CN109839312A - Mooring line static rigidity caliberating device in air - Google Patents
Mooring line static rigidity caliberating device in air Download PDFInfo
- Publication number
- CN109839312A CN109839312A CN201910121481.4A CN201910121481A CN109839312A CN 109839312 A CN109839312 A CN 109839312A CN 201910121481 A CN201910121481 A CN 201910121481A CN 109839312 A CN109839312 A CN 109839312A
- Authority
- CN
- China
- Prior art keywords
- vertical
- horizontal
- mooring line
- sliding table
- slide unit
- 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.)
- Granted
Links
Landscapes
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
Mooring line static rigidity caliberating device in a kind of air, down-feed screw, vertical frames, metope fixed plate, vertical slide unit, horizontal frames, horizontal sliding table, horizontal ball screw, servo motor and driver, control cabinet etc..Metope fixed plate and wall connecting, fixed plate is fixedly connected with vertical frames, vertical slipper is set on vertical frames, one end of screw rod is connect by first bearing component with mounting rack, the other end of screw rod is protruded into motor mount and is connect with second bearing component, drive sprocket axle is connect by transmission component with the screw rod, horizontal frames are connect with vertical slipper, one end of horizontal ball screw is connect by first bearing component with horizontal frames, the other end of horizontal ball screw is protruded into motor mount and is connect with second bearing component, drive sprocket axle is connect by transmission component with the screw rod, horizontal slider is set on horizontal frames.Reliable operation.
Description
Technical field
The present invention relates to ocean engineering hydrodynamicangle experiment technical fields, especially a kind of to be used for ocean engineering floating structure
Mooring line static rigidity caliberating device in the air of object anchoring system basin test simulation.
Background technique
Mooring line static rigidity caliberating device is mainly used to demarcate the static rigidity characteristic of mooring line in air.Mooring positioning
It is the location technology that floating structure is most widely used, anchoring system and works constitute interaction, interactional coupling
Operating system is closed, with the continuous growth of operating water depth, the nonlinear characteristic of the coupling operating system is more and more significant, therefore,
Model test be the system Study on hydrodynamic performance most directly effective technological means, and it is this kind of test success or failure key factor it
One is exactly the accuracy of anchoring system simulated behavior.Anchoring system characteristic includes static characteristics and dynamic characteristics, for power spy
Property simulation, it is main to consider that mooring line geometric parameter (such as diameter, length) is similar with weight and realize, and static characteristic reflects and is
The stiffness characteristics of pool system, i.e. mooring line endpoint tension change with the variation of position, this directly affects the essence of test result
Degree, therefore entire test accuracy is directly affected for the precision of mooring line static characteristic calibration.
Basin test mooring line static rigidity caliberating device in the air of previous pond, is by simple and crude fixing support rack, people
Work graduation mark, tension sensor, voltmeter, tape measure and graduated scale etc. composition, the depth of water depth of simulation be by tape measure manual measurement,
Anchoring system horizontal displacement is also by personnel's manual operations, and mooring line is horizontal or axial rigidity data are point-by-point by outmoded voltmeter
It is measured from, also there is a variation for realizing mooring line displacement using the multidirectional hierarchical loading of counterweight, however mooring lines all at present
Static rigidity caliberating device is generally existing to be taken time and effort, and measurement accuracy is not high, and links measurement error is larger, the degree of automation
Low feature.
Summary of the invention
It is quiet to provide mooring line in the structurally reasonable air of one kind for the disadvantage in above-mentioned existing production technology by the applicant
State rigidity caliberating device, so as to meet the requirement of ocean engineering structure anchoring system static rigidity calibration.
