CN110653102A - Spray gun posture adjusting device free of disassembly - Google Patents
Spray gun posture adjusting device free of disassembly Download PDFInfo
- Publication number
- CN110653102A CN110653102A CN201910979185.8A CN201910979185A CN110653102A CN 110653102 A CN110653102 A CN 110653102A CN 201910979185 A CN201910979185 A CN 201910979185A CN 110653102 A CN110653102 A CN 110653102A
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- spray gun
- outer sleeve
- inner tube
- spring
- disassembly
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- 239000007921 spray Substances 0.000 title claims abstract description 99
- 238000005507 spraying Methods 0.000 claims abstract description 49
- 238000002347 injection Methods 0.000 claims description 2
- 239000007924 injection Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 239000011324 bead Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Nozzles (AREA)
Abstract
The invention discloses a disassembly-free spray gun posture adjusting device, and belongs to the technical field of spraying equipment. Including spray gun telescopic link, spray gun installing support, flow valve and spray gun, the outer tube one end of spray gun telescopic link is passed through the flange and is connected with the terminal actuating mechanism of spraying robot, and its middle part and flexible inner tube keep off round pin axial positioning with threaded connection simultaneously with spring, the telescopic link inner tube other end and spray gun installing support threaded connection, the flow valve sets up the middle part at the spray gun installing support, the spray gun sets up the front portion at the spray gun installing support. The device accessible is adjusted inside and outside pipe relative position and is changed self length, and has a plurality of scales on the spray gun installing support, aligns spray gun rear end casing edge and scale strip, can adjust the spray gun to predetermineeing the angle fast, realizes the quick adjustment of instrument coordinate system to carry out the spraying operation to the spraying scene of difference.
Description
Technical Field
The invention relates to a spray gun, in particular to a disassembly-free spray gun posture adjusting device.
Background
The end effector of the spraying robot is a spray gun, the spray gun is connected with a robot flange plate through a spray gun support, and a tool coordinate system is defined at a spraying TCP point, so that a spraying track can be programmed. However, because the spray gun is required to be perpendicular to the surface of the workpiece and keep a constant distance in the spraying process, and the actual available space of the spraying robot is far smaller than the reachable working space, if a large workpiece is sprayed, a long spray gun support is often needed, but although the spraying space is increased by the long spray gun support, the posture flexibility of the spray gun is greatly reduced, the slight surface normal vector change can cause great change of the joint configuration of the robot, the robot is easy to have out-of-limit and singularity, and the small workpiece or the complex surface is difficult to spray. Thus, there is a conflict between increasing the spray coverage and ensuring flexibility. If one robot needs to perform spraying operation with a complex shape or switch operation among workpieces with different sizes and shapes, people have to detach and replace the connecting support of the spray gun, the time and the labor are consumed, the rhythm and the efficiency of a production field are greatly reduced, and the use efficiency of equipment is reduced.
With the continuous development of the robot technology, the work that the spraying robot needs to complete is increasingly diversified and complicated, and many enterprises, especially enterprises in single-room small-batch production mode, mostly hope that one spraying robot can complete different operations as much as possible to improve the utilization rate of equipment, so that the spraying task of the workpiece with the obviously different shapes, which can adapt to the size of the spraying robot through simple adjustment, becomes an urgent need.
For example, in the prior art, the application number is CN201721709201.4, the publication date is 2018.07.31, and the invention name is "a lengthened bracket for robot spraying", and the technical scheme is as follows: a spray gun lengthening support for robot spraying is formed by integral processing or welding, and comprises a mounting flange surface, a spraying spray gun connecting surface and a connecting rod. This patent the regulation of extension support can't realize spraying length and angle, just also can't adapt to the spraying under the multiple operating mode.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a disassembly-free spray gun posture adjusting device which can change the working space and the tool coordinate system of a robot through simple operation so as to rapidly switch a spraying robot among different spraying operations.
