Auxiliary mechanism, device and industrial robot manipulator for opening a tabbed can

Abstract

This invention relates to the field of intelligent manufacturing equipment technology, specifically disclosing an auxiliary mechanism, device, and industrial robot manipulator for opening pull-ring type cans. The auxiliary mechanism includes a fixed base, a bracket mounted on the fixed base, and an opening hook for hooking the pull ring of the pull-ring type can. The bracket includes at least one first profile arranged horizontally with a first groove. The opening hook is adjustablely mounted on the first profile through the cooperation of fasteners with the first groove. The auxiliary mechanism of this invention is independent of the industrial robot manipulator, which actively cooperates with the industrial robot manipulator to complete the opening action, avoiding damage to the can and material caused by puncture opening methods. Moreover, the combination design of the grooved profile structure and adjustable fasteners allows for convenient position adjustment of the opening hook in multiple directions, enabling rapid adaptation to the installation space requirements of different production line layouts.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing equipment technology, and in particular to an auxiliary mechanism, device, and industrial robot manipulator for opening pull-ring type cans. Background Technology

[0002] In modern industrial production, raw materials and food ingredients are often filled and transported using pull-ring cans. Production lines require the materials to be poured out after opening the cans; therefore, automating the opening of pull-ring cans is crucial for improving production line efficiency, ensuring personnel safety, and maintaining product hygiene. This necessitates seamless integration of the opening action into the automated process, avoiding damage to the can and its contents. Furthermore, automated production lines may have varying requirements regarding the layout of the opening station and the specifications of the cans they handle, necessitating that the opening mechanism itself possess excellent adaptability and adjustability.

[0003] Existing industrial robots typically use gripping tools on their actuators when opening pull-tab cans, such as the beverage service robot tool disclosed in Chinese Patent Publication No. CN108274493A. These tools generally include components such as finger cylinders and grippers. The can is gripped by two grippers and moved to a preset station, where a sharp piercing tool is used to pierce the can and open it.

[0004] While the above methods are relatively simple and direct in operation, they also have obvious drawbacks. Puncture opening can cause structural damage to the can, potentially leading to contamination of the contents and causing splashing or uncontrolled flow of liquids, affecting the cleanliness and safety of the production environment. Secondly, these puncture tools are usually fixed to external support structures, their position is fixed and cannot be adjusted horizontally or vertically, making it difficult to quickly adapt to different production line layouts. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an auxiliary mechanism, device and industrial robot manipulator for opening pull-ring type cans. The auxiliary mechanism is installed independently of the industrial robot manipulator. The opening hook is supported by a fixed base and bracket. The industrial robot manipulator actively approaches the can and cooperates to complete the opening action. The auxiliary mechanism does not require piercing the can and can effectively avoid damage to the can and the contents.

[0006] The auxiliary mechanism for opening the pull-ring type tank includes: Fixed base; The bracket is fixedly installed on the fixed base; Opening hook, used to hook the pull ring on a pull-ring can; The bracket includes at least one first profile arranged laterally, and the first profile is provided with a first groove extending along its length. The opening hook is adjustablely mounted on the first profile by means of the first fastener engaging with the first groove, so that the opening hook can be adjusted in position along the length of the first profile.

[0007] Specifically, the bracket also includes a vertically arranged second profile, with one end of the second profile connected to the fixed base and the other end connected to the first profile, so that the first profile and the second profile are arranged perpendicular to each other.

[0008] Specifically, the second profile is provided with a second groove extending along its length; The first profile and the second profile are connected by a first connector. One end of the first connector is fixedly connected to the first profile, and the other end is slidably engaged with the second groove of the second profile by a second fastener. The vertical installation height of the first profile relative to the second profile is adjustable.

[0009] Specifically, the bracket comprises a first profile arranged laterally; At least one end of the first profile is fixedly connected to the fixed base and is installed on the external support structure through the fixed base.

