CN106347999B - Automobile tire fetus intelligent grabbing manipulator - Google Patents
Automobile tire fetus intelligent grabbing manipulator Download PDFInfo
- Publication number
- CN106347999B CN106347999B CN201610844618.5A CN201610844618A CN106347999B CN 106347999 B CN106347999 B CN 106347999B CN 201610844618 A CN201610844618 A CN 201610844618A CN 106347999 B CN106347999 B CN 106347999B
- Authority
- CN
- China
- Prior art keywords
- manipulator
- fetus
- claw
- inner shaft
- line slideway
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of automobile tire fetus intelligent grabbing manipulator of the present invention, it include manipulator claw expansion mechanism (3) and manipulator rotation and positioning mechanism (5), the manipulator claw expansion mechanism (3) includes mobile inner shaft (2.1), mobile inner shaft (2.1) pass through a ring flange (2.6), and the one end of mobile inner shaft (2.1) is fixedly connected with link supports frame (2.2), a plurality of line slideway auxiliary one (2.7) is radially provided on the ring flange (2.6), claw (2.4) is fixedly connected on the sliding block of line slideway auxiliary one (2.7), one end of connecting rod (2.3) is hinged with link supports frame (2.2), the other end is hinged with the sliding block on claw (2.4) or line slideway auxiliary one (2.7).A kind of automobile tire fetus intelligent grabbing manipulator of the present invention, crawl is convenient and efficient, helps to improve productivity and yields.
Description
Technical field
The present invention relates to a kind of manipulators, more particularly, to one kind to automobile all-steel radial tire tire on intelligent rollgang
Embryo carries out the robot device of intelligent grabbing and rotational positioning, belongs to rubber manufacturing machinery technical field.
Background technique
Currently, with the continuous development of auto industry, as the tire of one of automobile important component, the technological process of production
It needs to face and constantly improve and optimizate；And technique traditional in the past, tire carry out carrying and manual scanning identification by artificial,
It is found in actual production and manufacturing process, this kind of technique is not only easy damage green tyres, but also labor intensity of workers is big, yield
It is not high, it sometimes can also be because of operation error caused by human factor.
Summary of the invention
The purpose of the present invention is to overcome the above shortcomings and to provide it is a kind of crawl it is convenient and efficient, help to improve productivity and
The automobile tire fetus intelligent grabbing manipulator of yields.
The object of the present invention is achieved like this:
A kind of automobile tire fetus intelligent grabbing manipulator, includes manipulator transverse moving mechanism, manipulating hoist
Structure, manipulator claw expansion mechanism, fetus intelligent recognition mechanism, manipulator rotation and positioning mechanism, the manipulator claw rise
Contracting mechanism includes mobile inner shaft, and mobile inner shaft passes through a ring flange, and one end of mobile inner shaft is fixedly connected with link supports
Frame is radially provided with a plurality of line slideway auxiliary one on the ring flange, and claw is fixedly connected on the cunning of line slideway auxiliary one
On block, one end and the link supports frame of connecting rod are hinged, and the other end is hinged with the sliding block on claw or line slideway auxiliary one, prevent
Dust hood is set in mobile inner shaft, and the edge of dust cover is fixedly connected on claw；
The manipulator rotation and positioning mechanism include live spindle, and the live spindle is an axle sleeve structure, mobile
Inner shaft is inserted in the live spindle of the axle sleeve structure, and the live spindle is installed on cabinet by main bearing seat and supplementary bearing seat
On, it is set with transmission gear in the live spindle, is set with electricity on the output shaft for the decelerating through motor unit being installed on cabinet
Machine gear, the motor gear are meshed with transmission gear.
A kind of automobile tire fetus intelligent grabbing manipulator of the present invention, the decelerating through motor unit pass through motor mounting flange
It is fixed on cabinet.
A kind of automobile tire fetus intelligent grabbing manipulator of the present invention is equipped with line slideway auxiliary two, institute on the cabinet
It states line slideway auxiliary two to be driven by driving electric cylinders, the sliding block of the line slideway auxiliary two is connected through inner shaft connector with mobile inner shaft
It connects.
Concretely, for manipulator transverse moving mechanism, mechanical arm assembly passes through in gantry stand closed slide pair
SERVO CONTROL driving, driver are speed reducer for servo motor, and gear unit is arc tooth synchronous belt and belt wheel, navigate to fetus and put
Set region；
For manipulating hoist structure, manipulator is driven in elevator platform closed slide pair by SERVO CONTROL, by rolling
The driving traction of ballscrew subcomponent, and manipulator overall weight is relied on into opposite direction cylinder counterweight dynamic balance, by the manipulator
Claw is moved to fetus rim of the mouth position.
