CN203509741U - Automatic alignment clamping device and mechanical arm with automatic alignment clamping device - Google Patents
Automatic alignment clamping device and mechanical arm with automatic alignment clamping device Download PDFInfo
- Publication number
- CN203509741U CN203509741U CN201320370866.2U CN201320370866U CN203509741U CN 203509741 U CN203509741 U CN 203509741U CN 201320370866 U CN201320370866 U CN 201320370866U CN 203509741 U CN203509741 U CN 203509741U
- Authority
- CN
- China
- Prior art keywords
- workpiece
- clamping device
- automatic capturing
- clamping
- rolling element
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to an automatic alignment clamping device and a mechanical arm with the automatic alignment clamping device. The automatic alignment clamping device comprises a clamp, the clamp is installed on the mechanical arm and used for clamping workpieces (11) with the orthogonal and symmetrical axes, the clamp is provided with at least two clamping jaws (1), and each clamping jaw (1) is provided with a clamping head (8). The automatic alignment clamping device comprises a rolling element (2), the rolling element (2) is provided with a rolling surface, and the rolling element (2) is arranged on the clamping heads (8) in the mode that when the clamp gets close to the workpieces (11) in the clamping direction (F), the rolling surface is in contact with the workpieces (11); when the workpieces (11) are in the clamped state, the rolling element (2) is kept in contact with the workpieces (11) all the time. The automatic alignment clamping device is simple in structure, reliable in movement, and capable of enabling the oval-shaped sheet workpieces to be effectively and automatically aligned and enabling the oval-shaped sheet workpieces to be firmly clamped.
Description
Technical field
the utility model relates to especially step mechanical gearing mechanism hand technical field of manipulator, relates in particular to the step mechanical gearing mechanism hand that comprises automatic capturing clamping device.
Background technology
Be applied in the market disk material multifarious with the clamping jaw structure of the step mechanical gearing mechanism hand of circle shell class workpiece, but basic principle is similar.Now just the step mechanical gearing mechanism hand jaw that is applied to disk material and circle shell class workpiece on market is divided into two kinds.The chuck of the first jaw is V-arrangement, and this is a kind of structure that most jaws adopt in the market.Because vee-block is suitable for the gripping work of disk material and circle shell class workpiece very much, it is firm that the chuck of vee-block formula can make to clamp, and for the workpiece of this regular profile of disk material, have the function of automatic guiding.The processing of the jaw of vee-block formula is simple and convenient in addition, and cost is lower.The shortcoming of this jaw is that automatic capturing effect is undesirable, especially for oval-shaped tablet, is difficult to by V-arrangement face, workpiece be ajusted automatically.Because when V face contacts with tablet, if the tablet burr of a week is more, roughness is lower, will produce and to add larger frictional force with V-arrangement face, therefore can not be fully turned positive, can only be askew be clamped to next station.The second jaw is the jaw of copying type chuck, and the chuck profile of such jaw is no longer simple V-arrangement, but the same with folded workpiece profile, fits like a glove.Such jaw can be wrapped in folded workpiece to greatest extent, and clamping face is large, so it has good clamping.But the processing request of such jaw is higher, if misfit and just do not have effect with the profile of workpiece, and be difficult for centering workpiece, higher to the material loading required precision of sheet stock.
The open forging industry multistation step mechanical gearing mechanism hand of patent documentation CN201110301216.8, it uses jaw clamping blank, but there is no the open centering measure to blank.
The open U-bend circular seam welding positioner of patent documentation CN98247370.2, it uses V-type pressure head to realize automatic centering.The open self-centering mechanism for semiconductor chip of patent documentation CN200720015940.3, it uses the jaw of copying type chuck.
Patent documentation CN201020673371.3 discloses and a kind ofly unloads sleeve and unload residual winding apparatus, wherein embraces in nip rolls rolling bearing is installed, and makes to embrace nip rolls and can rotate with uncoiler in embracing clip process.Clearly, this patent documentation does not propose the solution of automatic centering.
