CN207057198U - A kind of large-scale pipe cleaning robot - Google Patents
A kind of large-scale pipe cleaning robot Download PDFInfo
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- CN207057198U CN207057198U CN201720352367.9U CN201720352367U CN207057198U CN 207057198 U CN207057198 U CN 207057198U CN 201720352367 U CN201720352367 U CN 201720352367U CN 207057198 U CN207057198 U CN 207057198U
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- arm
- platform
- telescopic
- hinged
- cleaning robot
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Abstract
The utility model discloses a kind of large-scale pipe cleaning robot, including：Get off platform, creeper undercarriage, rotating mechanism, cleaning agency；Platform upper end of getting off is provided with small one and large one two circles and sinks platform, and big circular heavy platform intersects with the heavy platform of small circular, and both of which is provided with centre bore；Creeper undercarriage is arranged on platform both sides of getting off；Rotating mechanism includes：Turntable, principal arm, folding arm, telescopic arm, the first telescopic electric cylinder, the second telescopic electric cylinder；Turntable further comprises：Turn table body, circular flange, floating bearing, motor；Turn table body upper end is hinged with principal arm one end, and the principal arm other end is hinged with folding arm one end, and folding arm is supported on principal arm by the first telescopic electric cylinder, folding arm and the concentric assembling of telescopic arm, and is connected by interior the second telescopic cylinder set with telescopic arm one end；Cleaning agency is hinged with the telescopic arm other end.The utility model cleaning effect is good, and operating efficiency is high, and safety and health, the application prospect that workmen is effectively ensured are extensive.
Description
Technical field
Central air-conditioning cleaning applications are the utility model is related to, it is more particularly to a kind of to be used for wind pipe of central air-conditioning dust, powder
Clean, the large-scale pipe cleaning robot of inner-walls of duct cleaning.
Background technology
During industrialization 4.0, workers ' health, working environment and its environmental safety, which have, significantly to be carried
Height, it also result in the enough attention of safety in production relevant departments.Industrial dust deposits to produce the health of operating personnel
One long-term process, it is precautionary measures to check erroneous ideas at the outset, prevent the invasion of occupational disease to society, for factory be all one not
The hidden danger that can go beyond, so timing periodically will carry out dust cleaning, especially heavy metal dusts to airduct.Other factory dust product
It is narrow that pressure can cause the plastics dust of very big potential safety hazard, especially inflammable and explosive hazardous material, such as factory to enter
Cannot timely it be cleaned behind airduct inside, dust explosion can be produced by running up to finite concentration, and the extent of injury can be higher.
At present, the air pipe cleaning of Large Central Air Conditioning System mainly has following several method：
1st, artificial cleaning.Workmen, which enters inside Gas inlet tube, to be cleaned, and the method operating efficiency is low, and workmen is good for
Health cannot ensure, cleaning effect unobvious, be easily deposited on airduct inwall and cause second of dust accumulation.
2nd, airborne dust formula technique air pipe cleaning.Enter inside using the brush robot of circle or other types equipment to raise dust
Rise, then discharged the dust kicked up in airduct by main frame air draft or negative pressure dust collector, although avoiding artificial cleaning, operation
DeGrain, dust secondary precipitation is easily caused, more most important is that energy consumption is big, and large-scale airduct institute required airflow is typically tens of
Ten thousand air quantity, equipment cost are more than the several times of cost of labor.
Therefore, a kind of large-scale pipe cleaning robot is needed badly.
Utility model content
The purpose of utility model：In order to solve, existing large-scale air-duct cleaning method operating efficiency is low, technology of high energy consumption is asked
A kind of topic, there is provided large-scale pipe cleaning robot.