In order to achieve the above object, the technical solution of the present invention is as follows:
the utility model provides a spray gun gesture adjusting device exempts from to dismantle, includes flexible arm, spray gun installing support, flow valve and spray gun, its characterized in that: the telescopic arm comprises an outer sleeve and a telescopic inner tube, the telescopic inner tube is connected inside the outer sleeve in a sliding mode, an inner tube plug is inserted at the bottom end of the telescopic inner tube, a spring stop pin is arranged on the inner tube plug, the head of the spring stop pin extends out of the tube wall of the telescopic inner tube, a plurality of adjusting holes are formed in the tube wall of the outer sleeve, and the inner tube is inserted into the adjusting holes through the spring stop pin to be axially fixed; the spray gun mounting bracket is installed at the front end of the telescopic inner tube, the spray gun is detachably connected to the front end of the spray gun mounting bracket, and scale marks used for marking the spray angle of the spray gun are arranged on the spray gun mounting bracket.
Furthermore, the spring stop pin comprises a spring seat, a spring and a stop pin, the spring seat is arranged on the inner pipe plug, one end of the spring is fixed in the spring seat, and the other end of the spring is fixedly connected with the stop pin.
Furthermore, a plurality of casters are fixed on the inner wall of the outer sleeve, and the casters are tangent to the outer wall of the telescopic inner tube.
Further, the inner wall of the outer sleeve is provided with a guide groove, the outer wall of the telescopic inner tube is provided with a convex rib, and the convex rib is clamped into the guide groove and can slide back and forth along the guide groove.
Further, the spray gun is connected to the spray gun mounting bracket through a bolt.
Furthermore, threaded holes corresponding to the positions are formed in the pipe walls of the outer sleeve and the telescopic inner pipe.
Furthermore, the outer tube is equipped with the retaining ring near flexible inner tube one end, retaining ring fixed connection is in the outer tube tip, and the outer tube other end is equipped with the flange that is used for linking to each other with the spraying robot.
The invention has the beneficial effects that:
1. the spray gun posture adjusting device can change the length of the spray gun mounting bracket by adjusting the telescopic arm, so that the working space of the spraying robot is changed; the tool coordinate system of the spraying robot is changed by adjusting the installation angle of the spray gun, so that the adaptability of the spraying robot is enhanced, the robot can finish spraying by better shape and position, the difficulty of track planning and programming is reduced, the spraying robot can be quickly switched among different spraying operations under the condition of not interrupting production, and the spraying robot can be widely applied to various complex spraying scenes;
2. according to the invention, the telescopic arm adopts the spring stop pin to realize length adjustment and fixation, the precision is higher, the operation is convenient, and quick switching can be realized; the spray gun mounting bracket is provided with scale marks, the angle of the spray gun can be judged and adjusted by tangency between the edge of the shell at the rear end of the spray gun and the scale marks, and the spray gun is fixed by bolts after the judgment;
3. according to the telescopic inner tube, the inner wall of the outer sleeve is provided with a guide groove, the outer wall of the telescopic inner tube is provided with a convex edge, and the convex edge is clamped in the guide groove and can slide back and forth along the guide groove. The convex edges on the inner tube are clamped into the guide grooves on the inner wall of the outer sleeve, so that the circumferential positioning of the inner tube can be realized, and the rotation of the inner tube is prevented;
4. according to the telescopic arm, the plurality of casters are fixed on the inner wall of the outer sleeve, the casters are tangent to the outer wall of the telescopic inner tube, and the casters can reduce the friction force between the telescopic inner tube and the outer sleeve, so that the length adjustment of the telescopic arm is smoother;
5. according to the spraying robot, one end, close to the telescopic inner pipe, of the outer sleeve is provided with the check ring, the check ring is fixedly connected to the end of the outer sleeve, the other end of the outer sleeve is provided with the flange used for being connected with the spraying robot, and the check ring can accommodate the telescopic inner pipe to pass through and can prevent the telescopic inner pipe from being separated from the outer sleeve.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the telescopic arm according to the present invention;
FIG. 3 is a schematic structural view of the inner plug of the present invention;
FIG. 4 is a schematic structural view of a lance mounting bracket according to the present invention;
FIG. 5 is a schematic view of example 3 of the present invention;
wherein the content of the first and second substances,
1. the device comprises a flange, 2, an outer sleeve, 3, a retainer ring, 4, an inner pipe plug, 5, a telescopic inner pipe, 6, a spring seat, 7, a spring, 8, a stop pin, 9, a flow valve mounting support, 10, a flow valve, 11, a spray gun mounting support, 12, a spray gun, 13, a caster, 14, a rib, 15 and scale marks.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example 1
The embodiment provides a disassembly-free spray gun 12 posture adjusting device which comprises a telescopic arm, a spray gun mounting support 11, a flow valve 10 and a spray gun 12, wherein the telescopic arm comprises an outer sleeve 2 and a telescopic inner pipe 5, the telescopic inner pipe 5 is connected inside the outer sleeve 2 in a sliding manner, an inner pipe plug 4 is inserted at the bottom end of the telescopic inner pipe 5, a spring 7 stop pin 8 is arranged on the inner pipe plug 4, the head of the spring 7 stop pin 8 extends out of the pipe wall of the telescopic inner pipe 5, a plurality of adjusting holes are formed in the pipe wall of the outer sleeve 2, and the inner pipe is inserted into the adjusting holes through the spring 7 stop pin 8 to realize axial fixation; spray gun installing support 11 installs at 5 front ends in flexible inner tube, spray gun 12 detachably connects at spray gun installing support 11 front ends, is equipped with scale mark 15 that is used for sign spray gun 12 injection angle on spray gun installing support 11.