For manipulator claw expansion mechanism, manipulator claw is link mechanism, is moved up and down and is realized by a main shaft
The harmomegathus of claw, main shaft are fixed in housing bearing seat, between the fixed elimination bearing axial direction that main shaft end passes through thrust ball bearing
Gap, end, which passes through to center tap, connects servo electric cylinders, and the expansion and diminution of claw are driven by the servo pulse of servo electric cylinders,
And the numerical value accurately control expansion or reduced, to achieve the purpose that precisely to grab fetus.
For fetus intelligent recognition mechanism, a high speed camera is installed on the inside of robot base, by manipulator rotation come
The information identification and acquisition for realizing fetus, prepare for next procedure.
For manipulator rotation and positioning mechanism, for rotating mechanism using the form of outer shaft in main shaft, inner shaft is driving claw
Harmomegathus, outer shaft are fixed on cabinet, and drive entire manipulator claw to rotate by a pair of engaged gears, and driving device is to watch
Motor reducer is taken, by high speed camera to the Recognition feedback of fetus, driving device will complete the positioning of fetus process orientation.
Compared with prior art, the beneficial effects of the present invention are:
Manipulator claw expansion mechanism of the present invention can pass through FESTO servo electricity according to different fetus seam allowance diameters
Cylinder driving, cabinet main shaft guideway can be fast moved at an arbitrary position and be positioned, and by the angle change of connecting rod pair, realize machine
The expansion of tool hand claw and purse up, it provides the U axis of orientation movement during manipulator crawl fetus；And it is flexible by installing additional
The dust cover of structure has effectively obstructed pollution and damage of the interleaving agent to the line slideway auxiliary one on claw on fetus, has mentioned
The high service life of manipulator；
Fetus intelligent recognition mechanism simultaneously, can pass through height according to the bar code or two-dimensional barcode information on different fetuses
Fast camera reads fetus information, provides data for the subsequent movement of manipulator and positioning；
In addition, manipulator rotation and positioning mechanism, can according to the bar code or two-dimensional barcode information data of different fetuses,
It by a pair of engaged gears on servo-drive main shaft, draws claw and rotates clockwise/counterclockwise, and according to fetus technique
It is required that positioning fetus in any angular position, it provides the W axis of orientation movement during manipulator crawl fetus.
Detailed description of the invention
Fig. 1 is a kind of application state schematic diagram of automobile tire fetus intelligent grabbing manipulator of the present invention.
Fig. 2 is a kind of structural schematic diagram of automobile tire fetus intelligent grabbing manipulator of the present invention.
Fig. 3 is a kind of expansion mechanism structural schematic diagram of the claw of automobile tire fetus intelligent grabbing manipulator of the present invention.
Fig. 4 is a kind of partial side view of Fig. 3 of automobile tire fetus intelligent grabbing manipulator of the present invention.
Wherein:
Manipulator transverse moving mechanism 1, manipulating hoist structure 2, manipulator claw expansion mechanism 3, fetus intelligent recognition
Mechanism 4, manipulator rotation and positioning mechanism 5；
Mobile inner shaft 2.1, link supports frame 2.2, connecting rod 2.3, claw 2.4, dust cover 2.5, ring flange 2.6, straight line are led
Rail pair 1；
Live spindle 3.1, main bearing seat 3.2, cabinet 3.3, supplementary bearing seat 3.4, transmission gear 3.5, motor gear 3.6,
Motor mounting flange 3.7, decelerating through motor unit 3.8, inner shaft connector 3.9, line slideway auxiliary 2 3.10, driving electric cylinders 3.11.