To reach above-mentioned purpose, the technical solution adopted in the utility model is：Provide a kind of large-scale airduct sweeping machine
People, including：Get off platform 1, creeper undercarriage 2, rotating mechanism 3, cleaning agency 4；
The upper end of platform 1 of getting off is provided with the heavy platform of small one and large one two circles, big circular heavy platform and the heavy platform phase of small circular
Hand over, both of which is provided with centre bore, and prolongs centre bore reference circle uniformly some screwed holes；
The creeper undercarriage 2 is arranged on platform both sides 1 of getting off；
The rotating mechanism 3 includes：Turntable 23, principal arm 26, folding arm 27, telescopic arm 28, the first telescopic electric cylinder 20, second
Telescopic electric cylinder 19；The turntable 23 further comprises：Turn table body, circular flange, floating bearing 22, motor；The turntable
Bottom part body is circular flange, and the external toothing of the circular flange and floating bearing 22 is fastenedly connected；The floating bearing 22
Inner ring is fastenedly connected by the screwed hole of bolt and big circular heavy platform；The motor is arranged on small circular and sunk in platform, motor output
The shaft end of axle is provided with the little gear engaged with the external toothing of floating bearing 22；Cut with scissors with the one end of principal arm 26 the turn table body upper end
Connect, the other end of principal arm 26 is hinged with the one end of folding arm 27, and folding arm 27 is supported on principal arm 26 by the first telescopic electric cylinder 20, the folding
Arm 27 and 28 concentric assembling of telescopic arm, and be connected by interior the second telescopic cylinder 19 set with the one end of telescopic arm 28；It is described clear
Mechanism is swept to be hinged with the other end of telescopic arm 28.Further, the creeper undercarriage 2 includes：It is symmetricly set in platform of getting off
The left and right crawler travel unit of both sides, the left and right crawler travel unit include：Movable motor 6, covering 7 and setting
Active synchronization wheel 5, Toothless driven wheel 8, follower link 9, crawler belt inside covering 7；The biside plate of covering 7 is as branch
Support structure body, it is provided with the movable motor 6 of driving active synchronization wheel rotation close to platform side of getting off.
Further, the covering 7 is got off in 1 default mounting groove of platform by the be hinged otic placode insertion at top, and two
Person passes through the first hinge.
Further, got off corresponding to the left and right crawler travel unit and be respectively arranged with steering wheel 18, institute inside platform 1
Stating steering wheel 18 drives left and right crawler travel unit to rotate 45 ° around the first bearing pin, and left and right crawler belt can be made to be opened in splayed.
Further, the cleaning agency 4 includes：Main body 31, round brush 30 are cleaned, the both ends of round brush 30 are cut with scissors by bearing pin
It is connected on and cleans the front end of main body 31.
Further, the other end of telescopic arm 28 be provided with 360 ° of rotate steering wheels, 29,360 ° of rotate steering wheels 29 with
The rear end of main body 31 is cleaned to be hinged.
Further, one end that the principal arm 26 is hinged with turn table body is provided with dual-axis rotation motor 21, and principal arm 26
Around 120 ° of positive and negative rotations of be hinged axis hole with turn table body under the effect of dual-axis rotation motor 21.
Further, the motor that the small circular is sunk in platform is rotation driving reducing motor 25, and its driving pinion is with returning
22 external gear drivings, and 360 ° of positive and negative rotations about the z axis are held in rotating shaft.
Further, the other end of principal arm 26 is arranged in the U-shape structure that the one end of folding arm 27 is set, and and U-shape structure
Two side arms be hinged.
Further, described one end of first telescopic electric cylinder 20 is connected with principal arm 26, and the other end passes through piston rod and U-shaped knot
Two free ends connection of structure, drives folding arm 27 around 90 ° of positive and negative rotations of be hinged axis hole with principal arm 26.
The beneficial effects of the utility model are：The utility model sets creeper undercarriage in platform both sides of getting off, and realizes
Walking of the vehicle in airduct；Rotating mechanism is arranged on platform upper end of getting off, realized in the presence of motor, electric cylinder principal arm,
The rotation of folding arm and telescopic arm all angles；Cleaning agency is connected by the telescopic arm of 360 ° of steering wheels and rotating mechanism, is ensured
Cleaning agency has four frees degree, can drive the dust of airduct inwall and focus on center, cleaning agency can with it is all kinds of
Type industrial dust collector connects, and adapts to all kinds of construction environments, and cleaning effect is good, and operating efficiency is high, and the peace of workmen is effectively ensured
It is entirely extensive with health, application prospect.
