Copper foil continuous punching and cutting complete device and control method

Abstract

The invention discloses continuous punching and cutting complete equipment for copper foil and a control method. The continuous punching and cutting complete equipment comprises a copper foil discharging module, a copper foil punching module, a copper foil clamping and cutting module, a copper foil clamping and pulling module and a copper foil sucking and transferring module. The copper foil discharging module releases a copper foil coiled material at a constant speed, the copper foil coiled material is conveyed into the punching machine through multiple stages of rollers, and positioning hole punching is completed in the punching machine; after punching is completed, the copper foil enters a clamping and cutting machine, the copper foil is pulled to the preset length through a clamping and pulling machine, and the copper foil is cut off through a cutting assembly; after cutting is completed, the copper foil sheet is transferred to the next station through the suction transfer machine; according to the control method, through unified scheduling of the control system, coordinated cooperation among discharging, punching, pulling, cutting and transferring is achieved, continuous connection of procedures can be guaranteed, and the production efficiency and the machining stability are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of copper foil cutting and punching, in particular to a copper foil continuous punching and cutting complete device and control method. BACKGROUND

[0002] As a key raw material in the manufacture of circuit boards, the punching and cutting process continuity of copper foil is directly related to the efficiency of subsequent processing. In the prior art, the feeding, punching, cutting and transfer of copper foil are completed by independent equipment or manual cooperation, and the connection between processes is not continuous and close enough. For example, in the punching and cutting process, the automatic control degree of some equipment is limited, the space boundary connection and time beat synchronization of two link device modules are difficult to coordinate and control, and there is a lack of unified action scheduling mechanism, which is difficult to adjust flexibly according to different product specifications. These factors greatly restrict the continuity of the copper foil processing process. SUMMARY

[0003] The present application provides a copper foil continuous punching and cutting complete device and control method to solve the above problems in the prior art.

[0004] The present application is as follows: A copper foil continuous punching and cutting complete device, comprising: a copper foil feeding module, a copper foil punching module, a copper foil clamping and cutting module, a copper foil clamping and pulling module, and a copper foil suction and transfer module; the copper foil feeding module comprises a winding shaft assembly, a plurality of guide roller assemblies and a storage device, which is used to release the copper foil winding stably and accurately deliver it to the copper foil punching module; the copper foil punching module comprises a main frame, a plurality of roller assemblies and a punching assembly, which is used to form positioning holes on the continuously delivered copper foil; the copper foil clamping and cutting module comprises a pressing assembly and a cutting assembly, which is used to deliver and cut the punched copper foil; the copper foil clamping and pulling module comprises a clamping assembly, a machine body platform and a driving assembly, which is used to clamp and pull the copper foil to a set length; the copper foil suction and transfer module comprises a transfer frame, a sliding assembly and a suction assembly, which is used to suction and transfer the cut copper foil to the next station.

[0005] Further, the punching assembly of the copper foil punching module is arranged above the main frame and is protected by a shroud, the punching assembly is driven by oil pressure to punch positioning holes on the copper foil, and the entrance and exit of the copper foil punching module are respectively provided with at least one set of roller assemblies to enable the copper foil to enter and leave the punching working area stably.

[0006] Further, the punching assembly mainly comprises an upper die frame as a mounting base, a plurality of shafts vertically installed on the upper die frame through lower shaft fixing seats, a linear bearing sleeved on each shaft, a gasket and a stop block provided at the top end of the shaft for limiting, a driving part provided by an oil cylinder, the oil cylinder being fixed in the middle of the upper die frame through a connecting seat, and a punch firmly installed on the lower surface of the upper die frame, power provided by the oil cylinder being transmitted to the punch by the upper die frame to finally complete the punching and cutting of the copper foil.

[0007] Further, a group of roller assemblies are arranged at the entrance of the copper foil clamping and cutting module to receive the copper foil from the punching machine and continue to convey, and a pressing assembly is arranged in front of the cutting assembly to fix the copper foil when the copper foil clamping and pulling module pulls the copper foil to a set length, so that the copper foil is stably cut and kept pressed until the copper foil clamping and pulling module performs the next pulling action.

