Composite intelligent flexible clamping device applying magnetorheological fluid material and machining equipment

Abstract

The invention discloses a composite intelligent flexible clamping device applying a magnetorheological fluid material and machining equipment. The device comprises a clamping body, a magnetic assembly, a clamping assembly and a driving assembly. The clamping body is provided with a containing space. The magnetic assembly is arranged in the accommodating space. The magnetic assembly comprises a magnetism isolating ring, a coil and magnetorheological fluid, a driving space is formed between the inner wall of the magnetism isolating ring and the upper wall and the lower wall of the containing space, the coil is wound on the outer wall of the magnetism isolating ring, and the driving space is filled with the magnetorheological fluid. The clamping assembly is arranged on the clamping body. The clamping assembly comprises a piston column, the piston column is movably arranged on the clamping body, the piston column is provided with a driving end and an adsorption end which are opposite, and the driving end is located in the driving space. The driving assembly is arranged on the clamping body. The driving assembly comprises an air bag, and the air bag is arranged in the driving space and connected with the driving end. Floating clamping of the to-be-machined product can be achieved, and the problem that the to-be-machined product deforms due to clamping along with the machining progress is avoided.

Description

Technical Field

[0001] The invention relates to mechanical equipment, in particular to a composite intelligent flexible clamping device and processing equipment using magnetorheological fluid material. Background Art

[0002] Large flat curved thin-walled parts are widely used in aerospace, military, vehicles and other fields due to their light weight and high strength. However, due to the high removal rate of large flat curved thin-walled parts during processing, they are prone to processing problems such as chatter, distortion, and warping, which seriously affect the processing quality of the product. At the same time, in the existing clamping technology, large flat curved thin-walled parts mostly use a fixed clamping method, which completely constrains the degree of freedom of the parts. The clamping force of this fixed clamping method cannot be controlled during the clamping process, and clamping deformation is very likely to occur, which makes it difficult to accurately control the processing deformation of large thin-walled parts, resulting in high processing costs and long manufacturing cycles for such parts.

[0003] Therefore, it is urgent to design a device for processing and fixing large flat curved thin-walled parts to improve the processing accuracy of large flat curved thin-walled parts and reduce processing costs. At the same time, it is also necessary to solve the problem that large flat curved thin-walled parts are prone to uncontrollable clamping force and clamping deformation during the clamping process as the processing progresses. Summary of the invention

[0004] In order to solve the above technical problems, the embodiment of the present invention provides a composite intelligent flexible clamping device and processing equipment using magnetorheological fluid materials. The specific technical solution is as follows: In the first aspect, a composite intelligent flexible clamping device using magnetorheological fluid material is provided, which includes a clamping body, a magnetic component, a clamping component and a driving component. The clamping body has a containing space. The magnetic component is arranged in the containing space. The magnetic component includes a magnetic isolation ring, a coil and a magnetorheological fluid. A driving space is formed between the inner wall of the magnetic isolation ring and the upper wall and the lower wall of the containing space. The coil is wound on the outer wall of the magnetic isolation ring, and the magnetorheological fluid is filled in the driving space. The clamping component is arranged on the clamping body. The clamping component includes a piston column, which is movably arranged on the clamping body. The piston column has a relative driving end and an adsorption end. The driving end is located in the driving space, and the adsorption end is used to adsorb the product to be processed. The driving component is arranged on the clamping body. The driving component includes an airbag, which is arranged in the driving space and connected to the driving end. The driving component introduces gas into the airbag to expand the airbag and drive the piston column to rise. The magnetic component energizes the coil to generate a magnetic field in the magnetic isolation ring to solidify the magnetorheological fluid. The solidified magnetorheological fluid provides damping force for the piston column to rise and fall.

[0005] In one of the embodiments, it also includes: a control module, which is electrically connected to the magnetic component and the drive component, and the control module is used to control the power on and off of the coil and the expansion and inflation of the airbag.

