CN205968201U - Special high voltage transformers dedicated valve door flow direction of packaging line of robot - Google Patents
Special high voltage transformers dedicated valve door flow direction of packaging line of robot Download PDFInfo
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- CN205968201U CN205968201U CN201620890569.4U CN201620890569U CN205968201U CN 205968201 U CN205968201 U CN 205968201U CN 201620890569 U CN201620890569 U CN 201620890569U CN 205968201 U CN205968201 U CN 205968201U
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Abstract
The utility model provides a special high voltage transformers dedicated valve door flow direction of packaging line of robot comprises two production lines, and machine people and anchor clamps are installed to the something in common of two production lines on the robot guide rail, be equipped with first preface numerical control lathe, work piece rotational positioning platform, the all revolving stages of work piece, third preface machining center and second preface numerical control lathe, work piece roll -over table, fourth preface machining center, the 5th preface square workpiece machining center respectively in robot guide rail both sides, article two, the difference of production line is, wherein there is one side of a production line still to add the 5th preface round piece machining center, the production line of addding the 5th preface round piece machining center can be processed square workpiece and can process round piece again. The utility model provides a control the digit control machine tool one to one by technician, problem that production efficiency is low, quality control is unstable quick -witted machining mode exists, the utility model discloses a method and apparatus for is high -efficient, and the quality is controllable, and degree of automation is high, low in labor strength.
Description
Technical field
This utility model belongs to automated machine manufacturing technology field and in particular to a kind of extra-high voltage transformer special valve
Processing of robots streamline.
Background technology
Manufacturing industry is the main body of national economy, is fundamental to the building of the country, the device made the country prosperous, the base of power.18 middle of century are opened
Since industrial civilization, the struggle history of the ups and downs of world powers and the Chinese nation proves do not have powerful manufacturing industry, just do not have again and again
There are country and national prosperity.Make the manufacturing industry with international competitiveness, be China's lifting overall national strength, ensure country's peace
Entirely, the only way of building world power.
Since founding of New is especially reformed and opened up to the outside world, China's manufacturing industry sustained and rapid development, build up covering extensive fields, only
Vertical complete industrial system, strong promotion industrialization and modernization, significantly increase overall national strength, support my great powers in the world ground
Position.However, compared with advanced international standard, China's manufacturing industry is not still greatly and strong, in the capability of independent innovation, utilization of resources effect
Rate, industrial structure level, the level of informatization, quality and benifit etc. are wanting in away from obvious, and the task of transition and upgrade and spanning development is tight
Compel and arduous.
In the face of the domestic and international market demand of expanding day, I takes charge of original skilled industrial worker one-to-one manipulation numerically controlled lathe, number
Control the Digit Control Machine Tool production capacity such as machining center and quality control aspect day show weak.In order to keep up with the development in market, lifting
The level of IT application of company's butterfly valve workshop processing and manufacturing.The market competitiveness of improving product.Digitized, networking, intelligentized
Manufacture product reformation engineering by aobvious urgent.
For response, State Council prints and distributes《Made in China 2025》Notice, production enterprise should be lifted intelligence equipment and product water
Flat, increase intelligence manufacture Demonstration And Extension.Using industrial robot application system, industrial robot and intelligent automation production line become
Set equipment.
Content of the invention
Technical problem to be solved in the utility model is：Solve above-mentioned prior art by skilled industrial worker's one-to-one manipulation number
The problem that the unstable machining pattern of control lathe, low production efficiency, quality control exists, and a kind of extra-high voltage transformer is provided
Special valve processing of robots streamline, efficiently, quality controllable, high degree of automation, labor intensity is low.
The technical solution adopted in the utility model is：
A kind of extra-high voltage transformer special valve processing of robots streamline, is made up of two production lines, two production lines
Something in common be all mounting robot and fixture on guide rails of robots, be respectively equipped with the first ordinal number in guide rails of robots both sides
Control lathe, workpiece rotary locating stand, workpiece revolving platform, the 3rd sequence machining center and the second sequence numerically controlled lathe, workpiece overturning platform, the
Four sequence machining centers, the 5th sequence square cross machining center；Article two, being a difference in that of production line；Wherein there is a production line
Also have additional the 5th sequence round piece machining center on one side；The production line having additional the 5th sequence round piece machining center can add
Work square cross can process round piece again.
