Robot tool system for bisecting slaughtered animal

Abstract

An embodiment of the present invention provides a robot tool system for bisecting a slaughtered animal, the system including: a first body part provided with a rotating saw blade for cutting a slaughtered animal; a power providing part for providing power to the rotating saw blade; a front-side roller fixation part which is coupled to a lower part of the first body part and presses and supports the side of the abdomen of the slaughtered animal; a second body part coupled to the first body part by means of a rotating shaft and provided with a main cylinder; and a rear-side roller fixation part which is coupled to the second body part and presses and supports the side of the back of the slaughtered animal, wherein the second body part is configured to rotate relative to the first body part with reference to the rotating shaft by an operation of the main cylinder.

Description

A robotic tool system for slaughtering animals

[0001] The present invention relates to a robot tool system for dividing a slaughtered animal into two parts, and more particularly, to a robot tool system configured to automatically dividing a slaughtered animal into two parts.

[0002] A major process in a slaughterhouse is dividing the slaughtered animals into two parts.

[0003] In this way, the bisection process of dividing a slaughtered animal into two halves is to divide the slaughtered animal into two equal halves along the center of the coccyx (tailbone), sacrum, coccyx (lower backbone), thoracic vertebrae (backbone), and cervical vertebrae (neck bones), for example.

[0004] In the traditional dicing process, workers used chainsaws to cut the slaughtered animals. However, when workers use chainsaws to cut the animals, the results vary depending on the worker's skill level. In other words, the commercial value of the slaughtered animals varies depending on the worker.

[0005] Furthermore, due to the nature of chainsaws, various foreign substances, including flesh detached from the slaughtered animal during the process of dicing, can adhere to the chainsaw, contributing to microbial growth. If microorganisms proliferate on the chainsaw, the carcass can decompose after dicing.

[0006] And because workers have to repeatedly perform two-part conductor work while holding a chainsaw, they may suffer from musculoskeletal disorders.

[0007] Therefore, various research and development are needed for robotic tool systems that can automatically divide slaughtered animals into two parts rather than manually.

[0008] The technical problem of the present invention to solve the above problems is to provide a robot tool system configured to automatically divide a slaughtered animal into two parts.

[0009] In order to achieve the above technical task, one embodiment of the present invention provides a robot tool system for dividing a slaughtered animal into two, comprising: a first main body part equipped with a rotating saw blade for cutting a slaughtered animal; a power supply part for providing power to the rotating saw blade; a front roller fixing part coupled to a lower portion of the first main body part and pressurizing and supporting the abdomen of the slaughtered animal; a second main body part coupled to the first main body part by a rotational axis and equipped with a main cylinder; and a rear roller fixing part coupled to the second main body part and pressurizing and supporting the back of the slaughtered animal, wherein the second main body part is rotated from the first main body part about the rotational axis by operation of the main cylinder.

[0010] In one embodiment of the present invention, the front side roller fixing part includes a fixing frame coupled to the lower part of the first main body part; an abdominal pressure roller part coupled to an end of the fixing frame; and an auxiliary cylinder coupled to the lower part of the fixing frame and rotating the abdominal pressure roller part from the fixing frame, wherein when an auxiliary rod provided in the auxiliary cylinder is extended, the abdominal pressure roller part is rotated from the fixing frame based on a coupling axis and can be configured to pressurize and support the abdominal side of the slaughtered animal at a predetermined pressure.

[0011] In one embodiment of the present invention, the abdominal pressure roller part includes a pair of roller support plates coupled to the fixed frame and spaced apart at a predetermined interval; a first auxiliary roller coupled to the roller support plates and having an insertion space formed therein that can be inserted with the rotating saw blade; and a first pressure roller coupled to the roller support plates and spaced apart from the first auxiliary roller, wherein a stopper engaging groove that engages with a fixing bar provided on the fixed frame is formed on the roller support plates so that the rotation range of the roller support plates is limited, and when the auxiliary rod is extended, the roller support plates are rotated from the fixed frame so that the first pressure roller pressurizes and supports the abdomen of the slaughtered animal.