[0008] Further, the copper foil clamping and pulling module and the copper foil clamping and cutting module are installed on the same base plate, the machine body platform is built on the platform support and the platform connecting rod, the platform support is fixed on the base plate, the platform connecting rod is installed on the main frame of the copper foil clamping and cutting machine, the base plate is installed on the bottom frame, the bottom frame is provided with sliding rails, and the clamping assembly is connected with a sliding block to realize movement above the machine body platform.

[0009] Further, the clamping assembly comprises a plurality of clamping mechanisms arranged side by side on a fixed rod, the fixed rod is installed on a lifting plate through fixing seats at both ends, the lifting plate is slidably connected to a lifting fixing seat through a group of linear guide pairs, the lifting fixing seat is installed on two sliding seats and slidably connected to the bottom frame through a group of linear guide pairs, so as to realize lifting and horizontal movement of the clamping mechanisms.

[0010] Further, the clamping mechanism is driven by a gas cylinder, and the copper foil is clamped and fixed during feeding through the cooperation of the pressing block and the pressing plate, the clamping assembly can move within the range of the machine body platform under the action of the driving assembly, so as to pull the clamped copper foil to perform the pulling action.

[0011] Further, the transfer frame is installed directly above the pulling work stroke of the copper foil, the suction assembly is provided with a suction end effector to complete the taking and placing action in the vertical direction, and is driven by the sliding assembly to move along the horizontal direction on the transfer frame, so as to suction and carry the cut copper foil to the downstream process.

[0012] A continuous punching and cutting control method for copper foil, comprising the following steps: S1 Copper foil feeding control: The copper foil feeding module feeds the copper foil to the punching module at a constant speed. The control system monitors the copper foil conveying path in real time to ensure smooth passage of the copper foil through multiple rollers and delivery to the copper foil punching module. S2 Punching position detection and signal transmission: When the copper foil moves to the punching position, the position sensor detects the accurate position of the copper foil and sends a signal to the control system. The control system sends a punching signal to the copper foil punching module based on the detected position signal. After receiving the signal, the oil pressure driving system starts and performs the punching action. After punching, the copper foil clamping and pulling module performs the pulling action to continue conveying the copper foil. S3 Copper foil conveying and pulling: After the copper foil is punched, it is pulled by the copper foil clamping and pulling module, conveyed through the conveying section of the copper foil clamping and cutting module, and then delivered to the machine body platform. The control system accurately controls the movement of the clamping assembly based on feedback signals during the pulling process to prevent the copper foil from being stretched or displaced. S4 Copper foil compression and cutting: When the pulling-in-place detection signal indicates that the copper foil has reached the predetermined length, the control system triggers the front compression assembly of the copper foil cutting module to compress and hold the copper foil, and then triggers the cutting assembly to perform cutting. A predetermined margin is left at the cutting position. S5 Moving and transferring after cutting: After cutting is completed, the copper foil suction and transfer module detects that the cut copper foil has reached the suction position and sends a signal to the control system. The control system triggers the suction assembly to perform the suction action, adsorbs and transfers the cut copper foil to the downstream process.

[0013] Further, after the copper foil is cut, the copper foil clamping and pulling module continues to clamp and convey the copper foil to the suction position. The clamping assembly releases the copper foil and resets after confirming the position.

[0014] Compared with the prior art, the embodiments of the present application have the following beneficial effects: The present application integrates multiple process modules such as copper foil feeding, punching, cutting, pulling, suction and transfer, significantly improves the continuity and automation level of the copper foil processing process, realizes efficient cooperation and precise control of each process, and overcomes the problems of poor process connection and insufficient automation in the prior art. In the connection between the copper foil punching and cutting processes, the time rhythm and spatial position are accurately synchronized through a unified action scheduling mechanism, ensuring seamless connection between devices and improving production efficiency. In addition, the present application can flexibly adjust process parameters according to different product specifications, reducing manual intervention and line change time, reducing production cost, and improving production safety and operation stability. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a structural schematic diagram of a copper foil continuous punching and cutting complete set device provided by the embodiments of the present application; Figure 2 is a structural schematic diagram of a copper foil feeding module provided by an embodiment of the present application; Figure 3 is a structural schematic diagram of a copper foil punching module provided by an embodiment of the present application; Figure 4 is a combined structural schematic diagram of a copper foil clamping and cutting module and a copper foil clamping and pulling module provided by an embodiment of the present application; Figure 5 is a combined structural schematic diagram of a copper foil clamping and cutting module and a copper foil clamping and pulling module provided by an embodiment of the present application; Figure 4 is a partial enlarged schematic diagram of the combined structure shown in Fig. 5; Figure 6 is a partial enlarged schematic diagram of a clamping assembly provided by an embodiment of the present application.