[0010] Specifically, the first fastener includes a screw and a nut that mates with the screw; The opening hook is installed in the first groove by one of the following connection methods: First connection method: The nut is slidably accommodated in the first groove, and the screw passes through the mounting part of the opening hook and is threadedly connected to the nut; Second connection method: The nut is located on the outside of the first profile, and the screw passes through the mounting part of the opening hook and the adjustment hole on the first profile in sequence before being threadedly connected to the nut.

[0011] Specifically, at least two opening hooks are provided on the first profile along its length.

[0012] Specifically, the first profile has two opposite sides with the first groove, and each of the first grooves is equipped with the opening hook, and the opening directions of the two opening hooks are opposite.

[0013] Specifically, the opening hook includes: The mounting part is installed on the first profile; The hook is connected to the lower end of the mounting part and is used to hook the pull ring.

[0014] Specifically, the opening hook also includes a narrowing portion, and the hook portion is connected to the lower end of the mounting portion through the narrowing portion; The width of the narrowing section gradually decreases from top to bottom; The narrowed portion forms a hollow area on the side opposite to the first profile.

[0015] Specifically, the end of the hook is provided with an inclined guide surface for guiding the hook to be inserted below the pull ring.

[0016] An industrial robot arm, used to grip a pull-ring type can and cooperate with the auxiliary mechanism to open the pull-ring type can, includes: A robotic arm body, wherein the robotic arm body is provided with an actuator; A clamping tool is disposed at the execution end of the robotic arm body. The clamping tool includes an opening and closing driver and two grippers driven by the opening and closing driver. The two grippers are used to jointly clamp the pull-ring type can.

[0017] Specifically, the clamping surfaces of the two opposing grippers are both concave surfaces.

[0018] Specifically, anti-slip rubber pads are provided on the opposing clamping surfaces of the two grippers.

[0019] The auxiliary device for opening the pull-ring type can includes: The auxiliary mechanism; The industrial robot manipulator; The range of motion of the industrial robot's manipulator covers the operating station where the opening hook of the auxiliary mechanism is located.

[0020] The beneficial effects of this invention are: 1. This invention opens the pull ring through a mechanical hooking principle. Compared with the traditional puncture opening method, it effectively avoids structural damage to the pull ring can itself, prevents the risk of the contents being contaminated by metal fragments, and avoids the problem of contents splashing due to puncture. 2. The combination of grooved profile structure and adjustable fasteners allows the cover hook to be easily adjusted in multiple directions, quickly adapting to the installation space requirements of different production line layouts. Attached Figure Description