The technical solution adopted in the present invention is as follows:
Mooring line static rigidity caliberating device in a kind of air, including mooring line static rigidity caliberating device main body and acquisition
Analysis system,
The structure of the mooring line static rigidity caliberating device main body are as follows: described vertical including vertical slide unit electric baseboard
Vertical slide unit driving motor is fixed on slide unit electric baseboard, the output end of the vertical slide unit driving motor is between the upper and lower every symmetrical
Vertical sliding motion attachment base is installed, down-feed screw is equipped with by bearing arrangement between two vertical sliding motion attachment bases, it is described to hang down
The bottom of raw silk rings bar is connect by shaft coupling with vertical slide unit driving motor；It is equipped on down-feed screw and cooperates mobile spiral shell with it
The left and right ends of mother, the down-feed screw are symmetrically installed with vertical frames,
The mounting structure of single vertical frames are as follows: including wall, wall is spaced from top to bottom to be equipped with muti-piece metope and fix
Plate installs vertical frames by fastener in the metope fixed plate, is equipped with vertical guide rail on the vertical frames, vertically leads
Vertical slipper is installed on rail, horizontal sliding table rack, the back of the horizontal sliding table rack and shifting are fixed on the vertical slipper
Dynamic nut check, horizontal sliding table rack slide up and down under the guiding role of sliding block along vertical guide rail；
The upper and lower side of the horizontal sliding table rack is symmetrically installed with horizontal linear guide rail, distinguishes on two horizontal linear guide rails
Horizontal linear sliding block is installed, one piece of link block is installed between two horizontal linear sliding blocks, passes through locking in the middle part of the connecting plate
Nut is fixed, and horizontal ball screw is also equipped between two horizontal linear guide rails, and the horizontal ball screw passes through locking screw
Female middle part, the both ends of the horizontal ball-screw lead to by horizontal sliding table bearing seat supports, and in one end of horizontal ball screw
Cross shaft coupling installation horizontal sliding table driving motor；
Acquisition analysis system, which specifically includes that, to be moved horizontally stay-supported type displacement sensor, vertically moves stay-supported displacement sensing
Program is analyzed in device, tension sensor and computer acquisition；
It is described to move horizontally stay-supported type displacement sensor and tension sensor is mounted in horizontal sliding table rack；
The stay-supported type displacement sensor that vertically moves is mounted on vertical slide unit electric baseboard；Mooring line static rigidity mark
Determine device and be connected entirely through cable with the computer in control cabinet, analysis module is embedded in acquisition analysis system.
As a further improvement of the above technical scheme:
One side of one of vertical frames is equipped with drag chain, and the cable passes through drag chain.
Beneficial effects of the present invention are as follows:
Structure of the invention is compact, reasonable, easy to operate, and the calibration of basin test mooring line static rigidity is wanted in meeting air
It asks and devises mooring line static rigidity caliberating device in air, device is fixed on metope the repetition peace for avoiding caliberating device
Installation error caused by filling；According to mooring line depth of implements and horizontal displacement requirement, device can realize automatic lifting and horizontal position
It moves, reduces human intervention；It is driven by motor and realizes the accurate of vertical depth and horizontal displacement with high-precision stay wire sensor
Control is less than 1mm by former trueness error and is promoted within 0.2mm；By tension sensor, stay wire displacement sensor and computer,
The automatic continuous acquisition and analysis for realizing data, promote the reliability and accuracy of data.
The present invention effectively improves results precision and automation, reduces manual intervention, to meet ocean engineering sea
The accurate assessment of upper transaction capabilities.
Detailed description of the invention
Fig. 1 is main view of the invention.
The top view that Fig. 2 is Fig. 1 (partial view omits the structure of horizontal sliding table rack left and right ends).
Fig. 3 is the full sectional view in Fig. 2 along Section A-A.
Fig. 4 is the partial enlarged view in the portion B in Fig. 1.
Wherein: 1, drag chain；2, horizontal sliding table driving motor；3, horizontal sliding table rack；4, horizontal sliding table bearing block；5, horizontal
Mobile stay-supported type displacement sensor；6, metope fixed plate；7, vertical frames；8, vertical guide rail；9, vertical slipper；10, vertical axis
Hold seat；11, vertical slide unit electric baseboard；12, horizontal ball screw；13, vertical slide unit driving motor；14, vertical sliding motion connects
Seat；15, stay-supported type displacement sensor is vertically moved；16, down-feed screw；17, horizontal linear guide rail；18, horizontal linear sliding block；
19, locking nut；20, connecting plate；21, wall.