[0006] In one of the embodiments, it also includes: a sensor, which is arranged at the adsorption end of the piston column, the sensor is electrically connected to the control module, the sensor is used to detect the force and displacement of the product to be processed, and send the detection information to the control module, and the control module controls the magnetic component and the drive component according to the detection information.

[0007] In one embodiment, the clamping body includes a base, a surrounding wall and an upper cover, the surrounding wall is arranged on the base, the upper cover is arranged on the surrounding wall, the base, the surrounding wall and the upper cover form an accommodating space, wherein the airbag is arranged on the base, and the piston column is movably arranged on the upper cover.

[0008] In one embodiment, the upper end of the base has a first boss, the first boss has a first through hole, the airbag is arranged in the first through hole, the lower end of the upper cover has a second boss, the second boss is opposite to the first boss, the second boss has a second through hole, the piston column is arranged in the second through hole, and the inner wall of the magnetic isolation ring abuts against the peripheral sides of the first boss and the second boss.

[0009] In one embodiment, the surrounding wall and the base as well as the upper cover and the surrounding wall are fixedly connected together by screws respectively.

[0010] In one embodiment, the suction end of the piston column has a rubber pad, and the piston column suctions the product to be processed through the rubber pad.

[0011] In one embodiment, the clamping assembly further includes an upper pressure plate, a middle pressure plate and a lower pressure plate. The upper pressure plate is arranged on the piston column, and the upper pressure plate is located in the driving space. The lower pressure plate is arranged at the driving end of the piston column. The middle pressure plate is arranged on the inner wall of the magnetic isolation ring, and the middle pressure plate is located between the lower pressure plate and the upper pressure plate.

[0012] In one embodiment, the clamping assembly further includes at least one honeycomb sheet disposed between the middle pressing sheet and the lower pressing sheet or between the middle pressing sheet and the upper pressing sheet.

[0013] In a second aspect, a processing device is provided, which includes: a plurality of composite intelligent flexible clamping devices and processing tools using magnetorheological fluid materials as in any one of the first aspect, the plurality of composite intelligent flexible clamping devices using magnetorheological fluid materials are arranged below the product to be processed, the adsorption ends of the plurality of piston columns adsorb the product to be processed, the processing tool is located above the product to be processed, and the processing tool is used to process the product to be processed.

[0014] In the embodiment of the present invention, gas is introduced into the airbag to expand the airbag and drive the piston column to rise, and the adsorption end of the piston column adsorbs the product to be processed, and then the coil is energized by the magnetic component to generate a magnetic field in the magnetic isolation ring to solidify the magnetorheological fluid. The solidified magnetorheological fluid provides damping force for the piston column to rise and fall, thereby achieving clamping and fixing the product to be processed. At the same time, as the processing process proceeds, the magnetorheological fluid can be liquefied by stopping the coil from being energized, and the airbag will actively release the corresponding processing deformation as the processing pressure on the product to be processed changes, thereby achieving floating clamping of the product to be processed, avoiding the problem of clamping deformation of the product to be processed as the processing progresses, and at the same time, as the overall processing deformation of the product to be processed is greatly reduced, the product processing quality can also be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 is a three-dimensional diagram of a composite intelligent flexible clamping device using magnetorheological fluid material according to a first embodiment of the present invention; Figure 2 It is a partial schematic diagram of a composite intelligent flexible clamping device using magnetorheological fluid material according to the first embodiment of the present invention; Figure 3 is a perspective view of a rubber liner according to a first embodiment of the present invention; Figure 4 is a perspective view of an airbag according to a first embodiment of the present invention; Figure 5 is a perspective view of a base according to a first embodiment of the present invention; Figure 6 is a perspective view of a honeycomb sheet according to a first embodiment of the present invention; Figure 7 It is a schematic diagram of a processing device according to a second embodiment of the present invention processing a product to be processed. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0018] In addition, the terms “first”, “second”, etc. used in this document do not specifically refer to an order or sequence, nor are they used to limit the present invention. They are merely used to distinguish components or operations described with the same technical terms.