The posture adjusting device of the spray gun 12 can change the length of the spray gun mounting bracket 11 by adjusting the telescopic arm, thereby changing the working space of the spraying robot; the tool coordinate system of the spraying robot is changed by adjusting the installation angle of the spray gun 12, so that the adaptability of the spraying robot is enhanced, the robot can finish spraying by better shape and position, and the difficulty of track planning and programming is reduced.
Example 2
The embodiment provides a disassembly-free spray gun 12 posture adjusting device, which comprises a telescopic arm, a spray gun mounting bracket 11, a flow valve 10 and a spray gun 12, wherein as shown in fig. 1, the telescopic arm comprises an outer sleeve 2 and a telescopic inner pipe 5, and the outer sleeve 2 and the telescopic inner pipe 5 are both of hollow structures; one end of the outer sleeve 2 is connected with a flange 1 through a bolt, and the flange 1 is used for being connected with a driving mechanism of the spraying robot; the telescopic inner pipe 5 is connected inside the outer sleeve 2 in a sliding mode, an inner pipe plug 4 is inserted at the bottom end of the telescopic inner pipe 5, a spring 7 stop pin 8 is arranged on the inner pipe plug 4, the head of the spring 7 stop pin 8 extends out of the pipe wall of the telescopic inner pipe 5, a plurality of adjusting holes are formed in the pipe wall of the outer sleeve 2, and the inner pipe is inserted into the adjusting holes through the spring 7 stop pin 8 to be axially fixed; the spray gun mounting support 11 is mounted at the front end of the telescopic inner pipe 5, the direction of the spray gun mounting support can be adjusted according to requirements, the flow valve 10 is arranged in the middle of the flow valve mounting support 9, the flow valve mounting support 9 and the flow valve 10 are mounted in the prior art, the mounting mode is irrelevant to the invention of the application, and details are not repeated here.
Preferably, the stop pin 8 of the spring 7 comprises a spring seat 6, a spring 7 and a stop pin 8, the spring seat 6 is arranged on the inner pipe plug 4, one end of the spring 7 is fixed at the bottom end of an inner hole of the spring seat 6, and the other end of the spring 7 is fixedly connected with the stop pin 8; after the outer sleeve 2 and the telescopic inner pipe 5 are assembled, the stop pin 8 is ejected out by the spring 7, and the hemispherical end of the stop pin extends out of the adjusting hole of the telescopic rod outer sleeve 2.
In order to reduce the friction force between the telescopic inner pipe 5 and the outer sleeve 2 during adjustment, a plurality of casters 13 are fixed on the inner wall of the outer sleeve 2, and the casters 13 are tangent to the outer wall of the telescopic inner pipe 5.
For preventing that the flexible inner tube 5 of adjustment in-process takes place to rotate, 2 inner walls of outer tube are equipped with the guide way, and 5 outer walls of flexible inner tube are equipped with bead 14, bead 14 card is gone into in the guide way and can be followed the guide way and made a round trip to slide.
