Cover opening hand for cover with convex tongue, cover opening system for cover with convex tongue and cover opening method for cover with convex tongue

Abstract

The invention provides a cover opening hand with a convex tongue cover, a cover opening system with a convex tongue cover and a cover opening method with a convex tongue cover, which can automatically open the cover with the convex tongue cover. A handle for opening a tongue-equipped cover, which is used for opening a tongue-equipped cover from an annular opening of a container, and which is characterized by being provided with a cover body that blocks the opening, and a tongue that is connected to the cover body and is provided along the outer surface of the container. The cover opening hand with the convex tongue is provided with a base part which is arranged on a mechanical arm; two claw parts supported by the base part and approaching and separating from each other; and a hook which is disposed so that the front end portion thereof faces a direction intersecting the approaching and separating direction, and which can engage with the tongue.

Description

Technical Field

[0001] The invention relates to a cover opening hand with a tab cover, a cover opening system with a tab cover and a cover opening method with a tab cover. Background Art

[0002] Among wide-mouth containers for packaging beverages, there is a type in which the bottle mouth is sealed with a cover plate having a pull ring.

[0003] For example, Patent Document 1 discloses a cover plate made of aluminum or the like for sealing the bottle mouth of a wide-mouth container and a pull ring provided on the cover plate. The cover plate is riveted to the bottle mouth and slightly enters the bottle mouth. Thus, a sealed state is ensured. Such a cover plate is removed from the bottle mouth by pulling the pull ring. Thus, the bottle mouth can be opened.

[0004] In recent years, research has been conducted to introduce robots that replace workers to automate operations. One of the methods is to automate the operation of opening a container lid. The lid described in Patent Document 1 is opened by pulling a pull ring, so an opening hand that has the function of holding the pull ring is required for automation.

[0005] Patent Document 1: Japanese Patent Application Publication No. 2003-170953

[0006] The tab is usually arranged in a manner of being attached along the outer side surface of the bottle mouth. Therefore, there is a technical problem that the tab cannot be grasped by the cap opening hand and it is difficult to automate the cap opening operation of the cap with the tab. Summary of the invention

[0007] The cover-opening hand with a tab cover involved in the application example of the present invention is used for the cover-opening operation of removing the cover with a tab cover from the annular opening of a container. The cover with a tab cover comprises a cover body and a tab, the cover body blocks the opening, the tab is connected to the cover body and is arranged along the outer side surface of the container, and the cover-opening hand with a tab cover comprises: a base portion, which is installed on a robot arm; two claw portions, which are supported by the base portion and approach and separate from each other; and a hook, which is configured with the front end portion facing a direction intersecting the approach and separation direction and can engage with the tab.

[0008] The cover opening system with a tab according to the application example of the present invention comprises: a robot having a robot arm; and the cover opening hand with a tab according to the application example of the present invention, which is attached to the robot arm.

[0009] The method for opening a lid with a tab involved in an application example of the present invention is a method for removing a lid with a tab from a circular opening of a container by using an automatic machine, the lid with a tab comprising a lid body and a tab, the lid body blocking the opening, the tab being connected to the lid body and arranged along the outer side surface of the container, the automatic machine comprising a claw portion, a tab holding portion, and a robot arm for moving the tab holding portion relative to the container, the method for opening a lid with a tab comprising the following steps: when a direction parallel to a tangent to an outer edge of the opening is set as a tangent direction, the distance between the container and the tab is enlarged by inserting the claw portion between the container and the tab along the tangent direction; the tab is held by the tab holding portion; and the robot arm causes the tongue holding portion holding the tab to move relative to the container, thereby removing the lid with the tab from the container. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 1 is a schematic diagram showing a cover opening system with a tab cover according to the first embodiment.

[0011] Figure 2 It is shown Figure 1 A partial cross-sectional view of a container with a lid.

[0012] Figure 3 yes Figure 1 Enlarged view of the lid opening hand with tab shown.

[0013] Figure 4 Observed from the positive side of the Y axis Figure 3 Front view of the cover opener with tab cover shown.

[0014] Figure 5 yes Figure 3 An enlarged perspective view of a lid opening hand with a tab lid is shown.

[0015] Figure 6 yes Figure 5 A partial enlarged view of the claw is shown.

[0016] Figure 7 yes Figure 1 Functional block diagram of the cover opening system with tab cover shown.

[0017] Figure 8 It is shown Figure 7 FIG. 2 is a diagram showing an example of the hardware configuration of a control device.

[0018] Fig. 9 This is a flowchart showing the structure of the method for opening the cover with a tab according to the first embodiment.

[0019] Fig.101 is a schematic diagram showing the positional relationship between the claw, the hook, and the tongue in the claw insertion step.

[0020] Fig.11 1 is a schematic diagram showing the positional relationship between the claw, the hook, and the tongue in the claw insertion step.

[0021] Fig.12 1 is a schematic diagram showing the positional relationship between the claw, the hook, and the tongue in the claw insertion step.

[0022] Fig.13 1 is a schematic diagram showing the positional relationship between the hook and the tongue in the tongue holding step.

[0023] Fig.14 1 is a schematic diagram showing the positional relationship between the hook and the tongue in the tongue holding step.

[0024] Fig.15 Schematic diagram showing the positional relationship between the hook and the tongue in the removal step.

[0025] Fig.16 Schematic diagram showing the positional relationship between the hook and the tongue in the removal step.

[0026] Fig.17 Schematic diagram showing the positional relationship between the hook and the tongue in the removal step.

[0027] Fig.18 Schematic diagram showing the positional relationship between the hook and the tongue in the removal step.

[0028] Fig.19 1 is a schematic diagram showing a cover opening handle with a tab according to a first modification of the first embodiment.

[0029] Fig. 20 It is a schematic diagram for explaining the method of opening the cover with a tab according to the second embodiment.

[0030] Fig.21 It is a schematic diagram for explaining the method of opening the cover with a tab according to the second embodiment.

[0031] Fig. 22 It is a schematic diagram for explaining the method of opening the cover with a tab according to the second embodiment.

[0032] Fig.23 It is a schematic diagram for explaining the method of opening the cover with a tab according to the third embodiment.

[0033] Description of Reference Numerals

[0034] 1: Cover opening system with tab cover, 2: Robot, 3: Force sensor, 4: Cover opening hand with tab cover, 5: Camera, 6: Rotation mechanism, 7: Control device, 9: Cover container, 21: Base, 22: Robot arm, 23: Front end, 41: Base, 42: Claw, 43: Hook, 44: Anti-slip part, 45: Pushing part, 46: Claw opening and closing part, 47: Support part, 48: Sliding part, 49: Anti-slip driving part, 71: Robot control part, 72: Force detection information acquisition part, 73: Image acquisition part, 74: Hand control part, 75: Rotation mechanism control part, 91: Container, 92: Cover with tab, 221: First arm, 222: Second arm, 223: Third arm, 422: Claw front end, 423: Base end, 4 24: inclined surface, 425a: upper surface, 425b: curved surface, 426: cam follower, 428: clamping portion, 428a: position, 428b: position, 432: front end portion, 482: fixed portion, 483: rod, 484: movable portion, 701: CPU, 702: ROM, 703: RAM, 704: external interface, 705: external bus, 911: bottom, 912: wall, 913: opening, 921: cover body, 922: tongue, 923: through hole, AX1: rotation axis, AX2: center axis, S102: claw insertion step, S104: tongue holding step, S106: removal step, O: center, W: width, r: radial direction, α: angle, θ: angle DETAILED DESCRIPTION

[0035] Hereinafter, a cover opening hand with a tab cover, a cover opening system with a tab cover, and a cover opening method with a tab cover of the present invention will be described in detail based on the embodiments shown in the drawings.

[0036] 1. First Implementation

[0037] First, the cover opening hand with a tab cover and the cover opening system with a tab cover according to the first embodiment will be described.

[0038] Figure 1 1 is a schematic diagram showing a cover opening system 1 with a tab according to a first embodiment.

[0039] It should be noted that in the various figures of the present application, an X-axis, a Y-axis, and a Z-axis are set as three mutually orthogonal axes. Each axis is represented by an arrow, and the front end side of the arrow is set as "positive", and the base end side of the arrow is set as "negative". In the following description, for example, "X-axis direction" includes both the positive direction and the negative direction of the X-axis. The Y-axis direction and the Z-axis direction are the same. In addition, in the following description, in particular, the positive side of the Z-axis is also referred to as "upper", and the negative side of the Z-axis is also referred to as "lower".

[0040] 1.1. Overview of the opening system for lids with tabs

[0041] Figure 1 The illustrated cover opening system 1 with a tab includes a robot 2 , a force sensor 3 , a cover opening hand with a tab 4 (the cover opening hand with a tab according to the first embodiment), a camera 5 , a rotation mechanism 6 , and a control device 7 .

[0042] The robot 2 has a base 21 and a robot arm 22. A force sensor 3 and a cover opening hand 4 with a tab cover are mounted on the robot arm 22. The cover opening hand 4 with a tab cover is used to open the cover by Figure 1 The container 91 and the cover 92 with tongue 92 shown in the figure are constituted by the cover container 9 and the cover 92 with tongue 92 is removed. Figure 1 As shown, the cover with a tab 92 includes a cover body 921 and a tab 922. The cover opening hand 4 with a tab approaches the container with a lid 9 by changing the posture of the robot arm 22, and pulls up and holds the tab 922. Then, when the posture of the robot arm 22 is changed in this state, the cover with a tab 92 is removed from the container 91.

[0043] Figure 2 It is shown Figure 1 A partial cross-sectional view of a container 9 with a lid.

[0044] Figure 2 The container 91 shown has a bottom 911, a wall 912 and an opening 913. The central axis of the container 91 is set as AX2. The bottom 911 is in the shape of a disk extending along a surface orthogonal to the central axis AX2. The wall 912 is erected along the central axis AX2 from the outer edge of the bottom 911 and is cylindrical. The opening 913 is connected to the upper end of the wall 912 and is annular. It should be noted that the shape of the container 91 is not limited to this. For example, the shape of the bottom 911 can be an ellipse, an oblong, or a polygon such as a hexagon or an octagon, or other shapes. In addition, the shape of the wall 912 can also be a cylindrical shape other than a cylindrical shape, such as a cylindrical shape with a polygonal cross-section.

[0045] Figure 2 The lid 92 with a tongue shown in the figure includes a lid body 921 and a tongue 922. The lid body 921 is, for example, riveted to the opening 913 and blocks the opening 913. The tongue 922 is connected to the lid body 921 and is provided along the outer side surface of the wall 912 (container 91). Specifically, the tongue 922 is connected to the outer peripheral surface of the lid body 921. In addition, the tongue 922 is a tongue-shaped portion extending downward from the connection portion of the lid body 921 and along the outer side surface of the wall 912. Furthermore, Figure 2The tongue 922 shown has a through hole 923 that penetrates in the thickness direction. When the tongue 922 is pulled upward (toward the positive side of the Z axis), the connection between the tongue 922 and the cover body 921 is broken, and the cover body 921 is loosened. Then, when the tongue 922 is moved in a direction intersecting the Z axis and passing through the space above the container 91, the cover body 921 is separated from the opening 913. It should be noted that the shape of the tongue cover 92 is not limited to this. For example, the tongue 922 may not have the through hole 923.

[0046] The force sensor 3 is mounted on the robot arm 22. The force sensor 3 detects the translational force, rotational force (torque) and other forces exerted on the cover opening hand 4 with the tab cover, and outputs force detection information. The control device 7 causes the force detection information to be reflected in the posture of the robot arm 22. It should be noted that the force sensor 3 can be set as required, for example, it can be omitted when it is not necessary to reflect the force detection information. In addition, a compliance mechanism (Compliance mechanism) can be set instead of the force sensor 3 or on the basis of the force sensor 3.

[0047] The tab cover opening hand 4 is attached to the robot arm 22 via the force sensor 3. The tab cover opening hand 4 is used for opening the cover to remove the tab cover 92 from the container 91 of the lidded container 9. The lidded container 9 is placed on the positive side of the Y axis of the tab cover opening hand 4.

[0048] The camera 5 takes a picture of the container 9 with a lid and outputs an image. The control device 7 detects the tongue 922 based on the image. It should be noted that the camera 5 can be set as needed, and can be omitted when the position of the tongue 922 is fixed and does not need to be detected, or when it can be detected by other sensors. Examples of other sensors include displacement sensors such as laser displacement meters and contact detection sensors such as contact detection probes. In addition, Figure 1 The camera 5 shown is fixed to the floor surface where the robot 2 is placed, but may be fixed to the wall surface or ceiling surface of the room where the robot 2 is placed, or may be mounted on the robot arm 22 .

[0049] The rotating mechanism 6 supports the container 9 with a lid and rotates the container 9 with a lid around the rotation axis AX1. The rotation axis AX1 is set to overlap with the central axis AX2 of the container 91. By rotating the container 9 with a lid, the position of the tongue 922 can be changed in the circumferential direction around the rotation axis AX1, and the tongue 922 can be arranged within the working range of the lid opening hand 4 with a tab lid. It should be noted that in the case where the tongue 922 can be arranged within the working range of the lid opening hand 4 with a tab lid by other mechanisms, for example, in the case where the posture of the robot arm 22 can be changed to move the lid opening hand 4 with a tab lid to arrange the tongue 922 within the working range, the rotating mechanism 6 can also be omitted.

[0050] The control device 7 acquires the force detection information output from the force sensor 3 and the image output from the camera 5. The control device 7 also controls the operations of the robot 2, the tongue cover opening hand 4, and the rotating mechanism 6. Furthermore, the force detection information and the image are reflected in these controls.

[0051] 1.2. Robots

[0052] Figure 1 The robot 2 shown is a horizontal multi-joint robot having a base 21 and a robot arm 22. It should be noted that the form of the robot 2 is not limited thereto, and may also be a vertical multi-joint robot, an orthogonal robot using a slider mechanism, or a dual-arm robot having a plurality of robot arms 22.

[0053] The base 21 supports the robot arm 22. The robot arm 22 has a front end 23 to which various end effectors can be mounted. In addition, the lid opening hand 4 with a tab cover is mounted on the base 21 via the force sensor 3. Figure 1 The front end 23 is shown. The mechanical arm 22 moves the cover opening hand 4 with a tab cover to any position in the space.

[0054] The robot arm 22 includes a first arm 221, a second arm 222, and a third arm 223. The first arm 221 rotates relative to the base 21 around a rotation axis parallel to the Z axis. The second arm 222 is provided at the front end of the first arm 221 and rotates around a rotation axis parallel to the Z axis. The third arm 223 is in the shape of a rod extending parallel to the Z axis, translates along the Z axis, and rotates around a rotation axis parallel to the Z axis.

[0055] 1.3. Opening handle with tab cover

[0056] Figure 3 yes Figure 1 An enlarged view of the cover opening hand 4 with a tab cover is shown. Figure 4 Observed from the positive side of the Y axis Figure 3 A front view of a cover opening handle 4 with a tab cover is shown. Figure 5 yes Figure 3 An enlarged perspective view of the cover opening hand 4 with a tab cover is shown.

[0057] Figures 3 to 5 The illustrated cover opening hand 4 with a tab includes a base portion 41 , two claw portions 42 , 42 , a hook 43 , a retaining portion 44 , a pressing portion 45 , a claw opening and closing portion 46 , a supporting portion 47 , a sliding portion 48 , and a retaining driving portion 49 .

[0058] The base portion 41 is attached to the robot arm 22 via the force sensor 3. In addition, each part other than the base portion 41 is attached to the base portion 41 directly or indirectly.

[0059] like Figure 5 As shown in FIG. 1 , the two claws 42, 42 are arranged in the X-axis direction with a gap therebetween. The shapes of the two claws 42, 42 may be different from each other, but Figure 5 The claws 42 are identical to each other, and each has a claw tip 422, a base end 423, and an inclined surface 424. The claws 42 are opposed to each other with the aforementioned gap therebetween. In addition, the inclined surface 424 is a substantially triangular shape including the claw tip 422 at one of the vertices. Figure 5 The inclined surface 424 shown is a substantially flat surface that is inclined relative to both the X-axis and the Y-axis. Specifically, when a normal line is drawn on the inclined surface 424, the normal line intersects at least at an angle relative to the X-axis and the Y-axis. The angle between the inclined surface 424 and the XZ plane is described later. Figure 6 and Fig.11 The angle θ is expressed in the figure, but the angle θ is an acute angle. Such a claw portion 42 has the function of separating the tongue 922 extending along the outer side surface of the wall portion 912 from the wall portion 912 during the cover opening operation. The two claw portions 42, 42 are driven by the claw opening and closing portion 46 described later, and approach and separate (open and close) from each other along the opening and closing axis parallel to the X-axis. The cover opening operation will be described later. It should be noted that the shape of the claw portions 42, 42 is not limited to this. For example, Figure 5 The inclined surface 424 is shown to be generally parallel to the Z-axis, but may also be inclined relative to the Z-axis.

[0060] Figure 6 yes Figure 5 A partial enlarged view of the claw portion 42 is shown.

[0061] Figure 6 The claw portion 42 shown in the figure has an upper surface 425a and a curved surface 425b in addition to the above-mentioned inclined surface 424. The upper surface 425a is a substantially flat surface inclined with respect to both the X-axis and the Z-axis. The angle between the upper surface 425a and the XY plane is Figure 6 It is represented by an angle α, but the angle α is an acute angle. The above-mentioned inclined surface 424 has the function of separating the tongue 922 from the wall portion 912, and the upper surface 425a has the function of pushing the tongue 922 away from the wall portion 912 from the bottom. In this way, it is possible to ensure that the space for the hook 43 described later to enter is larger. In addition, the curved surface 425b is provided between the inclined surface 424 and the upper surface 425a, and is a curved surface that smoothly connects them. In the cover opening operation, first, the inclined surface 424 contacts the tongue 922, and then the upper surface 425a contacts the tongue 922, which will be described in detail later. The curved surface 425b contacts the tongue 922 during the transition process and has the function of making the transition smooth. By providing the curved surface 425b, the occurrence of hooking, etc. can be suppressed during the transition process, so that the cover opening operation can be performed more smoothly.

[0062] Although the surfaces of the claw portion 42 have been described above, the shape of the claw portion 42 is not limited to the above-described shape. For example, the upper surface 425a and the curved surface 425b may be omitted, or other surfaces may be provided.

[0063] like Figure 3 As shown, the hook 43 is in the shape of a hook extending along the Y-axis and the upper surface gradually displaced upward toward the positive side (front end) of the Y-axis. The hook 43 engages with the lower surface of the tongue 922 from below the tongue 922, and has the function of pulling up the tongue 922 as the posture of the robot arm 22 changes. That is, the hook 43 at least contacts the lower surface of the tongue 922, and becomes the point of action in pulling up (lifting) the tongue 922. In addition, in the case where the tongue 922 has a through hole 923, the front end of the hook 43 can also be inserted into the through hole 923. The hook 43 has a front end 432 protruding obliquely upward. The front end 432 is in a shape that is easy to insert into the through hole 923, such as a shape in which the length in the Y-axis direction gradually shortens toward the front end or a shape in which the thickness in the Z-axis direction becomes thinner. Therefore, by inserting the hook 43 into the through hole 923, the hook 43 can be more stably engaged with the tongue 922. It should be noted that the shape of the hook 43 is not limited to this. For example, the hook 43 may have a groove into which a part of the tongue 922 is fitted, a protrusion on which the tongue 922 is hooked, or the like, instead of the above-mentioned hook-like shape.

[0064] In addition, the hook 43 is configured such that the front end portion 432 is oriented along the cross axis that intersects the above-mentioned opening and closing axis. In the present embodiment, the opening and closing axis is a part of the X-axis, that is, a part between the claws 42 in the X-axis, and the cross axis intersects the opening and closing axis. Specifically, the hook 43 is arranged below the midpoint between the claws 42, and the front end portion 432 is oriented obliquely upward in a manner close to the container with a lid 9. Thus, when the claw 42 is inserted to separate the tongue 922 from the wall 912, the hook 43 is arranged directly below (near) it, and the front end portion 432 is directed toward the tongue 922. As a result, the hook 43 can be smoothly engaged with the lower surface of the tongue 922 as the posture of the robot arm 22 changes. In addition, if such a configuration is adopted, the interference between the tongue 922 pulled up by the hook 43 and the claw 42 can be avoided by opening the claws 42 from each other.

[0065] It should be noted that the hook 43 may not be disposed directly below the midpoint between the claws 42, but may be disposed obliquely below or above. However, in order to engage with the lower surface of the tongue 922 and perform a pulling operation, it is preferably disposed below.

[0066] like Figure 4 and Figure 5As shown, the anti-detachment part 44 is provided above the hook 43 and is in the shape of a pin extending along the Z axis. The anti-detachment part 44 is driven by an anti-detachment driving part 49 described later, and approaches and separates from the hook 43 by moving up and down.

[0067] like Figures 3 to 5 As shown in FIG. 1 , the push-pull portion 45 is composed of a surface intersecting the Y axis. The push-pull portion 45 has a function of maintaining a certain distance between the claws 42, 42 and the container 91 by being pushed against the outer peripheral surface of the cover body 921 of the tongue cover 92. In other words, by pushing the push-pull portion 45 against the cover body 921, the claws 42, 42 are prevented from contacting the container 91, and the distance between the claws 42, 42 and the container 91 is easily controlled to a target distance. As a result, the success rate of the cover opening operation described later can be further improved.

[0068] The claw opening and closing portion 46 extends in the X-axis direction and drives the two claws 42, 42 to move in translation so that the two claws 42, 42 approach and separate from each other. Thus, the claw 42 can be driven to open and close at a desired time. The two claws 42, 42 open and close along the outer side surface of the wall portion 912 and in the tangential direction. The tangential direction refers to a direction parallel to the tangent of the outer edge of the annular opening portion 913. As the claw opening and closing portion 46, for example, a drive unit used for a pneumatic chuck, an electric chuck, etc. can be cited.

[0069] The support portion 47 supports the hook 43 , the claw opening and closing portion 46 , the anti-detachment driving portion 49 , etc. The support portion 47 is attached to the base portion 41 via a sliding portion 48 .

[0070] like Figure 3 As shown, the sliding portion 48 has a fixed portion 482, a rod 483 and a movable portion 484. The fixed portion 482 is fixed to the base portion 41, and the support portion 47 is connected to the movable portion 484. In addition, the rod 483 extends in the Y-axis direction, and the fixed portion 482 is connected to the end on the negative side of the Y-axis, and the movable portion 484 is connected to the end on the positive side of the Y-axis. In addition, a coil spring not shown in the figure is built into the fixed portion 482. For example, when the pushing portion 45 is pushed against the cover body 921, the reaction force generated corresponding to the pushing force is transmitted to the movable portion 484 via the support portion 47. The reaction force transmitted to the movable portion 484 reduces the coil spring via the rod 483. As a result, the distance between the fixed portion 482 and the movable portion 484 can be shortened. As a result, the pushing force can be reduced, and the excessive pushing force can be suppressed.

[0071] The anti-slipping drive part 49 extends in the Z-axis direction and drives the anti-slipping part 44 in translation so that the anti-slipping part 44 approaches and separates from the hook 43. Thus, the anti-slipping part 44 can be driven at a desired timing. Examples of the anti-slipping drive part 49 include a cylinder, a ball screw actuator, and an electric actuator. In addition, the anti-slipping drive part 49 may be a drive part that uses a spring or the like instead of air pressure, electricity, or the like. As a structure for realizing such an anti-slipping drive part 49, for example, a structure that displaces the anti-slipping part 44 using its force when the anti-slipping part 44 contacts the tongue 922 can be cited.

[0072] 1.4. Control device

[0073] Figure 7 yes Figure 1 The functional block diagram of the cover opening system 1 with a tab cover is shown.

[0074] like Figure 7 As shown, the control device 7 includes a robot control unit 71 , a force detection information acquisition unit 72 , an image acquisition unit 73 , a hand control unit 74 , and a rotation mechanism control unit 75 as functional units.

[0075] The robot control unit 71 has functions such as controlling the operation of the robot arm 22 and moving the tongue-covered lid opening hand 4 in coordination with the lidded container 9 .

[0076] The force detection information acquisition unit 72 acquires the force detection information output from the force sensor 3. Then, the force detection information is reflected in the control of the robot arm 22 by the robot control unit 71 and the control of the tongue cover opening hand 4 by the hand control unit 74 as needed.

[0077] The image acquisition unit 73 acquires the image output from the camera 5. Then, the image is reflected in the control of the robot arm 22 by the robot control unit 71, the control of the tab cover opening hand 4 by the hand control unit 74, and the control of the rotation mechanism control unit 75 as needed.

[0078] The hand control unit 74 controls the operation of the tongue-covered cover opening hand 4. Specifically, the hand control unit 74 controls the operations of the claw opening and closing unit 46 and the anti-detachment driving unit 49.

[0079] The rotation mechanism control unit 75 controls the operation of the rotation mechanism 6. Specifically, for example, the position of the tongue 922 in the circumferential direction around the rotation axis AX1 is detected based on the image acquired by the image acquisition unit 73. Then, the operation condition of the rotation mechanism 6 is determined based on the position of the tongue 922, and the container 9 with a lid is rotated around the rotation axis AX1.

[0080] Figure 8 It is shown Figure 7 FIG. 2 is a diagram showing an example of a hardware configuration of a control device 7.

[0081] The functions of each functional unit of the control device 7 are provided by, for example, Figure 8 The CPU 701 , ROM 702 , RAM 703 , external interface 704 , and external bus 705 are implemented by hardware. The CPU 701 , ROM 702 , RAM 703 , and external interface 704 can communicate with each other via the external bus 705 .

[0082] CPU701 is a central processing unit. The functions of each functional unit are realized by expanding various programs stored in ROM702 in RAM703 and executing CPU701. It should be noted that CPU701 may be, for example, a DSP (Digital Signal Processor). In addition, all or part of the hardware may be composed of FPGA (Field-Programmable Gate Array), ASIC (Application Specific Integrated Circuit), etc.

[0083] ROM702 is a read-only memory, which is composed of any non-volatile storage element. RAM703 is a random access memory, which is composed of any volatile storage element. ROM702 stores programs, data, setting values, etc. It should be noted that they can also be provided from the outside via a removable storage medium, a network, etc. In addition, ROM702 and RAM703 can be removable external storage devices, or storage devices set elsewhere via a network.

[0084] Examples of the external interface 704 include a digital input / output port such as a USB (Universal Serial Bus), an Ethernet (registered trademark) port, etc. The external interface 704 is used to transmit and receive signals with the robot 2 and other components.

[0085] 1.5. Opening method of cover with tab

[0086] Next, the method for opening the cover with a tab according to the first embodiment will be described. Note that, here, a method using the system 1 (automatic machine) for opening the cover with a tab according to the first embodiment described above will be described as an example.

[0087] Fig. 9 This is a flowchart showing the structure of the method for opening the cover with a tab according to the first embodiment. Fig. 9The illustrated method of opening a cover with a tab includes a claw inserting step S102, a tab holding step S104, and a removing step S106.

[0088] 1.5.1. Claw insertion steps

[0089] In the claw portion inserting step S102 , the claw portion 42 is inserted between the tongue 922 and the wall portion 912 along the aforementioned tangential direction.

[0090] Figures 10 to 12 are schematic diagrams showing the positional relationship between the claw 42 and the hook 43 and the tongue 922 in the claw insertion step S102. Figures 10 to 12 In the figure, for the convenience of illustration, only a part of the elements constituting the cover opening handle 4 with a tab cover is shown.

[0091] In the claw insertion step S102, first, the image acquisition unit 73 operates the camera 5 to take an image of the container with a lid 9. The image acquisition unit 73 acquires an image of the container with a lid 9 and detects the position of the tab 922. When the position of the tab 922 does not enter the operating range of the lid opening hand 4 with a tab, the position of the tab 922 is output. The rotation mechanism control unit 75 calculates the rotation angle of the container with a lid 9 based on the position of the tab 922, and operates the rotation mechanism 6 based on the rotation angle. In this way, the container with a lid 9 can be rotated to put the tab 922 into the operating range.

[0092] Next, the robot control unit 71 changes the posture of the robot arm 22 based on the position of the tongue 922, thereby making the tongue-covered lid opening hand 4 approach the lidded container 9. Fig.10 As shown, the push portion 45 is pushed against the outer edge of the cover body 921. As a result, the distance between the cover opening hand 4 with a tab cover and the cover container 9 can be set to a target distance. In addition, by pushing the push portion 45 against the cover body 921, contact with the container 91 can be avoided, thereby preventing damage to the container 91. It should be noted that when an excessive push force is generated when pushing the push portion 45, it can be alleviated by the sliding portion 48.

[0093] exist Fig.11 In the embodiment, the center of the cover body 921 when viewed from the Z axis is set to O, and the radial direction of the cover body 921 is set to r. The radial direction r ( Fig.11 Therefore, when the push portion 45 is pushed against the cover body 921, the claw portion 42 is arranged near the gap between the wall portion 912 of the container 91 and the protruding tongue 922. Fig.11 As shown, nearby refers to the direction of the tangent line ( Fig.11A position away from the gap between the wall portion 912 and the tongue 922 in the X-axis direction).

[0094] Next, the hand control unit 74 operates the claw opening and closing unit 46 to bring the two claws 42, 42 closer to each other. Fig.11 The two claws 42, 42 shown are close to the tongue 922, as shown in FIG. Fig.10 As shown in FIG. 1 , the claw tip 422 of the claw portion 42 enters the gap between the wall portion 912 and the tongue 922. It should be noted that the wall portion 912 is cylindrical, so the outer side is curved. Therefore, the gap between the wall portion 912 and the tongue 922 becomes larger as the distance from the center of the tongue 922 in the tangential direction moves toward both sides in the tangential direction. Therefore, in this embodiment, the claw portion 42 is inserted into the gap from both sides in the tangential direction. As a result, preparations for holding the tongue 922 in the next step can be smoothly performed.

[0095] In addition, the claw portion 42 has the aforementioned inclined surface 424. As described above, the inclined surface 424 is a substantially triangular surface that includes the claw tip portion 422 at one of its vertices and is inclined relative to both the X-axis and the Y-axis. More specifically, when viewed from the Z-axis, Fig.11 As shown, the angle θ formed by the tangent direction and the inclined surface 424 is an acute angle (greater than 0° and less than 90°), preferably greater than 10° and less than 60°, and more preferably greater than 20° and less than 45°. In other words, the width W of the claw portion 42 in the radial direction r gradually increases from the claw front end portion 422 toward the base end portion 423. Therefore, if the claw front end portion 422 is continuously inserted into the gap between the wall portion 912 and the tongue 922, the inclined surface 424 contacts the tongue 922, and the tongue 922 slides along the inclined surface 424. As a result, the distance between the wall portion 912 and the tongue 922 can be smoothly expanded. As a result, as shown in Fig.12 As shown, a wider gap between the wall portion 912 and the tongue 922 is ensured. In addition, even if the tongue 922 is arranged along the wall portion 912, preparations for holding the tongue 922 in the next step can be performed in a short time in this process, so the opening operation can be accelerated.

[0096] It should be noted that, as described above, after the inclined surface 424 contacts the protruding tongue 922, depending on the situation, Figure 6 The upper surface 425 a shown contacts the tongue 922 and pushes the tongue 922 upward, thereby further increasing the distance between the wall portion 912 and the tongue 922 .

[0097] 1.5.2. Tab retention steps

[0098] In the tongue holding step S104, the hook 43 (the tongue holding portion) holds the tongue 922. Specifically, the tongue 922 is held in the following process.

[0099] Fig.13 and Fig.14 are schematic diagrams showing the positional relationship between the hook 43 and the tongue 922 in the tongue holding step S104. Fig.13 and Fig.14 In the figure, for the convenience of illustration, only a part of the elements constituting the cover opening handle 4 with a tab cover is shown.

[0100] exist Figure 5 In the lid opening handle 4 with a tab 922, the hook 43 is arranged below the midpoint between the claws 42. That is, the hook 43 is on standby below the gap expanded by the claws 42. Fig.13 As shown, the hook portion 43 is on standby below the through hole 923 .

[0101] Then, the hand control unit 74 operates the anti-detachment driving unit 49 to displace the anti-detachment unit 44 downward. Fig.13 As shown in FIG. 4 , the anti-detachment portion 44 contacts and approaches the upper surface of the hook 43. As a result, Fig.13 As shown, the anti-detachment portion 44 is inserted into the through hole 923. In addition, the front end portion 432 of the hook 43 is continuously or intermittently connected to the anti-detachment portion 44, so that the hook 43 can be prevented from accidentally detaching from the through hole 923 (the tongue 922 falls off the hook 43). As a result, the hook 43 reliably holds the tongue 922.

[0102] It should be noted that, when the anti-detachment portion 44 is omitted, when the cover opening hand 4 with a tab cover is moved upward by the posture control of the robot arm 22, the upper surface of the hook 43 contacts the tab 922. As a result, the upper surface of the hook 43 is engaged with the tab 922. In addition, when the tab 922 has a through hole 923, when the hook 43 is moved upward, the upper surface of the hook 43 contacts the tab 922. Fig.13 When the state shown moves further upward, as Fig.14 As shown, the front end portion 432 of the hook 43 is inserted into the through hole 923. Thus, the hook 43 can hold the tongue 922.

[0103] It should be noted that the holding method is not limited to this. For example, when the tongue 922 does not have the through hole 923, the hook 43 only needs to have the function of clamping the tongue 922.

[0104] Thereafter, the claw opening and closing portion 46 is operated to separate the two claw portions 42 and 42 from each other.

[0105] 1.5.3. Removal steps

[0106] Figures 15 to 18 are schematic diagrams showing the positional relationship between the hook 43 and the tongue 922 in the removal step S106. Figures 15 to 18In the figure, for the convenience of illustration, only a part of the elements constituting the cover opening handle 4 with a tab cover is shown.

[0107] In the removal step S106, the robot control unit 71 changes the posture of the robot arm 22 to move the hook 43 (tab holding unit) holding the tab 922 relative to the container 91. Thus, the tab-attached cap 92 is removed from the container 91.

[0108] Specifically, first, Fig.15 As shown in FIG. 1 , the hook 43 holding the tongue 922 is pulled upward from the cover body 921. Fig.15 As shown, the top plate and the outer edge of the cover body 921 begin to break.

[0109] Then, if Fig.16 As shown, the hook 43 holding the tongue 922 is moved to the positive side of the Y axis. As a result, the fracture of the top plate and the outer edge portion spreads to the entire body, and the outer edge portion is loosened. Fig.17 As shown, the tabbed lid 92 is separated from the container 91.

[0110] Then, if Fig.18 As shown in FIG. 1 , the hand control unit 74 causes the anti-detachment driving unit 49 to operate and cause the anti-detachment unit 44 to move upward. As a result, the anti-detachment unit 44 is separated from the upper surface of the hook 43. As a result, Fig.18 As shown, the tongue 922 can be removed from the hook 43. At this time, the posture of the robot arm 22 can be changed as needed, so that the cover with tongue 92 is swung and the tongue 922 can be easily removed from the hook 43. As described above, the cover opening operation is completed. According to such a cover opening method for a cover with tongue, the cover opening operation of the cover with tongue 92 can be automated, so that the cover opening operation can be labor-saving and labor-saving.

[0111] In addition, by using the above-mentioned cover opening hand 4 with a tab cover, as long as the robot arm 22 can at least perform translational motions in the Z-axis direction and the Y-axis direction, the cover opening operation can be performed. In other words, by using the cover opening hand 4 with a tab cover, even a robot arm that cannot perform rotational motions around the X-axis, around the Y-axis, and around the Z-axis can be used for the cover opening operation. Thus, even a robot arm 22 with a small number of joints can be used for the cover opening system 1 with a tab cover, so it is easy to simplify and reduce the cost of the cover opening system 1 with a tab cover.

[0112] 2. First Modification of the First Embodiment

[0113] Next, a cover opening handle 4 with a tab according to a first modified example of the first embodiment will be described.

[0114] Fig.19FIG. 4 is a schematic diagram showing a cover opening handle 4 with a tab cover according to a first variation of the first embodiment. Fig.19 In the figure, for the convenience of illustration, only a part of the elements constituting the cover opening handle 4 with a tab cover is shown.

[0115] The first modification example will be described below. However, in the following description, the differences from the first embodiment will be described, and the description of the same matters will be omitted. Fig.19 In the present invention, the same components as those in the first embodiment are denoted by the same reference numerals.

[0116] The cover opening handle 4 with a tab cover according to the first modification is the same as the cover opening handle 4 with a tab cover according to the first embodiment, except that the structure of the claw portion 42 is different.

[0117] Fig.19 The claw portion 42 shown has a cam follower 426 (rotating body) provided on the surface facing the covered container 9. The cam follower 426 is a shaft bearing having a rotating axis parallel to the central axis AX2 of the container 91. Since it has an outer ring that rotates smoothly, when the claw portion 42 is opened and closed, even if the outer ring contacts the container 91, the load applied to the container 91 can be reduced. This can prevent the container 91 from being damaged.

[0118] Note that the claw portion 42 may include a member that reduces frictional resistance with the container 91 instead of the cam follower 426 or in addition to the cam follower 426. Examples of such a member include felt and fluororesin.

[0119] 3. Second Modification of the First Embodiment

[0120] Next, a method of opening a cover with a tab according to a second modification of the first embodiment will be described.

[0121] In the method for opening a cover with a tab according to the first embodiment, Figures 10 to 18 As shown, the container 9 with a lid is fixed, and the robot arm 22 is used to move the lid opening hand 4 with a tab lid to perform the lid opening operation.

[0122] In contrast, in the method for opening a lid with a tab according to the second variant, a gripping portion (not shown) for gripping a lid container 9 is mounted on the robot arm 22. On the other hand, the lid opening hand 4 with a tab is fixed. Then, the lid container 9 is moved by the robot arm 22 instead of the lid opening hand 4 with a tab so as to move along the relative movement path of the lid opening hand 4 with a tab relative to the lid container 9. In such a method, the robot arm 22 also moves the hook 43 (tab holding portion) relative to the container 91, so that the same lid opening operation as in the above-mentioned embodiment can be performed.

[0123] In each of the above-mentioned modified examples, it is possible to obtain the same effects as those of the first embodiment.

[0124] 4. Second Implementation

[0125] Next, a method for opening a cover with a tab according to a second embodiment will be described.

[0126] Figure 20 to Figure 22 Each of them is a schematic diagram for explaining the method of opening the cover with a tab according to the second embodiment.

[0127] The second embodiment will be described below. However, in the following description, the differences from the first embodiment will be described, and the description of the same matters will be omitted. Figure 20 to Figure 22 In the present invention, the same components as those in the first embodiment are denoted by the same reference numerals.

[0128] The method for opening the cover with a tab according to the second embodiment is the same as the method for opening the cover with a tab according to the first embodiment except that the structure of the automatic machine used is different.

[0129] In the claw insertion step S102 of the second embodiment, as Fig. 20 As shown, a tongue cover opening hand 4 having a claw portion 42 is used. Then, the claw opening and closing portion 46 is moved, as shown in FIG. Fig.21 As shown, the claw tip 422 of the claw portion 42 is inserted into the gap between the wall portion 912 and the tongue 922. In addition, the distance between the wall portion 912 and the tongue 922 can be increased by sliding the tongue 922 along the inclined surface 424.

[0130] In the tongue holding step S104 of the second embodiment, Fig. 22 The claw portion 42 shown also functions as a "tab retaining portion". Fig.21 The claw portion 42 shown in FIG. 1 is rotated about the Y axis. Fig.21 When the state shown is rotated 90° about the Y axis, the claw tip 422 can be directed upward (toward the positive side of the Z axis). Thus, the claw tip 422 of the claw portion 42 can be inserted into the through hole 923 of the tongue 922. As a result, the tongue 922 can be held by the claw portion 42 (tongue holding portion).

[0131] In the removal step S106 of the second embodiment, by Fig. 22 In the state shown, the posture of the robot arm 22 is changed, so that the claw 42 holding the tab 922 is relatively moved with respect to the container 91. Thus, the tab cover 92 is removed from the container 91.

[0132] In the second embodiment as described above, the same effects as those of the first embodiment can be obtained.

[0133] 5. Third Implementation

[0134] Next, a method for opening a cover with a tab according to a third embodiment will be described.

[0135] Fig.23 It is a schematic diagram for explaining the method of opening the cover with a tab according to the third embodiment.

[0136] The third embodiment will be described below. However, in the following description, the differences from the first embodiment will be described, and the description of the same matters will be omitted. Fig.23 In the present invention, the same components as those in the first embodiment are denoted by the same reference numerals.

[0137] The method for opening the cover with a tab according to the third embodiment is the same as the method for opening the cover with a tab according to the first embodiment except that the structure of the automatic machine used is different.

[0138] In the claw insertion step S102 of the third embodiment, for example, the distance between the wall portion 912 and the tongue 922 can be increased similarly to the claw insertion step S102 of the first and second embodiments.

[0139] In the tongue holding step S104 of the third embodiment, a Fig.23 The illustrated clamping portion 428 has a cover opening hand 4 with a tongue. Fig.23 The clamping portion 428 shown has two parts 428a and 428b arranged along the Z axis. The tongue 922 is clamped by the parts 428a and 428b. The parts 428a and 428b are driven by an actuator (not shown) to contact or separate from each other. Therefore, the clamping portion 428 functions as a "tongue holding portion". According to such a clamping portion 428, the tongue 922 can be held even when the tongue 922 does not have the through hole 923. It should be noted that the shape of the clamping portion 428 is not particularly limited.

[0140] In the removal step S106 of the third embodiment, by Fig.23 In the state shown, the posture of the robot arm 22 is changed, so that the clamping part 428 holding the tongue 922 moves relative to the container 91. Thus, the tongue-attached cover 92 is removed from the container 91. In the third embodiment as described above, the same effects as those of the first embodiment can be obtained.

[0141] 6. Effects of the aforementioned implementation methods

[0142] As described above, the cover opening hand 4 with a tab cover according to the above-mentioned embodiment is used for the cover opening operation of removing the cover 92 with a tab from the annular opening 913 of the container 91. The cover 92 with a tab includes a cover body 921 that blocks the opening 913 and a tab 922 that is connected to the cover body 921 and is arranged along the outer side of the container 91. Such a cover opening hand 4 with a tab cover includes a base 41, two claws 42, 42, and a hook 43. The base 41 is mounted on the robot arm 22. The two claws 42, 42 are supported by the base 41 and approach and separate from each other. The hook 43 is arranged with the front end facing the direction (cross axis direction) that intersects the approach and separation direction (opening and closing axis direction), and can engage with the tab 922.

[0143] According to such a configuration, the tabbed lid opening hand 4 can realize the automatic opening operation of the tabbed lid 92 even when the tab 922 is arranged along the outer side surface of the wall portion 912 of the container 91. Thus, the opening operation can be labor-saving and labor-saving.

[0144] In the above-mentioned embodiment, the claw 42 has a claw tip 422 and a base 423. The width W of the claw 42 in the radial direction r of the opening 913 gradually increases from the claw tip 422 toward the base 423.

[0145] According to such a configuration, if the claw tip 422 is continuously inserted into the gap between the wall 912 and the tongue 922, the distance between the wall 912 and the tongue 922 can be smoothly expanded by the above-mentioned shape of the claw 42. As a result, even if the tongue 922 is arranged along the wall 912, preparations for holding the tongue 922 can be made in a short time, so that the opening operation can be accelerated.

[0146] Furthermore, the cover opening handle 4 with a tab according to the above-described embodiment includes a pressing portion 45. The pressing portion 45 is supported by the base portion 41 and pressed against the cover main body 921.

[0147] According to such a configuration, the distance between the tongue cover opening hand 4 and the covered container 9 can be set to a target distance. In addition, by pressing the pressing portion 45 against the cover body 921, contact with the container 91 can be avoided, thereby preventing damage to the container 91.

[0148] Furthermore, the tab-cover opening handle 4 according to the above-described embodiment includes a sliding portion 48 . The sliding portion 48 can move the claw portion 42 relative to the base portion 41 .

[0149] According to such a configuration, it is possible to suppress an excessive pushing force of the lid opening hand 4 with a tab lid on the lid container 9. As a result, it is possible to suppress damage to the container 91 and the like.

[0150] The tongue-covered lid opening handle 4 according to the above-described embodiment includes a retaining portion 44. The retaining portion 44 is supported by the base portion 41 and moves toward and away from the hook 43.

[0151] According to such a configuration, since the hook 43 and the anti-detachment portion 44 are continuously or intermittently connected, for example, when the tongue 922 has a through hole 923, the hook 43 inserted into the through hole 923 can be prevented from accidentally detaching (the tongue 922 falls off the hook 43). Thus, the hook 43 reliably holds the tongue 922.

[0152] The tongue-covered lid opening handle 4 according to the above-described embodiment includes a disengagement prevention driving unit 49 . The disengagement prevention driving unit 49 drives the disengagement prevention unit 44 to approach and separate from the hook 43 .

[0153] According to such a configuration, the retaining portion 44 can be driven at a desired timing.

[0154] In addition, in the tab-cover opener 4 according to the above-described embodiment, the claw portion 42 includes a cam follower 426 (rotating body) having a rotation axis parallel to the central axis AX2 of the container 91 .

[0155] According to such a configuration, the cam follower 426 rotates smoothly, so even if the cam follower 426 contacts the container 91 when the claw portion 42 is opened or closed, the load applied to the container 91 can be reduced. This can prevent the container 91 from being damaged.

[0156] Furthermore, the tab-cover opening hand 4 according to the above-described embodiment includes a claw opening and closing portion 46. The claw opening and closing portion 46 drives the claw portion 42 to open and close.

[0157] According to such a configuration, the claw portion 42 can be driven at a desired timing.

[0158] The tab cover opening system 1 according to the above embodiment includes a robot 2 and a tab cover opening hand 4 according to the above embodiment. The robot 2 includes a robot arm 22. The tab cover opening hand 4 is attached to the robot arm 22.

[0159] According to such a configuration, it is possible to realize the tabbed lid opening system 1 that can automate the opening operation of the tabbed lid 92 even when the tab 922 is arranged along the outer side surface of the wall portion 912 of the container 91 .

[0160] The method for opening a cover with a tongue involved in the above-mentioned embodiment is a method for removing a cover with a tongue 92 from a circular opening 913 of a container 91 by an automatic machine, wherein the cover with a tongue 92 comprises a cover body 921 that blocks the opening 913 and a tongue 922 that is connected to the cover body 921 and is arranged along the outer side surface of the container 91.

[0161] The robot includes the claw portion 42, the hook 43 (tab holding portion), and the robot arm 22. The robot arm 22 moves the hook 43 relative to the container 91.

[0162] In addition, the method for opening the cover with a tab according to the above-mentioned embodiment includes a claw insertion step S102, a tab holding step S104, and a removal step S106. In the claw insertion step S102, when a direction parallel to the tangent of the outer edge of the opening 913 is set as the tangent direction, the claw 42 is inserted between the container 91 and the tab 922 along the tangent direction, thereby increasing the distance between the container 91 and the tab 922. In the tab holding step S104, the hook 43 (tab holding part) holds the tab 922. In the removal step S106, the robot arm 22 moves the hook 43 holding the tab 922 relative to the container 91, thereby removing the cover with a tab 92 from the container 91.

[0163] According to such a configuration, even when the tab 922 is arranged along the outer side surface of the wall portion 912 of the container 91, the lid 92 with the tab can be opened by an automatic machine. This can save labor and manpower in the lid opening operation.

[0164] As mentioned above, the cover opening hand with a tab cover, the cover opening system with a tab cover, and the cover opening method with a tab cover according to the present invention have been described based on the illustrated embodiments, but the present invention is not limited thereto.

[0165] For example, with respect to the lid opening hand with a tab lid and the lid opening system with a tab lid involved in the present invention, the various parts of the aforementioned embodiments can be replaced by any structure having the same function, any structure can be added to the aforementioned embodiments, and the aforementioned embodiments can also be combined with each other.

[0166] Furthermore, regarding the method for opening a lid with a tab according to the present invention, steps for any purpose may be added to the above-mentioned embodiment.

Claims

1. A lid opener with a tongue, characterized in that: The invention relates to an opening operation for removing a cover with a tab from a circular opening of a container, wherein the cover with a tab comprises a cover body and a tab, wherein the cover body blocks the opening, and the tab is connected to the cover body and is arranged along the outer side surface of the container, and wherein the cover opening handle comprises: A base portion, mounted on the robot arm; Two claws are supported by the base portion and move toward and away from each other; and The hook is arranged with its front end facing a direction intersecting the approaching and separating directions, and is engageable with the tongue.

2. The cover opening handle with a tab cover according to claim 1, characterized in that: The claw portion has a claw front end portion and a base end portion, The width of the claw portion in the radial direction of the opening portion gradually increases from the claw front end portion toward the base end portion.

3. The cover opening handle with a tab cover according to claim 1 or 2, characterized in that: The cover opening handle with a tab includes a push portion, and the push portion is supported by the base portion and is pushed against the cover body.

4. The cover opening handle with a tab cover according to claim 3, characterized in that: The tongue-covered cover opening handle includes a sliding portion capable of moving the claw portion relative to the base portion.

5. The cover opening handle with a tab cover according to claim 1 or 2, characterized in that: The cover opening handle with a tab has a detachment prevention portion, and the detachment prevention portion is supported by the base portion and approaches and separates from the hook.

6. The cover opening handle with a tab cover according to claim 5, characterized in that: The tongue-covered cover opening handle includes a disengagement prevention driving portion that drives the disengagement prevention portion so as to move the disengagement prevention portion toward and away from the hook.

7. The lid opening handle with a tab lid according to claim 1 or 2, characterized in that: The claw portion includes a rotating body having a rotation axis parallel to a central axis of the container.

8. The lid opening handle with a tab lid according to claim 1 or 2, characterized in that: The tongue-covered cover opening hand includes a claw opening and closing portion that drives the claw portion to open and close.

9. A cover opening system with a tab cover, characterized in that: have: A robot having a mechanical arm; and The cover opening hand with a tab cover as described in claim 1 or 2 is installed on the mechanical arm.

10. A method for opening a cover with a tongue, characterized in that: The invention relates to a method for removing a cap with a tongue from a circular opening of a container by an automatic machine, wherein the cap with a tongue comprises a cap body and a tongue, wherein the cap body blocks the opening, and the tongue is connected to the cap body and is arranged along the outer side surface of the container. The automatic machine includes a claw portion, a tongue holding portion, and a robot arm that moves the tongue holding portion relative to the container. The method for opening a cover with a tab comprises the following steps: When a direction parallel to a tangent line of an outer edge of the opening is set as a tangent direction, the distance between the container and the protruding tongue is enlarged by inserting the claw portion between the container and the protruding tongue along the tangent direction; holding the tab by the tab holding portion; and The robot arm moves the tab holding portion holding the tab relative to the container, thereby removing the tab-attached cap from the container.

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