[0016] In the figure, 1 is a copper foil feeding module, 2 is a copper foil punching module, 3 is a copper foil clamping and cutting module, 4 is a copper foil clamping and pulling module, 5 is a copper foil suction and transfer module, 11 is a pay-off shaft assembly, 12 is a first guide roller assembly, 13 is a second guide roller assembly, 14 is a third guide roller assembly, 15 is a fourth guide roller assembly, 21 is an inlet roller assembly, 22 is a first outlet roller assembly, 23 is a second outlet roller assembly, 24 is a punching assembly, 25 is a punching frame, 31 is a pressing assembly, 32 is a cutting assembly, 33 is a cutting roller assembly, 34 is a cutting frame, 41 is a clamping assembly, 42 is a machine body platform, 43 is a driving assembly, 44 is a bottom frame, 51 is a transfer frame, 52 is a sliding assembly, 53 is a suction assembly, 241 is an upper die frame, 242 is a lower die, 243 is an oil cylinder, 411 is a pressing block, 412 is a pressing plate, 413 is a pneumatic cylinder, 414 is a fixing rod, 415 is a lifting plate, 416 is a lifting fixing seat, 417 is a sliding seat, 421 is a platform support, 422 is a platform connecting rod, and 423 is a bottom plate. DETAILED DESCRIPTION

[0017] The present application will be described in detail below with reference to the accompanying drawings.

[0018] As shown in Fig. 1, a complete set of copper foil continuous punching and cutting mechanism device comprises a copper foil feeding module 1, a copper foil punching module 2, a copper foil clamping and cutting module 3, a copper foil clamping and pulling module 4, and a copper foil suction and transfer module 5. Figures 1 to 6 Copper foil coiled material is first continuously released by the copper foil feeding module 1, and is conveyed through multiple levels of rollers into the copper foil punching module 2, where the punching of positioning holes is completed. After punching is completed, the copper foil continues to be conveyed to the copper foil clamping and cutting module 3, and the copper foil is pulled to a set length by the copper foil clamping and pulling module 4. The copper foil is fixed at a certain length position by the pressing assembly 31 and cutting is completed by the cutting assembly 32. The cut copper foil sheet is sucked and transferred to the next work station by the copper foil suction and transfer module 5, thereby realizing the continuous transmission of the copper foil between punching and cutting.

[0019] The copper foil unwinding module 1 comprises a motor-driven unwinding shaft assembly 11, which is installed on the unwinding frame and can accommodate copper foil rolls with a width of 200-600 mm for active conveying of the copper foil rolls. The first guide roller assembly 12, the second guide roller assembly 13, the third guide roller assembly 14, and the fourth guide roller assembly 15 are uniformly arranged on the conveying path of the copper foil for smooth conveying of the copper foil rolls and accurate conveying of the copper foil rolls to the copper foil punching module 2.

[0020] The copper foil punching module 2 comprises a main frame, a plurality of roller assemblies, and a punching assembly 24 for forming positioning holes in the continuously conveyed copper foil. The roller assemblies are located at the inlet and outlet positions of the copper foil punching module 2 to ensure stable conveying of the copper foil. An electrostatic eliminator is provided behind the roller assembly at the inlet end to eliminate static electricity of the copper foil during conveying. The punching assembly 24 is driven by oil pressure to realize precise linear reciprocating motion up and down. When the copper foil is conveyed to the punching position by the guide rollers, the control system controls the oil cylinder 243 to extend downward according to the positioning signal, and the copper foil is punched by the cooperation between the upper die holder 241 and the lower die 242. After the punching is completed, the oil cylinder 243 is retracted, and the punch is lifted to reset, so that the copper foil can continue to be conveyed forward. The waste material during the punching process is timely removed to ensure the punching effect and production efficiency.