Specific embodiment
Specific embodiments of the present invention will be described below with reference to the accompanying drawings.
As Figure 1-Figure 4, mooring line static rigidity caliberating device in the air of the present embodiment, including mooring line are static just
Scale determines apparatus main body and acquisition analysis system,
The structure of mooring line static rigidity caliberating device main body are as follows: including vertical slide unit electric baseboard 11, vertical slide unit electricity
It is fixed with vertical slide unit driving motor 13 on machine bottom board 11, the output end of vertical slide unit driving motor 13 is between the upper and lower every being symmetrically installed
There is a vertical sliding motion attachment base 14, down-feed screw 16 is equipped with by bearing arrangement between two vertical sliding motion attachment bases 14, vertically
The bottom of screw rod 16 is connect by shaft coupling with vertical slide unit driving motor 13；It is equipped on down-feed screw 16 and cooperates movement with it
Nut (is not drawn into) in figure, and the left and right ends of down-feed screw 16 are symmetrically installed with vertical frames 7,
The mounting structure of single vertical frames 7 are as follows: including wall 21, wall 21 is spaced is equipped with muti-piece metope from top to bottom
Fixed plate 6 installs vertical frames 7 by fastener in metope fixed plate 6, is equipped with vertical guide rail 8 on vertical frames 7, vertically
Vertical slipper 9 is installed on guide rail 8, is fixed with horizontal sliding table rack 3, the back of horizontal sliding table rack 3 and movement on vertical slipper 9
Nut (being not drawn into figure) locking, horizontal sliding table rack 3 glide on vertical guide rail 8 under the guiding role of vertical slipper 9
It is dynamic；
The upper and lower side of horizontal sliding table rack 3 is symmetrically installed with horizontal linear guide rail 17, divides on two horizontal linear guide rails 17
Horizontal linear sliding block 18 is not installed, one piece of connecting plate 20 is installed between two horizontal linear sliding blocks 18, is led in the middle part of connecting plate 20
It is fixed to cross locking nut 19, is also equipped with horizontal ball screw 12, horizontal ball screw 12 between two horizontal linear guide rails 17
Across 19 middle part of locking nut, the both ends of horizontal ball-screw 12 are supported by horizontal sliding table bearing block 4, and in horizontal ball wire
One end of bar 12 horizontal sliding table driving motor 2 is installed by shaft coupling and vertical bearing block 10；
Acquisition analysis system, which specifically includes that, to be moved horizontally stay-supported type displacement sensor 5, vertically moves stay-supported displacement sensing
Program is analyzed in device 15, tension sensor and computer acquisition；
It moves horizontally stay-supported type displacement sensor 5 and tension sensor is mounted in horizontal sliding table rack 3；
Stay-supported type displacement sensor 15 is vertically moved to be mounted on vertical slide unit electric baseboard 11；Mooring line static rigidity mark
Determine device and be connected entirely through cable with the computer in control cabinet, analysis module is embedded in acquisition analysis system.
One side of one of vertical frames 7 is equipped with drag chain 1, and cable passes through drag chain 1.
Total a height of 4.2m of vertical frames 7 of the present invention, the overall length of horizontal sliding table rack 3 are 3.35m.
It is vertical slide unit of the present invention, horizontal sliding table, driving motor, vertical ball screw, horizontal ball screw, vertical
Sliding connecting base 14 constitutes mooring line static rigidity caliberating device main body in air；Move horizontally stay-supported type displacement sensor,
It vertically moves stay-supported type displacement sensor 15, tension sensor and computer acquisition analysis program and constitutes acquisition analysis system.