The open circular pipe workpiece automatic capturing clamp mechanism of patent documentation CN201110342144.1, wherein, described clamp mechanism is used rolling bearing, but automatic centering function is completed by tapered cap.
The open automatic centering device for bars of patent documentation CN201120331626.2, wherein, roller is for the location of bar.
therefore,, in step mechanical gearing mechanism hand technical field, proposing the better automatic capturing clamping device of automaticity is still the technical problem that is worth solution.
Utility model content
The purpose of this utility model is to provide the automatic capturing clamping device that step mechanical gearing mechanism hand is used, and this automatic capturing clamping device is simple in structure, reliable in action, can effectively make oval sheet stock workpiece automatic alignment, and by its firm clamping.
The purpose of this utility model realizes by proposing the automatic capturing clamping device of manipulator, described automatic capturing clamping device comprises clamp, and described clamp is arranged on manipulator, for clamping the workpiece with Symmetric Orthogonal axis, described clamp has at least two jaws, and each jaw has chuck.
Described automatic capturing clamping device comprises rolling element, and described rolling element has rolling surface, wherein, described rolling element is arranged on described chuck like this: when described clamp is along clamping direction during near described workpiece, described rolling surface contacts with described workpiece, and described workpiece can carry out position adjustment centering position by means of force of rolling friction under the promotion of described rolling element; When described workpiece is during in clamped state, described rolling element keeps in touch with described workpiece all the time, and the clamped position of described workpiece in hope.
during due to the artificial windrow buttress of oval sheet stock, difficulty is large, and the major and minor axis of the upper oval sheet stock of a windrow buttress can not overlap completely, and the material loading precision of adding sheet stock feeder itself is not very high, therefore waits for that the oval sheet stock of jaw gripping is likely askew.When the oval sheet stock of this clamping device gripping, a plurality of bearings at chuck position can successively contact with workpiece, first the bearing of contact can produce power effect to sheet stock, sheet stock is moved toward correct position, until described a plurality of bearing can contact with workpiece, all produce power effect, at this moment workpiece is just by correcting accurately.If use some groups of such clamping devices simultaneously, effect can improve greatly.
accompanying drawing explanation
With reference to accompanying drawing, the description of feature of the present utility model, advantage and the characteristic specific embodiment by is below able to better understanding, in accompanying drawing:
Fig. 1: the automatic capturing clamping device schematic diagram of step mechanical gearing mechanism hand of the present utility model.
Fig. 2: the jaw of automatic capturing clamping device of the present utility model is pressed the partial sectional view of the line A-A of Fig. 1.
Fig. 3: the jaw of automatic capturing clamping device of the present utility model is pressed the cutaway view of the line B-B of Fig. 1.
In the drawings, same element is used same figure notation, and different elements is used different data markers, wherein:
| 1 | Jaw |
| 2 | Rolling bearing |
| 3 | Probe mounting blocks |
| 4 | |
| 5 | |
| 6 | |
| 7 | Regulating |
| 8 | Chuck |
| 9 | |
| 10 | |
| 11 | Oval sheet stock |
and, for ease of understanding and describing the present invention, as shown in Figure 2, with the clamping direction of arrow F mark clamp.
the specific embodiment
With reference to Fig. 1, according to main embodiment of the present utility model, the automatic capturing clamping device of step mechanical gearing mechanism hand comprises the clamp for holding workpiece 11, described clamp is arranged on manipulator, described clamp has at least two jaws 1, two jaws 1 shown in Figure 1 wherein, each jaw 1 has chuck 8.
And, described automatic capturing clamping device comprises rolling element 2, and described rolling element 2 has rolling surface, wherein, described rolling element 2 is arranged on described chuck 8 like this: when described clamp is along clamping direction F during near described workpiece 11, described rolling surface contacts with described workpiece 11, and described workpiece 11 can carry out position adjustment centering position by means of force of rolling friction under the promotion of described rolling element 2; When described workpiece 11 is during in clamped state, described rolling element 2 keeps in touch with described workpiece 11 all the time, and the clamped position of described workpiece 11 in hope.
Because described workpiece 11 is before clamped, and be rolling friction contact relation between described automatic capturing clamping device, thereby before clamped, the position of described workpiece 11 is easily adjusted.This is much easier more than carrying out position adjustment under the workpiece in prior art and the sliding friction contact relation between clamping device.
Described automatic capturing clamping device of the present utility model is particularly suitable for having the clamping of the workpiece of at least two Symmetric Orthogonal axis, and more applicable is to having the clamping of workpiece of the outline of line smoothing.Advantageously, described workpiece has the shape, ellipse, circle of the even petal of class etc.
In the specific embodiment of Fig. 1, described automatic capturing clamping device has two jaws 1, certainly, as needs, for example, in the minor axis location of the oval workpiece of Fig. 1, settles the 3rd jaw or the 4th jaw.This is all feasible to having the workpiece of two axis of symmetry of quadrature.With ground, be also conducive to rapidly by the position of the axis of symmetry centering workpiece of quadrature.
According to a favourable enforcement modification of the present utility model, described in each, chuck 8 has at least two described rolling elements 2, and described rolling element 2 can rotate around bearing pin 8.The specific embodiment of Fig. 1 for example, two chucks 8 of two jaws 1 have four rolling elements 2, and the distribution that is mutually symmetrical.Described clamping device moves to lathe center along clamping direction F.Described workpiece 11 is placed on retainer plate 10, and along with clamping the continuation of action, first the base plate of clamp can contact with workpiece 11.The lower plane that the base plate of clamp is pasting workpiece 11 moves, and then four rolling elements 2 of the chuck 8 of the jaw 1 of clamp contact with workpiece 11, thereby clamp workpiece 11.If now workpiece 11 putting positions are not just, four rolling elements 2 can not all contact with workpiece 11 simultaneously, only have two or three rolling elements 2 to contact with workpiece 11, and at this moment rolling element 2 can move by promotion workpiece 11, and workpiece 11 can rotate.After rolling element 2 is stressed, around bearing pin 9, rotate, because the frictional force producing between workpiece 11 and rolling element 2 is force of rolling friction, so power is very little.Workpiece 11 can forward correct angle to very easily, until contact completely between workpiece 11 and four rolling elements 2.In clamping process, workpiece 11 can move through two probe mounting blocks 3 by promotion probe 6 backward, probe 6 moves to certain position and can enter in the detection distance of sense switch 4, sense switch 4 indicator lamps are bright, represent that manipulator jaw clamps reliable in action, has clamped workpiece.Certainly, each jaw 1 can only have a rolling element 2, so compared with the prior art, still has good automatic capturing technique effect.Be understandable that, as needs, those skilled in the art can install three, four or more rolling element on each jaw.
Preferential selection of land, described rolling element 2 is rolling bearings.Rolling bearing is industrial standard part, so cost is more reasonable, and the force of rolling friction of rolling bearing is less, is applicable to very much the technical solution of the utility model.Be understandable that, other rolling element such as roller, pulley, roller etc. can use.
As shown in Figure 1, described workpiece 11 is oval sheet stocks, has the symmetry axis of quadrature, the outline of curve smoothing.And the major axis of oval sheet stock and minor axis can be relatively to approach.
With reference to Fig. 1, described chuck has the recess of U-shaped, at the free end place of two branches of described U-shaped, is mounted with symmetrically rolling element 2.The existence of described recess guarantees that first rolling element 2 contacts the neighboring of workpiece 11, and the neighboring of workpiece 11 can not encounter other position of chuck, thereby guarantees the advantage of the position adjustments effect of performance force of rolling friction.
Advantageously, described clamp has two described jaws 1 that are arranged symmetrically with, and in described clamping process, described two symmetrical jaws 1 move along described clamping direction F simultaneously.In the time of jaw 1, move the position that is conducive to fast aligning workpiece 11.
According to of the present invention another, implement modification, with reference to Fig. 1, described jaw 1 is installed on the jaw mounting base 4 of described manipulator, and, described jaw 1 comprises position regulator, described position regulator comprises elongated hole, and by means of the bolt through described elongated hole, the adjustable mode of described jaw 1 opsition dependent is fixed on described jaw mounting base 4.Therefore automatic capturing clamping device of the present utility model is applicable to the workpiece of various sizes.
As above mentioned, described clamp has base plate, and wherein, when described clamp is along clamping direction F during near described workpiece 11, described base plate is prior to the described workpiece 11 of described rolling element 2 contact, and the lower plane that described base plate is pasting described workpiece 11 moves.In the process of fastening, described base plate forms effectively supporting to workpiece 11, thereby guarantees the reliability of clamping.
According to another preferred embodiment of the present invention, with reference to Fig. 1, described automatic capturing clamping device comprises clamping checkout gear, and described clamping checkout gear comprises probe 6 and sense switch 5; In the clamping process of described workpiece 11, described workpiece 11 promotes described probe 6 and moves towards described sense switch 5, and, when described probe 6 is moved to a definite position, described probe 6 triggers described sense switch 4, described sense switch 4 sends signal, confirms that described workpiece 11 is by reliable grip.Described manipulator thereby can carry out the processing of subsequent processing.
Advantageously, described clamping checkout gear comprises reset components, and described reset components comprises Compress Spring, at described automatic capturing clamping device, unclamps after described workpiece 11, and described Compress Spring promotes described probe 6 and gets back to its initial position.Described manipulator can reliablely and stablely carry out the work of next round piece-holder.
According on the other hand of the present utility model, the utility model relates to manipulator, it is characterized in that: described manipulator comprises automatic capturing clamping device, described automatic capturing clamping device comprises clamp, and described clamp is arranged on described manipulator, for clamping the workpiece 11 with Symmetric Orthogonal axis, preferably, described workpiece is oval sheet stock, and described clamp has at least two jaws 1, and each jaw 1 has chuck 8.Described automatic capturing clamping device comprises rolling element 2, and described rolling element 2 has rolling surface, wherein, described rolling element 2 is arranged on described chuck 8 like this: when described clamp is along clamping direction F during near described workpiece 11, described rolling surface contacts with described workpiece 11, and described workpiece 11 can carry out position adjustment centering position by means of force of rolling friction under the promotion of described rolling element 2; When described workpiece 11 is during in clamped state, described rolling element 2 keeps in touch with described workpiece 11 all the time, and the clamped position of described workpiece 11 in hope.
Hereinafter, with reference to Fig. 1, according to specific embodiment of the utility model, illustrate operation principle of the present utility model.
The clamping control section driving device arm of manipulator starts to carry out holding action, described automatic capturing clamping device comprises clamp, described clamp is arranged on described mechanical arm, this clamping device in the direction perpendicular to mechanical arm namely clamping direction F to lathe center, move.Oval sheet stock is placed on retainer plate 10, and along with the continuation of holding action, first the base plate of clamp can contact with sheet stock.The lower plane that sheet stock is being pasted in the bottom of clamp moves, and then four of clamp head part rolling bearings 2 contact with sheet stock, thereby clamp sheet stock.If now sheet stock putting position is not just, four rolling bearings 2 can not all contact with sheet stock simultaneously, only have two or three rolling bearings 2 to contact with sheet stock, and at this moment rolling bearing 2 can move by promotion sheet stock, and sheet stock can rotate.After rolling bearing 2 is stressed, around bearing pin 9, rotate, because the frictional force producing between sheet stock and rolling bearing 2 is force of rolling friction, so power is very little.Sheet stock can forward correct angle very easily to, until contact completely between sheet stock and four rolling bearings 2.In clamping process, sheet stock can promote probe 6 and moves through two probe mounting blocks 3 backward, probe 6 moves to one and determines that position can enter in the detection distance of sense switch 4, sense switch 4 indicator lamps are bright, represent the clamping reliable in action of the jaw of manipulator, clamped workpiece.
