuosly generating a countering force (Fb) opposing to said elastic force (Fe) generated by said elastic return element (15) during each period (T) ;

-adjusting said alternating motion of said at least one needle ( 12 ) by controlling said electric motor (3) .

12. Method according to c1aim 11 , characterized by providing said countering force being a magnetic force ( Fb) variable in said period (T) .

13. Method according to claim 11, characterized by associating said balancing unit (32) to said commutation means (20) .

14. Method according to claim 13, characterized by realizing said magnetic means (35) disposing at least one first permanent magnet (36) and at least one second permanent magnet (38) facing each other with the same polarity, positioning said first permanent magnet (36) movable with respect to said second permanent magnet (38), and positioning said at least one second permanent magnet (38) in a stationary and selective with respect to said support

15. Method according to c1aim 11 , characterized by providing said electric motor (3) as a controlled movement motor namely a stepper motor or a linear induction motor, or a piezoelectric motor

OIT voice coil motor.