[0021] Figure 1 Three-dimensional auxiliary mechanism of the present invention Figure 1 ; Figure 2 This is a top view of the auxiliary mechanism according to an embodiment of the present invention; Figure 3 for Figure 2 A three-dimensional sectional view along line AA; Figure 4 for Figure 2 A three-dimensional sectional view along line BB; Figure 5 This is an exploded view of the auxiliary mechanism according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the pull ring of the auxiliary device for opening the pull ring type can in an embodiment of the present invention. Figure 1 The robotic arm is equipped with a finger cylinder at its actuator end. The two opening and closing parts of the finger cylinder are connected to two grippers. After the two grippers grip the pull-ring can together, the camera carried by the industrial robot robotic arm judges the current angle of the pull ring and adjusts it to a suitable opening angle. Then, the industrial robot robotic arm carries the pull-ring can close to the opening hook and tilts the pull-ring can at a certain angle so that the hook of the opening hook is inserted under the pull ring. Figure 7 This is a schematic diagram of the structure of the pull ring of the auxiliary device for opening the pull ring type can in an embodiment of the present invention. Figure 2 The industrial robot arm controls the angle of the pull-ring can to return to the center. At this time, the pull ring has been lifted to a certain angle. Subsequently, the industrial robot arm can carry the pull-ring can in the opposite direction to the opening of the lid hook, thereby removing the pull ring from the pull-ring can. Figure 8 Three-dimensional auxiliary mechanism of the present invention Figure 2 The picture shows two hooks with openings facing opposite directions. Figure 9 The auxiliary mechanism of this invention is installed on the three-dimensional external support structure. Figure 1 The external support structure shown in the figure is arranged horizontally. The fixed base is installed at the bottom of the external support structure and is connected to the top of the second profile. The first profile is fixed to the bottom of the second profile and is perpendicular to the second profile. Figure 10 The auxiliary mechanism of this invention is installed on the three-dimensional external support structure. Figure 2 The bracket shown in the figure consists only of a horizontal first profile, which is mounted on a vertically placed external support structure via a fixed base at one end along the horizontal direction. Figure 11 The auxiliary mechanism of this invention is installed on the three-dimensional external support structure. Figure 3 The bracket shown in the figure consists only of a horizontal first profile. Both ends of the first profile are mounted on two vertically placed external support structures via fixed bases. The first profile also has three opening hooks along its length. Figure 12 Three-dimensional auxiliary mechanism of the present invention Figure 4 In the diagram, the second profile is connected to the fixed base by a connector. Figure 13 The figure shows an exploded view of the first profile, the opening hook, and the fastener according to an embodiment of the present invention. The second profile is connected to the fixed base by a connector. The nut is located on the outside of the first profile. The screw passes through the mounting part of the opening hook and the adjustment hole on the first profile in sequence and is threadedly connected to the nut. Figure 14 Top view of the fixed base according to an embodiment of the present invention Figure 1 In the diagram, the dashed circle indicates the position of the mounting hole before adjustment, and the arrow points to the direction of mounting hole adjustment. Figure 15 Top view of the fixed base according to an embodiment of the present invention Figure 2 The mounting holes in the diagram are waist holes, and the four waist holes are arranged diagonally in pairs.

[0022] The attached figures are labeled as follows: fixed base 10, screw hole 11, mounting hole 12, bracket 20, first profile 21, first groove 211, adjusting hole 212, second profile 22, second groove 221, opening hook 30, mounting part 31, narrowing part 32, hook part 33, inclined guide surface 331, pull ring type can body 40, pull ring 41, first fastener 50, screw 51, nut 52, second fastener 510, third fastener 520, fourth fastener 530, first connector 60, second connector 610, positioning hole 61, threaded part 70, external support structure 80, robot body 90, opening and closing driver 91, gripper 92, anti-slip rubber pad 93. Detailed Implementation

[0023] This invention provides an auxiliary mechanism, device, and industrial robot arm for opening pull-ring type cans. To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0024] In the description of this application, it should be understood that if terms such as "center", "vertical", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0025] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0027] Please refer to Figures 1 to 15 : This embodiment discloses an auxiliary device for opening a pull-ring type can. The auxiliary device includes an auxiliary mechanism and an industrial robot arm. The range of motion of the industrial robot arm covers the operating position where the opening hook 30 of the auxiliary mechanism is located. The pull-ring type can 40 is opened by the cooperation of the industrial robot arm and the auxiliary mechanism.

[0028] The industrial robot arm includes a robot body 90 and a gripping tool disposed at its execution end. The gripping tool includes an opening and closing driver 91 and two grippers 92 driven by the opening and closing driver 91. The opening and closing driver 91 can be a finger cylinder. The two grippers 92 are used to grip the pull-ring type can 40 together. The robot body 90, in conjunction with the gripping tool, can perform the following operations: gripping the pull-ring type can 40; hooking the pull ring 41 onto the opening hook 30 of the auxiliary mechanism; and pulling the pull-ring type can 40 to open the pull ring 41 using the opening hook 30.

[0029] like Figure 1 As shown, the auxiliary mechanism includes a fixed base 10, a bracket 20, an opening hook 30, and a first fastener 50. The bracket 20 is fixedly mounted on the fixed base 10, while the opening hook 30 is adjustablely mounted on the first profile 21 of the bracket 20 via the first fastener 50, specifically designed to hook the pull ring 41 of the pull-ring type can 40. This application, by designing an auxiliary mechanism for use with an industrial robot arm, combining the multi-directionally adjustable bracket 20 and the specially designed opening hook 30, achieves non-destructive, precise, and stable opening of the pull-ring type can 40.