[0012] In one embodiment of the present invention, a plurality of spray nozzle assemblies coupled to the first main body portion may further be included, wherein the spray nozzle assemblies may include: a first nozzle coupled to the first main body portion and spraying washing water to the rotating saw blade; a second nozzle coupled to a fixed frame at the lower portion of the first main body portion and spraying washing water to an anti-scattering plate; and a third nozzle coupled to an end of the first main body portion and spraying cold water to the slaughtered animal to prevent frictional heat from being generated at the cutting portion of the slaughtered animal during the cutting process.

[0013] In one embodiment of the present invention, the rear roller fixing part includes a torsion bar coupled to an end of the second main body part; a torsion spring having one end coupled to the second main body part and the other end coupled to the torsion bar; a second pressure roller coupled to one end of the torsion bar and configured to pressurize and support the back of the slaughtered animal; and a second auxiliary roller coupled to the other end of the torsion bar and configured to pressurize and support the back of the slaughtered animal together with the second pressure roller, wherein the second pressure roller is configured to pressurize and support the back of the slaughtered animal with a predetermined pressure by the torsion spring, and in a state where the second main body part is rotated from the first main body part for cutting the slaughtered animal, the second pressure roller may be arranged adjacent to the rotating saw blade, and the second auxiliary roller may be arranged adjacent to the first pressure roller provided in the front side roller fixing part.

[0014] In one embodiment of the present invention, the second pressure rollers are formed in a pair and spaced apart at a predetermined interval, and have a truncated cone shape with a diameter that increases toward the outside of the torsion bar, and a plurality of anti-slip parts may be provided on the inclined surface of the second pressure roller at a predetermined interval along the circumference of the inclined surface.

[0015] In one embodiment of the present invention, a cutter part is provided at a lower end of the first main body part, and the cutter part is arranged on the front side of the rotary saw blade, so as to cut the cutting starting point between the legs of a slaughtered animal that the rotary saw blade cannot cut.

[0016] The effect of the robot tool system for dividing slaughtered animals according to the present invention described above is as follows.

[0017] According to the present invention, the robot tool system for dividing a slaughtered animal into two parts is configured such that the second main body part can rotate relative to the first main body part. In this way, when the slaughtering operation is performed, the front roller fixing part provided in the first main body part presses and supports the abdomen of the slaughtered animal, and the rear roller fixing part provided in the second main body part presses and supports the back of the slaughtered animal, and the rotating saw blade splits the slaughtered animal into two parts.

[0018] The robotic tool system for dividing slaughtered animals into two parts has a simple structure, making it easy to perform the slaughtering work of dividing animals into two parts.

[0019] The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the composition of the invention described in the claims.

[0020] FIG. 1 is an exemplary diagram showing a state in which a robot tool system for dividing a slaughtered animal into two according to one embodiment of the present invention is mounted on an automatic robot device.

[0021] FIG. 2 is a perspective view from above of a robot tool system for dividing a slaughtered animal in an open state, with the first main body portion and the second main body portion forming a straight line, according to one embodiment of the present invention.

[0022] FIG. 3 is a perspective view of a robot tool system for dividing an open slaughter animal into two, with the first main body and the second main body forming a straight line, according to one embodiment of the present invention, viewed from below.

[0023] FIG. 4 is a perspective view showing a robot tool system for dividing a slaughtered animal in a closed state by rotating a second main body part from a first main body part according to one embodiment of the present invention.

[0024] Figure 5 is a perspective view of the front roller fixing part according to one embodiment of the present invention as viewed from above.

[0025] Figure 6 is a perspective view of the front roller fixing part according to one embodiment of the present invention, viewed from below.

[0026] Figure 7 is an operating state diagram of a front side roller fixing part according to one embodiment of the present invention.

[0027] Figure 8 is a perspective view of a rear roller fixing part according to one embodiment of the present invention.

[0028] Figure 9 is an enlarged view of a main portion of a second pressure roller according to one embodiment of the present invention.

[0029] FIG. 10 and FIG. 11 are schematic diagrams showing a bisection work process using a robot tool system for bisecting a slaughtered animal according to one embodiment of the present invention.

[0030] Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention can be implemented in various different forms and is therefore not limited to the embodiments described herein. In the drawings, irrelevant parts have been omitted for clarity of description, and similar parts have been designated with similar reference numerals throughout the specification.