Specific embodiment
Referring to Fig. 1 ~ 4, a kind of automobile tire fetus intelligent grabbing manipulator of the present invention, includes manipulator claw
Expansion mechanism 3 and manipulator rotation and positioning mechanism 5, the manipulator claw expansion mechanism 3 include mobile inner shaft 2.1, are moved
Dynamic inner shaft 2.1 passes through a ring flange 2.6, and one end of mobile inner shaft 2.1 is fixedly connected with link supports frame 2.2, the flange
A plurality of line slideway auxiliary 1 is radially provided on disk 2.6, claw 2.4 is fixedly connected on the cunning of line slideway auxiliary 1
On block, one end and the link supports frame 2.2 of connecting rod 2.3 are hinged, on the other end and claw 2.4 or line slideway auxiliary 1
Sliding block is hinged, and dust cover 2.5 is set in mobile inner shaft 2.1, and the edge of dust cover 2.5 is fixedly connected on claw 2.4；
When mobile inner shaft 2.1 moves left and right, claw 2.4 is driven to be moved radially by connecting rod 2.3, to realize claw 2.4
It opens and shrinks, while dust cover 2.5 plays the role of proofing dust and protecting；
The manipulator rotation and positioning mechanism 5 include live spindle 3.1, and the live spindle 3.1 is an axle sleeve knot
Structure, mobile inner shaft 2.1 are inserted in the live spindle 3.1 of the axle sleeve structure, and the live spindle 3.1 passes through main bearing seat 3.2
It is installed on cabinet 3.3 with supplementary bearing seat 3.4, is set with transmission gear 3.5 in the live spindle 3.1, is installed on cabinet 3.3
On decelerating through motor unit 3.8 output shaft on be set with motor gear 3.6, the motor gear 3.6 and 3.5 phase of transmission gear
Engagement, the decelerating through motor unit 3.8 are fixed on cabinet 3.3 by motor mounting flange 3.7；It is installed on the cabinet 3.3
There is line slideway auxiliary 2 3.10, the line slideway auxiliary 2 3.10 is driven by driving electric cylinders 3.11, the line slideway auxiliary two
3.10 sliding block is connected through inner shaft connector 3.9 with mobile inner shaft 2.1；
Concretely, automobile tire fetus intelligent grabbing manipulator of the present invention also include manipulator transverse moving mechanism 1,
Manipulating hoist structure 2 and fetus intelligent recognition mechanism 4；
For manipulator transverse moving mechanism 1, mechanical arm assembly passes through SERVO CONTROL in gantry stand closed slide pair
Driving, driver are speed reducer for servo motor, and gear unit is arc tooth synchronous belt and belt wheel, navigate to fetus placement region；
For manipulating hoist structure 2, manipulator is driven in elevator platform closed slide pair by SERVO CONTROL, by rolling
The driving traction of ballscrew subcomponent, and manipulator overall weight is relied on into opposite direction cylinder counterweight dynamic balance, by the manipulator
Claw is moved to fetus rim of the mouth position.
For manipulator claw expansion mechanism 3, manipulator claw is link mechanism, is moved up and down and is realized by a main shaft
The harmomegathus of claw, main shaft are fixed in housing bearing seat, between the fixed elimination bearing axial direction that main shaft end passes through thrust ball bearing
Gap, end, which passes through to center tap, connects servo electric cylinders, and the expansion and diminution of claw are driven by the servo pulse of servo electric cylinders,
And the numerical value accurately control expansion or reduced, to achieve the purpose that precisely to grab fetus.
For fetus intelligent recognition mechanism 4, installation one is high speed camera on the inside of robot base, is rotated by manipulator
Come realize fetus information identification and acquisition, prepare for next procedure.
For manipulator rotation and positioning mechanism 5, for rotating mechanism using the form of outer shaft in main shaft, inner shaft is driving claw
Harmomegathus, outer shaft are fixed on cabinet, and drive entire manipulator claw to rotate by a pair of engaged gears, and driving device is to watch
Motor reducer is taken, by high speed camera to the Recognition feedback of fetus, driving device will complete the positioning of fetus process orientation.
In addition: it should be noted that above-mentioned specific embodiment is only a prioritization scheme of this patent, the skill of this field
Any change or improvement that art personnel are done according to above-mentioned design, within the protection domain of this patent..