In technique scheme, two production lines are also equipped with industrial intelligent camera and inspection slide unit, safe fence,
Pneumatic system, jig, machine tool door automatic switch casing and robot control cabinet.
In technique scheme, described robot selects storehouse card brand it is contemplated that the autgmentability of system and two production lines
Flexibility, unified select storehouse card KR210 R2700 EXTRA robot system, reserve enough load surpluses；Robot is by elbow
The robot body of section formula 6 axle construction, KRC4 switch board, teaching control device KCP composition.
Guide rails of robots adopts welding type frame structure, is welded by high-quality material, and annealed process is it is ensured that make for a long time
With not being deformed；Silver-colored high-quality straight-line guide rail slide block and rack-and-pinion, Panasonic or Rhizoma Sparganii servomotor, SEW reductor in configuration,
Power is not less than 2.5KW.
, using the pneumatic scroll chuck in two-position of support endoporus clamping, chuck is using Germany's hero gram product, folder for robot clamp
Clamp force is big, and repetitive positioning accuracy is high, has safety interlock function, it is ensured that workpiece does not fall out in the case of dying, industrial intelligence
Can camera be installed on robot clamp.
Robot clamp main feature：
1）Two-position is designed, and while meeting loading and unloading requirement, effectively reduces productive temp；
2）Fixture can be entered to the chucking power of three-jaw and clamping speed by being installed on pressure regulator valve in the middle of gas circuit and choke valve
Row smooth adjustment；
3）Execution three-jaw response speed is fast, and stable action is rapid, equipped with sensor on fixture, monitor in real time fixture work shape
State；
4）Fixture can ensure that realizes smooth operations, is swift in motion, reacts fast, easy to operate；
5) jaw has certain flexibility, takes into full account scale error and the deformation of workpiece itself, self-centering can ensure reliability
Grabbing workpiece；
6) it is directed to different product size, quickly can be remodeled by way of changing three-jaw；
7) fixture has AutoLock feature it is ensured that fixture still keeps clamp position when supply interrupts suddenly；
8) there is clamping signal, this signal carries out communication it is ensured that clamping process is safe and reliable with robot.
Numerically controlled lathe and machining center milling installing hole fixture function and feature：
1) jig, all using Hydraumatic automatic clamping pattern, clamps reliable and stable；
2) modularized design scheme is it is ensured that remodel quick and precisely；
3) soleplate is connected with platen by T-slot screw, is fixture basis mounting portion, without more when remodeling
Change；
4) clamp body is modularized design, and the workpiece in the range of certain size can share, and different pore size workpiece passes through more
Change locating shaft to realize remodeling；Clamp body bottom surface is equipped with positioning key, and has stopper slot, can with soleplate on positioning spline and fixed
Position pin cooperation is installed, and realizes X and Y-direction positioning；
5) two workpiece of clamped one time, reduce non-cutting time.
The milling centre hole clamp function of numerically controlled lathe and machining center and feature：
1) adopt plane and two pitses positioning it is ensured that accurate positioning, it is to avoid position skew in the course of processing；
2) spacer pin adopts floating pattern, axial conical surface guiding, and the workpiece error adapting to not processing mounting holes is to clamping essence
The impact of degree；
3) locating shaft border diverse location distribution spacer pin installing hole, according to processing workpiece species, correspondence position installs limit
Position pin, processing of conveniently remodeling；
4) remaining ibid milling installing hole fixture.
