Precision robotic bleeding system for slaughter animals

Abstract

An embodiment of the present invention provides a precision robotic bleeding system for slaughter animals, the system comprising: a main frame that has an installation space portion formed therein and is provided with a pair of conveyance guide bars installed and fixed to guide bar fixing portions provided on the front side and rear side; a slaughter animal conveyor that is disposed in the installation space portion and conveys a slaughter animal placed thereon; a gripper robot module that grips and fixes the neck portion of the slaughter animal that has entered a front-side slaughter animal entry space of the main frame; an ultrasonic sensor unit provided in the slaughter animal entry space, wherein the ultrasonic sensor unit is provided above the slaughter animal conveyor and captures images of the neck portion of the slaughter animal fixed by the gripper robot module; a slaughter animal conveying actuator that is coupled to the gripper robot module, installed on the conveyance guide bars, and moves the gripper robot module along the longitudinal direction of the conveyance guide bars; and a bleeding robot module that is installed on the rear side of the main frame and performs a bleeding operation by piercing the carotid artery of the slaughter animal moved to a bleeding position by the slaughter animal conveyor and the gripper robot module.

Description

Precision robotic bleeding system for slaughtered animals

[0001] The present invention relates to a precision robotic bleeding system for slaughtered animals, and more specifically, to a precision robotic bleeding system for slaughtered animals that accurately identifies the carotid artery area of ​​the slaughtered animals and automatically performs bleeding operations.

[0002] Generally, the bleeding of pigs and other carcasses (livestock to be slaughtered) is performed by applying physical shock to the carcass, stunning it with electric shock or gas, and then stabbing the carcass' carotid artery with a knife.

[0003] Traditionally, carcass bleeding involved a worker stabbing the carotid artery, located midway between the chest and pharynx (the muscular passageway connecting the trachea and esophagus), with a knife. The worker must puncture the carotid artery without damaging the esophagus or trachea. For a carcass to be considered valuable, at least 50% of the heart's blood must be exsanguinated. Improper bleeding can lead to off-flavors and negatively impact meat quality.

[0004] This bleeding process takes approximately 6 to 9 minutes after the carotid artery is severed, during which time the carcass' heart continues to beat. Therefore, if the knife used to pierce the carotid artery is unsanitary, bacteria on the knife can spread through the bloodstream and into the animal's body. Due to this issue, the knives used for bleeding must be sterilized and maintained hygienically. However, in manual slaughtering, it is inconvenient to sterilize the knives used for bleeding after each operation.

[0005] Furthermore, conventional conductor bleeding procedures require the operator to first stun the conductor and then directly stab the carotid artery with a knife, resulting in poor accuracy. Furthermore, if the conductor awakens just before bleeding, the operator could be seriously injured.

[0006] This traditional manual method of bleeding conductors causes severe stress and trauma to the workers because they have to come into close contact with the conductor's cries and blood.

[0007] Therefore, various research and development are needed for a precision robotic bleeding system for slaughtered animals that can accurately stab the carotid artery of slaughtered animals through an automated process and automatically perform the bleeding operation.

[0008] The technical task of the present invention to solve the above problems is to provide a precision robotic bleeding system for slaughtered animals that accurately identifies the carotid artery area of ​​the slaughtered animals and automatically performs bleeding operations.

[0009] In order to achieve the above technical problem, one embodiment of the present invention provides a precision robotic bloodletting system for slaughtered animals, including: a main frame having an installation space formed therein and a pair of transfer guide bars fixedly installed in guide bar fixing portions provided at the front and rear sides; a conductor transfer conveyor disposed in the installation space and transferring a seated conductor; a gripper robot module configured to grip and secure a neck portion of a conductor that has entered a conductor entry space at the front side of the main frame; an ultrasonic sensor portion provided in the conductor entry space and provided above the conductor transfer conveyor to photograph the neck portion of the conductor secured by the gripper robot module; a conductor transfer actuator coupled to the gripper robot module and installed on the transfer guide bar to move the gripper robot module along the longitudinal direction of the transfer guide bar; and a bloodletting robot module installed on the rear side of the main frame and performing a bloodletting operation by puncturing the carotid artery of a conductor moved to a bleeding performance position by the conductor transfer conveyor and the gripper robot module.