Claims (1)
1. a kind of automobile tire fetus intelligent grabbing manipulator, it is characterised in that: include manipulator claw expansion mechanism (3) and
Manipulator rotation and positioning mechanism (5), the manipulator claw expansion mechanism (3) include mobile inner shaft (2.1), mobile inner shaft
(2.1) ring flange (2.6) are passed through, and the one end of mobile inner shaft (2.1) is fixedly connected with link supports frame (2.2), the method
A plurality of line slideway auxiliary one (2.7) is radially provided on blue disk (2.6), claw (2.4) is fixedly connected on line slideway auxiliary
On the sliding block of one (2.7), one end and the link supports frame (2.2) of connecting rod (2.3) are hinged, the other end and claw (2.4) or straight
Sliding block on line guideway one (2.7) is hinged；
The manipulator rotation and positioning mechanism (5) include live spindle (3.1), and the live spindle (3.1) is an axle sleeve
Structure, mobile inner shaft (2.1) are inserted in the live spindle (3.1) of the axle sleeve structure, and the live spindle (3.1) passes through main shaft
It holds seat (3.2) and supplementary bearing seat (3.4) is installed on cabinet (3.3), be set with transmission gear on the live spindle (3.1)
(3.5), it is set on the output shaft for the decelerating through motor unit (3.8) being installed on cabinet (3.3) motor gear (3.6), it is described
Motor gear (3.6) is meshed with transmission gear (3.5)；One dust cover (2.5) is set on mobile inner shaft (2.1), and dust-proof
The edge of cover (2.5) is fixedly connected on claw (2.4)；The decelerating through motor unit (3.8) passes through motor mounting flange (3.7)
It is fixed on cabinet (3.3)；Line slideway auxiliary two (3.10), the line slideway auxiliary two are installed on the cabinet (3.3)
(3.10) it is driven by driving electric cylinders (3.11), the sliding block of the line slideway auxiliary two (3.10) through inner shaft connector (3.9) and moves
Dynamic inner shaft (2.1) are connected；
The automobile tire fetus intelligent grabbing manipulator also includes manipulator transverse moving mechanism (1), manipulating hoist
Structure (2) and fetus intelligent recognition mechanism (4)；
For manipulator transverse moving mechanism (1), mechanical arm assembly is driven in gantry stand closed slide pair by SERVO CONTROL
Dynamic, driver is speed reducer for servo motor, and gear unit is arc tooth synchronous belt and belt wheel, navigates to fetus placement region；
For manipulating hoist structure (2), manipulator is driven in elevator platform closed slide pair by SERVO CONTROL, by ball
The traction of screw pair Component driver, and manipulator overall weight is relied on into opposite direction cylinder counterweight dynamic balance, by the manipulator card
Pawl is moved to fetus rim of the mouth position；
For manipulator claw expansion mechanism (3), manipulator claw is link mechanism, is moved up and down by a main shaft and realizes card
The harmomegathus of pawl, main shaft are fixed in housing bearing seat, and bearing axial clearance is eliminated by the fixed of thrust ball bearing in main shaft end,
End, which passes through to center tap, connects servo electric cylinders, and the expansion and diminution of claw are driven by the servo pulse of servo electric cylinders, and
And accurate numerical value control expansion or reduced, to achieve the purpose that precisely to grab fetus；
For fetus intelligent recognition mechanism (4), a high speed camera is installed on the inside of robot base, by manipulator rotation come real
The information identification and acquisition of existing fetus, prepare for next procedure,
For manipulator rotation and positioning mechanism (5), for rotating mechanism using the form of outer shaft in main shaft, inner shaft is that driving claw rises
Contracting, outer shaft are fixed on cabinet, and drive entire manipulator claw to rotate by a pair of engaged gears, and driving device is servo
Motor reducer, by high speed camera to the Recognition feedback of fetus, driving device will complete the positioning of fetus process orientation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610844618.5A CN106347999B (en) | 2016-09-23 | 2016-09-23 | Automobile tire fetus intelligent grabbing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610844618.5A CN106347999B (en) | 2016-09-23 | 2016-09-23 | Automobile tire fetus intelligent grabbing manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106347999A CN106347999A (en) | 2017-01-25 |
| CN106347999B true CN106347999B (en) | 2019-04-26 |
Family
ID=57858638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610844618.5A Active CN106347999B (en) | 2016-09-23 | 2016-09-23 | Automobile tire fetus intelligent grabbing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106347999B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106959190A (en) * | 2017-03-22 | 2017-07-18 | 长春工业大学 | A kind of full automatic car clutch cover and plate assembly dynamic balance detecting device |