[0031] Throughout the specification, when a part is said to be "connected" to another part, this includes not only "directly connected" but also "indirectly connected" with other elements intervening. Furthermore, when a part is said to "include" a component, this does not exclude other components, but rather implies that the other components may be included, unless otherwise specifically stated.

[0032] In the present invention, upper and lower parts mean being located above or below the target member, but do not necessarily mean being located above or below with respect to the direction of gravity.

[0033] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0034] FIG. 1 is an exemplary view showing a state in which a robot tool system for dividing a slaughtered animal in two according to an embodiment of the present invention is mounted on an automatic robot device, FIG. 2 is a perspective view of a robot tool system for dividing a slaughtered animal in two according to an embodiment of the present invention in an open state in which a first main body part and a second main body part are in a straight line, viewed from above, FIG. 3 is a perspective view of a robot tool system for dividing a slaughtered animal in two according to an embodiment of the present invention in an open state in which a first main body part and a second main body part are in a straight line, viewed from below, FIG. 4 is a perspective view of a robot tool system for dividing a slaughtered animal in two according to an embodiment of the present invention in a closed state in which a second main body part is rotated from a first main body part, and FIG. 5 is a perspective view of a front side roller fixing part according to an embodiment of the present invention in a top view, FIG. 6 is a perspective view of a front side roller fixing part according to an embodiment of the present invention in a bottom view, and FIG. 7 is a perspective view of the operation of a front side roller fixing part according to an embodiment of the present invention. FIG. 8 is a perspective view of a rear roller fixing part according to an embodiment of the present invention, and FIG. 9 is an enlarged view of a main part of a second pressure roller according to an embodiment of the present invention.

[0035] As shown in FIGS. 1 to 9, the robot tool system (1000) for dividing a slaughtered animal into two parts may include a first main body part (100), a second main body part (200), a power supply part (300), a front roller fixing part (400), and a rear roller fixing part (500). Hereinafter, the robot tool system (1000) for dividing a slaughtered animal into two parts will be described in shorthand as a robot tool system (1000).

[0036] This robot tool system (1000) is configured to be detachable from an automatic robot device (2000). This robot tool system (1000) can divide a slaughtered animal (P, see FIG. 10) into two parts when coupled to the automatic robot device (2000).

[0037] In the present invention, the slaughtered animal (P) divided into two parts is described as a pig, for example. Here, the animal slaughtered through the robot tool system (1000) is not necessarily limited to pigs, and may be a variety of slaughtered animals (P) other than pigs, such as cattle.

[0038] Such an automatic robot device (2000) and robot tool system (1000) receive scan information of a slaughtered animal (P) from a scanning module (not shown), and divide the slaughtered animal (P) into two (bisection) based on the scan information of the slaughtered animal (P) provided from the scanning module. Here, the scan data acquired through the scanning module can generate a 3D image of the slaughtered animal (P) through an image conversion process.

[0039] Such a scanning module may be, for example, a 2D Lidar, or the scanning module may be a 3D scanner, or any device may be used as long as it can obtain more accurate scan data of the slaughtered animal (P).

[0040] Meanwhile, the first main body (100) and the second main body (200) form the overall appearance of the robot tool system (1000).

[0041] This first main body (100) is equipped with a rotating saw blade (110) for cutting the slaughtered animal (P).

[0042] Such a rotary saw blade (110) receives power from a power supply unit (300) to rotate. That is, the rotary saw blade (110) can divide the slaughtered animal (P) into two equal parts left and right along the central spine line of the coccyx (tailbone), sacrum, coccyx (lumbar vertebrae), thoracic vertebrae (backbone), and cervical vertebrae (neckbone) when performing the bisection work of the slaughtered animal (P).

[0043] And the power supply unit (300) that provides the rotational power of the rotary saw blade (110) may include a motor (310) and a power transmission reduction unit (320). That is, the power of the motor (310) may be transmitted to the rotary saw blade (110) through the power transmission reduction unit (320). Here, the power transmission reduction unit (320) is configured to increase torque when transmitting power to the rotary saw blade (110).

[0044] Meanwhile, the front roller fixing part (400) is connected to the lower part of the first main body part (100).

[0045] This front roller fixing part (400) is configured to pressurize and support the abdomen of a slaughtered animal (P) moved by the hanger (10) while being hung on the hanger (10, see FIG. 10).

[0046] Such a front roller fixing part (400) may include a fixing frame (410), an abdominal pressure roller part (420), and an auxiliary cylinder (430).

[0047] Here, the fixed frame (410) is coupled to the lower part of the first main body (100) and is configured to support the abdominal pressure roller part (420).

[0048] And the auxiliary cylinder (430) is coupled to the lower part of the fixed frame (410). This auxiliary cylinder (430) is configured to rotate the abdominal pressure roller part (420) with respect to the fixed frame (410). That is, the auxiliary rod (431) provided in the auxiliary cylinder (430) is configured to be movable (elongated or contracted), and when the auxiliary rod (431) is extended, the abdominal pressure roller part (420) is rotated from the fixed frame (410) based on the coupling shaft (426) coupled to the fixed frame (410), and the first pressure roller (423) provided in the abdominal pressure roller part (420) is configured to pressurize and support the abdominal side of the slaughtered animal (P) with a predetermined pressure.

[0049] Here, the auxiliary cylinder (430) may be formed of, for example, a pneumatic cylinder, and is configured to provide a predetermined pressing force to the first pressing roller (423). For example, when the first pressing roller (423) presses the abdomen of the slaughter animal (P) with a predetermined pressing force, and a force greater than the predetermined pressing force is applied to the first pressing roller (423), the auxiliary rod (431) may be contracted and configured to press in a customized manner according to the outer shape of the slaughter animal (P).

[0050] And the abdominal pressure roller part (420) that pressurizes and supports the abdominal side of the slaughtered animal (P) may include a roller support plate (421), a first auxiliary roller (422), and a first pressure roller (423).

[0051] Here, the roller support plate (421) is spaced at predetermined intervals and is coupled to the fixed frame (410). This roller support plate (421) supports the first auxiliary roller (422) and the first pressure roller (423).

[0052] And the first auxiliary rollers (422) are respectively coupled to the spaced roller support plates (421). In this way, the first auxiliary rollers (422) forming a pair are spaced apart to form an insertion space (424). Accordingly, in the process of performing the bisection work, the insertion space (424) of the first auxiliary roller (422) can be inserted into the rotary saw blade (110). In this way, in the process of performing the bisection work, the central axis of the first pressure roller (423) is arranged forward relative to the central axis of the first auxiliary roller (422) based on an imaginary vertical line. That is, the bisection work of the slaughter animal (P) is performed in a state in which the central axis of the first pressure roller (423) is arranged closer to the abdominal side of the slaughter animal (P) than the central axis of the first auxiliary roller (422).

[0053] And, a stopper engaging groove (425) is formed on the roller support plate (421) to limit the rotation range of the roller support plate (421). Such a stopper engaging groove (425) engages with a fixing bar (411) provided on the fixed frame (410) during the process of the roller support plate (421) rotating from the fixed frame (410). Accordingly, the rotation range of the roller support plate (421) can be limited by the fixing bar (411) and the stopper engaging groove (425).

[0054] Meanwhile, the second main body (200) is configured to be rotatable from the first main body (100).

[0055] When the slaughter animal (P) is divided into two parts, the second main body (200) can be rotated from the first main body (100) and positioned on the back of the slaughter animal (P).

[0056] The second main body part (200) as described above is coupled with a rotational shaft (120) provided at the end side of the first main body part (100), and the second main body part (200) can be rotated from the first main body part (100) about the rotational shaft (120) by the operation of the main cylinder (130). For example, when the first main body part (100) and the second main body part (200) are in a straight line before the slaughter animal (P) is halved, and the main rod (131) provided in the main cylinder (130) extends, the second main body part (200) can be rotated from the first main body part (100). Conversely, when the main rod (131) provided in the main cylinder (130) contracts, the second main body part (200) can be rotated in a direction in a straight line with the first main body part (100).

[0057] In this way, the main cylinder (130) for selectively controlling the rotation of the second main body (200) can be formed of, for example, a pneumatic cylinder, and one end of the main cylinder (130) is coupled to an end of the first main body (100), and the other end of the main rod (131) provided in the main cylinder (130) is coupled to the second main body (200), so that the second main body (200) can be rotated from the first main body (100) by the expansion and contraction of the main rod (131).

[0058] Meanwhile, during the process of performing the two-part conductor work, the rear roller fixing part (500) that pressurizes and supports the back of the slaughtered animal (P) is connected to the second main body part (200).

[0059] This rear roller fixing member (500) may include a torsion bar (510), a torsion spring (520), a second pressure roller (530), and a second auxiliary roller (540).

[0060] Here, the torsion bar (510) is connected to the end of the second main body (200) and is configured to be rotatable from the second main body (200).

[0061] And the torsion spring (520) is configured to pressurize the back of the slaughtered animal (P) with a predetermined pressing force when the second pressing roller (530) presses the back of the slaughtered animal (P).

[0062] One end of this torsion spring (520) is coupled to the second main body (200), and the other end is coupled to the torsion bar (510), so that the torsion spring (520) provides a predetermined or higher pressing force to the second pressing roller (530). This torsion spring (520) is configured to press the back of the slaughter animal (P) with a predetermined pressing force by the second pressing roller (530), like the auxiliary cylinder (430) described above. However, when the pressing force applied from the outside to the second pressing roller (530) is greater than the pressing force of the torsion spring (520), the torsion spring (520) is compressed and can be configured to pressurize in a customized manner according to the outer shape of the slaughter animal (P). That is, the torsion spring (520) acts like a suspension equipped in a vehicle moving over rough terrain, for example, as the second pressure roller (530) and the second auxiliary roller (540) pressurize the back of the slaughter animal (P) and move along the spine line of the slaughter animal (P).

[0063] Here, the second pressure roller (530) is connected to one end of the torsion bar (510). These second pressure rollers (530) are spaced apart from each other to form a pair, and when the slaughter animal (P) is subjected to bisection, they pressurize and support the back of the slaughter animal (P) with a predetermined pressure.

[0064] The second pressure roller (530) is positioned adjacent to the rotary saw blade (110) to pressurize and support the back of the slaughtered animal (P) when the rotary saw blade (110) divides the slaughtered animal (P) into two. The second pressure roller (530) supports and presses the slaughtered animal (P) so that the rotary saw blade (110) can precisely cut along a preset cutting line by preventing the slaughtered animal (P) from shaking.

[0065] The second pressure roller (530) is formed in a truncated cone shape whose diameter increases as it goes outward from the torsion bar (510), so that the second pressure roller (530) having a truncated cone shape can stably pressurize and support the spine line of the slaughtered animal (P). In addition, an anti-slip portion (532) may be provided on the inclined surface (531) of the second pressure roller (530) forming the truncated cone. The anti-slip portions (532) are formed at predetermined intervals along the perimeter of the inclined surface (531), so that the slaughtered animal (P) can be prevented from slipping during the process in which the second pressure roller (530) pressurizes and supports the slaughtered animal (P). Accordingly, the second pressure roller (530) can stably support and pressurize the slaughtered animal (P).

[0066] And the second auxiliary roller (540) is connected to the other end of the torsion bar (510) and, together with the second pressure roller (530), pressurizes and supports the back of the slaughtered animal (P). This second auxiliary roller (540) assists the second pressure roller (530) in pressurizing and supporting the back of the slaughtered animal (P), thereby minimizing the occurrence of shaking of the slaughtered animal (P).

[0067] The second auxiliary roller (540) is arranged adjacent to the first pressure roller (423) provided in the front roller fixing part (400) when the two-part conductor work is performed, so as to stably support the slaughter animal (P) by applying pressure from the front and rear.

[0068] Meanwhile, a cutter part (140) is provided at the lower end of the first main body part (100). This cutter part (140) is arranged on the front side of the rotary saw blade (110). This cutter part (140) is configured to cut, for example, the starting point between the legs of the slaughtered animal (P) that the rotary saw blade (110) cannot cut. In this way, after the initial cutting is performed by the cutter part (140), the rotary saw blade (110) can perform a cutting operation along the spine line of the slaughtered animal (P).

[0069] Meanwhile, the robot tool system (1000) is equipped with a spray nozzle assembly (600).

[0070] Such a spray nozzle assembly (600) may include a first nozzle (610), a second nozzle (620), and a third nozzle (630).

[0071] Here, the first nozzle (610) is fixedly installed on the first main body (100) and is configured to spray washing water onto the rotating saw blade (110). The number of such first nozzles (610) is not limited to a specific number and may be provided in various numbers.

[0072] This first nozzle (610) is configured to spray lukewarm water onto, for example, a rotary saw blade (110) to remove the flesh of a slaughtered animal (P) that is attached to the rotary saw blade (110). That is, various foreign substances, including flesh and bones of the slaughtered animal (P), can be prevented from drying and sticking to the rotary saw blade (110). Therefore, the cleaning work of the rotary saw blade (110) is convenient, and the rotary saw blade (110) can be hygienically managed.

[0073] And the second nozzle (620) is configured to spray washing water onto the anti-flying plate (440) coupled to the fixed frame (410). This second nozzle (620) is fixedly installed on the anti-flying plate (440). Here, the rotating saw blade (110) rotates clockwise and, in the process of dividing the slaughtered animal (P) into two, the anti-flying plate (440) prevents flesh, bones, etc. flying from the slaughtered animal (P) from flying outward.

[0074] Here, the second nozzle (620) sprays washing water onto the fly prevention plate (440) to prevent various foreign substances, including flesh and bones of the slaughtered animal (P), from drying and sticking to the fly prevention plate (440).

[0075] And the third nozzle (630) is provided at the end of the first main body (100). This third nozzle (630) sprays cold water onto the slaughtered animal (P) during the process of performing the two-part conductor operation. Accordingly, the rotary saw blade (110) prevents the generation of frictional heat at the cutting portion of the slaughtered animal (P) during the process of cutting the slaughtered animal (P).

[0076] FIG. 10 and FIG. 11 are schematic diagrams showing a bisection work process using a robot tool system for bisecting a slaughtered animal according to one embodiment of the present invention.

[0077] Referring to FIGS. 10 and 11, the operation process of the robot tool system (1000) is schematically examined. First, when work information on a slaughtered animal (P) is transmitted from the scanning module, the spray nozzle assembly (600) sprays water to a preset designated location.

[0078] Next, the robot tool system (1000) is introduced between the legs of the slaughtered animal (P) hanging on the hanger (10). At this time, the first main body part (100) and the second main body part (200) are in a straight line and are introduced between the legs of the slaughtered animal (P). In this process, the cutter part (140) provided in the first main body part (100) cuts the cutting start point located between the legs of the slaughtered animal (P) that the rotary saw blade (110) cannot reach. At this time, the rotary saw blade (110) is rotated by the power supply part (300) in the process of the robot tool system (1000) entering between the legs of the slaughtered animal (P).

[0079] Next, when the robot tool system (1000) enters the required position, the second main body (200) is rotated from the first main body (100) through the operation of the main cylinder (130). At this time, the abdominal pressure roller (420) coupled to the first main body (100) presses the abdominal side of the slaughtered animal (P), and the second pressure roller (530) and the second auxiliary roller (540) coupled to the second main body (200) press the dorsal side of the slaughtered animal (P).

[0080] Next, the robot tool system (1000) moves from the scrotum side of the slaughtered animal (P) to the head side along a predetermined cutting line and cuts the slaughtered animal (P). During this process, the spray nozzle assembly (600) continues to spray water to a predetermined position.

[0081] Finally, after the two-part conductor work of the slaughtered animal (P) is completely completed, the first main body part (100) and the second main body part (200) are aligned in a straight line and return to their initial state. In this way, when the two-part conductor work is completely completed, the operation of the spray nozzle assembly (600) and the rotary saw blade (110) is stopped.

[0082] However, this is only a preferred embodiment of the present invention, and the scope of the rights of the present invention is not limited by the scope of the description of this embodiment.

[0083] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will readily appreciate that the present invention can be readily modified into other specific forms without altering the technical spirit or essential characteristics of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single entity may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined manner.

[0084] The scope of the present invention is indicated by the claims described below, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention.

Claims

1. A first main body equipped with a rotating saw blade for cutting slaughtered animals; A power supply unit that provides power to the above rotating saw blade; A front roller fixing part that is connected to the lower part of the first main body part and pressurizes and supports the abdomen of the slaughtered animal; A second main body part coupled to the first main body part by a rotating shaft and equipped with a main cylinder; and It is connected to the second main body part and includes a rear roller fixing part that pressurizes and supports the back of the slaughtered animal. A robot tool system for dividing a slaughtered animal into two, wherein the second main body part is rotated relative to the first main body part about the rotation axis by the operation of the main cylinder.

2. In paragraph 1, The above front roller fixing part is, A fixed frame coupled to the lower part of the first main body; An abdominal pressure roller portion coupled to an end of the above fixed frame; and It is coupled to the lower part of the above fixed frame and includes an auxiliary cylinder that rotates the abdominal pressure roller part from the above fixed frame, A robot tool system for dividing a slaughtered animal into two, characterized in that when the auxiliary rod provided in the auxiliary cylinder is extended, the abdominal pressure roller part is rotated from the fixed frame based on the coupling axis and pressurizes and supports the abdominal side of the slaughtered animal with a predetermined pressure.

3. In paragraph 2, The above abdominal pressure roller part, A pair of roller support plates attached to the above fixed frame and spaced apart at a predetermined interval; A first auxiliary roller, each of which is connected to the roller support plate and has an insertion space formed therein that can be inserted into the rotating saw blade; and It comprises a first pressure roller coupled to the above roller support plate and spaced apart from the first auxiliary roller, The roller support plate is formed with a stopper engaging groove that engages with the fixing bar provided on the fixed frame, thereby limiting the rotation range of the roller support plate. A robot tool system for dividing a slaughtered animal, characterized in that when the auxiliary load is extended, the roller support plate is rotated from the fixed frame and the first pressure roller is configured to press and support the abdomen of the slaughtered animal.

4. In paragraph 1, Further comprising a plurality of spray nozzle assemblies coupled to the first main body, The above injection nozzle assembly, A first nozzle coupled to the first main body and spraying washing water onto the rotating saw blade; A second nozzle that sprays washing water onto a fly-proof plate coupled to a fixed frame at the lower part of the first main body; and A robot tool system for dividing a slaughtered animal into two, characterized in that it includes a third nozzle coupled to an end of the first main body portion and spraying cold water onto the slaughtered animal to prevent frictional heat from being generated at the cutting portion of the slaughtered animal during the cutting process.

5. In paragraph 1, The above rear roller fixing part is, A torsion bar coupled to an end of the second main body; A torsion spring, one end of which is connected to the second main body and the other end is connected to the torsion bar; A second pressure roller connected to one end of the above torsion bar and supporting the back of the slaughtered animal by applying pressure; and It includes a second auxiliary roller that is connected to the other end of the above torsion bar and pressurizes and supports the back of the slaughtered animal together with the second pressure roller. The second pressure roller is configured to support the back of the slaughtered animal by applying pressure to the animal with a predetermined pressure by the torsion spring. A robot tool system for dividing a slaughtered animal, characterized in that, when the second main body part is rotated from the first main body part for cutting the slaughtered animal, the second pressure roller is arranged adjacent to the rotating saw blade, and the second auxiliary roller is arranged adjacent to the first pressure roller provided in the front-side roller fixing part.

6. In paragraph 5, The second pressure rollers are spaced apart from each other at a predetermined interval and are formed in a cone-shaped shape with a diameter that increases toward the outside of the torsion bar. A robot tool system for dividing a slaughtered animal, characterized in that the inclined surface of the second pressure roller is provided with a plurality of anti-slip parts at predetermined intervals along the periphery of the inclined surface.

7. In paragraph 1, A cutter part is provided at the lower end of the first main body part. A robot tool system for dividing a slaughtered animal into two, characterized in that the cutter part is arranged on the front side of the rotating saw blade and is configured to cut the cutting start point between the legs of the slaughtered animal that the rotating saw blade cannot cut.

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