[0030] Compared with existing technologies that use industrial robot arms in conjunction with piercing tools to open cans, the auxiliary mechanism of this invention has significant differences and advantages. Existing technologies (such as the beverage service robot tool disclosed in Chinese Patent Publication No. CN108274493A) rely on a gripping tool mounted on the robot's actuator to hold the can and then move the can to perform the piercing action. This piercing and opening method has problems such as contaminating the material inside the can, causing material splashing, and long-term impact damaging the precision of the robot's joints.

[0031] This invention utilizes a fixed auxiliary mechanism, allowing an industrial robot's manipulator to actively approach and cooperate in opening the can. This method eliminates the need to puncture the can body, avoiding damage to the can's structure and contamination of its contents, thus ensuring material hygiene. Simultaneously, the opening action is gentle, significantly reducing impact on the industrial robot's manipulator, which helps maintain its long-term operational reliability and positioning accuracy stability, making it particularly suitable for high-precision robots or collaborative robots. Furthermore, this auxiliary mechanism is structurally independent and can be integrated into the production line as a standard workstation module, enhancing application flexibility and the modularity of the production line.

[0032] Specifically, regarding the structure of this embodiment, as follows: Figures 1 to 3 As shown, the support frame 20 includes a horizontally arranged first profile 21 and a vertically arranged second profile 22. The fixed base 10 is typically fixed to the ground or workbench by anchor bolts, expansion bolts, or welding, providing a stable installation foundation for the entire device. The lower end of the second profile 22 is connected to the fixed base 10, and the upper end is connected to the first profile 21, so that the first profile 21 and the second profile 22 are arranged perpendicular to each other, forming a stable support frame. The opening hook 30 is specifically installed on the first profile 21, and after installation, it is in a suspended state, forming an operating space below for the pull-ring type can 40 to open. This frame structure not only ensures overall rigidity but also facilitates the installation and adjustment of various components.

[0033] It should be noted that the specific configuration of the bracket 20 is not limited to the inverted "L" shape structure used in this embodiment (i.e., a vertical second profile 22 connected to a horizontal first profile 21). In other embodiments of the present invention, the bracket 20 may consist of only a horizontally arranged first profile 21, which can be directly mounted on the lateral support surface provided by the equipment frame, column, or wall through the fixing base 10, forming a cantilever beam structure or a simply supported beam structure. These modifications made according to the actual installation space and stress requirements all fall within the protection scope claimed by the present invention.

[0034] Furthermore, the first profile 21 is provided with a first groove 211 extending along its length. The opening hook 30 is slidably mounted on the first profile 21 through the engagement of the first fastener 50 with the first groove 211. This allows the opening hook 30 to be flexibly adjusted in its installation position along the length of the first profile 21. This structure greatly enhances the adaptability of the device to different industrial robot installation positions, different production line layouts, and different specifications of pull-ring type cans 40. Adjustment can be quickly completed by simply loosening the first fastener 50, sliding the opening hook 30 to the desired position, and then locking it again, without the need to replace parts or make complex modifications, thus improving the flexibility of the production line and the utilization rate of equipment.

[0035] Furthermore, the second profile 22 is provided with a second groove 221 extending along its length. The first profile 21 and the second profile 22 are connected by a first connector 60. One end of the first connector 60 is fixedly connected to the first profile 21 by a fourth fastener 530, and the other end is slidably engaged with the second groove 221 of the second profile 22 by a second fastener 510. By loosening the second fastener 510, the first connector 60, together with the first profile 21, can be driven to slide along the second groove 221 to adjust the vertical installation height of the first profile 21 relative to the second profile 22. This connection method allows for adjustment of the vertical installation height of the first profile 21 relative to the second profile 22, thereby enabling more precise alignment with the trajectory of the industrial robot's mechanically held can, optimizing the coordination accuracy of the opening action, and further improving the success rate and efficiency of opening the can.