In order to prevent the telescopic inner pipe 5 from slipping, a retainer ring 3 is additionally arranged at one end of the outer sleeve 2 close to the telescopic inner pipe 5, and a spring seat 6 is used as a pin to realize the fixed connection and matching of the inner pipe plug 4 and the inner pipe; when the stop pin 8 fails or the gear is excessively adjusted, the retainer ring 3 blocks the inner pipe plug 4, the telescopic inner pipe 5 is prevented from being separated from the outer sleeve 2, and meanwhile, the guide groove in the outer sleeve 2 ensures that the stop pin 8 corresponds to the angle of the adjusting hole in the outer sleeve 2.
Threaded holes corresponding to the positions of the pipe walls of the outer sleeve 2 and the telescopic inner pipe 5 are formed, and the outer sleeve 2 and the telescopic inner pipe 5 are fixed for the second time through screws.
The regulation principle of the invention is as follows:
the telescopic arm is connected to a driving mechanism at the tail end of the robot through a flange 1 at one end of the telescopic arm. When the length of the telescopic arm is adjusted, the screw connection between the outer sleeve 2 and the telescopic inner pipe 5 is removed, the spring 7 stop pin 8 is pressed to enter the inner part of the outer sleeve 2, the telescopic inner pipe 5 is moved to a required position, the position simultaneously needs to meet the requirement that the spring 7 stop pin 8 can extend out of other adjusting holes of the outer sleeve 2 again, the screw sequentially penetrates through the threaded holes on the outer sleeve 2 and the telescopic inner pipe 5 to fasten the outer sleeve 2 and the telescopic inner pipe 5 together, and the phenomenon that when the telescopic arm is collided and stressed excessively, the spring 7 stop pin 8 is broken to enable the outer sleeve 2 and the telescopic inner pipe 5 to slide is avoided; when the angle of the spray gun 12 is adjusted, the screw connection between the spray gun 12 and the spray gun mounting bracket 11 is released, the spray gun 12 is rotated to ensure that the edge of the shell of the spray gun 12 is tangent to the corresponding scale mark 15 of the required angle, and the relative angle between the spray gun 12 and the spray gun mounting bracket 11 is fixed by using screws.
Example 3
The main application environment of the invention is a coating site of a spraying robot, and as shown in fig. 5, the invention is a typical implementation case, which comprises the spraying device, a spraying robot model IRB5500 of ABB corporation, and a workpiece to be sprayed. When the spraying robot sprays the surface A of a workpiece, the spray gun 12 needs to be deeply inserted into the inner wall of the pipeline, so that the length of the telescopic arm can be adjusted to be maximum, the angle of the spray gun 12 is adjusted to be 90 degrees, the maximum spraying range can be obtained, and when the spray gun 12 is vertical to the surface A, the robot and the telescopic arm cannot collide with the inner wall of the pipeline; when the surface B of a workpiece is sprayed, a large spraying range is not needed, and if a 90-degree spray gun 12 installation angle is still used, when the spray gun 12 is perpendicular to the surface B, the joint of the robot is easy to overrun, so that the length of the telescopic arm can be shortened, the angle of the spray gun 12 is adjusted to 45 degrees, and the configuration of the robot is reasonable during spraying; when the C surface of a workpiece is sprayed, if a spray gun 12 installation angle of 90 degrees is used, when the spray gun 12 is perpendicular to the C surface, the robot flange 1 disc at the tail end of the telescopic arm and the wrist joint of the robot are easy to scrape the C surface, so that the length of the telescopic arm can be adjusted to be shortest, the angle of the spray gun 12 is adjusted to be 0 degree, all joints of the robot are far away from the surface of the workpiece, and the spraying process is very safe. The device of the invention has 4 preset lengths and 5 preset spray gun 12 angles, and 20 combinations, and can preset workpiece coordinate systems for different length and angle combinations according to requirements, and after the length of the telescopic arm and the angle of the spray gun 12 are adjusted each time, the corresponding workpiece coordinate system is selected in the robot control system, and the spraying operation can be carried out without changing the spraying program of the robot.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (7)
1. The utility model provides a spray gun gesture adjusting device exempts from to dismantle, includes flexible arm, spray gun installing support (11), flow valve (10) and spray gun (12), its characterized in that: the telescopic arm comprises an outer sleeve (2) and a telescopic inner tube (5), the telescopic inner tube (5) is connected inside the outer sleeve (2) in a sliding mode, an inner tube plug (4) is inserted into the bottom end of the telescopic inner tube (5), a spring (7) stop pin (8) is arranged on the inner tube plug (4), the head of the spring (7) stop pin (8) extends out of the tube wall of the telescopic inner tube (5), a plurality of adjusting holes are formed in the tube wall of the outer sleeve (2), and the inner tube is inserted into the adjusting holes through the spring (7) stop pin (8) to achieve axial fixation; spray gun installing support (11) are installed at flexible inner tube (5) front end, spray gun (12) detachably connects at spray gun installing support (11) front end, is equipped with scale mark (15) that are used for sign spray gun (12) injection angle on spray gun installing support (11).
