Automatic stacking mechanism for special-shaped laminate flooring and its stacking packaging system

Abstract

The present invention is applicable to the technical field of lamination of special-shaped floorboards, and provides an automatic lamination mechanism for special-shaped laminate floorboards and a lamination packaging system thereof, comprising a first conveyor and a parallelogram floorboard, wherein positioning units are arranged on both sides of the first conveyor, a flipping unit is arranged on one side of the first conveyor, a second conveyor is arranged on one side of the flipping unit, and a stacking packaging unit is arranged on one side of the second conveyor, wherein photos of the parallelogram floorboards at different placement angles are taken by a camera to judge the current placement angle of the parallelogram floorboards, and according to the placement angle, the output ends of the first cylinder, the second cylinder, the third cylinder and the fourth cylinder are controlled to extend respectively, thereby pushing the parallelogram floorboards to rotate clockwise or counterclockwise, and then adjusting the angle correctly, thereby achieving the effect of adaptive angle adjustment.

Description

Technical Field

[0001] The invention relates to the technical field of special-shaped floor laminations, and more particularly to an automatic lamination mechanism for special-shaped laminated floors and a lamination packaging system thereof. Background Art

[0002] Special-shaped floors refer to floors with non-traditional rectangular or square shapes. They can be parallelograms, curves or any other irregular shapes. They are suitable for irregular-shaped spaces and can better adapt to the contours of the room. Special-shaped floors generally have smooth and rough surfaces on the upper and lower surfaces.

[0003] To make parallelogram floors, the processed boards need to be cut into parallelogram shapes, and then the cut parallelogram floors are transported together for stacking and packaging.

[0004] The existing parallelogram floor stacking method is conveyor stacking. When the robot arm places the cut parallelogram floor on the conveyor for transmission, the parallelogram floor will be offset during transmission due to different placement angles or the conveyor will rotate during transmission. As a result, when the subsequent boards are stacked, the placement angles of each layer of parallelogram boards are different, and they cannot be aligned and stacked, which in turn affects the subsequent floor packaging.

[0005] Furthermore, currently, the parallelogram floors are stacked in such a way that the smooth surface of one of the floors contacts the rough surface of another. When workers align the parallelogram floors for packaging, the smooth surface of one of the parallelogram floors rubs against the rough surface of another parallelogram floor, causing the smooth surface of the parallelogram floors to be worn, thus affecting the appearance and quality of the surface.

[0006] Therefore, it is necessary to design an automatic stacking mechanism for special-shaped laminate flooring that can align stacks and automatically turn over stacks to improve the above-mentioned technical problems. Summary of the invention

[0007] In view of the shortcomings of the prior art, the object of the present invention is to provide an automatic stacking mechanism for special-shaped laminate flooring and a stacking packaging system thereof.

[0008] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an automatic stacking mechanism for special-shaped laminate flooring, comprising a first conveyor and a parallelogram flooring, wherein positioning units are provided on both sides of the first conveyor, a flipping unit is provided on one side of the first conveyor, a second conveyor is provided on one side of the flipping unit, and a stacking packaging unit is provided on one side of the second conveyor.

[0009] The present invention is further configured as follows: the positioning unit includes a first fixed frame, the first fixed frame is fixedly connected to one side of the first conveyor, the upper side of the first fixed frame is fixedly connected with a first cylinder and a second cylinder, the other side of the first conveyor is fixedly connected with a second fixed frame, the upper side of the second fixed frame is fixedly connected with a third cylinder and a fourth cylinder, the output ends of the first cylinder, the second cylinder, the third cylinder and the fourth cylinder are all fixedly connected with an adjusting cylinder, the upper sides of the first fixed frame and the second fixed frame are both fixedly connected with a first gantry, and one side of the first gantry is fixedly connected with a camera.

[0010] The camera takes pictures of the parallelogram floor at different placement angles to determine the current placement angle of the parallelogram floor. According to the placement angle, the output ends of the first cylinder, the second cylinder, the third cylinder and the fourth cylinder are controlled to extend respectively, thereby pushing the parallelogram floor to rotate clockwise or counterclockwise, and then adjusting the angle correctly, achieving the effect of adaptive angle adjustment.

[0011] The present invention is further configured as follows: the flip unit includes a first bracket, the upper end bearing of the first bracket is connected to a rotating shaft, a reduction motor is fixedly connected to one side of the first bracket, the output end of the reduction motor is fixedly connected to one end of the rotating shaft, a fixed block is fixedly connected to the middle outer side of the rotating shaft, the upper and lower sides of the fixed block are respectively fixedly connected to a first clamping plate positioning assembly, the other two sides of the fixed block are respectively fixedly connected to a first motor, and the output end of the first motor is fixedly connected to a second clamping plate positioning assembly.

[0012] The present invention is further configured as follows: the first clamp plate positioning assembly and the second clamp plate positioning assembly have the same structure, the first clamp plate positioning assembly includes a first connecting shaft, a plurality of first clamp blocks are evenly and fixedly connected to the outer side of the first connecting shaft, a positioning plate is fixedly connected to the lower side of the first clamp block, a second connecting shaft is provided on the lower side of the positioning plate, a plurality of second clamp blocks are fixedly connected to the outer side of the second connecting shaft, and the first connecting shaft and the second connecting shaft are both fixedly connected to the fixed block.

[0013] The present invention is further configured as follows: a first inclined surface, a positioning surface and a second inclined surface are sequentially provided on one side of the positioning plate, and a vertical surface is provided at the connection between the first inclined surface and the positioning surface.

[0014] By rotating the output end of the reduction motor and the output end of the first motor, the parallelogram floor is controlled to flip to different degrees, so that there is a parallelogram floor with a rough surface facing upwards between every two parallelogram floors with smooth surfaces facing upwards, thereby avoiding the phenomenon that the rough surface of the parallelogram floor contacts the smooth surface during subsequent stacking, thereby protecting the quality of the smooth surface of the parallelogram floor; while flipping the parallelogram floor, the positioning plate positions each parallelogram floor at the same position for flipping, thereby avoiding the phenomenon that the parallelogram floor cannot be stacked at the same position during subsequent stacking, thereby achieving the effect of stable subsequent stacking.

[0015] The present invention is further configured as follows: the stacked plate packaging unit includes a lifting assembly, a third conveyor is provided on the upper side of the lifting assembly, limiting assemblies are provided on both sides of the third conveyor, and a packaging assembly is provided on one side of the limiting assembly.

[0016] The present invention is further configured as follows: the lifting assembly includes four connecting rod groups, two sliding columns are fixedly connected between every two of the connecting rod groups, wherein a first connecting block is fixedly connected between two of the connecting rod groups, wherein a second connecting block is fixedly connected between the other two of the connecting rod groups, the upper sides of the four connecting rod groups are hinged with a top plate, the lower sides of the four connecting rod groups are hinged with a bottom plate, the lower side of the top plate is fixedly connected with a second motor, the output end of the second motor is fixedly connected with a double-section threaded column, the two threaded ends of the double-section threaded column are respectively threadedly connected with the first connecting block and the second connecting block, the upper side of the bottom plate and the lower side of the top plate are fixedly connected with a guide slide shaft, and the guide slide shaft is slidably connected to the sliding column.

[0017] The present invention is further configured as follows: the limiting assembly includes two third fixed frames, the two third fixed frames are respectively fixedly connected to the two sides of the third conveyor, the upper side of the third fixed frames is fixedly connected to the second gantry, the upper side of the second gantry is fixedly connected to the first hydraulic cylinder, and the output end of the first hydraulic cylinder passes through the second gantry and is fixedly connected to the limiting plate.

[0018] By limiting the position of the parallelogram floor during the stacking process, the parallelogram floor will not be displaced when stacking, thereby preventing the parallelogram floor from collapsing due to excessive displacement when stacking, thereby achieving the effect of stacking the parallelogram floor neatly and preventing the parallelogram floor from displacement.

[0019] The present invention is further configured as follows: the packaging component includes a fourth fixed frame, two of the fourth fixed frames are respectively fixedly connected to both sides of the third conveyor, the upper sides of the two fourth fixed frames are fixedly connected to the third gantry, the upper side of the third gantry is fixedly connected to the second hydraulic cylinder, the output end of the second hydraulic cylinder passes through the third gantry and is fixedly connected to a double-axis clamp, both sides of the third gantry are fixedly connected to the third hydraulic cylinder, the output end of the third hydraulic cylinder passes through the third gantry and is fixedly connected to a four-axis clamp, and the clamping end of the four-axis clamp clamps the packaging sleeve.

[0020] The present invention is further configured as follows: a limiting groove is provided inside the packaging sleeve, and a triangular clamping block is fixedly connected inside the limiting groove.

[0021] The stacked parallelogram floors are packed into packing sleeves through the mobile clamping of the four-axis clamp and the double-axis clamp. While packing the packing sleeves, the triangular clamps push the parallelogram floors to align each parallelogram floor, effectively preventing the parallelogram floors from being scratched to other areas during transportation, causing wear on the four corners, thereby achieving the effects of high protection and neat packaging.

[0022] The stacking packaging system of the automatic stacking mechanism of the special-shaped laminate floor, according to the automatic stacking mechanism of the special-shaped laminate floor, comprises the following steps:

[0023] S1: The first conveyor conveys the unevenly placed parallelogram floors.

[0024] S2: The positioning unit matches the alignment method suitable for the placement angle of the parallelogram floor according to the photos of the parallelogram floor at different placement angles taken by the camera, and correctly aligns it.

[0025] S3: The turning unit positions the parallelogram floor while turning over the parallelogram floor, so that each parallelogram floor is clamped at the same position.

[0026] S4: The stacking packaging unit stacks the parallelogram floor panels and packages them.

[0027] In summary, the present application includes at least one of the following beneficial technical effects:

[0028] 1. Use the camera to take photos of the parallelogram floor at different placement angles to determine the current placement angle of the parallelogram floor. According to the placement angle, the output ends of the first cylinder, the second cylinder, the third cylinder and the fourth cylinder are controlled to extend respectively, thereby pushing the parallelogram floor to rotate clockwise or counterclockwise, and then adjusting the angle correctly, achieving the effect of adaptive angle adjustment.

[0029] 2. By rotating the output end of the reduction motor and the output end of the first motor, the parallelogram floor is controlled to flip to different degrees, so that there is a parallelogram floor with a rough surface facing upward between every two parallelogram floors with smooth surfaces facing upward, thereby avoiding the phenomenon that the rough surface of the parallelogram floor contacts the smooth surface during subsequent stacking, thereby protecting the quality of the smooth surface of the parallelogram floor. When flipping the parallelogram floor, the positioning plate positions each parallelogram floor at the same position for flipping, thereby avoiding the phenomenon that the parallelogram floor cannot be stacked at the same position during subsequent stacking, thereby achieving the effect of stable subsequent stacking.

[0030] 3. By limiting the position of the parallelogram floor during the stacking process, the parallelogram floor will not be displaced when stacking, thereby preventing the parallelogram floor from collapsing due to excessive displacement when stacking, thereby achieving the effect of stacking the parallelogram floor neatly and preventing the displacement of the parallelogram floor.

[0031] 4. The stacked parallelogram floors are packed into packaging sleeves through the mobile clamping of the four-axis clamp and the double-axis clamp. While packing the packaging sleeves, the triangular clamps push the parallelogram floors to align each parallelogram floor, effectively preventing the parallelogram floors from being scraped to other areas during transportation, causing wear on the four corners, and achieving the effects of high protection and neat packaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the automatic stacking mechanism of the special-shaped laminate flooring of the present invention;

[0033] Figure 2 It is a structural schematic diagram of the position adjustment unit in the present invention;

[0034] Figure 3 It is a structural schematic diagram of the flap unit in the present invention;

[0035] Figure 4 It is a schematic diagram of the explosion structure of the flap unit in the present invention;

[0036] Figure 5 It is a structural schematic diagram of the clamping plate positioning assembly in the present invention;

[0037] Figure 6 It is a structural schematic diagram of the positioning plate in the present invention;

[0038] Figure 7 It is a structural schematic diagram of the stacking packaging unit in the present invention;

[0039] Figure 8 It is a schematic diagram of the structure of the lifting assembly in the present invention;

[0040] Fig. 9 It is a structural schematic diagram of the limiting component in the present invention;

[0041] Fig.10 It is a structural schematic diagram of the packaging component in the present invention;

[0042] Fig.11 It is a schematic diagram of the structure inside the packaging sleeve of the present invention.

[0043] Description of reference numerals: 1. first conveyor;

[0044] 2. Positioning unit; 21. First fixed frame; 22. First cylinder; 23. Second cylinder; 24. First gantry; 25. Camera; 26. Third cylinder; 27. Fourth cylinder; 28. Second fixed frame;

[0045] 3. Flip unit; 31. First clamping plate positioning assembly; 32. Rotating shaft; 33. First motor; 34. Second clamping plate positioning assembly; 35. Fixed block; 36. Speed ​​reduction motor; 37. First bracket;

[0046] 311, positioning plate; 312, first clamping block; 313, second clamping block; 314, first connecting shaft; 315, second connecting shaft;

[0047] 3111, first inclined surface; 3112, positioning surface; 3113, second inclined surface;

[0048] 4. Second conveyor;

[0049] 5. Stacked plate packaging unit; 51. Packaging assembly; 52. Position limiting assembly; 53. Third conveyor; 54. Lifting assembly;

[0050] 511, second hydraulic cylinder; 512, two-axis gripper; 513, third gantry; 514, packaging sleeve; 515, four-axis gripper; 516, third hydraulic cylinder; 517, fourth fixed frame;

[0051] 5141, limiting groove; 5142, triangular clamping block;

[0052] 521, first hydraulic cylinder; 522, second gantry; 523, limit plate; 524, third fixed frame;

[0053] 541, first connecting block; 542, second motor; 543, connecting rod assembly; 544, sliding column; 545, bottom plate; 546, top plate; 547, double-section threaded column; 548, second connecting block; 549, guide slide shaft;

[0054] 6. Parallelogram floor. DETAILED DESCRIPTION

[0055] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0056] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0057] For example, see Figure 1-11 The present invention provides the following technical solutions: an automatic stacking mechanism for special-shaped laminate flooring, comprising a first conveyor 1 and a parallelogram floor 6, positioning units 2 are provided on both sides of the first conveyor 1, a flip unit 3 is provided on one side of the first conveyor 1, a second conveyor 4 is provided on one side of the flip unit 3, and a stacking packaging unit 5 is provided on one side of the second conveyor 4.

[0058] Specifically, the positioning unit 2 is used to adjust the parallelogram floor 6 at different placement angles, the flipping unit 3 is used to flip and position the parallelogram floor 6, and the stacking and packaging unit 5 is used to stack the parallelogram floor 6 and package the stacked parallelogram floor 6.

[0059] See also Figure 2 The positioning unit 2 includes a first fixed frame 21, which is fixedly connected to one side of the first conveyor 1, and a first cylinder 22 and a second cylinder 23 are fixedly connected to the upper side of the first fixed frame 21. A second fixed frame 28 is fixedly connected to the other side of the first conveyor 1, and a third cylinder 26 and a fourth cylinder 27 are fixedly connected to the upper side of the second fixed frame 28. The output ends of the first cylinder 22, the second cylinder 23, the third cylinder 26 and the fourth cylinder 27 are all fixedly connected with adjusting cylinders, and the upper sides of the first fixed frame 21 and the second fixed frame 28 are both fixedly connected to a first gantry 24, and a camera 25 is fixedly connected to one side of the first gantry 24.

[0060] Specifically, the first conveyor 1 is used to convey the parallelogram floor 6, and the extension of the output ends of the first cylinder 22, the second cylinder 23, the third cylinder 26 and the fourth cylinder 27 are all used to control the movement of the adjustment cylinder, thereby pushing the parallelogram floor 6 to adjust its position.

[0061] The internal database of the camera 25 stores identification photos of the parallelogram floor 6 at different placement angles. The camera 25 is used to photograph the parallelogram floor 6 being transmitted, and compare it with the identification photos of the parallelogram floor 6 at different placement angles in the internal database, and then identify the placement angle on the parallelogram floor 6, and take photos of the parallelogram floor 6 based on the obtained data, and divide the placement angle of the parallelogram floor 6 into counterclockwise placement angle, clockwise placement angle, and correct placement angle. The correct placement angle is that the two long sides of the parallelogram floor 6 are parallel to the output ends of the first cylinder 22, the second cylinder 23, the third cylinder 26 and the fourth cylinder 27, and the output end diameters of the first cylinder 22, the second cylinder 23, the third cylinder 26 and the fourth cylinder 27 are the same as the thickness of the parallelogram floor 6. When the parallelogram floor 6 is facing the shooting end of the camera 25, the first conveyor 1 stops transmitting, and the camera 25 photographs the parallelogram floor 6.

[0062] When the camera 25 determines that the parallelogram floor 6 is placed at a clockwise angle, the output ends of the first cylinder 22 and the third cylinder 26 extend out, and respectively control the two adjusting cylinders to push the parallelogram floor 6 at the same time, and the two long faces of the parallelogram floor 6 are pushed at the same time, controlling the parallelogram floor 6 to rotate counterclockwise along the center until the output ends of the first cylinder 22 and the third cylinder 26 are fully extended. At this time, the two long faces of the parallelogram floor 6 are parallel to the output ends of the first cylinder 22 and the third cylinder 26, and the output ends of the first cylinder 22 and the third cylinder 26 are fully retracted, and the first conveyor 1 starts to convey the parallelogram floor 6 again.

[0063] When the camera 25 determines that the parallelogram floor 6 is placed at a counterclockwise angle, the output ends of the second cylinder 23 and the fourth cylinder 27 extend out, and respectively control the two adjusting cylinders to push the parallelogram floor 6 at the same time, and the two long faces of the parallelogram floor 6 are pushed at the same time, controlling the parallelogram floor 6 to rotate clockwise along the center until the output ends of the first cylinder 22 and the third cylinder 26 are fully extended. At this time, the two long faces of the parallelogram floor 6 are parallel to the second cylinder 23 and the fourth cylinder 27, and the output ends of the second cylinder 23 and the fourth cylinder 27 are fully retracted, and the first conveyor 1 starts to convey the parallelogram floor 6 again.

[0064] When the camera 25 determines that the parallelogram floor 6 is at the correct angle, the first conveyor 1 starts to convey the parallelogram floor 6 again.

[0065] The camera 25 takes pictures of the parallelogram floor 6 at different placement angles to determine the current placement angle of the parallelogram floor 6. According to the placement angle, the output ends of the first cylinder 22, the second cylinder 23, the third cylinder 26 and the fourth cylinder 27 are controlled to extend respectively, thereby pushing the parallelogram floor 6 to rotate clockwise or counterclockwise, and then correctly adjusting the angle, thereby achieving the effect of adaptive angle adjustment.

[0066] Embodiment 2: Currently, the parallelogram floors 6 are stacked in a manner that the smooth surface of one of the floors contacts the rough surface of another. When the staff aligns the parallelogram floors 6 for packaging, the smooth surface of one of the parallelogram floors 6 will rub against the rough surface of another parallelogram floor 6, causing the smooth surface of the parallelogram floor 6 to be worn, affecting the appearance and quality of the surface. Therefore, the following structure is designed to solve the above technical problem.

[0067] See also Figure 3 The flip unit 3 includes a first bracket 37, the upper end bearing of the first bracket 37 is connected to the rotating shaft 32, a reduction motor 36 is fixedly connected to one side of the first bracket 37, the output end of the reduction motor 36 is fixedly connected to one end of the rotating shaft 32, a fixed block 35 is fixedly connected to the middle outer side of the rotating shaft 32, the upper and lower sides of the fixed block 35 are respectively fixedly connected to the first clamping plate positioning assembly 31, the other two sides of the fixed block 35 are respectively fixedly connected to the first motor 33, and the output end of the first motor 33 is fixedly connected to the second clamping plate positioning assembly 34.

[0068] Specifically, the extension of the output end of the reduction motor 36 is used to control the rotation of the shaft 32, thereby indirectly controlling the first clamping plate positioning assembly 31 and the second clamping plate positioning assembly 34 to rotate along the shaft 32, and the rotation of the output end of the first motor 33 is used to control the rotation of the second clamping plate positioning assembly 34, thereby turning it over.

[0069] See also Figure 5 The first clamp plate positioning assembly 31 and the second clamp plate positioning assembly 34 have the same structure. The first clamp plate positioning assembly 31 includes a first connecting shaft 314. A plurality of first clamp blocks 312 are evenly fixedly connected to the outer side of the first connecting shaft 314. A positioning plate 311 is fixedly connected to the lower side of the first clamp block 312. A second connecting shaft 315 is provided on the lower side of the positioning plate 311. A plurality of second clamp blocks 313 are fixedly connected to the outer side of the second connecting shaft 315. The first connecting shaft 314 and the second connecting shaft 315 are both fixedly connected to the fixing block 35.

[0070] Specifically, the first clamping block 312 and the second clamping block 313 are used to clamp the parallelogram floor 6, and the positioning plate 311 is used to position the slightly skewed parallelogram floor 6, so that each parallelogram floor 6 is positioned at the same position for flipping.

[0071] See also Figure 6 A first inclined surface 3111 , a positioning surface 3112 , and a second inclined surface 3113 are sequentially provided on one side of the positioning plate 311 , and a vertical surface is provided at the connection between the first inclined surface 3111 and the positioning surface 3112 .

[0072] Specifically, the first inclined surface 3111 and the second inclined surface 3113 are respectively used to guide the offset angles and surfaces of the parallelogram. The vertical surface and the positioning surface 3112 are perpendicular to each other. When the parallelogram floor 6 is adjusted, the parallelogram floor 6 is transported by the first conveyor 1 between the first clamp 312 and the second clamp 313.

[0073] When one corner of the parallelogram floor 6 approaches the first inclined surface 3111 and one side moves away from the second inclined surface 3113, the first conveyor 1 continues to convey the parallelogram floor 6, so that the one corner of the parallelogram floor 6 moves along the first inclined surface 3111, so that one side of the parallelogram floor 6 sticks to the first inclined surface 3111 and the other side sticks to the positioning surface 3112, and one corner is supported by the vertical surface, thereby positioning it.

[0074] When one corner of the parallelogram floor 6 moves away from the vertical plane and one side approaches the second inclined plane 3113, the first conveyor 1 continues to convey the parallelogram floor 6, so that one side of the parallelogram floor 6 moves along the second inclined plane 3113, so that one side of the parallelogram floor 6 sticks to the positioning surface 3112, one side sticks to the second inclined plane 3113, and one corner is supported by the vertical plane, thereby positioning it.

[0075] After the parallelogram floor 6 is positioned, the output end of the reduction motor 36 starts to rotate. In the initial state, the two first clamping plate positioning assemblies 31 are horizontal, and the two second clamping plate positioning assemblies 34 are vertical. Every time the output end of the reduction motor 36 rotates 180 degrees, the output end of the first motor 33 rotates 180 degrees.

[0076] When the output end of the reduction motor 36 rotates ninety degrees clockwise, the parallelogram floor 6 inside the first clamping plate positioning assembly 31 is in a vertical state. After the next parallelogram floor 6 is positioned inside the second clamping plate positioning assembly 34, the output end of the reduction motor 36 rotates ninety degrees clockwise again. At this time, the first parallelogram floor 6 is flipped over and is transported and moved by the second conveyor 4. The rough surface of the first parallelogram floor 6 faces downward and the smooth surface faces upward. Since the output end of the reduction motor 36 rotates one hundred and eighty degrees, the output end of the first motor 33 starts to rotate one hundred and eighty degrees, controlling the second parallelogram floor 6 to rotate and flip over. After the parallelogram floor 6 is positioned inside another first clamping plate positioning assembly 31, the output end of the reduction motor 36 rotates ninety degrees clockwise again. At this time, the second parallelogram floor 6 is flipped over and is transported and moved by the second conveyor 4. The smooth surface of the second parallelogram floor 6 faces downward and the rough surface faces upward, and so on, thereby turning over each parallelogram floor 6.

[0077] By rotating the output end of the reduction motor 36 and the output end of the first motor 33, the parallelogram floor 6 is controlled to flip to different degrees, so that there is a parallelogram floor 6 with a rough surface facing upward between every two parallelogram floors 6 with smooth surfaces facing upward, thereby avoiding the phenomenon that the rough surface of the parallelogram floor 6 contacts the smooth surface during subsequent stacking, thereby protecting the quality of the smooth surface of the parallelogram floor 6. When flipping the parallelogram floor 6, the positioning plate 311 positions each parallelogram floor 6 at the same position for flipping, thereby avoiding the phenomenon that the parallelogram floor 6 cannot be stacked at the same position during subsequent stacking, thereby achieving the effect of stable subsequent stacking.

[0078] Embodiment 3: When stacking, the smooth surfaces of two parallelogram floors 6 are in contact, and the rough surface of one parallelogram floor 6 is in contact with the rough surface of another parallelogram floor 6. When the smooth surface stacking is completed and the rough surface stacking is performed, the smooth surface has a small friction force and the rough surface has a large friction force. The rough surface stacking of the parallelogram floor 6 will drive the smooth surface below to slide, thereby causing the parallelogram floor 6 stacking to shift. When the displacement is too much, the parallelogram floor 6 stacking will collapse, causing damage to the parallelogram floor 6 and affecting the subsequent floor packaging. Therefore, the following structure is designed to solve the above technical problems.

[0079] See also Figure 7 The stacked plate packaging unit 5 includes a lifting assembly 54 , a third conveyor 53 is disposed on the upper side of the lifting assembly 54 , limiting assemblies 52 are disposed on both sides of the third conveyor 53 , and a packaging assembly 51 is disposed on one side of the limiting assembly 52 .

[0080] See also Figure 8The lifting assembly 54 includes four connecting rod groups 543, and two sliding columns 544 are fixedly connected between every two connecting rod groups 543, wherein a first connecting block 541 is fixedly connected between two connecting rod groups 543, and a second connecting block 548 is fixedly connected between the other two connecting rod groups 543. A top plate 546 is hinged on the upper side of the four connecting rod groups 543, and a bottom plate 545 is hinged on the lower side of the four connecting rod groups 543. A second motor 542 is fixedly connected to the lower side of the top plate 546, and a double-section threaded column 547 is fixedly connected to the output end of the second motor 542. The two threaded ends of the double-section threaded column 547 are respectively threadedly connected to the first connecting block 541 and the second connecting block 548. A guide slide shaft 549 is fixedly connected to the upper side of the bottom plate 545 and the lower side of the top plate 546, and the guide slide shaft 549 is slidably connected to the sliding column 544.

[0081] Specifically, when the third conveyor 53 needs to be lifted, the output end of the second motor 542 rotates clockwise, the first connecting block 541 starts to move and approaches the second motor 542, and the second connecting block 548 starts to move and moves away from the second motor 542, thereby controlling the movement of the connecting rod inside the connecting rod group 543, thereby raising the top plate 546 and lifting the third conveyor 53.

[0082] When the third conveyor 53 needs to descend, the output end of the second motor 542 rotates counterclockwise, the first connecting block 541 starts to move away from the second motor 542, and the second connecting block 548 starts to move close to the second motor 542, thereby controlling the connecting rod inside the connecting rod assembly 543 to move, thereby causing the top plate 546 to descend, causing the third conveyor 53 to descend.

[0083] The limiting assembly 52 includes two third fixed frames 524, which are respectively fixedly connected to the two sides of the third conveyor 53, and the upper side of the third fixed frames 524 is fixedly connected to the second gantry 522, and the upper side of the second gantry 522 is fixedly connected to the first hydraulic cylinder 521, and the output end of the first hydraulic cylinder 521 passes through the second gantry 522 and is fixedly connected to the limiting plate 523.

[0084] The extension and retraction of the output end of the first hydraulic cylinder 521 is used to control the limit plate 523 to move up and down, thereby limiting the parallelogram floor 6 .

[0085] In the initial state, the transmission end of the third conveyor 53 is flush with the transmission end of the second conveyor 4. When the parallelogram floor 6 needs to be stacked, the output end of the first hydraulic cylinder 521 extends to control the limit plate 523 to move downward until the bottom of the limit plate 523 contacts the transmission surface of the third conveyor 53. The output end of the first hydraulic cylinder 521 stops extending. When the first parallelogram floor 6 is transmitted to the top of the third conveyor 53 and one side is attached to the limit plate 523, the output end of the second motor 542 rotates counterclockwise to control the third conveyor 53 to move downward. The downward movement distance is the thickness of the parallelogram floor 6. The transmission end of the second conveyor 4 transmits again, and the second parallelogram floor 6 is transmitted to the top of the first parallelogram floor 6. The smooth surfaces of the parallelogram floors 6 fit together, and the four parallelogram floors 6 are stacked in this way, the smooth surface of the first parallelogram floor 6 fits together with the smooth surface of the second parallelogram floor 6, the rough surface of the second parallelogram floor 6 fits together with the rough surface of the third parallelogram floor 6, and the smooth surface of the third parallelogram floor 6 fits together with the smooth surface of the fourth parallelogram floor 6. When the stacking of the four parallelogram floors 6 is completed, the output end of the first hydraulic cylinder 521 retracts, the limiting plate 523 moves upward, the four parallelogram floors 6 are no longer limited, the third conveyor 53 transports them, and the output end of the second motor 542 rotates clockwise to control the third conveyor 53 to move upward back to its position.

[0086] By limiting the position of the parallelogram floor 6 during the stacking process, the parallelogram floor 6 will not be displaced when stacking, thereby preventing the parallelogram floor 6 from collapsing due to excessive displacement when stacking, thereby achieving the effect of stacking the parallelogram floor 6 neatly and preventing the parallelogram floor 6 from displacement.

[0087] Embodiment 4: After the parallelogram floor panels 6 are stacked, they need to be transported. Since the four corners thereof are protruding after stacking, they are easily scraped against other areas during transportation, causing wear on the four corners of the parallelogram floor panels 6. Therefore, the following structure is designed to solve the above problem.

[0088] See also Fig. 9 - Fig.11The packaging component 51 includes a fourth fixed frame 517, and the two fourth fixed frames 517 are respectively fixedly connected to the two sides of the third conveyor 53, the upper sides of the two fourth fixed frames 517 are fixedly connected to the third gantry 513, the upper side of the third gantry 513 is fixedly connected to the second hydraulic cylinder 511, the output end of the second hydraulic cylinder 511 passes through the third gantry 513 and is fixedly connected to the double-axis clamp 512, both sides of the third gantry 513 are fixedly connected to the third hydraulic cylinder 516, the output end of the third hydraulic cylinder 516 passes through the third gantry 513 and is fixedly connected to the four-axis clamp 515, and the clamping end of the four-axis clamp 515 clamps the packaging sleeve 514.

[0089] The extension and retraction of the output end of the second hydraulic cylinder 511 is used to control the two-axis clamp 512 to move up and down, so that the two-axis clamp 512 is close to the stacked parallelogram floor 6 to clamp it. The extension and retraction of the output end of the third hydraulic cylinder 516 is used to control the four-axis clamp 515 to move close to or away from the stacked parallelogram floor 6, so as to grab the packaging sleeve 514 for packaging.

[0090] A limiting groove 5141 is provided inside the packaging sleeve 514 , and a triangular clamping block 5142 is fixedly connected inside the limiting groove 5141 .

[0091] Specifically, when the stacked parallelogram floor 6 needs to be packaged, the output end of the second hydraulic cylinder 511 extends to control the double-axis clamp 512 to move downward, and the double-axis clamp 512 approaches the stacked parallelogram floor 6 and clamps it. The robotic arm places the packaging sleeve 514 inside the four-axis clamp 515. After the four-axis clamp 515 clamps it, the output end of the second hydraulic cylinder 511 retracts to lift the clamped parallelogram floor 6 to the same horizontal plane as the four-axis clamp 515. At this time, the stacked parallelogram floor 6 is aligned with the limiting groove 5141 of the packaging sleeve 514, and the output end of the third hydraulic cylinder 516 extends to control the packaging sleeve 514 to approach The stacked parallelogram floor 6 enters the limiting groove 5141, the double-axis clamp 512 releases the stacked parallelogram floor 6, the triangular block 5142 presses the two sides of each parallelogram floor 6, and pushes them to align until the two packing sleeves 514 completely close the stacked parallelogram floor 6, the double-axis clamp 512 clamps the packing sleeve 514, the four-axis clamp 515 releases the packing sleeve 514, the output end of the third hydraulic cylinder 516 returns to its original position, and the output end of the second hydraulic cylinder 511 extends out, controlling the packing sleeve 514 to move downward, placing it on the transmission end of the third conveyor 53 and then returning it to its original position.

[0092] The stacked parallelogram floors 6 are packaged in the packaging sleeve 514 by moving and clamping the four-axis clamp 515 and the two-axis clamp 512. While packaging the packaging sleeve 514, the triangular clamp block 5142 pushes the parallelogram floors 6 to align each parallelogram floor 6, effectively preventing the parallelogram floors 6 from being scraped to other areas during transportation, causing wear on the four corners, thereby achieving the effects of high protection and neat packaging.

[0093] Embodiment 5, a stacking packaging system of an automatic stacking mechanism for special-shaped laminate flooring, according to the automatic stacking mechanism for special-shaped laminate flooring described above, comprises the following steps:

[0094] S1: The first conveyor 1 conveys the unevenly placed parallelogram floors 6 .

[0095] S2: The positioning unit 2 matches the alignment method suitable for the alignment angle of the parallelogram floor 6 according to the photos of the parallelogram floor 6 at different alignment angles taken by the camera 25, and aligns it correctly.

[0096] The more specific steps of S2 are, S21: the internal database of the camera 25 stores identification photos of the parallelogram floor 6 at different placement angles, the camera 25 is used to capture images of the parallelogram floor 6 being transmitted, and compare them with the identification photos of the parallelogram floor 6 at different placement angles in the internal database, and then identify the placement angle of the parallelogram floor 6, and take photos of the parallelogram floor 6 based on the obtained photos, and distinguish the placement angle of the parallelogram floor 6 into counterclockwise placement angle, clockwise placement angle, and correct placement angle.

[0097] S22: The correct placement angle is that the two long sides of the parallelogram floor 6 are parallel to the output ends of the first cylinder 22, the second cylinder 23, the third cylinder 26 and the fourth cylinder 27, and the output end diameters of the first cylinder 22, the second cylinder 23, the third cylinder 26 and the fourth cylinder 27 are the same as the thickness of the parallelogram floor 6. When the parallelogram floor 6 is facing the shooting end of the camera 25, the first conveyor 1 stops transmitting, and the camera 25 shoots and images the parallelogram floor 6.

[0098] S23: When the camera 25 determines that the parallelogram floor 6 is placed at a clockwise angle, the output ends of the first cylinder 22 and the third cylinder 26 extend out, and respectively control the two adjusting cylinders to push the parallelogram floor 6 at the same time, and the two long faces of the parallelogram floor 6 are pushed at the same time, controlling the parallelogram floor 6 to rotate counterclockwise along the center until the output ends of the first cylinder 22 and the third cylinder 26 are fully extended. At this time, the two long faces of the parallelogram floor 6 are parallel to the output ends of the first cylinder 22 and the third cylinder 26, and the output ends of the first cylinder 22 and the third cylinder 26 are fully retracted, and the first conveyor 1 starts to convey the parallelogram floor 6 again.

[0099] S24: When the camera 25 determines that the parallelogram floor 6 is placed at a counterclockwise angle, the output ends of the second cylinder 23 and the fourth cylinder 27 extend out, and respectively control the two adjusting cylinders to push the parallelogram floor 6 at the same time, and the two long faces of the parallelogram floor 6 are pushed at the same time, controlling the parallelogram floor 6 to rotate clockwise along the center until the output ends of the first cylinder 22 and the third cylinder 26 are fully extended. At this time, the two long faces of the parallelogram floor 6 are parallel to the second cylinder 23 and the fourth cylinder 27, and the output ends of the second cylinder 23 and the fourth cylinder 27 are fully retracted, and the first conveyor 1 starts to convey the parallelogram floor 6 again.

[0100] S25: When the camera 25 determines that the parallelogram floor 6 is at the correct angle, the first conveyor 1 starts to convey the parallelogram floor 6 again.

[0101] S3: The turning unit 3 positions the parallelogram floor 6 while turning over the parallelogram floor 6, so that each parallelogram floor 6 is clamped at the same position.

[0102] The more specific step of S3 is, S31: when one corner of the parallelogram floor 6 approaches the first inclined surface 3111 and one side is away from the second inclined surface 3113, the first conveyor 1 continues to convey the parallelogram floor 6, so that the one corner of the parallelogram floor 6 moves along the first inclined surface 3111, so that one side of the parallelogram floor 6 sticks to the first inclined surface 3111, and the other side sticks to the positioning surface 3112, and one corner is supported by the vertical surface, so that it is positioned.

[0103] S32: When one corner of the parallelogram floor 6 is away from the vertical plane and one side is close to the second inclined plane 3113, the first conveyor 1 continues to convey the parallelogram floor 6, so that one side of the parallelogram floor 6 moves along the second inclined plane 3113, so that one side of the parallelogram floor 6 sticks to the positioning surface 3112, and one side sticks to the second inclined plane 3113, and one corner is supported by the vertical plane, thereby positioning it.

[0104] S33: After the parallelogram floor 6 is positioned, the output end of the reduction motor 36 starts to rotate. In the initial state, the two first clamping plate positioning assemblies 31 are horizontal, and the two second clamping plate positioning assemblies 34 are vertical. Every time the output end of the reduction motor 36 rotates 180 degrees, the output end of the first motor 33 rotates 180 degrees.

[0105] S34: When the output end of the reduction motor 36 rotates ninety degrees clockwise, the parallelogram floor 6 inside the first clamping plate positioning assembly 31 is in a vertical state. After the next parallelogram floor 6 is positioned inside the second clamping plate positioning assembly 34, the output end of the reduction motor 36 rotates ninety degrees clockwise again. At this time, the first parallelogram floor 6 is flipped over and transported by the second conveyor 4. The rough surface of the first parallelogram floor 6 faces downward and the smooth surface faces upward.

[0106] S35: As the output end of the reduction motor 36 rotates one hundred and eighty degrees, the output end of the first motor 33 starts to rotate one hundred and eighty degrees, controlling the second parallelogram floor 6 to rotate and flip over. After the parallelogram floor 6 is positioned inside another first clamp positioning assembly 31, the output end of the reduction motor 36 rotates ninety degrees clockwise again. At this time, the second parallelogram floor 6 is flipped over and is transported and moved by the second conveyor 4. The smooth surface of the second parallelogram floor 6 faces downward and the rough surface faces upward, and so on, thereby turning over each parallelogram floor 6.

[0107] S4: The stacking packaging unit 5 stacks the parallelogram-shaped floor panels 6 and packages them.

[0108] The more specific step of S4 is, S41: when the third conveyor 53 needs to descend, the output end of the second motor 542 rotates counterclockwise, the first connecting block 541 starts to move and moves away from the second motor 542, and the second connecting block 548 starts to move and approaches the second motor 542, thereby controlling the connecting rod inside the connecting rod group 543 to move, thereby causing the top plate 546 to descend, and causing the third conveyor 53 to descend.

[0109] S42: The limiting assembly 52 includes two third fixed frames 524, which are respectively fixedly connected to the two sides of the third conveyor 53, the upper side of the third fixed frames 524 is fixedly connected to the second gantry 522, the upper side of the second gantry 522 is fixedly connected to the first hydraulic cylinder 521, and the output end of the first hydraulic cylinder 521 passes through the second gantry 522 and is fixedly connected to the limiting plate 523.

[0110] S43: In the initial state, the transmission end of the third conveyor 53 is flush with the transmission end of the second conveyor 4. When the parallelogram floor 6 needs to be stacked, the output end of the first hydraulic cylinder 521 extends to control the limit plate 523 to move downward until the bottom of the limit plate 523 contacts the transmission surface of the third conveyor 53. The output end of the first hydraulic cylinder 521 stops extending. When the first parallelogram floor 6 is transmitted to the top of the third conveyor 53 and one side is attached to the limit plate 523, the output end of the second motor 542 rotates counterclockwise to control the third conveyor 53 to move downward. The downward moving distance is the thickness of the parallelogram floor 6. The transmission end of the second conveyor 4 transmits again, and the second parallelogram floor 6 is transmitted to the top of the first parallelogram floor 6. The smooth surfaces of the two parallelogram floors 6 fit each other. And so on, the four parallelogram floors 6 are stacked.

[0111] S44: The smooth surface of the first parallelogram floor 6 fits with the smooth surface of the second parallelogram floor 6, the rough surface of the second parallelogram floor 6 fits with the rough surface of the third parallelogram floor 6, and the smooth surface of the third parallelogram floor 6 fits with the smooth surface of the fourth parallelogram floor 6. When the stacking of the four parallelogram floors 6 is completed, the output end of the first hydraulic cylinder 521 retracts, the limiting plate 523 moves upward, the four parallelogram floors 6 are no longer limited, the third conveyor 53 transports them, and the output end of the second motor 542 rotates clockwise to control the third conveyor 53 to move upward and return to its original position.

[0112] S45: When the stacked parallelogram floor 6 needs to be packaged, the output end of the second hydraulic cylinder 511 extends to control the double-axis clamp 512 to move downward, and the double-axis clamp 512 approaches the stacked parallelogram floor 6 and clamps it. The robotic arm places the packaging sleeve 514 inside the four-axis clamp 515. After the four-axis clamp 515 clamps it, the output end of the second hydraulic cylinder 511 retracts to lift the clamped parallelogram floor 6 to the same horizontal plane as the four-axis clamp 515. At this time, the stacked parallelogram floor 6 is aligned with the limiting groove 5141 of the packaging sleeve 514, and the output end of the third hydraulic cylinder 516 extends to control the packaging sleeve 514 to approach the stacked parallelogram floor 6.

[0113] S46: The stacked parallelogram floor 6 enters the limiting groove 5141, the double-axis clamp 512 releases the stacked parallelogram floor 6, the triangular block 5142 presses the two sides of each parallelogram floor 6, and pushes them to align until the two packing sleeves 514 completely close the stacked parallelogram floor 6, the double-axis clamp 512 clamps the packing sleeve 514, the four-axis clamp 515 releases the packing sleeve 514, the output end of the third hydraulic cylinder 516 returns to its original position, and the output end of the second hydraulic cylinder 511 extends to control the packing sleeve 514 to move downward, and place it on the transmission end of the third conveyor 53 before returning to its original position.

[0114] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

Claims

1. Automatic lamination mechanism for special-shaped laminate flooring, characterized by: The invention comprises a first conveyor (1) and a parallelogram floor (6), wherein positioning units (2) are provided on both sides of the first conveyor (1), a flip unit (3) is provided on one side of the first conveyor (1), a second conveyor (4) is provided on one side of the flip unit (3), and a stacking unit (5) is provided on one side of the second conveyor (4); The positioning unit (2) comprises a first fixed frame (21), the first fixed frame (21) is fixedly connected to one side of the first conveyor (1), a first cylinder (22) and a second cylinder (23) are fixedly connected to the upper side of the first fixed frame (21), a second fixed frame (28) is fixedly connected to the other side of the first conveyor (1), a third cylinder (26) and a fourth cylinder (27) are fixedly connected to the upper side of the second fixed frame (28), an adjustment cylinder is fixedly connected to the output ends of the first cylinder (22), the second cylinder (23), the third cylinder (26) and the fourth cylinder (27), the first fixed frame (21) and the second fixed frame (28) are fixedly connected to the upper sides of the first gantry (24), and a camera (25) is fixedly connected to one side of the first gantry (24); The flip unit (3) comprises a first bracket (37), the upper end bearing of the first bracket (37) is connected to the rotating shaft (32), a reduction motor (36) is fixedly connected to one side of the first bracket (37), the output end of the reduction motor (36) is fixedly connected to one end of the rotating shaft (32), a fixing block (35) is fixedly connected to the middle outer side of the rotating shaft (32), the upper and lower sides of the fixing block (35) are respectively fixedly connected to the first clamping plate positioning assembly (31), the other two sides of the fixing block (35) are respectively fixedly connected to the first motor (33), and the output end of the first motor (33) is fixedly connected to the second clamping plate positioning assembly (34); The first clamping plate positioning assembly (31) and the second clamping plate positioning assembly (34) have the same structure, the first clamping plate positioning assembly (31) comprises a first connecting shaft (314), a plurality of first clamping blocks (312) are evenly and fixedly connected to the outer side of the first connecting shaft (314), a positioning plate (311) is fixedly connected to the lower side of the first clamping block (312), a second connecting shaft (315) is provided on the lower side of the positioning plate (311), a plurality of second clamping blocks (313) are fixedly connected to the outer side of the second connecting shaft (315), and the first connecting shaft (314) and the second connecting shaft (315) are both fixedly connected to the fixing block (35); After the first parallelogram floor (6) is turned over, the rough surface faces downwards; after the second parallelogram floor (6) is turned over, the smooth surface faces downwards.

2. The automatic stacking mechanism for special-shaped laminate flooring according to claim 1, characterized in that: A first inclined surface (3111), a positioning surface (3112) and a second inclined surface (3113) are sequentially provided on one side of the positioning plate (311), and a vertical surface is provided at the connection between the first inclined surface (3111) and the positioning surface (3112).

3. The automatic stacking mechanism for special-shaped laminate flooring according to claim 1, characterized in that: The stacked plate packaging unit (5) comprises a lifting component (54), a third conveyor (53) is provided on the upper side of the lifting component (54), limiting components (52) are provided on both sides of the third conveyor (53), and a packaging component (51) is provided on one side of the limiting component (52).

4. The automatic stacking mechanism for special-shaped laminate flooring according to claim 3, characterized in that: The lifting assembly (54) comprises four connecting rod groups (543), two sliding columns (544) are fixedly connected between each two connecting rod groups (543), a first connecting block (541) is fixedly connected between two of the connecting rod groups (543), a second connecting block (548) is fixedly connected between another two of the connecting rod groups (543), a top plate (546) is hingedly connected to the upper sides of the four connecting rod groups (543), and a bottom plate (546) is hingedly connected to the lower sides of the four connecting rod groups (543). 5), a second motor (542) is fixedly connected to the lower side of the top plate (546), a double-section threaded column (547) is fixedly connected to the output end of the second motor (542), two threaded ends of the double-section threaded column (547) are respectively threadedly connected to a first connecting block (541) and a second connecting block (548), an upper side of the bottom plate (545) and a lower side of the top plate (546) are fixedly connected to a guide shaft (549), and the guide shaft (549) is slidably connected to the sliding column (544).

5. The automatic stacking mechanism for special-shaped laminate flooring according to claim 4, characterized in that: The limiting assembly (52) comprises two third fixing frames (524), the two third fixing frames (524) being fixedly connected to two sides of the third conveyor (53), respectively; the upper side of the third fixing frames (524) is fixedly connected to a second gantry (522); the upper side of the second gantry (522) is fixedly connected to a first hydraulic cylinder (521); and the output end of the first hydraulic cylinder (521) passes through the second gantry (522) and is fixedly connected to a limiting plate (523).

6. The automatic stacking mechanism for special-shaped laminate flooring according to claim 5, characterized in that: The packaging component (51) comprises a fourth fixed frame (517), two of the fourth fixed frames (517) are respectively fixedly connected to two sides of the third conveyor (53), the upper sides of the two fourth fixed frames (517) are fixedly connected to a third gantry (513), the upper side of the third gantry (513) is fixedly connected to a second hydraulic cylinder (511), the output end of the second hydraulic cylinder (511) passes through the third gantry (513) and is fixedly connected to a double-axis clamp (512), both sides of the third gantry (513) are fixedly connected to a third hydraulic cylinder (516), the output end of the third hydraulic cylinder (516) passes through the third gantry (513) and is fixedly connected to a four-axis clamp (515), and the clamping end of the four-axis clamp (515) clamps the packaging sleeve (514).

7. The automatic stacking mechanism for special-shaped laminate flooring according to claim 6, characterized in that: A limiting groove (5141) is provided inside the packaging sleeve (514), and a triangular clamping block (5142) is fixedly connected inside the limiting groove (5141).

8. A stacking packaging system for an automatic stacking mechanism for special-shaped laminate flooring, using the automatic stacking mechanism for special-shaped laminate flooring as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: S1: The first conveyor (1) conveys the unevenly placed parallelogram floor (6); S2: the positioning unit (2) matches the alignment method suitable for the alignment angle of the parallelogram floor (6) according to the photos of the parallelogram floor (6) at different alignment angles taken by the camera (25), and correctly aligns the parallelogram floor (6); S3: The turning unit (3) positions the parallelogram floor (6) while turning over the parallelogram floor (6), so that each parallelogram floor (6) is clamped at the same position; S4: The stacking and packaging unit (5) stacks the parallelogram floor panels (6) and packages them.

Images