| CN107009654B (en) * | 2017-05-25 | 2023-01-06 | 萨驰智能装备股份有限公司 | Steel ring storage mechanism and steel ring grabbing device |
| CN107498899B (en) * | 2017-09-25 | 2023-09-22 | 沈阳蓝英工业自动化装备股份有限公司 | Semi-steel embryo carrying device with manipulator for vulcanization workshop |
| CN108705591B (en) * | 2018-06-05 | 2019-12-20 | 上海骄成机电设备有限公司 | Equipment for positioning, fixing and rotating annular part |
| CN109607188B (en) * | 2019-01-15 | 2021-08-17 | 宁夏神州轮胎有限公司 | Wide base tire transfer device |
| CN109664534B (en) * | 2019-02-25 | 2024-02-23 | 正新橡胶（中国）有限公司 | Embryo positioning and mold feeding device |
| CN109968703B (en) * | 2019-04-03 | 2023-12-22 | 青岛科技大学 | Automatic assembling and disassembling device suitable for vulcanizing tires of different specifications |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6615649B1 (en) * | 1999-06-08 | 2003-09-09 | Bridgestone Corporation | Tire chuck apparatus and method |
| CN201253846Y (en) * | 2008-06-12 | 2009-06-10 | 谭德庆 | Rotary manipulator for grasping barrel |
| CN203332951U (en) * | 2013-05-31 | 2013-12-11 | 浙江科泰安轮胎有限公司 | Automatic feeding and discharging device in tire production process |
| CN203831414U (en) * | 2014-05-27 | 2014-09-17 | 巨轮股份有限公司 | Tyre transportation robot flexible clamping jaw |
| CN105479443A (en) * | 2016-01-25 | 2016-04-13 | 浙江瑞丰机械设备有限公司 | Claw type manipulator device with stretching, retracting and rotating functions |
| CN206068879U (en) * | 2016-09-23 | 2017-04-05 | 江阴职业技术学院 | Automobile tire fetus intelligent grabbing mechanical hand |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2807291B2 (en) * | 1989-11-07 | 1998-10-08 | 株式会社ブリヂストン | Raw tire transfer device |
-
2016
- 2016-09-23 CN CN201610844618.5A patent/CN106347999B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6615649B1 (en) * | 1999-06-08 | 2003-09-09 | Bridgestone Corporation | Tire chuck apparatus and method |
| CN201253846Y (en) * | 2008-06-12 | 2009-06-10 | 谭德庆 | Rotary manipulator for grasping barrel |
| CN203332951U (en) * | 2013-05-31 | 2013-12-11 | 浙江科泰安轮胎有限公司 | Automatic feeding and discharging device in tire production process |
| CN203831414U (en) * | 2014-05-27 | 2014-09-17 | 巨轮股份有限公司 | Tyre transportation robot flexible clamping jaw |
| CN105479443A (en) * | 2016-01-25 | 2016-04-13 | 浙江瑞丰机械设备有限公司 | Claw type manipulator device with stretching, retracting and rotating functions |
| CN206068879U (en) * | 2016-09-23 | 2017-04-05 | 江阴职业技术学院 | Automobile tire fetus intelligent grabbing mechanical hand |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106347999A (en) | 2017-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106347999B (en) | Automobile tire fetus intelligent grabbing manipulator | |
| CN107253179A (en) | The removable heavily loaded foundry robot of series-parallel connection truss-like | |
| CN109787434A (en) | A kind of motor assembly machine | |
| CN203697003U (en) | Intelligent robot with high-speed feeding and blanking functions | |
| CN206068879U (en) | Automobile tire fetus intelligent grabbing mechanical hand | |
| CN101104375B (en) | Spindle for fitting vehicle wheel rims on workshop machines, particularly tyre-changing machines or the like | |
| CN110962155A (en) | Robot clamping jaw | |
| CN202185379U (en) | On-line coating machine of tire vulcanizer | |
| CN206010576U (en) | Loading and unloading manipulator for Digit Control Machine Tool | |
| CN219881635U (en) | Welding platform for welding robot | |
| CN105269567A (en) | Platform manipulator | |
| CN106956253A (en) | Three Degree Of Freedom cylindrical coordinates industrial robot | |
| CN103978399A (en) | Four-coordinate automatic loading-unloading robot | |
| CN201645487U (en) | Gearing mesh type manipulator | |
| CN206913138U (en) | Suspended rail formula multi-arm foundry robot | |
| CN203887188U (en) | Ten-workstation centrifugal casting machine tool | |
| CN113085236A (en) | Can sweep auto-rotation formula tire vulcanizer dress child manipulator of sign indicating number | |
| CN103879246A (en) | Tire dismounting device | |
| CN205552113U (en) | Feeding mechanical arm in vertical punch press sucking disc formula | |
| CN109368509B (en) | Intelligent assembly system for aircraft engine | |
| CN209096078U (en) | All-steel radial tyre tyre surface carcass transmission system | |
| CN107931570A (en) | A kind of cast welding machine automatic indexing slewing equipment | |
| CN107175575A (en) | A kind of two shaft type honing machine spindle reciprocating telecontrol equipments | |
| CN206203395U (en) | A kind of streamline product inverts placing device | |
| CN201766471U (en) | Rotary shifter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |