# US 11,999,478 B2 · Gripping mechanism and transportation article conveyance device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,478 B2 - Document ID: US11999478B2 - Status: Granted - Kind: B2 - Application number: 17/311,428 - Filed: 2019-12-02 - Published: 2022-01-27 - Granted: 2024-06-04 - Earliest claimed: 2018-12-05 - Assignees: Rakuten Group, Inc. - Applicants: Rakuten Group, Inc. - Inventors: Kenichi Lee; Takumi Yamato; Takayoshi Inuma; Osamu Igarashi; Kyota Yamaoka - Web page: https://patentgrep.com/patent/US11999478B2 ## CPC - F16H 19/04: comprising a rack - B25J 15/026: {actuated by gears} - B25J 15/08: having finger members (B25J15/02, B25J15/04 take precedence) - B64D 1/02: Dropping, ejecting, or releasing articles (jettisonable fuel reservoirs B64D37/12) - B64D 1/22: Taking-up articles from earth's surface - B64D 9/00: Equipment for handling freight; Equipment for facilitating passenger embarkation or the like - B64U 10/13: Flying platforms - B64U 20/70: Constructional aspects of the UAV body - B64U 2101/64: for parcel delivery or retrieval - Y02T 50/40: Weight reduction - F16H: GEARING - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A gripping mechanism is attached to a mobile body to grip and convey a transportation article. The gripping mechanism includes a pinion provided to be rotatable about a rotation axis, and a first arm and a second arm disposed with the rotation axis being the center to be separated from the rotation axis by the same distance to grip the transportation article. When the pinion rotates in a predetermined direction, the first arm and the second arm move toward the rotation axis. ## Claims ### Claim 1 A gripping mechanism attached to a moving body so as to grip and convey a transportation article, comprising: a rotating body provided so as to be rotatable about a rotation axis, the rotating body including a pinion on which a pinion gear is formed; a first arm and a second arm disposed so as to be separated from the rotation axis by the same distance, with the rotation axis as a center, in order to grip the transportation article; and a width adjusting mechanism which engages with the rotating body, the first arm and the second arm and which is configured such that the first arm and the second arm move toward the rotation axis in the case where the rotating body rotates about the rotation axis in a predetermined direction, and the first arm and the second arm move away from the rotation axis in the case where the rotating body rotates about the rotation axis in a direction opposite from the predetermined direction, the width adjusting mechanism including a first rack on which a first rack gear meshing with the pinion gear is formed and which is connected with the first arm, and a second rack on which a second rack gear meshing with the pinion gear is formed and which is connected with the second arm; a locking means for suppressing movement of the first arm and the second arm away from the rotation axis, the locking means including: a first engagement portion that engages with the first rack, a second engagement portion that engages with the second rack, and an elastic member for pressing the first rack and the second rack in a direction perpendicular to moving directions of the first arm and the second arm by the first engagement portion and the second engagement portion, wherein a first vertical surface, which faces a direction in which the first arm moves toward the rotation axis, is formed on the first engagement portion, a second vertical surface, which faces a direction in which the second arm moves toward the rotation axis, is formed on the second engagement portion, a plurality of surfaces that face a direction in which the first arm moves away from the rotation axis to oppose the first vertical surface are periodically formed on the first rack, and a plurality of surfaces that face a direction in which the second arm moves away from the rotation axis to oppose the second vertical surface are periodically formed on the second rack. ### Claim 2 (depends on 1) The gripping mechanism according to claim 1, further including a motor for rotating the rotating body about the rotation axis. ### Claim 3 (depends on 1) The gripping mechanism according to claim 1, further including: a first support which is attached to the first arm and supports the transportation article; a first elastic body for pressing the transportation article in a direction toward the rotation axis by the first support; a second support which is attached to the second arm and supports the transportation article; and a second elastic body for pressing the transportation article in a direction toward the rotation axis by the second support. ### Claim 4 (depends on 1) The gripping mechanism according to claim 1, further including: a second rotating body provided so as to be rotatable about a second rotation axis; a third arm and a fourth arm disposed so as to be separated from the second rotation axis by the same distance, with the second rotation axis as a center, in order to grip a transportation article; and a second width adjusting mechanism which engages with the second rotating body, the third arm and the fourth arm, and which is configured such that the third arm and the fourth arm move toward the rotation axis in the case where the second rotating body rotates about the second rotation axis in a predetermined direction, and the third arm and the fourth arm move away from the rotation axis in the case where the second rotating body rotates about the second rotation axis in a direction opposite from the predetermined direction, wherein the moving directions of the first arm and the second arm and the moving directions of the third arm and the fourth arm have a perpendicular relationship. ### Claim 5 (depends on 4) The gripping mechanism according to claim 4, wherein the rotation axis and the second rotation axis are coaxial. ### Claim 6 (depends on 4) The gripping mechanism according to claim 4, wherein the rotation axis and the second rotation axis have a perpendicular relationship, and the second rotating body is attached to the first arm or the second arm. ### Claim 7 (depends on 1) A transportation article conveyance device comprising: the moving body constituted of an unmanned aerial vehicle; and a gripping mechanism which is attached to a lower part of the unmanned aerial vehicle and which is described in claim 1. ### Claim 8 (depends on 7) The transportation article conveyance device according to claim 7, wherein the gripping mechanism is installed such that a straight line which passes through the center of gravity of the unmanned aerial vehicle and which extends in a vertical direction coincides with the rotation axis.