[0036] In this embodiment, the first profile 21 has a first groove 211 on each of its four sides; the second profile 22 also has a second groove 221 on each of its four sides. Preferably, the first profile 21 and the second profile 22 are profiles with the same cross-sectional shape and size (such as square tubular profiles). The advantage of this standardized design is that it reduces the types of parts, lowers production and inventory costs, and improves assembly efficiency. The multi-faceted groove structure on the profile provides multiple optional mounting surfaces for the first connector 60 and the first fastener 50, increasing assembly flexibility. Of course, the cross-sectional shape of the profile, the number of grooves, and the layout can be varied as needed, for example, using a profile with grooves on only two opposite sides. These variations based on the same concept are all within the scope of protection of this invention.

[0037] like Figure 1 and Figure 5As shown, the second profile 22 is connected to the fixed base 10 via a second connector 610; the second connector 610 is fixed by a third fastener 520 engaging with the second groove 221 of the second profile 22. Preferably, the second profile 22 is connected to the fixed base 10 via four surrounding second connectors 610, each second connector 610 corresponding to a third fastener 520 and a threaded component 70. The trapezoidal nut of the third fastener 520 is inserted into the second groove 221 of the second profile 22, and the hexagonal screw of the third fastener 520 passes through the second connector 61 and is threaded into the trapezoidal nut, thus fixing the second profile 22 to the fixed base 10; the threaded component 70 (such as an internal hexagonal socket head cap screw) passes through the positioning hole 61 of the second connector 610 and is screwed into the screw hole 11 on the fixed base 10, thereby fixing the second connector 610 to the fixed base 10. This multi-point surrounding fixing method ensures the extremely stable connection between the second profile 22 and the fixed base 10, effectively resisting the torque that may be generated in various directions during the opening process, and ensuring the reliability of the device for long-term use.

[0038] The fixed base 10 is provided with screw holes 11 and mounting holes 12. Screw holes 11 are used for threaded connection of threaded component 70. Threaded component 70 passes through the second connector 610 and is threaded into screw holes 11, thereby fixing the second connector 610 to the fixed base 10, ensuring the strength and accuracy of the connection. Mounting holes 12 are used to fix the fixed base 10 to the foundation surface using anchor bolts or similar materials. The position and number of mounting holes 12 can be designed according to actual fixing requirements, and their adjustable position facilitates adaptation to different foundation conditions during on-site installation.

[0039] In this embodiment, the first fastener 50, the second fastener 510, the third fastener 520, and the fourth fastener 530 all include a screw 51 and a nut 52 that mates with the screw 51. Preferably, the nut 52 is a trapezoidal nut, and the screw 51 is an internal hexagon socket head cap screw. When the first connection method is used, the trapezoidal nut of the first fastener 50 is slidably accommodated in the first groove 211 or the second groove 221, and the screw 51 of the first fastener 50 passes through the mounting part 31 of the cover hook 30 (while the screws 51 of the third fastener 520 and the fourth fastener 530 pass through the second connector 610 and the first connector 60, respectively) and is threadedly connected to the trapezoidal nut. The fit between the trapezoidal nut and the profile groove has the advantages of good self-locking, stable connection, and strong load-bearing capacity. The internal hexagon socket head cap screw facilitates tightening operations using tools. It is understood that the specific form of fastener 50 is not limited to this. For example, a T-bolt and nut combination or other fastening elements that can achieve sliding connection and locking with the profile groove can also be used. These alternatives are all within the scope of the present invention.

[0040] like Figure 4As shown, the cover hook 30 includes a mounting portion 31, a narrowing portion 32, and a hook portion 33 connected sequentially from top to bottom. The narrowing portion 32 forms a hollow area on the side opposite to the first profile 21, a design that helps reduce weight and avoid interference. The width of the narrowing portion 32 gradually decreases from top to bottom, making the lower end of the hook portion 33 narrower, which makes it easier to insert under the pull ring 41. The hook portion 33 is located at the lower end of the narrowing portion 32 for finally hooking the pull ring 41.