With described automatic capturing clamping device, can realize the sheet stock workpiece that self carrys out the gripping of automatic capturing institute by manipulator jaw, the oval sheet stock that this workpiece can the regular profile of right and wrong.By adopting the power effect between 4 that two pairs of rolling bearings contact with institute gripping workpiece, the sheet stock automatic capturing that putting position is inaccurate, thus can complete smoothly holding action.The advantage that adopts this automatic capturing clamping device is to greatly reduce the requirement of production line to material loading precision, particularly for some oval-shaped sheet stocks.Oval sheet stock is irregular, so the difficulty of windrow buttress is large, particularly large compared with approaching ellipse slice stockpile material buttress difficulty for axial ratio, requires high.This clamping device can effectively alleviate the working strength of artificial windrow buttress, reduces the requirement to feeder material loading precision, thereby cost-saving.
more than describe preferred specific embodiment of the present utility model in detail.Should be appreciated that those of ordinary skill in the art just can make many modifications and variations according to design concept of the present utility model without creative work.Therefore; all technical staff in the art comply with design concept of the present utility model on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment, all should be within scope of the present utility model and/or by the determined protection domain of claims.
Claims (10)
1. automatic capturing clamping device, described automatic capturing clamping device comprises clamp, described clamp is arranged on manipulator, for clamping the workpiece (11) with Symmetric Orthogonal axis, described workpiece is oval sheet stock, and described clamp has at least two jaws (1), and each jaw (1) has chuck (8), it is characterized in that
Described automatic capturing clamping device comprises rolling element (2), and described rolling element (2) has rolling surface, wherein, it is upper that described rolling element (2) is arranged in described chuck (8) like this: when described clamp is along clamping direction (F) during near described workpiece (11), described rolling surface contacts with described workpiece (11), and described workpiece (11) can carry out position adjustment centering position by means of force of rolling friction under the promotion of described rolling element (2); When described workpiece (11) is during in clamped state, described rolling element (2) keeps in touch with described workpiece (11) all the time, and the clamped position of described workpiece (11) in hope.
2. according to automatic capturing clamping device claimed in claim 1, it is characterized in that: chuck described in each (8) has at least two described rolling elements (2), described rolling element (2) can rotate around bearing pin (9).
3. according to automatic capturing clamping device claimed in claim 1, it is characterized in that: described rolling element (2) is rolling bearing.
4. according to automatic capturing clamping device claimed in claim 2, it is characterized in that: described chuck has the recess of U-shaped, at the free end place of two branches of described U-shaped, be mounted with symmetrically described rolling element.
5. according to the automatic capturing clamping device described in any one in claim 1 to 4, it is characterized in that: described clamp has two described jaws (1) that are arranged symmetrically with, in described clamping process, described two symmetrical jaws (1) move along described clamping direction (F) simultaneously.
6. according to the automatic capturing clamping device described in any one in claim 1 to 4, it is characterized in that: described jaw (1) is installed on the jaw mounting base (4) of described manipulator, and, described jaw (1) comprises position regulator, described position regulator comprises elongated hole, by means of the bolt through described elongated hole, the adjustable mode of described jaw (1) opsition dependent is fixed on described jaw mounting base (4).
7. according to the automatic capturing clamping device described in any one in claim 1 to 4, it is characterized in that: described clamp has base plate, wherein, when described clamp along clamping direction (F) when the described workpiece (11), described base plate contacts described workpiece (11) prior to described rolling element (2), and the lower plane that described base plate is pasting described workpiece (11) moves.
8. according to the automatic capturing clamping device described in any one in claim 1 to 4, it is characterized in that: described automatic capturing clamping device comprises clamping checkout gear, described clamping checkout gear comprises probe (6) and sense switch (5); In the clamping process of described workpiece (11), it is mobile towards described sense switch (5) that described workpiece (11) promotes described probe (6), and, when described probe (6) is moved to a definite position, described probe (6) triggers described sense switch (4), described sense switch (4) sends signal, confirms that described workpiece (11) is by reliable grip.
9. according to automatic capturing clamping device claimed in claim 8, it is characterized in that: described clamping checkout gear comprises reset components, described reset components comprises Compress Spring, at described automatic capturing clamping device, unclamp after described workpiece (11), described Compress Spring promotes described probe (6) and gets back to its initial position.