Brief description of the drawings
Fig. 1 is the stereogram of the forward sight isometric of the large-scale pipe cleaning robot of the utility model.
Fig. 2 is the stereogram of the rear isometric of the large-scale pipe cleaning robot of the utility model.
Fig. 3 is the stereogram of the platform of getting off of the large-scale pipe cleaning robot of the utility model.
Fig. 4 is the top view of the platform of getting off of the large-scale pipe cleaning robot of the utility model.
Fig. 5 is the side view of the creeper undercarriage of the large-scale pipe cleaning robot of the utility model.
Fig. 6 is the top view of the creeper undercarriage of the large-scale pipe cleaning robot of the utility model.
Fig. 7 is the sectional view of the rotating mechanism of the large-scale pipe cleaning robot of the utility model.
Fig. 8 is the stereogram of the cleaning agency of the large-scale pipe cleaning robot of the utility model.
Accompanying drawing identifies：1- gets off platform, 2- creepers undercarriage, 3- rotating mechanisms, 4- cleaning agencies, 5- active synchronizations
Wheel, 6- movable motors, 7- coverings, 8- Toothless driven wheels, 9- follower links, 10- plain cushions, the hexagon socket head cap screws of 11- first, 12-
Shouldered pin, the hexagon socket head cap screws of 13- second, 14- special-shaped boxes, 15- circular cone roller bearings, 16- rotary shafts, 17- connecting plates,
18- steering wheels, the electronic straight push rods of 19-, 20- electric hoisting cylinders, 21- dual-axis rotation motors, 22- floating bearings, 23- turntables, 24- are small
Gear, 25- rotation driving reducing motors, 26- principal arms, 27- folding arms, 28- telescopic arms, 29-360 ° of steering wheel, 30- round brush, 31- are clear
Sweep main body.
Embodiment
It is clearer for the technical scheme and the technique effect that reaches that make technical problem that the utility model solves, use,
The utility model is described in further detail with reference to the accompanying drawings and examples.It is it is understood that described herein
Specific embodiment is used only for explaining the utility model, rather than to restriction of the present utility model.
Reference picture 1-2, the utility model discloses a kind of large-scale pipe cleaning robot, including：Get off platform 1, crawler belt
Walking mechanism 2, rotating mechanism 3, cleaning agency 4；
Reference picture 3-4, the platform 1 of getting off is different in nature casing 14, and it is internally provided with steering wheel 18, the platform 1 of getting off
Upper end is provided with the heavy platform of small one and large one two circles, and big circular heavy platform intersects with the heavy platform of small circular, and both of which is provided with centre bore, and
Prolong centre bore reference circle uniformly some screwed holes.
With reference to 5-6, the creeper undercarriage 2 includes：It is symmetricly set in the left and right crawler travel list for platform both sides of getting off
Member, the left and right crawler travel unit include：Movable motor 6, covering 7 and the active that is arranged on inside covering 7 are same
Step wheel 5, Toothless driven wheel 8, follower link 9, crawler belt；The both sides metallic plate of covering 7 is as supporting structure, and it is under
It is provided with movable motor 6 in the metallic plate groove of car platform side, the drive of the output shaft of the movable motor as active synchronization wheel
Moving axis；The covering 7 is got off in 1 default mounting groove of platform by the be hinged otic placode insertion at top, and both pass through the first pin
Axle is hinged；The left and right crawler travel unit rotates 45 ° under the drive of steering wheel 18 around the first bearing pin, can make the left and right crawler belt be in
Splayed is opened.
Reference picture 7, the rotating mechanism 3 include：Turntable 23, principal arm 26, folding arm 27, telescopic arm 28, the first telescopic electric
Cylinder 20, the second telescopic electric cylinder 19；The turntable 23 further comprises：Turn table body, circular flange, floating bearing 22, motor；
The turn table body bottom is circular flange, and the circular flange prolongs reference circle uniformly some screwed holes, and by screwed hole with
The through hole bolt and nut that the external toothing of floating bearing 22 is uniform is fastenedly connected；The inner ring of the floating bearing 22 is by bolt and greatly
The screwed hole of the heavy platform of circle is fastenedly connected；The motor is arranged on small circular and sunk in platform, the shaft end of motor output shaft be provided with
The little gear of the external toothing engagement of floating bearing 22；The turn table body upper end is hinged with the one end of principal arm 26, the other end of principal arm 26
It is hinged with the one end of folding arm 27, folding arm 27 is supported on principal arm 26 by the first telescopic electric cylinder 20, the folding arm 27 and telescopic arm 28
Concentric assembling, and be connected by interior the second telescopic cylinder 19 set with the one end of telescopic arm 28.
Preferably, the other end of telescopic arm 28 be provided with 360 ° of rotate steering wheels, 29,360 ° of rotate steering wheels 29 with it is clear
The rear end of main body 31 is swept to be hinged.
Preferably, one end that the principal arm 26 is hinged with turn table body is provided with dual-axis rotation motor 21, and principal arm 26 exists
Around 120 ° of positive and negative rotations of be hinged axis hole with turn table body under the effect of dual-axis rotation motor 21.
Preferably, the motor that the small circular is sunk in platform is rotation driving reducing motor 25, its driving pinion and revolution
The external gear driving of bearing 22, and 360 ° of positive and negative rotations about the z axis.
Preferably, the other end of principal arm 26 be arranged on the one end of folding arm 27 set U-shape structure in, and with U-shape structure
Two side arms are hinged.
Preferably, described one end of first telescopic electric cylinder 20 is connected with principal arm 26, and the other end passes through piston rod and U-shape structure
Two free ends connection, drive folding arm 27 around 90 ° of positive and negative rotations of be hinged axis hole with principal arm 26.
Reference picture 8, the cleaning agency 4 include：Main body 31, round brush 30 are cleaned, the both ends of round brush 30 are cut with scissors by bearing pin
It is connected on and cleans the front end of main body 31.
The course of work of the present utility model is：
1) starting steering wheel 18 makes creeper undercarriage 2 and horizontal vertical, and movable motor 6, dual-axis rotation motor 21, rotation are driven
Dynamic reducing motor 25, electronic straight push rod 19, electric hoisting cylinder 20 keep self-locking state；
2) steering wheel 18 keeps self-locking state, and vehicle is put into inside large-scale airduct；
3) dual-axis rotation motor 21 is started, principal arm 26 rotates around turntable 23X axles, ensures principal arm 26 and platform 1 of getting off is horizontal
Face is in 60 °, the self-locking of dual-axis rotation motor 21；
4) electric hoisting cylinder 20 is started, folding arm 27 rotates around principal arm 26X axles, ensures the angle between folding arm 27 and principal arm 26
Between 60 °~120 °, the self-locking of electric hoisting cylinder 20 during stopping；
5) electronic straight push rod 19 is started, telescopic arm 28 slides in the arm cylinder of folding arm 27, ensures telescopic arm 28 relative to initial
Position coasting distance is 0mm~300mm, the electronic straight self-locking of push rod 19 during stopping；
6) 360 ° of rotate steering wheels 29 are started, cleaning agency 4 is around the 360 ° of rotatings of telescopic arm 28Y axles, 360 ° of steering wheels during stopping
29 self-lockings；
7) when cleaning airduct inwall, it is ensured that after round brush 30 is adjacent to airduct inwall, starts movable motor 6, drive vehicle forward
It is mobile；
8) while vehicle is walked forward, round brush 30 is adjacent to tube wall and rotated around the leading portion X-axis reverse direction of cleaning agency 4；
9) dust of airduct inwall is driven and focuses on center by the wave gully of round brush 30, and standard is done for dust collection equipment
It is standby.