[0021] Further, the punching assembly 24 is arranged above the punching frame 25 and is protected by a shroud. The copper foil punching module 2 comprises three groups of free roller assemblies, an inlet roller assembly 21 is arranged at the inlet end, and a first outlet roller assembly 22 and a second outlet roller assembly 23 are arranged at the outlet end to ensure smooth entry and exit of the copper foil from the punching area.

[0022] Further, the punching assembly 24 mainly comprises an upper die holder 241 as a mounting base, four shafts are vertically installed on the upper die holder 241 through lower shaft fixing seats, a linear bearing is sleeved on each shaft, a gasket and a stop block are arranged at the top end of the shaft for limiting, a driving part is provided by an oil cylinder 243, the oil cylinder 243 is fixed in the middle of the upper die holder 241 through a connecting seat, a punch is firmly installed below the upper die holder 241, power provided by the oil cylinder 243 is transmitted to the punch by the upper die holder 241, and finally the punching of the copper foil is completed.

[0023] The copper foil clamping and cutting module 3 includes a pressing assembly 31 and a cutting assembly 32, and is provided with a cutting roller assembly 33 at the entrance of the copper foil clamping and cutting module 3 to receive the copper foil from the punching machine and continue to convey. The pressing assembly 31 is located at the front end of the cutting assembly 32 and is mainly used to fix the copper foil before cutting to ensure that the copper foil is stably cut. The cutting assembly 32 includes a precisely controlled cutter unit and can cut the copper foil into a sheet product according to the set cutting position. The cutting assembly 32 is driven by a high-speed cylinder and can quickly and accurately complete the cutting action. When the copper foil clamping and pulling module 4 pulls the copper foil to a set length, the pressing assembly 31 fixes the copper foil to achieve stable cutting and keeps the copper foil pressed until the copper foil clamping and pulling module 4 performs the next pulling action.

[0024] The copper foil clamping and pulling module 4 is used to pull the copper foil to a set length through the clamping assembly 41 and ensure the stability of the conveying process of the copper foil, and includes the clamping assembly 41, a machine body platform 42 and a driving assembly 43. The copper foil clamping and pulling module 4 is installed on the same base plate 423 as the copper foil clamping and cutting module 3. The machine body platform 42 is built on a platform support 421 and a platform connecting rod 422. The platform support 421 is fixed on the base plate 423. The platform connecting rod 422 is installed on the cutting machine frame 34 of the copper foil clamping and cutting machine. The base plate 423 is installed on a bottom frame 44. The bottom frame 44 is provided with sliding rails. The clamping assembly 41 is connected to the sliding block to realize movement above the machine body platform 42.

[0025] Further, the clamping assembly 41 includes a plurality of clamping mechanisms which are installed side by side on a fixed rod 414. The fixed rod 414 is installed on a lifting plate 415 through the fixed seats at both ends. The lifting plate 415 is connected to a lifting fixed seat 416 through a set of linear guide pairs. The lifting fixed seat 416 is installed on two sliding seats 417 and is connected to the bottom frame 44 through a set of linear guide pairs to realize the lifting and horizontal movement of the clamping mechanisms.

[0026] Further, the clamping mechanism is driven by the air cylinder 413. The copper foil is clamped and fixed during feeding through the cooperation of the pressing block 411 and the pressing plate 412. The clamping mechanism moves in the machine body platform 42 through the action of the driving assembly 43 to realize the pulling action of the copper foil.

[0027] The copper foil suction and transfer module 5 includes a transfer frame 51, a sliding assembly 52 and a suction assembly 53, which is used to suck and transfer the cut copper foil to the next station. The transfer frame 51 is installed directly above the pulling working stroke of the copper foil. The suction assembly 53 is installed on the transfer frame 51. The end of the suction assembly 53 is provided with a vacuum suction cup to complete the taking and placing action in the vertical direction. During the transfer process, the sliding assembly 52 drives the suction assembly 53 to move in the horizontal direction to accurately suck and transfer the copper foil.

[0028] A continuous punching and cutting control method for copper foil, comprising the following steps: S1 Feeding control of copper foil feeding module 1: The copper foil feeding module 1 feeds the copper foil to the copper foil punching module 2 through the motor-driven unwinding shaft assembly 11. The control system monitors the copper foil conveying path in real time to ensure that the copper foil passes through the multi-stage roller smoothly and is conveyed to the copper foil punching module 2; S2 Punching position detection and signal transmission: When the copper foil moves to the punching position, the position sensor detects the accurate position of the copper foil and sends a signal to the control system. The control system sends a punching signal to the copper foil punching module 2 according to the detected position signal. After receiving the signal, the oil pressure driving system starts to execute the punching action. After the punching is completed, the copper foil clamping and pulling module 4 executes the pulling action to continue conveying the copper foil; S3 Copper foil conveying and pulling: After the copper foil completes punching, it continues to convey to the machine body platform 42 under the traction of the copper foil clamping and pulling module 4. The control system accurately controls the movement of the clamping assembly 41 during the pulling process according to the feedback signal to avoid stretching or displacement of the copper foil; S4 Copper foil pressing and cutting: When the pulling-in-place detection signal indicates that the copper foil reaches the preset length, the control system triggers the copper foil cutting module front-end pressing assembly 31 to press and hold the copper foil, and then triggers the cutting assembly 32 to execute cutting, leaving a predetermined margin at the cutting position; S5 Moving and transporting after cutting: After cutting is completed, the copper foil suction and transfer module 5 detects that the cut copper foil reaches the suction position and sends a signal to the control system. The control system triggers the suction assembly 53 to execute the suction action to adsorb and transfer the cut copper foil to the downstream process.

[0029] After cutting is completed, the copper foil clamping and pulling module 4 continues to act to convey the copper foil to the working position of the copper foil suction and transfer module 5. After the clamping assembly 41 delivers the copper foil and is confirmed by the in-place detection, the clamping assembly 41 releases the copper foil and automatically resets to prepare for the next pulling. At the same time, the suction and transfer machine starts the suction action immediately after receiving the release signal of the clamping assembly 41, thereby realizing smooth handover of the copper foil sheet from the cutting module to the transfer module.

[0030] Through the above structure and method, continuous conveying of the copper foil can be maintained during punching and cutting, avoiding wrinkles or precision errors caused by intermittent pauses, thereby realizing high-efficiency and high-precision continuous punching and cutting of the copper foil.

[0031] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

[0032] Also, it is understood that the application can be practiced without these specific details. In other instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Claims

1. A copper foil continuous punching and cutting mechanism complete set device, characterized in that, It includes: Copper foil stock module, copper foil punching module, copper foil clamping cutting module, copper foil clamping material pulling module, copper foil suction transfer module; The copper foil stock module includes a pay-off shaft assembly, a plurality of guide roller assemblies and a storage device, which is used to release the copper foil roll smoothly and accurately deliver it to the copper foil punching module; The copper foil punching module includes a main frame, a plurality of roller assemblies and a punching assembly, which is used to form positioning holes on the continuously delivered copper foil; The copper foil clamping cutting module includes a pressing assembly and a cutting assembly, which is used to deliver and cut the punched copper foil; The copper foil clamping material pulling module includes a clamping assembly, a machine body platform and a driving assembly, which is used to clamp and pull the copper foil to a set length; The copper foil suction transfer module includes a transfer frame, a sliding assembly and a suction assembly, which is used to suck and transfer the cut copper foil to the next station.

2. A complete set of copper foil continuous punching and cutting mechanism according to claim 1, characterized in that, The punching assembly of the copper foil punching module is arranged above the main frame and is protected by a shroud around it. The punching assembly is driven by oil pressure to punch positioning holes in the copper foil. The entrance and exit of the copper foil punching module are respectively provided with at least one set of roller assemblies to enable the copper foil to enter and leave the punching work area smoothly.

3. A complete set of apparatus for continuous punching and cutting of copper foil according to claim 1, wherein, The punching assembly mainly includes an upper die holder as a mounting base, a plurality of shafts vertically installed on the upper die holder through lower shaft fixing seats, a linear bearing sleeved on each shaft, a gasket and a stop block provided at the top end of the shaft for limiting, and a driving part provided by an oil cylinder. The oil cylinder is fixed in the middle of the upper die holder through a connecting seat. The punch is firmly installed at the bottom of the upper die holder. The power provided by the oil cylinder is transmitted to the punch by the upper die holder to finally complete the punching and cutting of the copper foil.