[0041] Furthermore, the end of the hook 33 is provided with an inclined guide surface 331, which is used to smoothly guide the hook 33 to insert under the pull ring 41 when the industrial robot mechanically holds the can at an angle, reducing collisions and jamming, and ensuring smooth operation.

[0042] The operation process of the auxiliary device in this embodiment to open the pull ring 41 of the pull ring type can 40 is as follows: First, such as Figure 6 As shown, the actuator of the robotic arm body 90 is equipped with an opening and closing driver 91. The two opening and closing parts of the driver 91 are connected to two grippers 92. To enable the grippers 92 to adapt to gripping various outer diameter pull-ring cans 40, the opposing gripping surfaces of the two grippers 92 are designed as concave surfaces. This concave surface allows the grippers 92 to form multi-point or line contact when in contact with the can body of the pull-ring can 40, thereby guiding the pull-ring can 40 to automatically center during gripping and adaptively compensating for changes in the diameter of the pull-ring can 40, ensuring a uniform distribution of gripping force. The concave surface can be V-shaped, arc-shaped, or other shapes, all of which can achieve the aforementioned adaptive centering function. To improve gripping stability and safety, anti-slip rubber pads 93 are provided on the opposing inner gripping surfaces of the two grippers 92. These anti-slip rubber pads 93 effectively increase friction, preventing accidental slippage during gripping and moving of the pull-ring can 40. In addition, by appropriately increasing the size of the anti-slip rubber pad 93, the contact area between it and the pull-ring type tank body 40 can be increased, thereby dispersing the clamping force, avoiding excessive local pressure that could cause indentations or deformation on the tank surface, and better protecting the integrity of the tank.

[0043] After the two grippers 92 jointly hold the pull-ring can 40, the industrial robot arm can use its onboard vision system (such as a camera) to identify and judge the current circumferential angle of the pull ring 41, and adjust the pull ring 41 to a suitable angle for the hook 33 of the cap-opening hook 30 to engage. Subsequently, the industrial robot arm carries the pull-ring can 40 toward the cap-opening hook 30, and controls the pull-ring can 40 to tilt at a certain angle, so that the hook 33 of the cap-opening hook 30 smoothly inserts into the pull ring 41 under the guidance of the inclined guide surface 331, thereby completing the hook 33's gripping of the pull ring 41.

[0044] Next, as Figure 7As shown, the industrial robot arm controls the pull-ring can 40 to return to its original angle, making the can 40 approximately vertical to the ground. During this process, the hook 33 exerts a lever effect on the pull ring 41, prying it up at a certain angle. Finally, the industrial robot arm carries the pull-ring can 40 away from the side where the hook 33 of the cap hook 30 is located, that is, in the direction that the pull ring 41 is torn open. This direction is the opening direction of the hollow area formed by the narrowing part 32 of the cap hook 30, and it is also the direction away from the first profile 21. Through this action, the pull ring 41 is fully pulled up, completing the opening.

[0045] In some embodiments, such as Figure 8 As shown, the first profile 21 has two opposite sides with a first groove 211, and each first groove 211 is equipped with a cover hook 30, and the opening directions of the two cover hooks 30 are opposite.

[0046] This arrangement allows the auxiliary mechanism to simultaneously serve two industrial robot arms approaching from different directions or two different can-holding postures of the same industrial robot arm, effectively improving the utilization rate of the workstation and the opening efficiency. This demonstrates the flexibility of the device layout of the present invention. It should be noted that the number and installation direction of the opening hooks 30 can be configured according to the actual needs of the production line. For example, multiple opening hooks 30 can be installed on the same side of the same first profile 21 to adapt to high-speed production, or opening hooks 30 at different angles can be installed on different sides. These variations are all within the scope of protection of this invention.

[0047] In some embodiments, such as Figure 9 As shown, the external support structure 80 is arranged horizontally (such as a horizontal beam), the fixed base 10 is installed at the bottom of the external support structure 80, and the fixed base 10 is connected to the top of the second profile 22. The first profile 21 is fixed at the bottom of the second profile 22 and is perpendicular to the second profile 22.