10. manipulator, is characterized in that: described manipulator comprises according to the automatic capturing clamping device described in any one in claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320370866.2U CN203509741U (en) | 2013-06-26 | 2013-06-26 | Automatic alignment clamping device and mechanical arm with automatic alignment clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320370866.2U CN203509741U (en) | 2013-06-26 | 2013-06-26 | Automatic alignment clamping device and mechanical arm with automatic alignment clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203509741U true CN203509741U (en) | 2014-04-02 |
Family
ID=50368723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320370866.2U Expired - Fee Related CN203509741U (en) | 2013-06-26 | 2013-06-26 | Automatic alignment clamping device and mechanical arm with automatic alignment clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203509741U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877235A (en) * | 2017-12-15 | 2018-04-06 | 株洲春华实业有限责任公司 | A kind of pressure vessel head automatic capturing method |
| CN107891191A (en) * | 2017-12-15 | 2018-04-10 | 株洲春华实业有限责任公司 | A kind of pressure vessel head automatic capturing bead cutter |
| CN108097770A (en) * | 2017-12-15 | 2018-06-01 | 株洲春华实业有限责任公司 | A kind of pressure vessel head forming method |
-
2013
- 2013-06-26 CN CN201320370866.2U patent/CN203509741U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107877235A (en) * | 2017-12-15 | 2018-04-06 | 株洲春华实业有限责任公司 | A kind of pressure vessel head automatic capturing method |
| CN107891191A (en) * | 2017-12-15 | 2018-04-10 | 株洲春华实业有限责任公司 | A kind of pressure vessel head automatic capturing bead cutter |
| CN108097770A (en) * | 2017-12-15 | 2018-06-01 | 株洲春华实业有限责任公司 | A kind of pressure vessel head forming method |
| CN107891191B (en) * | 2017-12-15 | 2020-05-15 | 株洲春华实业有限责任公司 | Automatic aligning and trimming machine for seal head of pressure container |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103341778A (en) | Automatic aligning and clamping device and manipulator with same | |
| CN203509741U (en) | Automatic alignment clamping device and mechanical arm with automatic alignment clamping device | |
| CN203253956U (en) | Manual four-jaw chuck with precise scales | |
| CN211681039U (en) | Clamp device convenient to clamp | |
| CN103753291A (en) | Clamp for cylindrical workpieces | |
| CN103753242A (en) | Crankshaft clamp | |
| CN203599882U (en) | Rectangular blank processing fixture of round tensile sample | |
| CN203650306U (en) | Clamping device provided with eccentric cam | |
| CN203765035U (en) | Auxiliary device for drilling | |
| CN106624717B (en) | A kind of constant velocity driving shaft assembly shaft block ring automatic press mounting tooling and its mistake proofing detection method | |
| CN104493629A (en) | Clamping device used for clamping circular arc-shaped workpiece | |
| CN203317069U (en) | Self-centering clamp for machining holes of two end faces of bent shaft | |
| CN203527061U (en) | Transformer web plate drilling device | |
| CN205184306U (en) | Heterotypic work piece surface of revolution of non - circle adds clamping apparatus on lathe | |
| CN204658000U (en) | Annular workpieces clamping and fixing device | |
| CN210615545U (en) | Elbow welding device | |
| CN209095039U (en) | A kind of bi-directional synchronization adjustable v-type block clamping device | |
| CN203649993U (en) | Fixture for cylindrical workpieces | |
| CN203409747U (en) | Station switch device | |
| CN206732578U (en) | A kind of dual-purpose flat-nose pliers | |
| CN110711871A (en) | Machining process and tool for super-huge spherical roller with central through hole | |
| CN201824218U (en) | Contour sleeve fixture | |
| CN205237443U (en) | Spool insert core machine | |
| CN205967897U (en) | Pole lug of lithium cell welding jig | |
| CN104384977A (en) | Positioning device for shaft workpiece with gradient section |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140402 Termination date: 20210626 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |