Holding mechanism and conveying device for transporting goods

Abstract

The present invention provides a gripping mechanism capable of stably gripping a transported object of various sizes. The gripping mechanism 10 is installed on a mobile body in order to grip and transport the transported object. In addition, the gripping mechanism 10 includes a pinion 20, a first arm 12, and a second arm 14. The pinion 20 is arranged to be rotatable around a rotation axis AX, and the first arm 12 and the second arm 14 are arranged to be centered on the rotation axis and to be at the same distance from the rotation axis in order to grip the transported object. When the pinion 20 rotates in a predetermined direction, the first arm 12 and the second arm 14 move in a direction close to the rotation axis AX.

Description

Technical Field

[0001] The present invention relates to a holding mechanism and a conveying device for conveyed objects. Background Art

[0002] In recent years, there have been proposed methods of delivering cargo and other transported objects using unmanned aerial vehicles (including unmanned aerial vehicles that are autonomously controlled by being equipped with artificial intelligence that performs machine learning) such as drones, multirotors, or multiaxis aircraft, as well as transported object gripping mechanisms called catchers.

[0003] Patent Document 1 describes a lightweight, low-power-consumption object gripping device, which uses a permanent electromagnetic magnet device that loses magnetic force when powered and generates magnetic force when powered off to attract and grip the object using magnetic force.

[0004] Patent Document 2 describes a device capable of dropping a conveyed object vertically downward relative to a target location. The document describes a technique for dropping a conveyed object supported by two bottom plates by rotating two bottom plates inclined in a vertical direction simultaneously and in symmetrical paths.

[0005] Patent document 3 describes a transport device that does not cause the posture of an unmanned aerial vehicle to become unstable when a transport object is mounted on a flexible member suspended from the floating unmanned aerial vehicle. The document describes a technique in which a long auxiliary line is connected to a main line composed of a long flexible member and the transport object is mounted on the auxiliary line.

[0006] Patent Document 1: Japanese Patent Application Publication No. 2018-114822

[0007] Patent Document 2: Japanese Patent Application Publication No. 2017-196949

[0008] Patent Document 3: Japanese Patent Application Publication No. 2017-87898 Summary of the invention

[0009] However, the technology described in Patent Document 1 is not suitable for holding objects of various sizes, because it can only attract objects of a size that can be reached by the electromagnetic force of the magnet. In addition, the technology described in Patent Document 2 is not suitable for stably transporting rectangular objects because the objects must be supported by two inclined bottom plates. In addition, since the technology described in Patent Document 3 uses a long line to suspend the objects for transport, the stability of the objects may be greatly reduced when the objects are affected by wind or the like.

[0010] Therefore, an object of the present invention is to provide a gripping mechanism and an object conveying device capable of stably gripping objects of various sizes.

[0011] One aspect of the present disclosure relates to a gripping mechanism that is mounted on a moving body for gripping and conveying a conveyed object. In addition, the mechanism comprises: a rotating body that is configured to be rotatable around a rotation axis; a first arm and a second arm that are configured to be centered around the rotation axis and spaced from the rotation axis by the same distance for gripping the conveyed object; and a width adjustment mechanism that is configured to engage with the rotating body, the first arm, and the second arm, and that moves the first arm and the second arm in a direction approaching the rotation axis if the rotating body rotates in a predetermined direction around the rotation axis, and moves the first arm and the second arm in a direction away from the rotation axis if the rotating body rotates in a direction opposite to the predetermined direction around the rotation axis.

[0012] The rotating body may include a pinion having pinion teeth, and the width adjustment mechanism may include a first rack having first rack teeth meshing with the pinion teeth and connected to the first arm, and a second rack having second rack teeth meshing with the pinion teeth and connected to the second arm.

[0013] In addition, a ratchet (a locking device, also called a stopper) for inhibiting the first arm and the second arm from moving in a direction away from the rotation axis may be provided. The ratchet may include a first engaging portion engaged with the first rack, a second engaging portion engaged with the second rack, and an elastic body for pressing the first rack and the second rack in a direction perpendicular to the moving direction of the first arm and the second arm through the first engaging portion and the second engaging portion.

[0014] In addition, it can also be constructed to further include: a second rotating body configured to be able to rotate around the second rotating axis; in order to grasp the transported object, a third arm and a fourth arm are configured to be away from the second rotating axis by the same distance around the second rotating axis; a second width adjustment mechanism configured to engage with the second rotating body, the third arm and the fourth arm, and if the second rotating body rotates in a specified direction around the second rotating axis, the third arm and the fourth arm move in a direction approaching the rotating axis, and if the second rotating body rotates in a direction opposite to the specified direction around the second rotating axis, the third arm and the fourth arm move in a direction away from the rotating axis, and the moving directions of the first arm and the second arm are at right angles to the moving directions of the third arm and the fourth arm.

[0015] In addition, the present disclosure includes a conveying device for conveying objects, which includes a mobile body composed of an unmanned aerial vehicle and a holding mechanism installed under the unmanned aerial vehicle. The holding mechanism can be installed so that a straight line passing through the center of gravity of the unmanned aerial vehicle and oriented in the vertical direction coincides with the rotation axis of the rotating body. In particular, when the unmanned aerial vehicle has a plurality of frames that rotate symmetrically with respect to a predetermined central axis and a propeller installed on each frame, it is preferred to install the holding mechanism on the unmanned aerial vehicle in a manner that supports the holding mechanism at a position on the frame that rotates symmetrically with respect to the central axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a perspective view of the holding mechanism 10 .

[0017] Figure 2 It is a front view of the holding mechanism 10.

[0018] Figure 3 It is a right side view of the holding mechanism 10 .

[0019] Figure 4 It is a top view of the holding mechanism 10 .

[0020] Figure 5A It is a cross-sectional view of the holding mechanism 10 which is parallel to the first direction and passes through the rotation axis AX.

[0021] Figure 5B This is a cross-sectional view when holding the object to be transported.

[0022] Figure 6 It is a cross-sectional view through the side surface of the first rack 22 and the side surface of the second rack 24 .

[0023] Figure 7 1 is a cross-sectional view through the side of the first rack 22 .

[0024] Figure 8 yes Figure 2 DD section view in.

[0025] Fig. 9 It is a perspective view of the holding mechanism 50 .

[0026] Fig.10 It is a perspective view of the holding mechanism 10 to which the mounting frame 60 is mounted.

[0027] Fig.11 FIG. 1 is a diagram showing a state where the gripping mechanism 10 is mounted on the drone D. FIG.

[0028] Fig.12 4 is a functional block diagram of the gripping mechanism 50 .

[0029] Fig.13 This is an operation flow chart of the holding mechanism 50 .

[0030] Fig.14 It is a perspective view of the holding mechanism 70 .

[0031] Fig.15 It is a perspective view of the holding mechanism 80 . DETAILED DESCRIPTION

[0032] The following are embodiments of the present invention using the accompanying drawings. The following embodiments are examples for illustrating the present invention, and the purpose is not to limit the present invention to the embodiments. In addition, the present invention may be modified in various ways without departing from the gist of the present invention. For example, certain components in one embodiment may also be combined in another embodiment within the scope of the normal creative ability of those skilled in the art.

[0033] Figure 1 It is a perspective view of the gripping mechanism 10 according to the present embodiment. Figure 2 , Figure 3 and Figure 4 They are respectively a front view, a right side view and a top view of the holding mechanism 10. However, for ease of understanding, Figure 2 and Figure 4 A front view and a top view of the grip mechanism 10 in a state where a cover body 34A for protecting the width adjustment mechanism from dust and the like is removed are respectively shown.

[0034] As shown in the figure, the holding mechanism 10 has a first arm 12, a second arm 14, a third arm 16 and a fourth arm 18 for holding a transported object such as a cargo. In addition, a pinion 20 ( Figure 4 ), the pinion 20 is rotatably provided around a rotation axis AX parallel to the vertical direction. In addition, as a width adjustment mechanism for the first arm 12 and the second arm 14, the holding mechanism 10 is provided with a first rack 22 engaged with the first arm 12 and the pinion 20 and a second rack 24 engaged with the second arm 14 and the pinion 20. In addition, as a width adjustment mechanism for the third arm 16 and the fourth arm 18, the holding mechanism 10 is provided with a first rack 22 engaged with the first arm 12 and the pinion 20 and a second rack 24 engaged with the second arm 14 and the pinion 20. Figure 5A )( Figure 8 ) and a fourth rack 28 respectively engaged with the fourth arm 18 and the pinion 21. As will be described in detail later, when the pinion 20 rotates clockwise, the first arm 12 and the second arm 14 move away from the rotation axis AX, and when the pinion 20 rotates counterclockwise, the first arm 12 and the second arm 14 move closer to the rotation axis AX. Therefore, the distance between the first arm 12 and the rotation axis AX is almost the same as the distance between the second arm 14 and the rotation axis AX, regardless of the position of each arm.

[0035] Similarly, when the pinion 21 rotates clockwise, the third arm 16 and the fourth arm 18 move away from the rotation axis AX, and when the pinion 21 rotates counterclockwise, the third arm 16 and the fourth arm 18 move closer to the rotation axis AX. Therefore, the distance between the third arm 16 and the rotation axis AX is almost the same as the distance between the fourth arm 18 and the rotation axis AX, regardless of the position of each arm.

[0036] In the following, for convenience, the direction in which the first arm 12 and the second arm 14 move is set as the first direction, the direction in which the third arm 16 and the fourth arm 18 move is set as the second direction, and the direction parallel to the rotation axis AX is set as the third direction. The first direction, the second direction, and the third direction are perpendicular to each other. In addition, when the rotation axis AX is parallel to the vertical direction, the first direction and the second direction are parallel to the horizontal direction.

[0037] Each component of the holding mechanism 10 can be manufactured, for example, by resin molding. However, not limited to this, a part or all of the components of the holding mechanism 10 can also be manufactured from other materials such as metal such as aluminum. In addition, as needed, the components of the holding mechanism 10 can be connected to each other by bolts. However, not limited to this, for example, they can also be connected by other means such as bonding, or can also be provided integrally. For example, the third arm 16 and the third rack 26 and the fourth arm 18 and the fourth rack 28 can be manufactured integrally, respectively.

[0038] The first arm 12 is a component for abutting and holding the object to be transported. The first arm 12 is formed to have a specified width in the second direction and a specified height in the third direction. The width in the second direction is formed to be wider than the first rack 22 so that the object to be transported can be stably transported. The height in the third direction is formed to be larger than the estimated maximum height of the object to be transported. A protrusion 12A having a specified width in the second direction and protruding toward the rotation axis AX in the first direction is formed at the lower end of the first arm 12 in the third direction. Since the protrusion 12A has a horizontal surface facing upward in the third direction, the lower surface of the object to be transported can be properly supported by abutting the surface. In addition, since an abutment surface 12B perpendicular to the first direction and facing the direction of the rotation axis AX is formed on the first arm 12, the object to be transported can be properly supported by abutting the abutment surface 12B against the side of the object to be transported. In addition, as Figure 1 As shown, the central portion of the first arm 12 may also be hollowed out to reduce weight. In addition, the first arm 12 is perpendicular to the second direction and is formed symmetrically with respect to the plane passing through the rotation axis AX. The width, height and shape of the first to fourth arms 12-18 may be appropriately designed according to the size and shape of the object to be held. For example, the width and height of the first arm 12 and the second arm 14 may be set to 100-150 mm and 200-300 mm, respectively. In this case, the first arm 12 and the second arm 14 may be removed according to the size of the object to be transported, and another first arm and another second arm may be installed.

[0039] like Figure 5A and Figure 5BAs shown, the first arm 12 is further provided with a pressing mechanism 12C for pressing the object in the direction of the rotation axis AX. The pressing mechanism 12C presses the side of the object facing the first arm 12 during the conveyance of the object. In addition, when the first arm 12 reaches the destination and moves in a direction away from the rotation axis AX to separate from the side of the object in order to release the object, the abutment surface 12B of the first arm 12 protrudes to continue pressing the object.

[0040] Figure 5A 2 is a cross-sectional view of the holding mechanism 10 cut by a plane parallel to the first direction and passing through the rotation axis AX. Figure 5B This is a cross-sectional view showing the situation in which the holding mechanism 10 holds the conveyed object. The pressing mechanism 12C has a rectangular pressing component 12C1 and a spring 12C2. The rectangular pressing component 12C1 is arranged near the center of the first arm 12 in the second direction and the third direction, and the spring 12C2 is engaged with the pressing component 12C1. Since the surface facing the rotation axis AX of the pressing component 12C1 is formed perpendicular to the first direction, the side of the conveyed object can be pressed appropriately. The spring 12C2 is arranged to expand and contract in the first direction so that the pressing component 12C1 engaged with the spring 12C2 can move relative to the other parts of the first arm 12 in the first direction. Specifically, as Figure 5A As shown, when the object is not held, the spring 12C2 has a natural length and supports the pressing member 12C1 so that the pressing member 12C1 protrudes in the first direction, that is, in the direction of the rotation axis AX, relative to the abutment surface 12B. Figure 5BAs shown, in the case of holding the conveyed object, the spring 12C2 is compressed, and in the state where the pressing member 12C1 abuts on the side of the conveyed object, the pressing member 12C1 is supported to be flush with the abutment surface 12B, or slightly protrudes in the first direction, that is, in the direction of the rotation axis AX. Then, when the conveyed object is released at the destination, the abutment surface 12B is separated from the side of the conveyed object due to the movement of the first arm 12 away from the rotation axis AX, and the pressing member 12C1 is relatively moved by the spring 12C2 protruding from the abutment surface 12B. Therefore, the pressing member 12C1 continues to press the conveyed object until the spring 12C2 has a natural length. In addition, the elastic constant of the spring 12C2 can be appropriately set by considering the strength of the outer box of the conveyed object, etc. For example, when the outer box is formed by a member with low strength in the side direction such as a paper shell, if the elastic constant of the spring 12C2 is too small, the bottom box may be damaged, so the elastic constant of the spring 12C2 is preferably designed to be larger. Similarly, preferably, the area of ​​the portion of the pressing member 12C1 that contacts the transported object is also designed to have an area that does not damage the outer box. In addition, the contact surface 12B does not necessarily have to be in close contact with the side of the transported object. For example, it can also be configured to be separated from the side of the transported object to such an extent that the movement of the transported object in the first direction during the transport process can be restricted.

[0041] Since the second arm 14 has the same structure as the first arm 12, the description is simplified. Like the first arm, the second arm 14 is also provided with a protrusion 14A and a contact surface 14B. The protrusion 14A has a horizontal surface facing upward in the third direction and is used to support the lower surface of the conveyed object. The contact surface 14B is perpendicular to the first direction and faces the direction of the rotation axis AX and is used to support the side of the conveyed object. In addition, there is a pressing mechanism 14C including a pressing member 14C1 and a spring 14C2. When conveying the conveyed object, the pressing mechanism 14C presses the central part of the side of the conveyed object opposite to the second arm 14. When the second arm 14 reaches the destination and moves in a direction away from the rotation axis AX and separates from the side of the conveyed object in order to release the conveyed object, the second arm 14 protrudes from the contact surface 14B of the second arm 14 and continues to press the conveyed object. In addition, the second arm 14 is perpendicular to the first direction and is formed symmetrically with respect to the plane passing through the rotation axis AX.

[0042] Next, the first rack 22 and the second rack 24 included in the width adjustment mechanism will be described by using the drawings. Figure 1 As shown in FIGS. 1 and 2 , the first rack gear 22 and the second rack gear 24 are inserted into and supported in a gap between a cover body 34A and a base plate 34B, which are two plates arranged horizontally. Figure 6The right half is perpendicular to the third direction and passes through the side of the first rack 22, and the left half passes through the side of the second rack 24. The first rack 22 is a component for moving the first arm 12 in the first direction as the pinion 20 rotates by supporting the first arm 12 at one end in the first direction and meshing with the pinion teeth of the pinion 20 at the other end. As shown in the figure, the first rack 22 is a plate-like member having a longitudinal direction along the first direction and a lateral direction along the second direction. A long hole is formed at the end on the side of the rotation axis AX in the first direction, which opens on the short side and extends in the first direction, so that the pinion 20 can pass even if the first rack 22 moves to the side of the rotation axis AX. Therefore, the first rack 22 includes a base 22A, which includes a first arm 12 side end connected to the first arm 12; a first end 22B, which is divided into two parts from the base 22A and extends along the first direction to clamp the pinion 20 when viewed from above; and a second end 22C, which extends along the first direction to be opposite to the first end 22B across the long hole in which the pinion 20 is configured.

[0043] like Figure 1 and Figure 6 As shown, the first arm 12 side end portion of the base 22A is connected to the first arm 12 by a bolt. Therefore, the first arm 12 can be removed and a different arm can be installed according to the size, shape, etc. of the transported object. In addition, two rail portions protruding along the third direction and parallel to the first direction are formed at both ends of the second direction of the base 22A. Therefore, by forming two guide grooves on the cover body 34A that respectively engage with the two rail portions, and clamping the first rack 22 between the cover body 34A and the base plate 34B from the third direction, the first rack 22 can be guided to move parallel to the first direction. In addition, as Figure 6 As shown, in the base 22A, a total of 10 through holes are formed at positions passing through the rotation axis AX, perpendicular to the first direction, and symmetrical to the plane passing through the rotation axis AX. Therefore, the weight of the component can be reduced without disturbing the balance.

[0044] like Figure 6As shown, the second end 22C is a component extending in the first direction separated from the first end 22B across the rotation axis AX. A rack gear 22C1 (hereinafter referred to as "rack gear") for engaging with the pinion teeth of the pinion 20 is formed on the side of the second end 22C facing the rotation axis AX. The pitch, tooth shape, etc. of the rack teeth 22C1 are designed to be properly engaged with the pinion teeth of the pinion 20. On the opposite side of the second end 22C, that is, on the side facing the second direction opposite to the rotation axis AX, a convex portion 22C2 protruding in the second direction is formed. When the first rack 22 moves in the first direction in a direction away from the rotation axis AX, the convex portion 22C2 abuts on the stopper of the base supporting the first rack 22. Similarly, when the first rack 22 moves in the first direction in a direction close to the rotation axis AX, the convex portion 22C2 abuts on the stopper of the base 34B supporting the first rack 22. Therefore, by adjusting the formation position and width of the protrusion 22C2, the position farthest from the rotation axis AX and the position closest to the rotation axis AX of the first arm 12 connected to the first rack 22 can be specified. In this embodiment, for example, the interval between the first arm 12 and the second arm 14 is 185 mm at the minimum and 320 mm at the maximum.

[0045] Next, we will refer to Figure 6 and Figure 7 The latch mechanism for suppressing the increase in the distance between the first arm 12 and the second arm 14 when conveying an object will be described. Figure 7 2 is a cross-sectional view perpendicular to the third direction and passing through the side surface of the first rack 22 in a state where the movement of the first arm 12 is suppressed by the ratchet 32 ​​as a locking device. Figure 6 A state is shown in which the ratchet 32 ​​is released and the movement of the first arm 12 is not inhibited.

[0046] like Figure 6 and Figure 7As shown, on the side surface 22B1 of the first end 22B of the first rack 22 facing the rotation axis AX, a plane perpendicular to the second direction is formed, and the plane is slightly separated from the pinion 20 and opposed so as not to contact the pinion 20. On the other hand, on the opposite side of the first end 22B, that is, on the side surface 22B2 facing the second direction opposite to the rotation axis AX, a sawtooth wave is alternately and periodically formed along the first direction, that is, an inclined surface that moves away from the rotation axis AX in the second direction as it approaches the first arm 12 and a vertical surface that approaches the rotation axis AX in the second direction as it approaches the first arm 12 in a top view, and the vertical surface has a sufficiently large inclination or 90-degree angle with respect to the first direction compared with the inclined surface. On the other hand, a sawtooth wave is formed on the ratchet 32 ​​described later, and the sawtooth wave has a vertical surface and an inclined surface that mesh with the sawtooth wave formed on the side surface 22B2 of the first end 22B. Therefore, by meshing the two, the movement of the first arm 12 in the first direction can be suppressed. In particular, since the vertical surface formed on the side surface 22B2 of the first end portion 22B is almost perpendicular to the first direction and faces the direction in which the first arm 12 is away from the rotation axis AX, the first arm 12 and the first rack 22 can be prevented from moving in the direction away from the rotation axis AX by making the vertical surface opposite to the vertical surface of the sawtooth wave formed on the ratchet 32. On the other hand, the inclined surface formed on the side surface 22B2 of the first end portion 22B is greatly inclined relative to the first direction, which is the moving direction of the first arm 12. Therefore, the first arm 12 and the first rack 22 are difficult to move or cannot move in the direction away from the rotation axis AX through the ratchet 32, but are relatively easy to move in the direction close to the rotation axis AX. In addition, by adjusting the inclination angle of the vertical surface or the inclined surface forming the sawtooth wave with respect to the first direction, the force restricting the movement can be adjusted. However, by making the angle of the vertical surface with respect to the first direction larger than the angle of the inclined surface with respect to the first direction, the restraining force in the direction away from the rotation axis AX can be relatively increased, and the restraining force in the direction close to the rotation axis AX can be relatively reduced. For example, when the ratchet 32 ​​is engaged with the first rack 22, although the first arm 12 cannot be moved in a direction away from the rotation axis AX by human power, it is preferred that the compression force of the spring 35 of the ratchet 32 ​​described later, the angle of the inclined surface, etc. are set to a degree that allows movement in a direction close to the rotation axis AX.

[0047] The ratchet 32 ​​is a plate-shaped member inserted between the first rack 22 and the second rack 24. The ratchet 32 ​​is a member for engaging with the first rack 22 and the second rack 24 to prevent the first rack 22 and the first arm 12 connected thereto and the second rack 24 and the second arm 14 connected thereto from moving in the first direction.

[0048] A through hole is formed in the central portion of the ratchet 32 ​​so that the ratchet 32 ​​does not interfere with the pinion 20 even when the ratchet 32 ​​moves in the second direction. Figure 6 and 7 As shown in FIG. 1 , a cylindrical convex portion 32A protruding in the second direction is formed at the central portion of the side surface facing the second direction. A cylindrical convex portion 34B1 facing the direction of the rotation axis AX is formed on the base plate 34B so as to be opposite to the convex portion 32A. Since the convex portion 32A and the convex portion 34B1 are formed coaxially and with the same diameter, the side surface of the ratchet 32 ​​formed with the convex portion 32A can be pressed in the direction toward the rotation axis AX by inserting the spring 35 in a compressed state to engage with both.

[0049] In addition, if Figure 6 and Figure 7 As shown, the wall portion 32B is formed on the second direction end portion of the ratchet 32 ​​so as to rise from the main surface of the ratchet 32 ​​in the third direction so as to be the same height as the first rack 22. On the side surface of the wall portion 32B facing the rotation axis AX direction, a sawtooth wave formed with the same pitch as the sawtooth wave formed on the first end portion 22B of the first rack 22 is formed so as to be meshable with the sawtooth wave formed on the first end portion 22B of the first rack 22.

[0050] Furthermore, a pressing portion 32C protruding in the second direction is formed on the other side surface of the ratchet 32 ​​facing the second direction. The pressing portion 32C protrudes from the surface of the base plate 34B and is exposed to the outside.

[0051] Since such a latch mechanism is provided, the ratchet 32 ​​is pressed in the second direction by the spring 35 in a normal state. Therefore, the ratchet 32 ​​is pressed against the first rack 22 in a state where the vertical surface and the inclined surface formed on the wall portion 32B of the ratchet 32 ​​are respectively opposite to the vertical surface and the inclined surface formed on the first rack 22. As a result, the movement of the first rack 22 in the first direction, especially the movement in the direction in which the first arm 12 separates from the rotation axis AX, is suppressed. Therefore, when conveying a conveyed object, the movement of the first arm 12 in the direction away from the rotation axis AX can be suppressed. On the other hand, since the restraining force in the direction in which the first arm 12 approaches the rotation axis AX is relatively small, even in a state in which the ratchet 32 ​​is engaged with the first rack 22, the first arm 12 can be moved by manpower to approach the side of the conveyed object. When the pressing portion 32C is pressed in the second direction by a force exceeding the compression force of the spring 35 , the ratchet 32 ​​moves in the second direction and is disengaged from the first rack 22 , thereby allowing the first arm 12 to move away from the rotation axis AX and release the transported object.

[0052] The second rack 24 has the same function as the first rack 22. Therefore, the following will omit repeated descriptions of parts that can be reasonably understood by those skilled in the art, and will mainly describe parts different from the first rack 22.

[0053] The second rack 24 is a component for moving the second arm 14 in the first direction as the pinion 20 rotates by supporting the second arm 14 at one end in the first direction and meshing with the pinion teeth of the pinion 20 at the other end. Similar to the first rack 22, the second rack 24 is supported to be inserted into the gap between the cover 34A and the base plate 34B. However, the first rack 22 and the second rack 24 are inserted to different positions in the third direction so as not to interfere with each other. In addition, similar to the first rack 22, a base 24A is provided, the base 24A includes an end connected to the second arm 14; a first end 24B, which is divided into two parts from the base 24A and extends along the first direction to sandwich the pinion 20 when viewed from above; and a second end 24C, which extends along the first direction to be opposite to the first end 24B across the long hole in which the pinion 20 is arranged. However, since the rack teeth 24B1 meshing with the pinion teeth of the pinion 20 are formed on the first end 24B differently from the first rack 22, the movement direction of the first arm 12 accompanying the rotation of the pinion 20 can be made opposite to the movement direction of the second arm 14, and the symmetry relative to the plane parallel to the first direction and passing through the rotation axis AX can be improved.

[0054] In addition, on the surface facing the opposite side of the rotation axis AX of the first end portion 24B, similar to the first end portion 22B, a sawtooth wave is formed on the side surface 24B2, and the sawtooth wave is periodically provided with vertical surfaces and inclined surfaces. Figure 6 As shown, in order to prevent the second arm 14 and the second rack 24 from moving in a direction away from the rotation axis AX, the vertical surface is formed to have a vertical surface facing in a direction opposite to the sawtooth wave formed on the first rack 22, that is, a vertical surface substantially perpendicular to the first direction and in a direction in which the second arm 14 is away from the rotation axis AX, and an inclined surface connecting adjacent vertical surfaces.

[0055] In order to mesh with the sawtooth wave formed on the side surface 24B2 of the second rack 24 as shown in the figure, a wall portion 32d is formed at the second direction end portion of the ratchet 32, and the wall portion 32d descends downward from the main surface of the ratchet 32 ​​along the third direction to be the same height as the second rack 24, and a sawtooth wave is formed on the side surface facing the wall portion in the direction of the rotation axis AX, and the sawtooth wave has a corresponding inclination angle and pitch so that it meshes with the sawtooth wave formed on the side surface 24B2 of the second rack 24.

[0056] Further, on the first end portion 24C, similarly to the first rack 22 , a convex portion 24C1 is formed which protrudes in the second direction and defines the position of the second arm 14 connected to the second rack 24 which is farthest from and closest to the rotation axis AX.

[0057] According to the above configuration, since the ratchet 32 ​​is pressed in the second direction perpendicular to the first direction in which the second rack 24 moves, similarly to the first rack 22, the restraining force that suppresses the movement of the first rack 24 in the first direction, particularly the movement in the direction in which the second arm 14 separates from the rotation axis AX, can be enhanced. Therefore, the interval between the first arm 12 and the second arm 14 is unlikely to widen, and a structure that can be easily narrowed can be achieved.

[0058] In addition, since the first rack 22 and the second rack 24 are arranged at different positions in the third direction, the positions where the rack teeth 22C1 and the rack teeth 24B1 are formed are also different positions in the third direction. Figure 5A and 5B As shown, the portion 20A forming the gear of the pinion gear 20 has a prescribed thickness in the third direction so as to mesh with both. However, not limited thereto, the rack teeth 22C1 and the rack teeth 24B1 may be formed at the same position in the third direction to reduce the thickness of the portion 20A forming the gear of the pinion gear 20. In addition, the portion 20A forming the gear may be divided into two in the third direction, and a gear may be formed in each portion.

[0059] In addition, the pinion gear 20 has a shaft portion 20B protruding in the third direction. Therefore, it is possible to configure such that the pinion gear 20 is automatically rotated by connecting the shaft portion 20B to a motor or the like, or the pinion gear 20 is manually rotated by connecting the shaft portion 20B to a handle. Figure 4 As shown, in order to further suppress the mixing of dust and the like into the periphery of the pinion 20, the area of ​​the long hole formed in the first rack 22 to avoid interference with the pinion 20 is formed so that the area of ​​the long hole on the upper surface side is smaller than the area of ​​the long hole on the lower surface side.

[0060] Next, the width adjustment mechanism for adjusting the interval between the third arm 16 and the fourth arm 18 is described. However, for the part that is understood by those skilled in the art to have the same function as the first arm 12 and the second arm 14, the description is omitted or simplified, and the part that is different from the first arm 12 and the second arm 14 is mainly described. In addition, in the present embodiment, the first arm 12 and the second arm 14 and the third arm 16 and the fourth arm 18 are not linked, but can be moved independently. However, this is not limited to this, and it can also be configured so that all arms can move in a linked manner by engaging with the same or multiple parts that move in a linked manner.

[0061] The third arm 16 and the fourth arm 18 are used to assist the first arm 12 and the second arm 14 in holding the object to be transported, and are particularly used to suppress the movement of the object to be transported in the second direction. Figure 1 As shown, the third arm 16 and the fourth arm 18 have abutting surfaces, which abut against the side surface of the transported object facing the second direction or face each other with a slight gap.

[0062] Figure 8 is a cross-sectional view perpendicular to the third direction and passing through the side of the third rack 26 connected to the third arm 16 and the fourth rack 28 connected to the fourth arm 18 ( Figure 2 DD section in the figure). Figure 1 As shown, the third rack gear 26 and the fourth rack gear 28 are inserted into and supported in a gap between a base plate 34B and a base plate 34C, which are two plates arranged horizontally.

[0063] The third rack 26 is a member for moving the third arm 16 in the second direction as the pinion 21 rotates by supporting the third arm 16 at one end in the second direction and meshing with the pinion teeth of the pinion 21 at the other end. Similarly, the fourth rack 28 is a member for moving the fourth arm 18 in the second direction as the pinion 21 rotates by supporting the fourth arm 18 at one end in the second direction and meshing with the pinion teeth of the pinion 21 at the other end. Here, since the pinion 21 is rotatably supported by the shaft and bearings of the pinion 20, etc., the pinion 21 can rotate independently of the pinion 20 around the rotation axis AX. As shown in the figure, the third rack 26 is a plate-shaped member having a longitudinal direction in the first direction and a lateral direction in the second direction, and has a base 26A and the other end 26B, and the base 26A includes a third arm 16 side end connected to the third arm 16. Rack teeth 26C for meshing with the pinion 21 are formed on the side of the other end 26B facing the first direction and opposite to the rotation axis AX, and sawtooth waves for meshing with the serrated blade formed on the wall portion 32E of the ratchet 32 ​​are formed on the opposite side. Similarly, the fourth rack 28 has a base 28A and the other end 28B, the base 28A including a fourth arm 18 side end connected to the fourth arm 18. Rack teeth 28C for meshing with the pinion 21 are formed on the side of the other end 26B facing the first direction and opposite to the rotation axis AX. Although the sawtooth waves for engaging with the ratchet 32 ​​are not formed in the fourth rack 28, since the pinion 21 does not rotate but is stationary when the movement of the third rack 26 is suppressed, and the movement of the fourth rack 28 is also suppressed, it is not necessarily necessary to provide a structure for engaging with the ratchet 32 ​​in both racks. In addition, since the third rack 26 is arranged in one area divided by a plane passing through the rotation axis AX and parallel to the second direction, and the fourth rack 28 is arranged in another area, both can be arranged at the same position in the third direction. Therefore, the thickness of the pinion 21 in the third direction can be reduced, and the symmetry with respect to the above plane can be enhanced, and the center of gravity of the holding mechanism 10 can be brought close to the rotation axis AX.

[0064] In addition, the ratchet 32 ​​is provided with a mechanism for converting the movement in the second direction based on the pressing of the pressing portion 32C into the movement in the first direction to move the wall portion 32E in the first direction. For example, if a pin protruding in the third direction and a plate-like member whose movement in the second direction is restricted and can only move in the first direction are provided, and a through hole engaged with the pin is formed in the plate-like member to extend in a direction inclined relative to the first direction and the second direction, the plate-like member can move in the first direction as the pin moves in the second direction. In this embodiment, such a plate-like member is arranged below the third rack 26 and the fourth rack 28 in the third direction, and the wall portion 32E is arranged to protrude from the plate-like member to the third direction, thereby realizing such an action. Therefore, for the third arm 16 and the fourth arm 18, a structure that is difficult to widen and easy to narrow can also be realized. However, it is not limited to this, and a ratchet may be provided separately for each moving direction, or a ratchet may not be provided.

[0065] In the gripping mechanism 10 having the above structure, the distance between the first arm 12 and the rotation axis AX and the distance between the second arm 14 and the rotation axis AX can be changed by rotating the pinion 20 while keeping the distance between the first arm 12 and the rotation axis AX the same. Therefore, objects of various sizes can be stably gripped without the center of gravity of the gripping mechanism 10 being greatly moved and maintained near the rotation axis AX. In addition, as a mechanism for moving the arm, other mechanisms for converting rotational motion into linear motion can be used in addition to the rack / pinion mechanism.

[0066] Fig. 9 There is shown a gripping mechanism 50 equipped with a motor 52 for rotationally driving the pinion 20. However, since other parts have the same configuration as the gripping mechanism 10, detailed description is omitted by adding the same symbols. Fig.10 A mounting frame 60 for mounting the holding mechanism 10 and the holding mechanism 50 on a drone as an example of an unmanned aerial vehicle is shown. Fig.11 The embodiment in which the holding mechanism 10 for holding the object P is mounted on the drone D by using the mounting frame 60 is shown.

[0067] like Fig. 9As shown, in the gripping mechanism 50, a motor 52 connected to the shaft 20B of the pinion 20 is mounted on the cover 34A. In addition, a plunger 54 for pressing the pressing portion 32C of the ratchet 32 ​​is mounted on the base plate 34B. And it is configured so that according to the control command from the drone, the ratchet 32 ​​is unlocked by pressing the pressing portion 32C with the pin 54A of the plunger 54, and the shaft 20B and the pinion 20 are driven to rotate by driving the motor 52, thereby moving the first arm 12 and the second arm 14 in a direction away from the rotation axis AX. The motor 52 includes, for example, a servo motor, an angle sensor for detecting the rotation angle, a motor driver, and a control board equipped with an interface circuit for transmitting and receiving signals with the drone. However, the motor 52 is not limited to the servo motor, and a stepping motor, a DC motor, etc. may also be used. In addition, it may be configured so that a button for driving the motor 52 is separately provided, and the motor 52 can be driven by pressing the button by the person receiving the transported object. For example, such a button may be provided at a position where the pressing portion 32C is pressed and moved (for example, the side of the inner wall of the cover 34A facing the pressing portion 32C), and the first arm 12 and the second arm 14 may be extended only when the ratchet 32 ​​is unlocked.

[0068] Fig.10 : is a perspective view showing a case where the mounting frame 60 is mounted on the frames D1 and D2 of the drone D. The shape and structure of the mounting frame can be appropriately changed according to the form of the unmanned aerial vehicle used. In the present embodiment, when the drone D is provided with cylindrical frames such as the frames D1 and D2, the frames D1 and D2 are fixed at four positions from top to bottom by bolts to mount the mounting frame 60 on the drone D. Here, the mounting frame 60 is symmetrical with respect to a plane passing through the rotation axis AX and parallel to the first direction, and symmetrical with respect to a plane passing through the rotation axis AX and parallel to the second direction, and four pillars 60A to 60D extending in the third direction and beams 60E to 60H connecting the pillars to each other are formed. In addition, the four mounting positions of the drone D and the mounting position of the holding mechanism 10 on the substrate 34B are also symmetrical with respect to two planes. Therefore, even if the mounting frame 60 is installed, the center of gravity position of the holding mechanism 10 or the holding mechanism 50 will not be greatly separated from the rotation axis AX.

[0069] Fig.11The case where a holding mechanism 10 for holding a transported object P is installed on a drone D by using such a mounting frame 60 is shown. By installing the holding mechanism 10 in a manner such that the center of gravity of the drone D passes through the rotation axis AX in a stationary state, that is, the vertical line passing through the center of gravity of the drone D is consistent with the rotation axis AX, a situation where the center of gravity is greatly lost can be suppressed. In particular, by making the mounting positions of the drone D and the mounting fixture symmetrical with respect to a plane passing through the center of gravity of the drone D and parallel to the front direction, or with respect to a plane passing through the center of gravity of the drone D and parallel to the left and right directions, the flight stability of the drone D can be improved. In addition, the consistency is not limited to the case of complete consistency, but also includes the case of consistency within a reasonable range. For example, when the drone D has a plurality of frames that rotate symmetrically with respect to a prescribed central axis and propellers mounted on each frame, the central axis and the rotation axis AX are roughly consistent within a reasonable range.

[0070] Fig.12 A functional block diagram of a gripping mechanism 50 in an object transporting device in which the gripping mechanism 50 is mounted on an unmanned aerial vehicle represented by a drone is shown. Fig.13 A flowchart showing the operation of the gripping mechanism 50 when an object is transported using such an object transporting device is shown.

[0071] First, as step S1, the first arm 12, the second arm 14, the third arm 16, and the fourth arm 18 are opened to the maximum extent, and the transported object is arranged between these arms. In this step, the worker may release the ratchet 32 ​​manually to open the arms, but as described above, a button for driving the motor 52 may be installed on the gripping mechanism 50, and the worker may press the button to drive the motor 52, thereby opening the first arm 12 and the second arm 14 to the maximum extent.

[0072] Subsequently, in step S2, the object is gripped and locked by the ratchet 32. At this time, even if the center of the object is configured to deviate from the rotation axis AX in step S1, the object is moved in a manner such that the center of the object is approximately at the same position as the rotation axis AX relative to the first direction by being sandwiched between the first arm 12 and the second arm 14 that move at an equal distance from the rotation axis AX. Similarly, the third arm 16 and the fourth arm 18 are also centered relative to the second direction. This step can be performed by moving the first arm 12 or the second arm 18 in the direction of the rotation axis AX by manpower by a worker in a state where the ratchet 32 ​​is engaged with the first rack 22, etc., but can also be performed based on a button for driving the motor 52 or a command from the drone D. Then, when the grip is completed, since the ratchet 32 ​​is engaged with the first rack 22, etc. through the latch mechanism, the fixing (locking) of the first rack 22 and the first arm 12, etc. connected to the first rack 22 is also completed. Subsequently, under automatic driving, the drone D will set off for the destination.

[0073] As shown in step S3, the rotation angle of the pinion 20 is detected by the rotation angle sensor of the motor 52. For example, the detection result may be sent to the drone D at predetermined intervals, thereby detecting the expansion of the gap between the first arm 12 and the second arm 14 when conveying the object.

[0074] When the drone D arrives at the destination, in the judgment step of step S4, the release of the transported object is allowed, and the process moves to step S5, in which a command from the drone D is received.

[0075] Then, in step S6, the grip and lock of the transported object are released based on a command from the drone D, and the transported object is released. Specifically, based on a command from the drone D, the pin 54A of the plunger 54 presses the pressing portion 32C to release the lock based on the ratchet 32, and the motor 52 is driven to rotate the shaft portion 20B and the pinion 20, thereby moving the first arm 12 and the second arm 14 in a direction away from the rotation axis AX.

[0076] At this time, the abutment surface 12B of the first arm 12 and the abutment surface 14B of the second arm 14 are separated from the side of the conveyed object, and the pressing parts 12C1 and 14C1 are relatively moved by the springs 12C2 and 14C2 in a manner protruding from the abutment surfaces 12B and 14B. Therefore, the pressing parts 12C1 and 14C1 continue to press the conveyed object until the springs 12C2 and 14C2 have a natural length. For example, if the center of the conveyed object is not located on the rotation axis AX due to any circumstances such as the influence of a sudden gust of wind during conveyance, when the first arm 12 and the like are separated, the conveyed object tilts to the heavier side, so even when the first arm 12 and the second arm 14 are opened to the maximum value, it is possible that the conveyed object will not be separated from the gripping mechanism 50 and will contact the first arm 12 and the like and cannot be released. The same risk also occurs when the center of gravity of the conveyed object is not located on the rotation axis AX. However, in the gripping mechanism 50 according to the present embodiment, the pressing members 12C1 and 14C1 press the object to be conveyed to the center side where the rotation axis AX exists and forcibly center the object, so that the object can be prevented from tilting when released.

[0077] Through the above steps, the object can be stably transported and released without human intervention. Since the third arm 16 and the fourth arm 18 do not support the bottom surface of the object, they do not hinder the object from being released from the gripping mechanism 50 .

[0078] In addition to being mounted on an unmanned aerial vehicle, the gripping mechanism 10 or the like may also be mounted on an autonomous driving vehicle that moves unmanned within a factory to transport goods and parts, etc. Furthermore, the use is not limited to door-to-door delivery of goods, etc., and may also be used, for example, to transport relief supplies in dangerous areas or disaster areas that may cause harm to human bodies.

[0079] [Modification 1]

[0080] Fig.14 1 is a perspective view of a gripping mechanism 70 according to a modified example of the gripping mechanism 10 shown in the first embodiment. However, components having the same or similar functions are partially given common symbols or the same names and detailed descriptions are omitted.

[0081] The holding mechanism 70 includes a third rack 26-1 and a fourth rack 28-1 mounted to the first arm 12-1. These third rack 26-1 and fourth rack 28-1 are provided with rack gears meshing with a pinion (not shown) rotating around the rotation axis AX-2. The rotation axis AX-2 is parallel to the first direction and intersects the rotation axis AX perpendicularly. Therefore, by rotating the pinion, it is possible to move these arms in the second direction while maintaining the distance between the rotation axis AX-2 and the third arm 16 and the distance between the rotation axis AX-2 and the fourth arm 18 the same.

[0082] In addition, a handle 20C-1 is provided which is mounted on the shaft portion 20B-1 of the pinion gear. Therefore, the worker can easily open and close the first arm 12-1, etc. by turning the handle 20C-1. In addition, a handle can also be provided on the shaft portion 21B-1 of the pinion gear 21-1.

[0083] Furthermore, in order to improve the symmetry with respect to the plane perpendicular to the rotation axis AX-2 and passing through the rotation axis AX, the second arm 14-1 may be configured to have the same structure as the first arm 12-1, and may include a fifth arm and a sixth arm for grasping the object by moving in the second direction in the same manner as the third arm 16-1 and the fourth arm 18-1, and a width adjustment mechanism thereof. Furthermore, the motor connected to the shaft portion 20B-1 may be disposed below the handle 20C-1, and the pinion may be rotated not only manually but also by the motor.

[0084] [Modification 2]

[0085] Fig.15 1 is a perspective view of a gripping mechanism 80 according to a modified example of the gripping mechanism 10 shown in the first embodiment. However, components having the same or similar functions are partially given common symbols or the same names and detailed descriptions are omitted.

[0086] The holding mechanism 80 has neither the third arm nor the fourth arm, but can use a belt (not shown) to support the bottom surface of the transported object. The length of the belt can be changed according to the size of the transported object. Since the bottom surface of the transported object can be supported by the belt, the transported object can be held more stably. In addition, even if the shape of the transported object is not a rectangular parallelepiped, the transported object can be held in accordance with the shape.

[0087] The holding mechanism 80 includes a belt holder 82 and 84 for holding the belt and a latch mechanism 86 for mounting the belt holder 84 to the holding mechanism 80. A hole 82H having a width matching the width of the belt is formed in the belt holder 82, so that one end of the belt can be fixed through the hole 82H. Similarly, the other end of the belt can be fixed through the hole 84H1 formed in the belt holder 84. The latch mechanism 86 is built with a first pin that acts on a force toward the third direction downward by a spring and a second pin that acts on a force toward the outside of the first direction. On the first pin, an inclined surface is formed to facilitate the insertion of the belt holder 84. Therefore, when the end of the belt holder 84 is inserted into the latch mechanism 86, the inclined surface of the end of the belt holder 84 contacts the inclined surface of the first pin, and the first pin resists the elastic force of the spring and is pushed upward in the third direction. In addition, when the belt holder 84 is inserted, the first pin pushed upward in the third direction moves downward in the third direction by the spring and is inserted into the hole 84H2 in a through manner. In this case, the tip of the first pin is configured to be pressed outward in the first direction by the second pin. Therefore, the belt holder 84 can be attached to the holding mechanism 80. In addition, when removing the belt holder 84, the belt holder 84 can be moved downward in such a manner that the engagement of the first pin is opened while the belt holder 84 is further inserted and the second pin is pushed downward.

[0088] In the gripping mechanism 70 or 80 having the above structure, by rotating the handle and the pinion rotating integrally with the handle, the distance between the first arm and the rotation axis AX and the distance between the second arm and the rotation axis AX can be changed while maintaining the same distance between the two. Therefore, it is possible to stably grip objects of various sizes while the center of gravity of the gripping mechanism 10 is maintained near the rotation axis AX without significantly moving.

[0089] In addition, the first arm and the second arm can also move upward. In this structure, by making the first arm and the second arm and the upper surface of the conveyed object close to the base plate 34C and facing each other, even if the conveyed object has different heights, the conveyed object can be properly held in the height direction.

[0090] Description of Reference Numerals

[0091] AX…rotating axis, 10…holding mechanism, 12…first arm, 14…second arm, 16…third arm, 18…fourth arm, 20…pinion, 20C…handle, 21…pinion, 22…first rack, 24…second rack, 26…third rack, 28…fourth rack, 32…ratchet, 34A…cover, 34B…substrate, 34C…substrate, 50…holding mechanism, 52…motor, 54…plunger, 60…mounting frame, 60…mounting frame, 70…holding mechanism, 80…holding mechanism, 82…belt holder, 84…belt holder, 86…latch mechanism.

Claims

1. A gripping mechanism installed on a moving body for gripping and conveying a conveyed object, characterized in that: have: A rotating body can rotate around a rotation axis; The first arm and the second arm are arranged to be centered on the rotation axis and to be at the same distance from the rotation axis in order to hold the transported object; a width adjustment mechanism configured to engage with the rotating body, the first arm, and the second arm, so that when the rotating body rotates in a predetermined direction with the rotating axis as the center, the first arm and the second arm move in a direction approaching the rotating axis, and when the rotating body rotates in a direction opposite to the predetermined direction with the rotating axis as the center, the first arm and the second arm move in a direction away from the rotating axis; A second rotating body is configured to be manually rotatable around a second rotating axis and independently of the rotating axis; The third arm and the fourth arm are arranged to be centered on the second rotation axis and to be spaced from the second rotation axis by the same distance in order to hold the transported object; as well as The second width adjustment mechanism is configured to engage with the second rotating body, the third arm, and the fourth arm. If the second rotating body rotates in a specified direction around the second rotating axis, the third arm and the fourth arm move in a direction approaching the rotating axis. If the second rotating body rotates in a direction opposite to the specified direction around the second rotating axis, the third arm and the fourth arm move in a direction away from the rotating axis. The moving directions of the first arm and the second arm are perpendicular to the moving directions of the third arm and the fourth arm.

2. The holding mechanism according to claim 1, characterized in that: The rotating body includes a pinion having pinion teeth formed thereon, The width adjustment mechanism includes a first rack having first rack teeth meshing with the pinion teeth and connected to the first arm, and a second rack having second rack teeth meshing with the pinion teeth and connected to the second arm.

3. The holding mechanism according to claim 2, characterized in that: The holding mechanism further includes a locking device for suppressing movement of the first arm and the second arm in a direction away from the rotation axis.

4. The holding mechanism according to claim 3, characterized in that: The locking device includes a first engaging portion engaged with the first rack, a second engaging portion engaged with the second rack, and an elastic body, wherein the elastic body is used to press the first rack and the second rack in a direction perpendicular to the moving direction of the first arm and the second arm through the first engaging portion and the second engaging portion.

5. The holding mechanism according to claim 4, characterized in that: The first engaging portion has a first vertical surface formed in a direction in which the first arm approaches the rotation axis. The second engaging portion has a second vertical surface formed thereon in a direction in which the second arm approaches the rotation axis. The first rack has a plurality of surfaces periodically formed so as to face the first vertical surface and to face the first arm in a direction away from the rotation axis. The second rack has a plurality of surfaces periodically formed so as to face the second vertical surface and face in a direction in which the second arm is away from the rotation axis.

6. The holding mechanism according to any one of claims 1 to 5, characterized in that: A motor is further provided for rotating the rotating body about the rotating shaft.

7. The holding mechanism according to any one of claims 1 to 5, characterized in that: Also available: a first support portion, the first support portion being mounted to the first arm and supporting the transported object; a first elastic body, the first elastic body being used to press the transported object in a direction toward the rotation axis using the first supporting portion; a second support portion, the second support portion being mounted to the second arm and supporting the transported object; as well as The second elastic body is used to press the transported object in a direction toward the rotation axis using the second supporting portion.

8. The holding mechanism according to claim 7, characterized in that: The surface of the first support portion facing the rotation axis is formed to be perpendicular to a first direction in which the first arm and the second arm move. A surface of the second support portion facing the rotation axis is formed to be perpendicular to the first direction.

9. The holding mechanism according to any one of claims 1 to 8, characterized in that: The rotation axis and the second rotation axis are coaxial.

10. The holding mechanism according to any one of claims 1 to 8, characterized in that: The rotation axis and the second rotation axis have a perpendicular relationship, and the second rotating body is mounted to the first arm or the second arm.

11. A conveying device for conveyed objects, characterized in that: have: The mobile body is constituted by an unmanned aerial vehicle; and A holding mechanism according to any one of claims 1 to 10 installed below the unmanned aerial vehicle.

12. The conveying device for conveyed objects according to claim 11, characterized in that: The holding mechanism is installed so that a straight line passing through the center of gravity of the unmanned aerial vehicle and oriented in a vertical direction coincides with the rotation axis.

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