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WO2023240860A1 - Procédé et appareil de conception pour outil de placement de fibre automatisé, dispositif, et support de stockage - Google Patents

Procédé et appareil de conception pour outil de placement de fibre automatisé, dispositif, et support de stockage Download PDF

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Publication number
WO2023240860A1
WO2023240860A1 PCT/CN2022/125592 CN2022125592W WO2023240860A1 WO 2023240860 A1 WO2023240860 A1 WO 2023240860A1 CN 2022125592 W CN2022125592 W CN 2022125592W WO 2023240860 A1 WO2023240860 A1 WO 2023240860A1
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Prior art keywords
section
tooling
beam structure
deformation
cross
Prior art date
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Ceased
Application number
PCT/CN2022/125592
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English (en)
Chinese (zh)
Inventor
陈清良
冯若琪
益建朋
陈雪梅
何鹏
舒阳
李栎森
周裕力
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Chengdu Aircraft Industrial Group Co Ltd
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Chengdu Aircraft Industrial Group Co Ltd
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Filing date
Publication date
Application filed by Chengdu Aircraft Industrial Group Co Ltd filed Critical Chengdu Aircraft Industrial Group Co Ltd
Publication of WO2023240860A1 publication Critical patent/WO2023240860A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
    • B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
    • B29C70/28—Shaping operations therefor
    • B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
    • B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
    • B29C70/382—Automated fiber placement [AFP]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces

Definitions

  • This application relates to the technical field of aviation equipment, and specifically to a design method, device, equipment and storage medium for automatic wire laying equipment.
  • the cylindrical parts in some aircraft structures can be manufactured by automatic filament laying.
  • the tooling must rotate at a constant speed or at an accelerated speed and cannot block the filament laying head. Therefore, the main features of the automatic filament laying tool for cylindrical parts are
  • the structure of the tooling is cylindrical. Both ends of the tooling are connected to the rotary drive joints of the wire laying machine. The middle part of the tooling is suspended in the air without any support.
  • the automatic laying equipment for cylindrical parts will bear four types of loads: gravity, the pressure of the head of the laying machine, the support force at both ends, and the centrifugal force generated by the accelerated rotation of the laying machine. Therefore, when designing automatic wire laying tooling for cylindrical parts, it is necessary to accurately calculate the maximum deformation of the tooling during the automatic wire laying process, as a basis for measuring whether the tooling meets the technical requirements and optimizing the tooling structure.
  • the main purpose of this application is to provide a design method, device, equipment and storage medium, device, equipment and storage medium for automatic wire laying tooling, aiming to solve the shortcoming of the existing technology that the design cycle of the silk laying tooling is too long.
  • this application provides a design method for automatic wire laying equipment, including the following steps:
  • the deformation curve function of the equivalent beam structure is obtained according to the load function, and the deformation amount of the equivalent beam structure is calculated according to the deformation curve function;
  • the wire laying tooling is qualified, otherwise the load distribution of the equivalent beam structure is determined repeatedly. and cross-section size parameters until the deformation amount is qualified.
  • the wire laying tooling includes a main shaft and a number of auxiliary structures installed on the main shaft, then the wire laying tooling is determined to be a main shaft and its auxiliary structure type tooling, and the main shaft is converted into an equivalent beam structure, and each of the auxiliary structures is The structure is applied as an external load on the equivalent beam structure;
  • the wire-laying tooling is an integrated structure, it is determined that the wire-laying tooling is an integral structural tooling, and the wire-laying tooling is converted into an equivalent beam structure.
  • determining the load distribution and cross-sectional size parameters of the equivalent beam structure includes the following steps:
  • the structural form is a main axis and its auxiliary structural tooling
  • the main axis is a beam of equal cross-section
  • the mass of each of the auxiliary structures is evenly arranged along the axial direction of the wire laying tooling
  • the equivalent beam structure is For a cross-section beam, the cross-sectional size parameters of the equal-section beam are determined as the cross-sectional size parameters of the main axis;
  • the equivalent beam structure is For equal-section beams that bear non-uniformly distributed loads, the equivalent beam structure is divided into several segmented equal-section beams, and the cross-sectional size of the main axis in the section of each segmented equal-section beam is determined as each of the segmented equal-section beams.
  • the cross-sectional size parameters, the accessory mechanisms on each segmented cross-section beam are applied as external loads on the equivalent beam structure;
  • the equivalent beam structure is a variable-section beam, and the equivalent beam structure is divided into Several segmented equal-section beams, and the cross-sectional size of the main axis at the midpoint section of each segmented equal-section beam is determined as the cross-sectional size parameter of each of the segmented equal-section beams, and the accessory mechanism on each of the segmented equal-section beams is as External loads are applied to the equivalent beam structure;
  • the structural form is an overall structure type tooling, and the overall structure of the wire laying tooling is a beam of constant cross-section, then its equivalent beam structure is a beam of constant cross-section, and the cross-sectional size of the equivalent beam structure is determined as the cross-sectional size of the wire-laying tooling; Otherwise, if it is a variable cross-section beam, the equal cross-section is divided into several segmented equal-section beams, and the cross-sectional size corresponding to the midpoint section of each segmented cross-section beam is used as the cross-sectional size parameter of each segmented equal-section beam.
  • the length u of the segmented equal-section beam and the total length U of the main axis satisfy the following relationship: u ⁇ U(1-A)/10, where A represents the calculation accuracy, and its value range is 0-1.
  • calculating the load function of the equivalent beam according to the load distribution and size parameters includes the following steps:
  • the load function is the following expression:
  • Z 0 0
  • the P i is the concentrated force
  • Q j is the inertial force
  • Q k is the weight of the accessory structure
  • Z i is the coordinate of the concentrated force
  • Z j-1 and Z j are respectively the segmented beams of equal cross-section corresponding to the inertial force
  • Z k-1 and Z k are respectively the starting and ending coordinates of each segment of the segmented equal-section beam corresponding to the gravity Q k of the accessory structure
  • i, j, k, r, m, n are all Positive integers, all less than or equal to the number of segmented equal-section beams, i, j, k represent the number of each segment, r, m, n represent the number of segmented segments;
  • a represents the coordinates of the segmented plane;
  • z represents the point to be solved coordinate.
  • the load function is the following expression:
  • Z 0 0
  • P i is the concentrated force
  • Q j is the inertial force
  • Z i is the coordinate of the concentrated force
  • Z j-1 and Z j are respectively the starting and ending coordinates of each section of the segmented equal-section beam corresponding to the inertial force Q j
  • i, j, r, and m are all positive integers, and are less than or equal to the number of segmented equal-section beams.
  • i and j represent the numbers of each segment
  • r and m represent the number of segmented segments
  • a represents the coordinates of the segmented plane
  • z represents the coordinates of the segment to be Find the coordinates of the solution point.
  • calculating the maximum deformation of the equivalent beam structure according to the deformation curve function includes the following steps:
  • the hinge boundary conditions are brought into the deformation curve function to calculate the hinge support deformation, and the fixed support boundary conditions are brought into the deformation curve function to calculate the fixed support deformation;
  • hinge deformation and the fixed support deformation Compare the hinge deformation and the fixed support deformation, and use the larger of the hinge deformation and the fixed support deformation as the upper limit of the maximum deformation.
  • the hinge deformation and the fixed support deformation are The smaller one is used as the lower limit of the maximum deformation.
  • this application also provides a design device for automatic wire laying equipment, including:
  • the equivalent conversion module is used to determine the structural form of the wire-laying tooling, and convert the wire-laying tooling into an equivalent beam structure according to the structural form;
  • a data generation module used to determine the load distribution and cross-sectional size parameters of the equivalent beam structure
  • a first calculation module configured to calculate the load function of the equivalent beam structure according to the load distribution and size parameters
  • the second calculation module is used to derive the deformation curve function of the equivalent beam structure based on the load function, and calculate the deformation amount of the equivalent beam structure based on the deformation curve function;