[0048] This inverted installation method demonstrates the adaptability of the device to different spatial layouts. This installation method can be used when there is a usable support structure above the work area, saving floor space. This indicates that the installation method of the present invention is not limited to ground placement; its fixing base 10 can be adapted to external support structures 80 in various directions.

[0049] In some embodiments, such as Figure 10 As shown, the bracket 20 consists of only one horizontally arranged first profile 21. The first profile 21 is directly installed on the vertically placed external support structure 80 (such as a column or wall panel) through the fixed base 10 at one end of the horizontal direction.

[0050] This simply supported beam or cantilever beam structure is suitable for scenarios with more compact space requirements and relatively small opening forces. It further illustrates that the structure of the support 20 can be simplified according to actual needs, as long as it can stably support the opening hook 30 and fulfill the opening function; such a simplified design also falls within the protection scope of this invention.

[0051] In some embodiments, such as Figure 11 As shown, the bracket 20 is composed only of the first profile 21 in the horizontal direction. However, both ends of the first profile 21 in the horizontal direction are respectively installed on two external support structures 80 placed vertically through the fixed base 10, forming a simply supported beam structure. Furthermore, three opening hooks 30 are provided on the first profile 21 along its length direction.

[0052] The structure with supports at both ends enhances the rigidity and stability of the first profile 21, making it suitable for long spans or situations requiring multiple workstations to be set up simultaneously (three opening hooks 30 can correspond to three operating positions). This demonstrates the scalability of the device of the present invention, and the number of opening hooks 30 can be flexibly increased according to the production cycle and workstation requirements.

[0053] In some embodiments, such as Figure 12 As shown, although the second profile 22 is provided with the second groove 221 on all four sides, it is connected to the fixed base 10 by only one connector 60. In this case, only one second groove 221 is used.

[0054] This single-point connection method may be suitable for applications with lighter loads or lower stability requirements, or for situations where multi-point wraparound connections are not feasible due to space constraints. This indicates that the number and arrangement of connectors 60 can be adjusted according to actual stress conditions and structural constraints, and do not necessarily require multiple wraparound connections.

[0055] In some embodiments, such as Figure 13 As shown, the nut 52 is located on the outside of the first profile 21, and the screw 51 passes through the mounting part 31 of the cover hook 30 and the specially opened adjustment hole 212 on the first profile 21 in sequence before being threadedly connected to the nut 52.

[0056] This second connection method differs from the method of embedding the nut 52 into the groove. The adjustment hole 212 can be an oblong hole (waist hole), allowing the cover hook 30 to be adjusted within a certain range. This method may be used when certain profile grooves are incompatible with specific nuts or when a simpler installation process is required. This illustrates that the connection between the fastener 50 and the profile can be implemented in multiple ways.

[0057] In some embodiments, such as Figure 14As shown, by changing the positional distribution of the mounting holes 12 relative to the screw holes 11, different foundation conditions or the layout of the fixing bolts can be adapted. This indicates that the hole design of the fixing base 10 can be customized according to actual installation needs, and its core purpose is to provide a stable and reliable fixing function.

[0058] In some embodiments, the round holes can be replaced with oblong holes, and the four oblong holes are arranged diagonally in pairs.

[0059] like Figure 15 As shown, the design of the waist hole allows for fine adjustment of the position of the fixing base 10 along the length of the waist hole when fixing the fixing base 10, thereby compensating for hole position errors on the installation foundation or external support structure 80 and enhancing the adaptability and fault tolerance of on-site installation. The shape (round hole, waist hole, etc.) and layout of the mounting hole 12 can be designed as needed.

[0060] The preferred connection method of the present invention has been described in detail above, but the present invention is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. An auxiliary mechanism for opening a pull-ring type can, characterized in that, include: Fixed base (10); The bracket (20) is fixedly installed on the fixed base (10); Opening hook (30) is used to hook the pull ring (41) of the pull ring type can (40); The bracket (20) includes at least one first profile (21) arranged laterally, and the first profile (21) is provided with a first groove (211) extending along its length direction. The opening hook (30) is adjustablely mounted on the first profile (21) by the cooperation of the first fastener (50) and the first groove (211), so that the opening hook (30) can be adjusted in its installation position along the length direction of the first profile (21).