Specific structure of the invention are as follows:
The present invention includes mooring line static rigidity caliberating device main body and acquisition analysis system, the calibration of mooring line static rigidity
There are vertical frames 7 and horizontal sliding table rack 3 on apparatus main body, vertical slide unit electric baseboard 11, vertical slide unit motor bottom are arranged at bottom
Vertical slide unit driving motor 13 is arranged on plate 11 and vertically moves stay-supported type displacement sensor 15, and arrangement is horizontal on horizontal frames moves
Dynamic stay wire displacement sensor 5.Mooring line static rigidity caliberating device main body is fixed on wall 21, metope by metope fixed plate 6
Fixed plate 6 is connected with vertical frames 7, and vertical guide rail 8 is fixed on vertical frames 7, and vertical slipper 9 moves up and down along vertical guide rail 8,
Vertical slipper 9 and horizontal sliding table rack 3 are fixed.The up and down motion of vertical slide unit is completed by the transmission of down-feed screw 16, vertical sliding
Platform driving motor 13 is connect by transmission component with down-feed screw 16.Horizontal sliding table rack 3 is fixedly connected with vertical slipper 9, water
Flat line sliding block 18 is fixed on the horizontal linear guide rail 17 of horizontal sliding table rack 3, and horizontal sliding table driving motor 2 passes through transmission group
Part is connect with horizontal ball screw 12.Cable is connected by drag chain 1 with the computer in control cabinet, insertion point in acquisition system
Module is analysed, realizes automatic collection analysis.
Specific work process of the invention is as follows:
Operational order is provided by the man-machine interface of station computer.Through serial communication, PLC controller receives control and refers to
It enables, and controls the work of two driving motors (horizontal sliding table driving motor 2 and vertical slide unit driving motor 13).Vertical slide unit drives
Dynamic motor 13 drives down-feed screw 16 to rotate by transmission component, and then drives the horizontal sliding table being connected with vertical slipper 9
Rack 3 moves vertically, and vertically moves stay-supported type displacement sensor 15 and measures vertical deviation amount, meanwhile, horizontal sliding table driving motor 2
It drives horizontal ball screw 12 to rotate by transmission component, the horizontal linear sliding block 18 in horizontal sliding table rack 3 is driven to carry out water
Flat movement moves horizontally stay-supported type displacement sensor 5 and measures horizontal displacement, the tension sensor measurement on horizontal sliding table by
Power.The data acquired every time are saved in the computer acquisition system of connection, automatic collecting analysis system provides mooring line static state
Rigidity calibration result.
It is static just that mooring line in air is devised on basin test mooring line static rigidity calibration request in meeting air
Caliberating device is spent, device is fixed on metope installation error caused by avoiding the repetition installation of caliberating device；According to mooring line
Depth of implements and horizontal displacement requirement, device can realize automatic lifting and horizontal displacement, reduce human intervention；Be driven by motor with
High-precision stay wire sensor realizes the accurate control of vertical depth and horizontal displacement, is promoted by former trueness error less than 1mm
To 0.2mm；By tension sensor, stay wire displacement sensor and computer, realizes the automatic continuous acquisition of data and divide
Analysis, promotes the reliability and accuracy of data.
Above description is explanation of the invention, is not intended to limit the invention, and limited range of the present invention is referring to right
It is required that within protection scope of the present invention, any type of modification can be made.