  • the judgment module combines the deformation amount and whether it meets the deformation amount judgment standard of the wire laying tooling. If the deformation meets the deformation amount judgment standard, the wire laying tooling is qualified. Otherwise, the equivalent beam structure is determined repeatedly. load distribution and cross-sectional size parameters until the deformation amount is qualified.
  • the present application also provides an electronic device.
  • the electronic device includes a memory and a processor.
  • a computer program is stored in the memory, and the processor executes the computer program to implement the above method.
  • the present application also provides a computer-readable storage medium, a computer program is stored on the computer-readable storage medium, and the processor executes the computer program to implement the above method.
  • This application first determines the structural form of the wire laying tool, then converts the wire laying tool into an equivalent beam structure based on the structural form, and determines the load distribution and cross-sectional size of the equivalent beam structure based on the size of the wire laying tool. Finally, Calculate the deformation range of the wire-laying tooling by combining the load distribution of the equivalent beam structure and the deformation curve function; at the same time, determine whether the calculated deformation amount of the wire-laying tooling is qualified based on the deformation criterion;
  • this application converts the complex wire-laying tooling into an equivalent beam structure with a relatively simple structure, and then reflects the deformation of the wire-laying tooling through stress analysis and deformation analysis of the equivalent beam structure; It realizes the simplification of the calculation process of the deformation of the wire laying tooling while ensuring the calculation accuracy. Therefore, in the technical solution described in this application, only the key parameters such as the structural form, load distribution and cross-sectional size of the wire laying tooling need to be determined.
  • this application realizes the calculation of the deformation of the wire laying tooling before the detailed design of the tooling after the technical solution and key dimensions of the wirelaying tooling are determined, which not only reduces the time required for the wirelaying tooling
  • the detailed design cycle of the tooling and at the same time, it can quickly determine whether the structural form and key dimensions of the wire-laying tooling are reasonable during the detailed design process, and quickly determine whether the maximum deformation of the wire-laying tooling meets the technical requirements, and provide a basis for the subsequent detailed design process of the wire-laying tooling.
  • the iterative optimization of various parameters provides data support and basis, thereby further shortening the design cycle of the entire wire laying tooling.
  • the equivalent beam structure modeling and load calculation method used in the design method of automatic wire laying tooling described in this application includes the manufacturing and assembly errors of the tooling, and provides the corresponding tooling deformation when the error is minimum and maximum. value, which can effectively guide the actual engineering and accurately evaluate the extreme conditions of the tooling.
  • Figure 1 is a schematic structural diagram of an electronic device of the hardware operating environment involved in the present invention
  • Figure 2 is a flow chart of a design method for automatic wire laying equipment provided by an embodiment of the present application
  • Figure 3 is a schematic structural diagram of the silk laying tooling described in Embodiment 1 of the present application.
  • Figure 4 is a cross-sectional view of the intermediate mandrel in Embodiment 1 of the present application.
  • Figure 5 is a cross-sectional view of the connection joint described in Embodiment 1 of the present application.
  • Figure 6 is a stress analysis diagram of the state of the hinges at both ends of the wire laying tool described in Embodiment 1 of the present application;
  • Figure 7 is a stress analysis diagram of the fixed support state at both ends of the wire laying tooling described in Embodiment 1 of the present application;
  • Figure 8 is a functional module schematic diagram of the design device of the automatic wire laying tooling according to the present invention.
  • Figure 9 is a schematic structural diagram of the wire laying tooling described in Embodiment 2 of the present application.
  • Figure 10 is a stress analysis diagram of the hinge state at both ends of the wire laying tool described in Embodiment 2 of the present application;
  • Figure 11 is a stress analysis diagram of the fixed support state at both ends of the wire laying tooling described in Embodiment 2 of the present application;
  • connection can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise clearly limited.
  • fixing can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interactive relationship between two elements, unless otherwise clearly limited.
  • Figure 1 is a schematic diagram of the electronic device structure of the hardware operating environment involved in the embodiment of the present application.
  • the electronic device may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005.
  • the communication bus 1002 is used to realize connection communication between these components.
  • the user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard).
  • the optional user interface 1003 may also include a standard wired interface and a wireless interface.
  • the network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface).
  • the memory 1005 can be a high-speed random access memory (Random Access Memory, RAM) memory or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory.
  • RAM Random Access Memory
  • NVM Non-Volatile Memory
  • the memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.
  • Figure 1 does not constitute a limitation of the electronic device, and may include more or fewer components than shown, or combine certain components, or arrange different components.
  • a memory as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and an electronic program.
  • the network interface 1004 is mainly used for data communication with the network server;
  • the user interface 1003 is mainly used for data interaction with the user;
  • the processor 1001 and the memory 1005 in the electronic device of the present invention can be provided in
  • the electronic device calls the automatic wire laying tool design device stored in the memory 1005 through the processor 1001, and executes the automatic wire laying tool design method provided by the embodiment of the present application.
  • this application discloses a design method for automatic wire laying equipment, which includes the following steps:
  • the wire laying tool includes a main shaft located in the center.
  • auxiliary structures are provided around the main shaft, and each auxiliary structure is connected to the main shaft; when in use, the wire laying tool
  • the spindle is connected to external power equipment; if it meets the above characteristics, it is determined that the wire laying tooling is the main spindle and its ancillary structure tooling;
  • the fiber laying tool described in this embodiment is a main spindle and ancillary structural tooling.
  • the two ends of the mandrel in the middle of the fiber laying tool are connected to the rotary drive joint of the fiber laying machine, and the other attachments are The structure is not connected to the rotary drive joint of the filament laying machine, so the component composed of the middle mandrel and the rotary drive joint of the filament laying machine is converted into an equivalent beam structure, while the accessory structure is equivalent to an external load;
  • the structural form is a main shaft and its auxiliary structure tooling
  • the main shaft is a beam of equal cross-section
  • the mass of each auxiliary structure is evenly arranged along the axial direction of the wire laying tooling
  • the equivalent beam structure It is a beam of constant cross-section
  • the cross-sectional size parameters of the constant-section beam are the cross-sectional size parameters of the main axis
  • the main axis located in the middle is a beam of equal cross-section.
  • the mass of each accessory structure is evenly distributed along the axial direction of the main axis. Therefore, this embodiment performs calculations in the form of a beam of equal cross-section. ;
  • the material of the automatic wire laying tooling for cylindrical parts is INVAR steel, and the material parameters are shown in Table 1.
  • the length of the central mandrel of the fiber laying tool is 3900mm, and the length of the rotary drive joint of the fiber laying machine is 500mm;
  • the equivalent beam structure of this method includes the self-weight of the central core shaft, the weight of each accessory core membrane, and the weight of the central core membrane.
  • the mass of the upper core mold, the right core mold, the lower core mold and the left core mold are all 1085.28kg.
  • the distance between the cross-section centroids of the upper core mold, the right core mold, the lower core mold and the left core mold is the rotation axis.
  • step S44 Establish the deformation determination standard of the silk laying tooling based on the design requirements of the silk laying tooling. If the deformation in step S44 all falls within the range of the deformation determination standard, then the silk laying tooling design is qualified, otherwise step S21 needs to be adjusted. load distribution and cross-sectional size parameters in the model, and repeat the above calculation steps until the deformation amount is qualified.
  • an aircraft component frame beam gap design device including:
  • the equivalent conversion module is used to determine the structural form of the wire-laying tooling, and convert the wire-laying tooling into an equivalent beam structure according to the structural form;
  • a data generation module used to determine the load distribution and cross-sectional size parameters of the equivalent beam structure
  • a first calculation module configured to calculate the load function of the equivalent beam structure according to the load distribution and size parameters
  • the second calculation module is used to derive the deformation curve function of the equivalent beam structure based on the load function, and calculate the deformation amount of the equivalent beam structure based on the deformation curve function;
  • the judgment module combines the deformation amount and whether it meets the deformation amount judgment standard of the wire laying tooling. If the deformation meets the deformation amount judgment standard, the wire laying tooling is qualified. Otherwise, the equivalent beam structure is determined repeatedly. load distribution and cross-sectional size parameters until the deformation amount is qualified.
  • the fiber laying tool does not have a main shaft and ancillary structures installed on the main shaft.
  • both ends of the fiber laying tool are connected to the rotary drive joints of the fiber laying machine; therefore, the fiber laying tool is determined to be an integral structure. work clothes;
  • the wire-laying tooling described in this embodiment is an integral structural tooling, which does not have ancillary structures. Therefore, the wire-laying tooling is converted into an equivalent beam structure as a whole;
  • the structural form is an overall structure type tooling, and the overall structure of the wire laying tooling is a beam of constant cross-section, then its equivalent beam structure is a beam of constant cross-section, and the cross-sectional size of the equivalent beam structure is the cross-sectional size of the wire-laying tooling; Otherwise, it is a variable cross-section beam, and the equal cross-section is divided into a number of mutually spliced segmented equal-section beams, and the cross-sectional size parameter of each segmented equal-section beam is the cross-sectional size corresponding to the midpoint section of each segmented cross-section beam;
  • each cross section on the main body The areas are not equal, so the equivalent beam structure is determined to be a variable cross-section beam;
  • the maximum pressure of the fiber laying machine indenter is 100N, and the position of the fiber laying machine indenter is located at the midpoint of the tooling; the required calculation accuracy is 60%.
  • the material of the automatic wire laying tooling for cylindrical parts is INVAR steel, and the material parameters are shown in Table 5.
  • the load borne by the converted equivalent beam structure includes the tool's own weight, the support force at both ends, and the concentrated force of the wire laying machine indenter;
  • M 1 ⁇ M 27 are the masses of each section of the 27 sections of equal section beams
  • the supporting force of the laying machine on the rotating drive joint of the laying machine is P 1 .
  • the supporting force of the laying machine on the rotating driving joint of the laying machine is P 2 ;
  • M 1 ⁇ M 27 are the weights of each section of beams of equal section, where a represents the coordinates of the dividing plane;
  • F(z) is the equivalent beam structure load function after expansion in step S3
  • I(z) is the cross-section about the y-axis Moment of inertia.
  • the cross-sectional moment of inertia of each segmented equal-section beam in this embodiment is shown in Table 8.
  • C and D are both integral constants.
  • the maximum deformation value ⁇ max of the equivalent beam structure for the main force transmission of the automatic wire laying tool for cylindrical parts is between the maximum deformation values of the equivalent beam structure with hinged supports at both ends and fixed supports at both ends.
  • step S43 Establish the deformation determination standard of the silk laying tooling based on the design requirements of the silk laying tooling. If the deformation in step S43 all falls within the range of the deformation determination standard, then the silk laying tooling design is qualified, otherwise step S21 needs to be adjusted. load distribution and cross-sectional size parameters in the model, and repeat the above calculation steps until the deformation amount is qualified.
  • the wire-laying tooling in this embodiment is an overall structural tooling and a variable-section beam. If the overall structural tooling is a constant-section beam, there is no need to divide the entire equivalent beam structure. It only needs to be divided into The final result can be obtained by calculating the load function and deformation deflection curve function of the equivalent beam structure as a whole, that is, the calculation is performed by removing the relevant expressions of the accessory structure based on the calculation method described in Embodiment 1.
  • the wire laying tooling is the main spindle and its ancillary structure tooling, and it is a beam of equal cross-section. If any structure in the structure is a variable-section structure, then the main shaft and its auxiliary structural tooling are variable-section beams.
  • the main shaft needs to be divided according to the method adopted in step S22 of Embodiment 2, and then the load function is calculated according to the relevant methods recorded in Embodiment 2. and the deformation deflection curve function to get the final result;
  • this application converts the complex wire-laying tooling into an equivalent beam structure with a relatively simple structure, and then reflects the deformation of the wire-laying tooling through stress analysis and deformation analysis of the equivalent beam structure; It realizes the simplification of the calculation process of the deformation of the wire laying tooling while ensuring the calculation accuracy. Therefore, in the technical solution described in this application, only the key parameters such as the structural form, load distribution and cross-sectional size of the wire laying tooling need to be determined.
  • this application realizes the calculation of the deformation of the wire laying tooling before the detailed design of the tooling after the technical solution and key dimensions of the wirelaying tooling are determined, which not only reduces the time required for the wirelaying tooling
  • the detailed design cycle of the tooling and at the same time, it can quickly determine whether the structural form and key dimensions of the wire-laying tooling are reasonable during the detailed design process, and quickly determine whether the maximum deformation of the wire-laying tooling meets the technical requirements, and provide a basis for the subsequent detailed design process of the wire-laying tooling.
  • the iterative optimization of various parameters provides data support and basis, thereby further shortening the design cycle of the entire wire laying tooling.

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Abstract

La présente demande divulgue un procédé et un appareil de conception pour un outil de placement de fibre automatisé, un dispositif, et un support de stockage. Tout d'abord, une forme structurale d'un outil de placement de fibre est déterminée et l'outil de placement de fibre est converti en une structure de faisceau équivalent selon la forme structurale; une condition de distribution de charge et une dimension en section transversale de la structure de faisceau équivalent sont déterminées en combinaison avec la dimension de l'outil de placement de fibre; enfin, une plage de déformation de l'outil de placement de fibre est calculée en combinaison avec la distribution de charge et une fonction de courbe de déformation de la structure de faisceau équivalent et il est déterminé si la quantité de déformation de l'outil de placement de fibre satisfait aux exigences en combinaison avec un critère de détermination. Dans la présente demande, l'outil de placement de fibre est converti en une structure de faisceau équivalent ayant une structure relativement simple, puis la déformation de l'outil de placement de fibre est reflétée au moyen d'une analyse de contrainte et d'une analyse de déformation de la structure de faisceau équivalent; ainsi, le calcul peut être effectué simplement en déterminant des paramètres de l'outil de placement de fibre tels que la forme structurale, la distribution de charge et la dimension en section transversale, ce qui simplifie les paramètres requis pour le calcul de déformation; et par conséquent, après que la solution technique et la dimension critique de l'outil de placement de fibre sont déterminées, le calcul de la quantité de déformation est obtenu avant la conception détaillée, raccourcissant ainsi une période de conception détaillée de l'outil de placement de fibre.
PCT/CN2022/125592 2022-06-17 2022-10-17 Procédé et appareil de conception pour outil de placement de fibre automatisé, dispositif, et support de stockage Ceased WO2023240860A1 (fr)

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CN202210684191.2A CN114770977B (zh) 2022-06-17 2022-06-17 一种自动铺丝工装的设计方法、装置、设备及存储介质
CN202210684191.2 2022-06-17

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CN114770977B (zh) * 2022-06-17 2022-10-25 成都飞机工业（集团）有限责任公司 一种自动铺丝工装的设计方法、装置、设备及存储介质

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