The function of numerically controlled lathe and machining center milling four side fixture and feature：
1) milling four side fixture realizes clamped one time, completes the processing of 4 side faces；
2) speed reducer for servo motor drives, and realizes workpiece rotation, ratates 90 degrees processing plane；
3) realize the lateral register of workpiece it is ensured that machined surface is vertical with datum level using to folder oil cylinder；
4) clamping workpiece uses hydraulic vice, and clamping force is big and adjustable, it is easy to accomplish Automated condtrol；
5) ejection cylinder is used for workpiece reach after work pieces process, is easy to robot inloading part, using proximity switch and hydraulic valve
Control piston rod stop position；
6) sidesway cylinder realizes the hydraulic tongs removal location of workpiece, realizes robot charge；
7) two pieces is processed simultaneously, saves productive temp.
In technique scheme, workpiece rotary locating stand is used for location of workpiece identification, positioning and workpiece home position and judges；
Workpiece rotary locating stand is made up of pedestal and rotation platform, and rotation platform adopts servomotor to drive, high accuracy crossed roller axle
Hold supporting, there is splendid being rigidly connected, collocation servomotor drive control can play the splendid balance accelerating and moving.
In technique scheme, described industrial intelligent camera adopts U.S.'s Cognex product, and In-Sight 5000 is
Row visual system is the unique a industrial intelligent camera that can provide technical grade profile on current world market, firm
Die casting aluminium (IP67) shell, the M12 adapter of encapsulation and protection lens cap, have brilliance Performance And Reliability.
In technique scheme, described inspection slide unit is the verifying bench that each operation processes part, is led using upper silver straight line
Rail slide block, air cylinder driven；Workpiece is sent machining area by slide unit, reaches manual detection position, it is to avoid man-machine interaction, support personnel
Safety.
A kind of extra-high voltage transformer special valve processing of robots streamline, before work, operator confirm dose location
Workpiece type, truck putting position, whether workpiece placing direction is correct, confirms each equipment state, confirms each equipment holder status
Whether with processing work piece match, manually choose the processor of each machining tool and work piece match, all power supplys in connection system
And source of the gas；Comprise the following steps that：
1）Robot, to workpiece Scan orientation on truck, captures blank；Placing direction mistake sends alarm signal；
2）First ordinal number control lathe face work, endoporus, seal groove, according to system signal, machine tool door automatically opens up；
3）Robot takes off completion of processing workpiece, clamping blank；
4）Workpiece is placed on roll-over table for robot, and robot is by workpiece turning 180 degree；
5）Robot grabbing workpiece from roll-over table；
6）Second ordinal number control lathe face work, endoporus, seal groove, according to system signal, machine tool door automatically opens up；
7）Robot takes off completion of processing workpiece, clamping blank；Upper one procedure workpiece is next process blank；
8）Workpiece is placed on rotation positioning platform for robot, vision localization；Or workpiece is placed into rotation by robot
Turn on locating platform, rotation positioning platform presses 90 ° of rotations, visual identity logo position and direction；
9）Robot captures workpiece of having good positioning, and is placed on next procedure workpiece revolving platform；
10）Robot returns to original upper discharge position, repeats above 1）—9）Action is once；
11）Robot captures 2 workpiece from revolving platform, is placed on the 3rd sequence processing center machine tool fixture and bores milling installation
Hole or centre bore, aperture deburring, according to system signal, machine tool door automatically opens up；
12）Robot takes off 2 workpiece of completion of processing, is placed on the 4th sequence processing center machine tool fixture；
13）Robot captures temporary 2 workpiece again from this operation revolving platform and is installed on jig；
14）4th sequence processing center machine tool milling periphery, chamfering, according to system signal, machine tool door automatically opens up；
15）Robot takes off 2 workpiece of completion of processing, is placed into the 5th sequence square cross machining center or the 5th sequence is circular
On the jig of work piece processing center；
16）Robot returns to original upper discharge position, repeats above 1 in the above sequence）—15）Action is once；
17）5th sequence square cross machining center or the lathe drilling and milling center hole of the 5th sequence round piece machining center, root
According to system signal, machine tool door automatically opens up；
18）Robot takes off completion of processing workpiece；
19）Workpiece is placed into finished product truck by robot；
20）Robot returns to original upper discharge position, moves in circles.