2. The auxiliary mechanism according to claim 1, characterized in that, The bracket (20) also includes a vertically arranged second profile (22), which is connected to the fixed base (10) at one end and to the first profile (21) at the other end, so that the first profile (21) and the second profile (22) are arranged perpendicular to each other.

3. The auxiliary mechanism according to claim 2, characterized in that, The second profile (22) is provided with a second groove (221) extending along its length direction; The first profile (21) and the second profile (22) are connected by a first connector (60). One end of the first connector (60) is fixedly connected to the first profile (21), and the other end is slidably engaged with the second groove (221) of the second profile (22) by a second fastener (510). The vertical installation height of the first profile (21) relative to the second profile (22) is adjustable.

4. The auxiliary mechanism according to claim 1, characterized in that, The bracket (20) is composed of a first profile (21) arranged horizontally; at least one end of the first profile (21) is fixedly connected to the fixed base (10) and installed on the external support structure (80) through the fixed base (10).

5. The auxiliary mechanism according to claim 1, characterized in that, The first fastener (50) includes a screw (51) and a nut (52) that engages with the screw (51); The opening hook (30) is installed in the first groove (211) by one of the following connection methods: First connection method: The nut (52) is slidably accommodated in the first groove (211), and the screw (51) passes through the mounting part (31) of the opening hook (30) and is threadedly connected to the nut (52); Second connection method: The first profile. The nut (52) with the adjustment hole (212) is located on the outside of the first profile (21). The screw (51) passes through the mounting part (31) of the cover hook (30) and the adjustment hole (212) in sequence and is threadedly connected to the nut (52).

6. The auxiliary mechanism according to claim 1, characterized in that, The first profile (21) has two opposite sides provided with the first groove (211), and each of the first grooves (211) is equipped with the opening hook (30), and the opening directions of the two opening hooks (30) are opposite.

7. The auxiliary mechanism according to claim 1, characterized in that, The opening hook (30) includes: Mounting part (31) is mounted on the first profile (21); The hook (33) is connected to the lower end of the mounting part (31) and is used to hook the pull ring (41).

8. The auxiliary mechanism according to claim 7, characterized in that, The opening hook (30) also includes a narrowing portion (32), and the hook portion (33) is connected to the lower end of the mounting portion (31) through the narrowing portion (32); The width of the narrowing portion (32) gradually decreases from top to bottom; The narrowing portion (32) forms a hollow area on the side opposite to the first profile (21).

9. The auxiliary mechanism according to claim 7, characterized in that, The end of the hook (33) is provided with a slanted guide surface (331) for guiding the hook (33) to be inserted below the pull ring (41).

10. An industrial robot manipulator for gripping a pull-ring type can (40) and cooperating with the auxiliary mechanism according to any one of claims 1 to 9 to open the pull-ring type can (40), characterized in that, include: The robotic arm body (90) is provided with an execution end; A clamping tool is provided at the execution end of the robot body (90). The clamping tool includes an opening and closing driver (91) and two jaws (92) driven by the opening and closing driver (91). The two jaws (92) are used to jointly clamp the pull ring type can (40).

11. The industrial robot manipulator according to claim 10, characterized in that, The clamping surfaces of the two grippers (92) are both concave.

12. The industrial robot manipulator according to claim 10, characterized in that, Anti-slip rubber pads (93) are provided on the opposing clamping surfaces of the two grippers (92).

13. An auxiliary device for opening a pull-ring type can, characterized in that, include: The auxiliary mechanism as described in any one of claims 1 to 9; Industrial robot manipulator as described in any one of claims 10-12; The range of motion of the industrial robot manipulator covers the operating station where the opening hook (30) of the auxiliary mechanism is located.

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