[0010] In one embodiment of the present invention, a bloodletting analysis unit is further included to analyze the location of the carotid artery bleeding of the conductor based on the conductor image information captured from the ultrasonic sensor unit, and the bloodletting location information of the conductor analyzed by the bloodletting analysis unit is provided to the bloodletting robot module so that the bloodletting robot module can perform the bleeding operation of the conductor.

[0011] In one embodiment of the present invention, the gripper robot module includes a support frame connecting a pair of spaced conductor transfer actuators; a fixed frame coupled to both ends of the support frame; a rotating frame hinge-coupled to the fixed frame and rotatable from the fixed frame; a conductor gripping portion coupled to the rotating frame and configured to wrap and fix a neck portion of a conductor; and a first cylinder having one end fixed to a cylinder fixing portion provided in the support frame and the other end coupled to the rotating frame, wherein the pair of conductor gripping portions can wrap and fix a neck portion of a conductor by operation of the first cylinder.

[0012] In one embodiment of the present invention, the bleeding robot module includes: a bleeding cutter blade provided from the bleeding analysis unit for stabbing a bleeding location of a conductor; a cleaning housing having a cleaning space in which the bleeding cutter blade is accommodated; a plurality of cleaning nozzles installed in the cleaning housing and spraying cleaning water toward the bleeding cutter blade moved into the cleaning housing; a second cylinder coupled to a lower portion of the cleaning housing and moving the bleeding cutter blade; a width-direction guide frame coupled to the facing main frame forming the installation space portion; and a width-direction movement control unit coupled to a lower portion of the second cylinder and having a guide roller that moves along a guide rod provided in the width-direction guide frame, wherein the width-direction movement control unit is configured to adjust a width-direction position of the second cylinder to match the bleeding location of the conductor, and the cleaning nozzles can be arranged at predetermined intervals along a perimeter of the cleaning housing.

[0013] In one embodiment of the present invention, the gripper robot module, in which the conductor transfer conveyor and the conductor transfer actuator are combined, can transfer the conductor moved to the conductor entry space in the same direction and at the same transfer speed to the bleeding performance position.

[0014] In one embodiment of the present invention, an entry detection sensor for detecting a conductor moving into the conductor entry space is provided on the front side of the main frame, and when the entry of the conductor is detected by the entry detection sensor, the gripper robot module can be operated to grip the neck portion of the conductor.

[0015] In one embodiment of the present invention, a conductor detachment prevention guide is further included, which is arranged in the installation space and forms a leg insertion space on both sides of the conductor transport conveyor, wherein the conductor detachment prevention guide includes a first guide on one side of the conductor transport conveyor and spaced apart from the conductor transport conveyor and forming a first leg insertion space; and a second guide on the other side of the conductor transport conveyor and spaced apart from the conductor transport conveyor and forming a second leg insertion space, wherein the legs of a conductor transported while seated on the conductor transport conveyor can be transported while being inserted into the first leg insertion space and the second leg insertion space, respectively.

[0016] The effects of the precision robotic bleeding system for slaughtered animals according to the present invention described above are as follows.

[0017] According to the present invention, the bleeding of conductors can be performed automatically using a precision robotic bleeding system. This prevents injury to workers during the bleeding process, and prevents stress and trauma to workers caused by the bleeding process.

[0018] According to the present invention, the precision robotic bloodletting system can accurately identify the carotid artery area of ​​a conductor through an ultrasonic sensor unit, and the bloodletting robot module can accurately stab the corresponding carotid artery area to improve the quality of the meat.

[0019] According to the present invention, the blood-letting cutter blade is automatically cleaned after each operation, so it can be hygienically managed.

[0020] 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.

[0021] Figure 1 is a configuration diagram of a precision robotic bloodletting system according to one embodiment of the present invention.

[0022] FIG. 2 is a perspective view of a precision robotic bloodletting system according to an embodiment of the present invention.

[0023] FIG. 3 is an exemplary diagram showing a state in which a conductor is moved from a conductor entry space to a bleeding performance position according to one embodiment of the present invention.

[0024] FIG. 4 is a perspective view showing the front-side conductor entry space of the main frame according to one embodiment of the present invention.

[0025] FIG. 5 is a video image of a conductor captured through an ultrasonic sensor unit according to one embodiment of the present invention.

[0026] FIG. 6 is an exemplary diagram showing the operating state of a gripper robot module when a conductor has entered a conductor entry space according to one embodiment of the present invention.