In technique scheme, described method processes square cross and/or round piece, and processing square cross is distinguished again
Square cross for the square cross that indicates with logo with without logo mark.
The feature that this utility model projects and remarkable result are：
1. adopt robot production line balance, need not manually operate, alleviate the working strength of labourer；
2. high working efficiency, improves enterprises production efficiency；
3. whole production procedure is stable, reliable product quality；
4. it is suitable for producing in enormous quantities, reduce enterprise's production capacity.
Brief description：
Fig. 1 is this utility model floor map；
Fig. 2 is square cross processing process figure；
Fig. 3 is round piece processing process figure.
Accompanying drawing marks explanation：
1- blank truck；2- robot control cabinet and regulator cubicle；3- the first sequence numerically controlled lathe；4- robot and fixture； 5-
Workpiece rotary locating stand；6- the second sequence revolving platform；7- the 3rd sequence machining center；8- finished product truck；9- safe fence；10- checks
Slide unit；11- guide rails of robots；12- the 5th sequence square cross machining center；13- the 4th sequence revolving platform；14- the 3rd sequence revolving platform；
15- the 4th sequence machining center；16- workpiece overturning platform；17- the second sequence numerically controlled lathe；18- the 5th sequence round piece machining center；
Specific embodiment：
Referring to Fig. 1, extra-high voltage transformer special valve processing of robots streamline of the present utility model, by two production lines
Composition, the something in common of two production lines is all mounting robot and fixture on guide rails of robots, in guide rails of robots both sides
It is respectively equipped with the first sequence numerically controlled lathe, workpiece rotary locating stand 5, workpiece revolving platform 6, the 3rd sequence machining center 7 and the second ordinal number
Control lathe 17, workpiece overturning platform 16, the 4th sequence machining center 15, the 5th sequence square cross machining center 12；Article two, production line
It is a difference in that；The one side wherein having one article of production line also has additional the 5th sequence round piece machining center 18；Have additional the 5th
The production line of sequence round piece machining center can be processed square cross and can process round piece again, also pacify on two production lines
Equipped with industrial intelligent camera and inspection slide unit, safe fence, pneumatic system, jig, machine tool door automatic switching system and machine
Device people's switch board.
Embodiment：
Referring to Fig. 2, without the processing of logo square cross：
Before work, operator confirm dose location workpiece type, blank truck 1 putting position, and workpiece placing direction is
No correct, confirm each equipment state, confirm each equipment holder status whether with processing work piece match, manually choose each machining tool
With the processor of work piece match, all power supplys and source of the gas in connection system.Robot 4 is fixed to workpiece scanning on blank truck 1
Position, captures blank, and placing direction mistake sends alarm signal；First sequence numerically controlled lathe 3 face work, endoporus, seal groove；According to
System signal, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece, clamping blank；Workpiece is placed by robot 4
To on roll-over table 16, robot 4 is by workpiece turning 180 degree；Robot 4 grabbing workpiece from roll-over table 16；Second sequence numerical control lathe
Bed 17 face work, endoporus, seal groove；According to system signal, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece, dress
Folder blank；Workpiece is placed on rotary locating stand 5 for robot 4, vision localization；Robot 4 captures workpiece of having good positioning, and places
To on next procedure workpiece revolving platform 6；Robot 4 returns to original upper discharge position, repeats above action once；3rd sequence processing
Milling installing hole, aperture deburring are bored in center 7, and according to system signal, machine tool door automatically opens up；Robot 4 takes off completion of processing work
Part 2, is placed on the 4th sequence machining center 15 fixture；Robot 4 is again from this sequence revolving platform 6 crawl 2 installations of temporary workpiece
To on jig；, according to system signal, machine tool door automatically opens up for 4th sequence machining center 15 milling four sides, chamfering；Robot 4 takes
Lower completion of processing workpiece 2, is placed on the 5th sequence square cross machining center 12 fixture；Robot 4 returns to original upper material position
Put, repeat above action in the above sequence once；5th sequence square cross machining center 12 drilling and milling center hole, believes according to system
Number, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece 2；2 workpiece are placed into finished product truck 8 by robot 4
On, robot 4 returns to original upper discharge position, moves in circles.
Referring to Fig. 2, with the processing of logo square cross：
Before work, operator confirm dose location workpiece type, blank truck 1 putting position, and workpiece placing direction is
No correct, confirm each equipment state, confirm each equipment holder status whether with processing work piece match, manually choose each machining tool
With the processor of work piece match, all power supplys and source of the gas in connection system.Robot 4 is fixed to workpiece scanning on blank truck 1
Position, captures blank, and placing direction mistake sends alarm signal；First sequence numerically controlled lathe 3 face work, endoporus, seal groove, according to
System signal, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece, clamping blank；Workpiece is placed by robot 4
To on roll-over table 16, robot 4 is by workpiece turning 180 degree；Robot 4 grabbing workpiece from roll-over table 16；Second operation numerical control
Lathe 17 face work, endoporus, seal groove, according to system signal, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece,
Clamping blank；Workpiece is placed on rotation positioning platform 5 for robot 4, vision localization, and rotation platform presses 90 degree of rotations, depending on
Feel identification logo position and direction；Robot 4 captures workpiece of having good positioning, and is placed on next procedure workpiece revolving platform 6；Robot
4 return to original upper discharge position, repeat above action once；Milling installing hole, aperture deburring, root are bored in 3rd working procedure processing center 7
According to system signal, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece 2, is placed into the 4th working procedure processing center 15
On fixture；Robot 4 is installed to jig from the temporary workpiece 2 of this operation revolving platform 6 crawl again；In 4th working procedure processing
The heart 15 milling four sides, chamfering, according to system signal, machine tool door automatically opens up；Robot 4 takes off completion of processing workpiece 2, is placed into
On 5th operation square cross machining center 12 fixture；Robot 4 returns to original upper discharge position, repeats above dynamic in the above sequence
Make once；5th operation square cross machining center 12 drilling and milling center hole, according to system signal, machine tool door automatically opens up；Machine
People 4 takes off completion of processing workpiece 2；2 workpiece are placed on finished product truck 8 for robot 4, and robot 4 returns to original feeding
Position, moves in circles.
Referring to Fig. 3, processing round piece is essentially identical with processing square cross technological process, simply processes round piece
Milling four sides and chamfering station are saved in technological process.
Model Φ 40 of square cross, Φ 50, Φ 80（Refer to the diameter of bore of square cross）, round piece is Φ
100、Φ125、Φ200（Refer to the diameter of bore of round piece）, the two-sided processing mounting holes of Φ 150 workpiece, in workpiece overturning platform
16 and workpiece rotary locating stand 5 on complete secondary upset positioning, be placed on the 4th sequence machining center 15 processing.
Round piece drill centers 18 on the 5th sequence round piece machining center on process.
Claims (6)
1. a kind of extra-high voltage transformer special valve processing of robots streamline it is characterised in that：It is made up of two production lines, two
The something in common of bar production line is all mounting robot and fixture on guide rails of robots, is respectively equipped with guide rails of robots both sides
First sequence numerically controlled lathe, workpiece rotary locating stand, workpiece revolving platform, the 3rd sequence machining center and the second sequence numerically controlled lathe, workpiece
Roll-over table, the 4th sequence machining center, the 5th sequence square cross machining center；Article two, being a difference in that of production line；Wherein have one
One side of article production line also has additional the 5th sequence round piece machining center；Have additional the life of the 5th sequence round piece machining center
Producing line can be processed square cross and can be processed round piece again.
2. extra-high voltage transformer special valve processing of robots streamline according to claim 1 it is characterised in that：Two
Industrial intelligent camera is also equipped with bar production line and checks slide unit, safe fence, pneumatic system, jig, machine tool door certainly
Dynamic switching system and robot control cabinet.
3. extra-high voltage transformer special valve processing of robots streamline according to claim 1 it is characterised in that：Institute
State robot unification and select storehouse card KR210 R2700 EXTRA robot system, robot is by the robot of toggle joint type 6 axle construction
Body, KRC4 switch board, teaching control device KCP composition.