[0019] See also Figure 1 and Figure 2 , which are respectively a stereoscopic view and a partial schematic view of a composite intelligent flexible clamping device using magnetorheological fluid material according to the first embodiment of the present invention; as shown in the figure, the composite intelligent flexible clamping device 1 using magnetorheological fluid material includes a clamping body 2, a magnetic component 3, a clamping component 4 and a driving component 5. The clamping body 2 has a containing space. The clamping body 2 is cylindrical. The magnetic component 3 is arranged in the containing space. The magnetic component 3 includes a magnetic isolation ring 31, a coil 32 and a magnetorheological fluid (not shown in the figure). A driving space 301 is formed between the inner wall of the magnetic isolation ring 31 and the upper wall and the lower wall of the containing space. The magnetorheological fluid is filled in the driving space 301. The coil 32 is wound around the outer wall of the magnetic isolation ring 31. The coil 32 can use a wound copper coil. When the coil 32 is energized, a magnetic field is generated, and the magnetic induction line can pass through the filling area of ​​the magnetorheological fluid to the greatest extent through the magnetic isolation ring 31, so that the solidified magnetorheological fluid can provide a larger damping force.

[0020] The clamping assembly 4 and the driving assembly 5 are arranged on the clamping body 2. The clamping assembly 4 includes a piston column 41, which is movably arranged on the clamping body 2. The movably arranged here means that the piston column 41 can be raised and lowered. The piston column 41 has a driving end and an adsorption end opposite to each other. Figure 2 As shown, the piston column 41 is arranged vertically, the lower end of the piston column 41 is the driving end, and the upper end of the piston column 41 is the adsorption end. The driving end is located in the driving space 301. The adsorption end is used to adsorb the product to be processed. Please refer to Figure 3 , which is a three-dimensional diagram of a rubber pad in the first embodiment of the present invention; as shown in the figure, in this embodiment, the suction end of the piston column 41 has a rubber pad 411, and the piston column 41 sucks the product to be processed through the rubber pad 411. Figure 4 Also see Figure 2 , Figure 4301 is a perspective view of an airbag according to the first embodiment of the present invention; as shown in the figure, the driving assembly 5 includes an airbag 51. The airbag 51 is arranged in the driving space 301. The airbag 51 is connected to the driving end of the piston rod 41. The driving assembly 5 introduces gas into the airbag 51 to expand the airbag 51 and drive the piston rod 41 to rise. The airbag 51 can use a rubber sleeve structure.

[0021] See also Figure 1 and Figure 2 As shown, when the composite intelligent flexible clamping device 1 using magnetorheological fluid material of this embodiment is used, the driving component 5 introduces gas into the airbag 51 to expand the airbag 51 and drive the piston column 41 to rise, and the adsorption end of the piston column 41 adsorbs the product to be processed, and then the magnetic component 3 energizes the coil 32 to generate a magnetic field in the magnetic isolation ring 31 to solidify the magnetorheological fluid, and the solidified magnetorheological fluid provides a damping force for the piston column 41 to rise and fall, so as to achieve the clamping and fixing of the product to be processed. At the same time, as the processing process proceeds, the magnetorheological fluid can be liquefied by stopping the power supply to the coil 32, and the airbag 51 will actively release the corresponding processing deformation as the processing pressure on the product to be processed changes. In other words, the airbag 51 will shrink as the pressure on the piston column 41 increases, and the piston column 41 will fall, so as to achieve the floating clamping of the product to be processed, avoiding the problem of clamping deformation of the product to be processed as the processing progresses, and at the same time, as the overall processing deformation of the product to be processed is greatly reduced, the product processing quality can also be improved. In this embodiment, the composite intelligent flexible clamping device 1 using magnetorheological fluid material of this embodiment further includes a control module (not shown in the figure). The control module is electrically connected to the magnetic component 3 and the drive component 5. The control module is used to control the power on and off of the coil 32 and the expansion and inflation of the airbag 51, so as to better control the clamping state of the processed product. Furthermore, the composite intelligent flexible clamping device 1 using magnetorheological fluid material also includes a control module (not shown in the figure). The control module is electrically connected to the magnetic component 3 and the drive component 5, and is used to control the power on and off of the coil 32 and the expansion and inflation of the airbag 51, so as to better control the clamping state of the processed product. Figure 2 As shown, in this embodiment, the composite intelligent flexible clamping device 1 using magnetorheological fluid material further includes a sensor 6. The sensor 6 is disposed at the adsorption end of the piston column 41. The sensor 6 is electrically connected to the control module. The sensor 6 is used to detect the force and displacement of the product to be processed, and send the detection information to the control module, and the control module controls the magnetic component 3 and the driving component 5 according to the detection information.