Claims (2)
1. mooring line static rigidity caliberating device in a kind of air, it is characterised in that: including mooring line static rigidity caliberating device
Main body and acquisition analysis system,
The structure of the mooring line static rigidity caliberating device main body are as follows: described vertical including vertical slide unit electric baseboard (11)
Vertical slide unit driving motor (13), the output end of the vertical slide unit driving motor (13) are fixed on slide unit electric baseboard (11)
Between the upper and lower every being symmetrically installed with vertical sliding motion attachment base (14), pacified between two vertical sliding motion attachment bases (14) by bearing arrangement
Equipped with down-feed screw (16), the bottom of the down-feed screw (16) is connect by shaft coupling with vertical slide unit driving motor (13)；
It is equipped on down-feed screw (16) and cooperates travelling nut with it, the left and right ends of the down-feed screw (16) are symmetrically installed with vertically
Rack (7),
The mounting structure of single vertical frames (7) are as follows: including wall (21), wall (21) is spaced is equipped with muti-piece wall from top to bottom
Face fixed plate (6) installs vertical frames (7) by fastener on the metope fixed plate (6), pacifies on the vertical frames (7)
Equipped with vertical guide rail (8), vertical slipper (9) are installed on vertical guide rail (8), are fixed with horizontal sliding table on the vertical slipper (9)
Rack (3), the back of the horizontal sliding table rack (3) and travelling nut are locked, horizontal sliding table rack (3) leading in sliding block (9)
It is slided up and down under to effect along vertical guide rail (8)；
The upper and lower side of the horizontal sliding table rack (3) is symmetrically installed with horizontal linear guide rail (17), two horizontal linear guide rails
(17) it is separately installed on horizontal linear sliding block (18), one piece of link block (20) is installed between two horizontal linear sliding blocks (18),
It is fixed by locking nut (19) in the middle part of the connecting plate (20), horizontal rolling is also equipped between two horizontal linear guide rails (17)
Ballscrew (12), the horizontal ball screw (12) pass through in the middle part of locking nut (19), and the two of the horizontal ball-screw (12)
End is supported by horizontal sliding table bearing block (4), and installs horizontal sliding table by shaft coupling in one end of horizontal ball screw (12)
Driving motor (2)；
Acquisition analysis system, which specifically includes that, to be moved horizontally stay-supported type displacement sensor (5), vertically moves stay-supported type displacement sensor
(15), program is analyzed in tension sensor and computer acquisition；
It is described to move horizontally stay-supported type displacement sensor (5) and tension sensor is mounted on horizontal sliding table rack (3)；
The stay-supported type displacement sensor (15) that vertically moves is mounted on vertical slide unit electric baseboard (11)；Mooring line is static just
Degree caliberating device is connected entirely through cable with the computer in control cabinet, and analysis module is embedded in acquisition analysis system.
2. mooring line static rigidity caliberating device in air as described in claim 1, it is characterised in that: one of them vertical machine
One side of frame (7) is equipped with drag chain (1), and the cable passes through drag chain (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910121481.4A CN109839312B (en) | 2019-02-15 | 2019-02-15 | Device for calibrating static rigidity of mooring cable in air |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910121481.4A CN109839312B (en) | 2019-02-15 | 2019-02-15 | Device for calibrating static rigidity of mooring cable in air |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109839312A true CN109839312A (en) | 2019-06-04 |
| CN109839312B CN109839312B (en) | 2021-05-28 |
Family
ID=66884620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910121481.4A Active CN109839312B (en) | 2019-02-15 | 2019-02-15 | Device for calibrating static rigidity of mooring cable in air |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109839312B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111397847A (en) * | 2020-05-11 | 2020-07-10 | 中国船舶科学研究中心 | Dynamic calibration device and calibration method for pool test pipeline model |
| CN114393608A (en) * | 2022-02-24 | 2022-04-26 | 无锡陆吾智能科技有限公司 | Adjustable high-precision four-foot robot calibration platform |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7726929B1 (en) * | 2007-10-24 | 2010-06-01 | T&T Engineering Services | Pipe handling boom pretensioning apparatus |