2. The disassembly-free spray gun attitude adjusting device as recited in claim 1, wherein: spring (7) backing pin (8) include spring holder (6), spring (7) and backing pin (8), and spring holder (6) set up on inner tube stopper (4), spring (7) one end is fixed in spring holder (6), the other end and backing pin (8) fixed connection.
3. A disassembly-free lance attitude adjustment apparatus as claimed in claim 1 or 2, wherein: a plurality of casters (13) are fixed on the inner wall of the outer sleeve (2), and the casters (13) are tangent to the outer wall of the telescopic inner pipe (5).
4. The disassembly-free spray gun attitude adjusting device as recited in claim 3, wherein: the inner wall of the outer sleeve (2) is provided with a guide groove, the outer wall of the telescopic inner tube (5) is provided with a convex rib (14), and the convex rib (14) is clamped into the guide groove and can slide back and forth along the guide groove.
5. The disassembly-free spray gun attitude adjusting device as recited in claim 1, wherein: the spray gun (12) is connected to the spray gun mounting bracket (11) through a bolt.
6. The disassembly-free spray gun attitude adjusting device as recited in claim 1, wherein: and threaded holes corresponding to the positions are formed in the pipe walls of the outer sleeve (2) and the telescopic inner pipe (5).
7. The disassembly-free spray gun attitude adjusting device as recited in claim 1, wherein: the spraying robot is characterized in that one end of the outer sleeve (2), close to the telescopic inner pipe (5), is provided with a check ring (3), the check ring (3) is fixedly connected to the end part of the outer sleeve (2), and the other end of the outer sleeve (2) is provided with a flange (1) used for being connected with a spraying robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910979185.8A CN110653102A (en) | 2019-10-15 | 2019-10-15 | Spray gun posture adjusting device free of disassembly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910979185.8A CN110653102A (en) | 2019-10-15 | 2019-10-15 | Spray gun posture adjusting device free of disassembly |
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| CN110653102A true CN110653102A (en) | 2020-01-07 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111528049A (en) * | 2020-04-30 | 2020-08-14 | 台州市勒言自动化科技有限公司 | Scalable agricultural spray pipe mechanism |
| CN112270082A (en) * | 2020-10-23 | 2021-01-26 | 山东大学 | Preparation method of tangential functional gradient coating based on equal impact angle line |
| CN114227677A (en) * | 2021-12-15 | 2022-03-25 | 成都飞机工业（集团）有限责任公司 | Industrial robot spraying operation planning method, device, equipment and storage medium |
| CN114476708A (en) * | 2022-02-25 | 2022-05-13 | 青岛嗨呗好停车智能科技有限公司 | Intelligent environment-friendly boxing system for bulk-to-bulk collection |
| CN115463774A (en) * | 2022-10-31 | 2022-12-13 | 潍坊市凯隆机械有限公司 | Spraying device for inner wall of tank body |
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| CN112270082A (en) * | 2020-10-23 | 2021-01-26 | 山东大学 | Preparation method of tangential functional gradient coating based on equal impact angle line |
| CN112270082B (en) * | 2020-10-23 | 2022-12-23 | 山东大学 | Preparation method of tangential functional gradient coating based on equal impact angle line |
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| CN114227677B (en) * | 2021-12-15 | 2024-02-20 | 成都飞机工业（集团）有限责任公司 | Industrial robot spraying operation planning method, device, equipment and storage medium |
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