4. extra-high voltage transformer special valve processing of robots streamline according to claim 1 it is characterised in that：Machine
People's guide rail adopts welding type frame structure, is welded by high-quality material, silver-colored high-quality straight-line guide rail slide block and gear teeth in configuration
Bar, servomotor, reductor, power is not less than 2.5KW.
5. extra-high voltage transformer special valve processing of robots streamline according to claim 1 it is characterised in that：Machine
People's fixture is using the pneumatic scroll chuck in two-position of support endoporus clamping.
6. extra-high voltage transformer special valve processing of robots streamline according to claim 1 it is characterised in that：Workpiece
Rotary locating stand is made up of pedestal and rotation platform, and rotation platform adopts servomotor to drive, and high accuracy crossed roller bearing props up
Hold, servo drive control of arranging in pairs or groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620890569.4U CN205968201U (en) | 2016-08-17 | 2016-08-17 | Special high voltage transformers dedicated valve door flow direction of packaging line of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620890569.4U CN205968201U (en) | 2016-08-17 | 2016-08-17 | Special high voltage transformers dedicated valve door flow direction of packaging line of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205968201U true CN205968201U (en) | 2017-02-22 |
Family
ID=58030831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620890569.4U Active CN205968201U (en) | 2016-08-17 | 2016-08-17 | Special high voltage transformers dedicated valve door flow direction of packaging line of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205968201U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112559A (en) * | 2016-08-17 | 2016-11-16 | 特变电工集团衡阳电气装备有限公司 | Extra-high voltage transformer special valve processing of robots streamline and processing method |
| CN108594687A (en) * | 2018-05-31 | 2018-09-28 | 广东翠峰机器人科技股份有限公司 | A kind of wireless control technology structure robot stamping automatic production system and its flow and method |
-
2016
- 2016-08-17 CN CN201620890569.4U patent/CN205968201U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112559A (en) * | 2016-08-17 | 2016-11-16 | 特变电工集团衡阳电气装备有限公司 | Extra-high voltage transformer special valve processing of robots streamline and processing method |
| CN106112559B (en) * | 2016-08-17 | 2018-05-18 | 特变电工集团衡阳电气装备有限公司 | Extra-high voltage transformer special valve processing of robots assembly line and processing method |
| CN108594687A (en) * | 2018-05-31 | 2018-09-28 | 广东翠峰机器人科技股份有限公司 | A kind of wireless control technology structure robot stamping automatic production system and its flow and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190828 Address after: 421001 No. 108 Baishazhou Union Mountain, Yanfeng District, Hengyang City, Hunan Province Co-patentee after: TBEA group Hengyang Electrical Engineering Limited company repair test Patentee after: TBEA group Hengyang Electrical Equipment Co. Ltd. Address before: 421001 Baishazhou Union Mountain 108, Yanfeng District, Hengyang City, Hunan Province Patentee before: TBEA group Hengyang Electrical Equipment Co. Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200716 Address after: No.1 Baisha Road, Baishazhou, Yanfeng District, Hengyang City, Hunan Province Patentee after: XINJIANG TBEA GROUP HENGYANG ELECTRIC BRANCH Co. Address before: 421001 No. 108 Baishazhou Union Mountain, Yanfeng District, Hengyang City, Hunan Province Co-patentee before: TBEA Group Hengyang Electrical Engineering Limited company repair test Patentee before: TBEA GROUP HENGYANG ELECTRICAL EQUIPMENT Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201030 Address after: No.1 Baisha Road, Baishazhou, Yanfeng District, Hengyang City, Hunan Province Patentee after: Hunan Guochuang Electric Power Co., Ltd Address before: No.1 Baisha Road, Baishazhou, Yanfeng District, Hengyang City, Hunan Province Patentee before: XINJIANG TBEA GROUP HENGYANG ELECTRIC BRANCH Co. |
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| TR01 | Transfer of patent right |