| CN103295078A (en) * | 2013-05-21 | 2013-09-11 | 中国海洋石油总公司 | Structural design optimization method for deepwater catenary mooring rope |
| CN103471767A (en) * | 2013-09-30 | 2013-12-25 | 大连理工大学 | Device and method for onsite static calibration of three-dimensional force platform |
| CN108414372A (en) * | 2018-05-11 | 2018-08-17 | 中国石油大学(华东) | Steel construction auto impact position monitor test platform based on fiber grating |
| CN108593965A (en) * | 2018-05-02 | 2018-09-28 | 福州大学 | A kind of accelerometer moored condition scaling method based on specific force mould and stable inertia |
| CN109100222A (en) * | 2018-07-24 | 2018-12-28 | 大连理工大学 | A kind of clip rigidity automatic calibration device and its application method |
-
2019
- 2019-02-15 CN CN201910121481.4A patent/CN109839312B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7726929B1 (en) * | 2007-10-24 | 2010-06-01 | T&T Engineering Services | Pipe handling boom pretensioning apparatus |
| CN103295078A (en) * | 2013-05-21 | 2013-09-11 | 中国海洋石油总公司 | Structural design optimization method for deepwater catenary mooring rope |
| CN103471767A (en) * | 2013-09-30 | 2013-12-25 | 大连理工大学 | Device and method for onsite static calibration of three-dimensional force platform |
| CN108593965A (en) * | 2018-05-02 | 2018-09-28 | 福州大学 | A kind of accelerometer moored condition scaling method based on specific force mould and stable inertia |
| CN108414372A (en) * | 2018-05-11 | 2018-08-17 | 中国石油大学(华东) | Steel construction auto impact position monitor test platform based on fiber grating |
| CN109100222A (en) * | 2018-07-24 | 2018-12-28 | 大连理工大学 | A kind of clip rigidity automatic calibration device and its application method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111397847A (en) * | 2020-05-11 | 2020-07-10 | 中国船舶科学研究中心 | Dynamic calibration device and calibration method for pool test pipeline model |
| CN111397847B (en) * | 2020-05-11 | 2022-02-18 | 中国船舶科学研究中心 | Dynamic calibration device and calibration method for pool test pipeline model |
| CN114393608A (en) * | 2022-02-24 | 2022-04-26 | 无锡陆吾智能科技有限公司 | Adjustable high-precision four-foot robot calibration platform |
| CN114393608B (en) * | 2022-02-24 | 2024-03-08 | 无锡陆吾智能科技有限公司 | Adjustable high-precision four-foot robot calibration platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109839312B (en) | 2021-05-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202501835U (en) | Vertical type linear displacement sensor scaling/calibrating device | |
| CN203396314U (en) | Rope-pulling type displacement meter calibration device | |
| CN205002959U (en) | Measuring instrument of axial clearance of bearing | |
| CN109839312A (en) | Mooring line static rigidity caliberating device in air | |
| CN103940471A (en) | Device for comprehensively measuring linear guide rail friction force and manufacturing and mounting errors | |
| CN102175205B (en) | Device and method for measuring contour line of pipe wall thickened section of drill rod | |
| CN106338969A (en) | Reliability test apparatus and test method for electro-hydraulic servo feeding system | |
| CN217980341U (en) | A straightness detection device that hangs down for building engineering quality detects | |
| CN102692320A (en) | Load controllable active type follow-up force-applying linear guide rail pair test bed | |
| CN205192439U (en) | Measuring tool of ball pitch | |
| CN202676449U (en) | Load controllable passive type servo-actuated force application linear guide rail pair test device | |
| CN208376787U (en) | A kind of testing stand of speed-position detection system | |
| CN207395649U (en) | A kind of bearing ring height detecting device | |
| CN204202574U (en) | Linear rolling guide precision and friction measurement device | |
| CN202676435U (en) | Load controllable active type servo-actuated force application linear guide rail pair test device | |
| CN109520444A (en) | A kind of large-size horizontal tensile testing machine parallelism of machine body measuring device and its measurement method | |
| CN113600267B (en) | Crushing device and crushing method for measuring firmness coefficient of coal | |
| CN206804001U (en) | Cage guide gauge and perpendicularity automatic measuring instrument | |
| CN210922783U (en) | Horizontal type calibrating device for floating ball liquid level meter | |
| CN209763941U (en) | Piping lane structure displacement guyed measuring device | |
| CN208621013U (en) | A kind of Multifunctional rubber plate monitor station | |
| CN203550919U (en) | Torsion detection device for elevator guide rails | |
| CN215766986U (en) | Device for measuring diameter area of drill rod | |
| CN107621370B (en) | Side pedal trampling test device | |
| CN2695912Y (en) | Guides correcting rule for guides of elevator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | 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 |