4. A complete set of apparatus for continuous punching and cutting of copper foil according to claim 1, wherein, A set of roller assemblies is arranged at the entrance of the copper foil clamping cutting module to receive the copper foil from the punching machine and continue to deliver it. The pressing assembly is arranged in front of the cutting assembly. When the copper foil clamping material pulling module pulls the copper foil to a set length, the pressing assembly fixes the copper foil to realize stable cutting and keeps it pressed until the copper foil clamping material pulling module performs the next pulling action.

5. A complete set of apparatus for continuous punching and cutting of copper foil according to claim 1, wherein, The copper foil clamping material pulling module and the copper foil clamping cutting module are installed on the same base plate. The machine body platform is built on the platform support and the platform connecting rod. The platform support is fixed on the base plate, and the platform connecting rod is installed on the main frame of the copper foil clamping cutting machine. The base plate is installed on the bottom frame. The bottom frame is provided with sliding rails. The clamping assembly is connected with the sliding block to realize movement above the machine body platform.

6. A complete set of apparatus for continuous punching and cutting of copper foil according to claim 1, wherein, The clamping assembly includes a plurality of clamping mechanisms arranged side by side on a fixed rod. The fixed rod is installed on a lifting plate through the fixed seat at both ends. The lifting plate is slidably connected to a lifting fixed seat through a set of linear guide pairs. The lifting fixed seat is installed on two sliding seats and is slidably connected to the bottom frame through a set of linear guide pairs, thereby realizing the lifting and horizontal movement of the clamping mechanism.

7. A complete set of apparatus for continuous punching and cutting of copper foil according to claim 1, wherein The clamping mechanism is driven by a gas cylinder. The copper foil is clamped and fixed during feeding through the cooperation of the pressing block and the pressing plate. The clamping assembly can move within the range of the machine body platform under the action of the driving assembly, thereby pulling the clamped copper foil to perform the material pulling action.

8. A complete set of apparatus for continuous punching and cutting of copper foil according to claim 1, wherein, The transfer frame is installed directly above the pulling work stroke of the copper foil, the suction assembly has a suction end effector that can complete the pick-and-place action in the vertical direction, and is driven by the sliding assembly to move horizontally on the transfer frame to suction and transport the cut copper foil to the downstream process.

9. A method for controlling continuous punching and cutting of a copper foil, characterized by, The method comprises the following steps: S1: Feeding control of the copper foil feeding module: The copper foil feeding module feeds the copper foil to the punching module at a constant speed, and the control system monitors the copper foil conveying path in real time to ensure that the copper foil passes through the multiple rollers smoothly and is conveyed to the copper foil punching module; S2: Punching position detection and signal transmission: When the copper foil moves to the punching position, the position sensor detects the accurate position of the copper foil and sends a signal to the control system, and the control system sends a punching signal to the copper foil punching module according to the detected position signal, and after receiving the signal, the oil pressure driving system starts to perform the punching action, and after the punching is completed, the copper foil clamping and pulling module performs the pulling action to continue conveying the copper foil; S3: Copper foil conveying and pulling: After the copper foil completes the punching, under the traction of the copper foil clamping and pulling module, it passes through the conveying section of the copper foil clamping and cutting module and continues to be conveyed to the machine body platform, and the control system accurately controls the movement of the clamping assembly according to the feedback signal during the pulling process to avoid stretching or displacement of the copper foil; S4: Copper foil pressing and cutting: When the pulling-in-place detection signal indicates that the copper foil reaches the preset length, the control system triggers the copper foil cutting module front-end pressing assembly to press and hold the copper foil, and then triggers the cutting assembly to perform cutting, leaving a predetermined margin at the cutting position; S5: Transfer and transport after cutting: After the cutting is completed, the copper foil suction and transfer module detects that the cut copper foil reaches the suction position and sends a signal to the control system, and the control system triggers the suction assembly to perform the suction action to adsorb and transfer the cut copper foil to the downstream process.

10. The method of claim 6, wherein the method is characterized by, After the copper foil is cut, the copper foil clamping and pulling module continues to clamp and convey the copper foil to the suction position, and the clamping assembly releases the copper foil and resets after confirming the position.

Images