The large-scale pipe cleaning robot main body of the utility model is to have line traffic control mobile platform, and all drive connections are as follows：
1) both sides of platform 1 respectively one creeper undercarriage 2 of installation of getting off, two creepers undercarriage 2 are rotating around under
The both sides X-axis of car platform 1 rotates 45 °；
2) turn table body is arranged on robot body upper end, using rotation driving deceleration electricity 25 and the tooth of floating bearing 22
Wheel transmission and about the z axis 360 ° of positive and negative rotations；
3) principal arm 26 is connected with turn table body axis hole, is driven using dual-axis rotation motor 21 around 120 ° of positive and reverse returns of axis hole
Turn；
4) folding arm 27 is connected with the axis hole of principal arm 26, using the transmission of two the first telescopic electric cylinders 20 drive folding arms 27 around
Principal arm 26 axis hole, 90 ° of positive and negative rotations；
5) straight line fortune is made in the telescopic arm 28 and 27 concentric assembling of folding arm, inside using a second telescopic electric cylinder
It is dynamic；The rear end of cleaning agency 4 is connected by 360 ° of steering wheels with telescopic arm, ensures that cleaning agency has four frees degree.
All transmission mechanisms of the present utility model are controlled using single-chip microcomputer, palpus remote control or PC terminal controls in operating process,
Operating efficiency is effectively improved, ensure that workmen's personal safety and health；Each mechanism material selection aluminium alloy, construction environment are fitted
With 800 × 800mm and above large-scale rectangular airduct and diameter 500mm and above circular duct, cleaning agency can be with all types of works
Industry dust catcher connects, and adapts to all kinds of construction environments, application prospect is extensive.
Pay attention to, the above is only preferred embodiment of the present utility model.It will be appreciated by those skilled in the art that this practicality is new
Type is not limited to specific embodiment described here, can carry out various significantly change, again for a person skilled in the art
Adjustment and replacement are without departing from the scope of protection of the utility model.Therefore, although by above example to the utility model
It is described in further detail, but the utility model is not limited only to above example, is not departing from the utility model structure
In the case of think of, more other equivalent embodiments can also be included, and the scope of the utility model is by appended claim model
Enclose decision.
Claims (9)
- A kind of 1. large-scale pipe cleaning robot, it is characterised in that including：Get off platform, creeper undercarriage, rotating mechanism, Cleaning agency；The platform upper end of getting off is provided with the heavy platform of small one and large one two circles, and big circular heavy platform intersects with the heavy platform of small circular, and two Person is equipped with centre bore, and prolongs centre bore reference circle uniformly some screwed holes；The creeper undercarriage is arranged on platform both sides of getting off；The rotating mechanism includes：Turntable, principal arm, folding arm, telescopic arm, the first telescopic electric cylinder, the second telescopic electric cylinder；It is described Turntable further comprises：Turn table body, circular flange, floating bearing, motor；The turn table body bottom is circular flange, institute The external toothing for stating circular flange and floating bearing is fastenedly connected；The inner ring of the floating bearing passes through bolt and big circular heavy platform Screwed hole is fastenedly connected；The motor is arranged on small circular and sunk in platform, and the shaft end of motor output shaft is provided with and floating bearing The little gear of external toothing engagement；The turn table body upper end is hinged with principal arm one end, and the principal arm other end is hinged with folding arm one end, the Folding arm is supported on principal arm by one telescopic electric cylinder, the folding arm and the concentric assembling of telescopic arm, and by it is interior set second stretch Contracting cylinder is connected with telescopic arm one end；The cleaning agency is hinged with the telescopic arm other end.
- 2. large-scale pipe cleaning robot according to claim 1, it is characterised in that the creeper undercarriage includes： The left and right crawler travel unit for platform both sides of getting off is symmetricly set in, the left and right crawler travel unit includes：Walking electricity Machine, covering and active synchronization wheel, Toothless driven wheel, follower link, the crawler belt being arranged on inside covering；The covering For biside plate as supporting structure, it is provided with the movable motor of driving active synchronization wheel rotation close to platform side of getting off.
- 3. large-scale pipe cleaning robot according to claim 2, it is characterised in that the hinge that the covering passes through top Ear connecting plate insertion is got off in the default mounting groove of platform, and both pass through the first hinge.
- 4. large-scale pipe cleaning robot according to claim 1, it is characterised in that the cleaning agency includes：Clean Main body, round brush, the round brush both ends are cleaning body front end by hinge.
- 5. large-scale pipe cleaning robot according to claim 1, it is characterised in that the telescopic arm other end is set 360 ° of rotate steering wheels are equipped with, 360 ° of rotate steering wheels are hinged with cleaning body rear.
- 6. large-scale pipe cleaning robot according to claim 1, it is characterised in that the principal arm is hinged with turn table body One end dual-axis rotation motor is installed, and principal arm under the effect of dual-axis rotation motor around 120 ° of the be hinged axis hole with turn table body Positive and negative rotation.
- 7. large-scale pipe cleaning robot according to claim 1, it is characterised in that the motor that the small circular is sunk in platform For rotation driving reducing motor, its driving pinion and floating bearing external gear driving, and 360 ° of positive and negative rotations about the z axis.
- 8. large-scale pipe cleaning robot according to claim 1, it is characterised in that the principal arm other end is arranged on folding In the U-shape structure that arm one end is set, and it is hinged with the two side arms of U-shape structure.
- 9. the large-scale pipe cleaning robot according to claim 1 or 7, it is characterised in that the first telescopic electric cylinder One end is connected with principal arm, and the other end is connected by two free ends of piston rod and U-shape structure, drives folding arm around the hinge with principal arm 90 ° of spindle hole positive and negative rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720352367.9U CN207057198U (en) | 2017-04-06 | 2017-04-06 | A kind of large-scale pipe cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720352367.9U CN207057198U (en) | 2017-04-06 | 2017-04-06 | A kind of large-scale pipe cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207057198U true CN207057198U (en) | 2018-03-02 |
Family
ID=61502129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720352367.9U Expired - Fee Related CN207057198U (en) | 2017-04-06 | 2017-04-06 | A kind of large-scale pipe cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207057198U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555876A (en) * | 2018-05-23 | 2018-09-21 | 桂林电子科技大学 | Transformer porcelain bottle cleaning robot |
| CN112947418A (en) * | 2021-01-27 | 2021-06-11 | 特斯联科技集团有限公司 | Smart city public space inspection device |
| CN114602908A (en) * | 2022-03-14 | 2022-06-10 | 嵊州市浙江工业大学创新研究院 | Fixed cleaning arm capable of being adjusted in automatic telescopic mode, cleaning method and cleaning device |
| CN114714366A (en) * | 2022-01-24 | 2022-07-08 | 浙江大学山东工业技术研究院 | Ground walking lifting cleaning robot |
| CN115007580A (en) * | 2022-06-13 | 2022-09-06 | 无锡智瀚智能机器技术有限公司 | Intelligent oil tank cleaning robot and cleaning method |
-
2017
- 2017-04-06 CN CN201720352367.9U patent/CN207057198U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555876A (en) * | 2018-05-23 | 2018-09-21 | 桂林电子科技大学 | Transformer porcelain bottle cleaning robot |
| CN112947418A (en) * | 2021-01-27 | 2021-06-11 | 特斯联科技集团有限公司 | Smart city public space inspection device |
| CN114714366A (en) * | 2022-01-24 | 2022-07-08 | 浙江大学山东工业技术研究院 | Ground walking lifting cleaning robot |
| CN114602908A (en) * | 2022-03-14 | 2022-06-10 | 嵊州市浙江工业大学创新研究院 | Fixed cleaning arm capable of being adjusted in automatic telescopic mode, cleaning method and cleaning device |
| CN115007580A (en) * | 2022-06-13 | 2022-09-06 | 无锡智瀚智能机器技术有限公司 | Intelligent oil tank cleaning robot and cleaning method |
| CN115007580B (en) * | 2022-06-13 | 2024-03-29 | 无锡智瀚智能机器技术有限公司 | Intelligent oil tank cleaning robot and cleaning method |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 410000 room 106, C and D building, Mawangdui Xinhe village, Furong district, Changsha, Hunan Patentee after: Changsha Yaxin Electrical Appliance Technology Service Co.,Ltd. Address before: 410016 CD building, Mawangdui paint and paint City, Furong district, Changsha, Hunan, 101-121 Patentee before: CHANGSHA YAXIN ELECTRIC APPLIANCES TECHNICAL SERVICE CO.,LTD. |
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| CP03 | Change of name, title or address | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180302 |
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| CF01 | Termination of patent right due to non-payment of annual fee |