[0022] Specifically, when the driving component 5 introduces gas into the airbag 51 to expand the airbag 51 and drive the piston column 41 to rise, the adsorption end of the piston column 41 and the sensor 6 will contact the product to be processed, and as the piston column 41 continues to rise, the adsorption force of the adsorption end of the piston column 41 will gradually increase, and the sensor 6 will detect Signal feedback to The control module controls the driving component 5 to stop supplying gas to the airbag 51 according to the information of the detection signal. The control module then energizes the coil 32 through the magnetic component 3 to generate a magnetic field in the magnetic isolation ring 31 to solidify the magnetorheological fluid, thereby clamping and fixing the product to be processed. At the same time, as the processing steps proceed, the sensor 6 detects that the pressure at the adsorption end of the piston column 41 increases, and the product to be processed has a tendency to deform and needs to release the deformation, that is, when the clamping needs to be released, the control module controls the magnetic component 3 to stop energizing the coil 32 according to the detection information to liquefy the magnetorheological fluid, that is, the magnetorheological fluid changes from a solid-like phase to a liquid state, discharges the gas in the airbag 51, and the airbag 51 shrinks, the volume of the airbag 51 decreases, and the piston column 41 descends, thereby releasing the clamp.

[0023] The structures of the clamping body 2 and the clamping assembly 4 will be described in detail below. Figure 5 Also see Figure 2 , Figure 5 It is a three-dimensional diagram of the base of the first embodiment of the present invention; as shown in the figure, the clamping body 2 includes a base 21, a surrounding wall 22 and an upper cover 23. The surrounding wall 22 is arranged on the base 21. The upper cover 23 is arranged on the surrounding wall 22. In this embodiment, the surrounding wall 22 and the base 21 and the upper cover 23 and the surrounding wall 22 are respectively fixed together by screws. The base 21, the surrounding wall 22 and the upper cover 23 form an accommodating space. Among them, the airbag 51 is arranged on the base 21. The piston column 41 is movably arranged on the upper cover 23. Further, the upper end of the base 21 has a first boss 211, and the first boss 211 has a first through hole 2111. The airbag 51 is arranged in the first through hole 2111, the lower end of the upper cover 23 has a second boss 231, the second boss 231 is opposite to the first boss 211, the second boss 231 has a second through hole 2311, the piston column 41 is arranged in the second through hole 2311, and the inner wall of the magnetic isolation ring 31 abuts against the peripheral side of the first boss 211 and the second boss 231. In order to maximize the use of the magnetic field generated by the coil 32 after power is supplied, the base 21, the surrounding wall 22, and the upper cover 23 are made of materials with good magnetic conductivity, and the magnetic isolation ring 31 and the piston column 41 are made of materials with poor magnetic conductivity.

[0024] See also Figure 2As shown, the clamping assembly 4 further includes an upper pressing plate 42, a middle pressing plate 43 and a lower pressing plate 44. The upper pressing plate 42 is arranged on the piston column 41, and the upper pressing plate 42 is located in the driving space 301. The lower pressing plate 44 is arranged at the driving end of the piston column 41, and the airbag 51 is connected to the driving end of the piston column 41 through the lower pressing plate 44. The middle pressing plate 43 is arranged on the inner wall of the magnetic isolation ring 31. The middle pressing plate 43 is located between the lower pressing plate 44 and the upper pressing plate 42. In order to make the most of the magnetic field generated after the coil 32 is energized, the upper pressing plate 42, the middle pressing plate 43 and the lower pressing plate 44 are made of materials with good magnetic conductivity. Please refer to Figure 6 , which is a three-dimensional diagram of the honeycomb sheet of the first embodiment of the present invention; as shown in the figure, the clamping assembly 4 further includes at least one honeycomb sheet 45, which is arranged between the middle pressing sheet 43 and the lower pressing sheet 44 or between the middle pressing sheet 43 and the upper pressing sheet 42. In this embodiment, there are two honeycomb sheets 45, which are arranged between the middle pressing sheet 43 and the lower pressing sheet 44 and between the middle pressing sheet 43 and the upper pressing sheet 42 respectively. By adding the honeycomb sheet 45, the damping force that the device can provide during the processing can be greatly improved, which greatly improves the performance of the device.

[0025] See also Figure 7 , which is a schematic diagram of a processing device according to the second embodiment of the present invention processing a product to be processed; as shown in the figure, the processing device 10 includes a plurality of composite intelligent flexible clamping devices 1 using magnetorheological fluid materials and a processing tool 101 as in the first embodiment, and a plurality of composite intelligent flexible clamping devices 1 using magnetorheological fluid materials are arranged below the product to be processed S. The product to be processed S in this embodiment is a large flat curved surface thin-walled part. The adsorption ends of the plurality of piston columns 41 adsorb the product to be processed S, and the processing tool 101 is located above the product to be processed S, and the processing tool 101 is used to process the product to be processed S.

[0026] The processing equipment 10 of this embodiment is a dot matrix fixture with a flexible clamping function designed for large flat curved thin-walled parts. By rationally arranging multiple composite intelligent flexible clamping devices 1 using magnetorheological fluid materials on the bottom surface of large flat curved thin-walled parts, flexible auxiliary support is provided for large flat curved thin-walled parts. After a part of the process of processing a large flat curved thin-walled part, the initial residual stress of the part is redistributed in the part due to the removal of material, the clamping force of the part changes, and the part has a tendency to deform. When the clamping force reaches a certain threshold, the composite intelligent flexible clamping device 1 using magnetorheological fluid materials will actively loosen and release the deformation during the processing. After judging that it is fully released, the composite intelligent flexible clamping device 1 using magnetorheological fluid materials will re-clamp the large flat curved thin-walled parts. Therefore, multiple composite intelligent flexible clamping devices 1 using magnetorheological fluid materials are clamped or loosened according to a certain rule as the processing tool 101 moves, and its change rule can be embedded in the control module in advance. After several times of loosening and clamping, the machining deformation of the parts is released many times during the machining process, so that the final total machining deformation is controlled and the machining quality is improved.

[0027] In summary, the present invention provides a composite intelligent flexible clamping device and processing equipment using magnetorheological fluid materials. The present invention introduces gas into the airbag to expand the airbag and drive the piston column to rise, and the adsorption end of the piston column adsorbs the product to be processed, and then energizes the coil through the magnetic component to generate a magnetic field in the magnetic isolation ring to solidify the magnetorheological fluid. The solidified magnetorheological fluid provides a damping force for the piston column to rise and fall, thereby achieving clamping and fixing the product to be processed. At the same time, as the processing steps proceed, the magnetorheological fluid can be liquefied by stopping the coil from being energized, and the airbag will actively release the corresponding processing deformation as the processing pressure on the product to be processed changes, thereby achieving floating clamping of the product to be processed, avoiding the problem of clamping deformation of the product to be processed as the processing progresses, and at the same time, as the overall processing deformation of the product to be processed is greatly reduced, the product processing quality can also be improved.

[0028] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0029] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A composite intelligent flexible clamping device using magnetorheological fluid material, characterized in that: include: The clamping body has an accommodating space; A magnetic component is arranged in the accommodating space, the magnetic component comprises a magnetic isolation ring, a coil and a magnetorheological fluid, a driving space is formed between the inner wall of the magnetic isolation ring and the upper wall and the lower wall of the accommodating space, the coil is wound around the outer wall of the magnetic isolation ring, and the magnetorheological fluid is filled in the driving space; A clamping assembly is arranged on the clamping body, the clamping assembly comprises a piston column, the piston column is movably arranged on the clamping body, the piston column has a driving end and a suction end opposite to each other, the driving end is located in the driving space, and the suction end is used to suction the product to be processed; A driving assembly is arranged on the clamping body, the driving assembly comprises an airbag, the airbag is arranged in the driving space, and the airbag is connected to the driving end; The driving component introduces gas into the airbag to expand the airbag and drive the piston column to rise, and the magnetic component energizes the coil to generate a magnetic field in the magnetic isolation ring to solidify the magnetorheological fluid. The solidified magnetorheological fluid provides damping force for the lifting and lowering of the piston column.

2. The composite intelligent flexible clamping device using magnetorheological fluid material according to claim 1 is characterized in that: Also includes: A control module is electrically connected to the magnetic component and the driving component, and is used to control the on and off of the coil and the expansion and inflation of the airbag.

3. The composite intelligent flexible clamping device using magnetorheological fluid material according to claim 2 is characterized in that: Also includes: A sensor is arranged at the adsorption end of the piston column, and the sensor is electrically connected to the control module. The sensor is used to detect the force and displacement of the product to be processed and send the detection information to the control module. The control module controls the magnetic component and the drive component according to the detection information.

4. The composite intelligent flexible clamping device using magnetorheological fluid material according to claim 1 is characterized in that: The clamping body includes a base, a surrounding wall and an upper cover, wherein the surrounding wall is arranged on the base, and the upper cover is arranged on the surrounding wall. The base, the surrounding wall and the upper cover form the accommodating space, wherein the airbag is arranged on the base, and the piston column is movably arranged on the upper cover.

5. The composite intelligent flexible clamping device using magnetorheological fluid material according to claim 4 is characterized in that: The upper end of the base has a first boss, the first boss has a first through hole, the airbag is arranged in the first through hole, the lower end of the upper cover has a second boss, the second boss is opposite to the first boss, the second boss has a second through hole, the piston column is arranged in the second through hole, and the inner wall of the magnetic isolation ring abuts against the peripheral sides of the first boss and the second boss.

6. The composite intelligent flexible clamping device using magnetorheological fluid material according to claim 4 is characterized in that: The surrounding wall and the base as well as the upper cover and the surrounding wall are fixedly connected together by screws respectively.

7. The composite intelligent flexible clamping device using magnetorheological fluid material according to claim 1 is characterized in that: The adsorption end of the piston column is provided with a rubber pad, and the piston column adsorbs the product to be processed through the rubber pad.

8. The composite intelligent flexible clamping device using magnetorheological fluid material according to claim 1 is characterized in that: The clamping assembly further includes an upper pressure plate, a middle pressure plate and a lower pressure plate. The upper pressure plate is arranged on the piston column, the upper pressure plate is located in the driving space, the lower pressure plate is arranged at the driving end of the piston column, the middle pressure plate is arranged on the inner wall of the magnetic isolation ring, and the middle pressure plate is located between the lower pressure plate and the upper pressure plate.

9. The composite intelligent flexible clamping device using magnetorheological fluid material according to claim 8 is characterized in that: The clamping assembly further includes at least one honeycomb sheet, which is arranged between the middle pressing sheet and the lower pressing sheet or between the middle pressing sheet and the upper pressing sheet.

10. A processing equipment, characterized in that: include: Multiple composite intelligent flexible clamping devices and processing tools using magnetorheological fluid materials as described in any one of claims 1-9, multiple composite intelligent flexible clamping devices using magnetorheological fluid materials are arranged below the product to be processed, multiple adsorption ends of the piston columns adsorb the product to be processed, the processing tool is located above the product to be processed, and the processing tool is used to process the product to be processed.

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