[0027] Figure 7 is a perspective view of a gripper robot module according to one embodiment of the present invention.

[0028] Fig. 8 is a perspective view showing a rear side bleeding performance location of a main frame according to one embodiment of the present invention.

[0029] Figure 9 is an operating state diagram showing the operation of a bloodletting robot module according to one embodiment of the present invention.

[0030] FIG. 10 is an exemplary diagram showing a process of cleaning a blood-letting cutter blade inside a cleaning housing according to one embodiment of the present invention.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0035] FIG. 1 is a configuration diagram of a precision robot bleeding system according to an embodiment of the present invention, FIG. 2 is a perspective view of a precision robot bleeding system according to an embodiment of the present invention, FIG. 3 is an exemplary diagram showing a state in which a conductor is moved from a conductor entry space to a bleeding execution position according to an embodiment of the present invention, FIG. 4 is a perspective view showing a conductor entry space on the front side of a main frame according to an embodiment of the present invention, FIG. 5 is a video image of a conductor captured through an ultrasonic sensor unit according to an embodiment of the present invention, FIG. 6 is an exemplary diagram showing an operating state of a gripper robot module in a state in which a conductor has entered the conductor entry space according to an embodiment of the present invention, FIG. 7 is a perspective view of a gripper robot module according to an embodiment of the present invention, FIG. 8 is a perspective view showing a bleeding execution position on the rear side of a main frame according to an embodiment of the present invention, FIG. 9 is an operating state diagram showing the operation of a bloodletting robot module according to an embodiment of the present invention, and FIG. 10 is a diagram showing the operation of the bloodletting robot module according to an embodiment of the present invention. This is an exemplary diagram showing a process of cleaning a bleeding cutter blade inside a cleaning housing according to one embodiment of the invention.

[0036] As shown in FIGS. 1 to 10, the precision robot bleeding system (1000) may include a main frame (100), a conductor transfer conveyor (200), a gripper robot module (300), an ultrasonic sensor unit (400), a conductor transfer actuator (500), a bleeding robot module (600), and a bleeding analysis unit (700).

[0037] Here, the main frame (100) forms the skeleton of the precision robotic bloodletting system (1000).

[0038] An installation space (101) is provided inside the main frame (100), and various components of the precision robot bloodletting system (1000) can be placed in the installation space (101).

[0039] The front and rear sides of the main frame (100) are formed in an open form. That is, a conductor entry space (102) for conductor entry is provided on the front side of the main frame (100), and a bleeding performance location (103) for bleeding the conductor is provided on the rear side of the main frame (100).

[0040] Such a main frame (100) is provided with a pair of guide bar fixing parts (110) spaced apart at a predetermined distance. A pair of transport guide bars (120) are fixedly installed on such a guide bar fixing part (110), so that a conductor transport actuator (500) coupled to the transport guide bar (120) can move along the transport guide bar (120).

[0041] And the conductor transport conveyor (200) is placed in the installation space (101). This conductor transport conveyor (200) is configured to have a length corresponding to the main frame (100), so that the conductor mounted on the conductor transport conveyor (200) can be transported from the conductor entry space (102) to the bleeding performance location (103).

[0042] A conductor transfer conveyor (200) like this is arranged adjacent to a conductor transfer conveyor (10), and a conductor transferred along the length of the conductor transfer conveyor (10) is transferred to the conductor transfer conveyor (200), after which a conductor bleeding operation is performed. Here, the conductor that is seated on and transferred to the conductor transfer conveyor (10) may be, for example, a conductor that has been stunned by an electric shock. This conductor transfer conveyor (10) is configured to operate independently from the conductor transfer conveyor (200).

[0043] Meanwhile, the ultrasonic sensor unit (400) is provided on the upper part of the conductor transport conveyor (200). Here, the ultrasonic sensor unit (400) is provided on the side of the conductor entry space (102) where the conductor transport conveyor (200) and the conductor transfer conveyor (10) are arranged adjacent to each other.

[0044] This ultrasonic sensor unit (400) photographs the area below the neck of the conductor while the neck of the conductor is fixed by the gripper robot module (300). Referring to Fig. 5, the ultrasonic sensor unit (400) detects bones, muscles, blood vessels, etc. that cannot be seen with the human eye using an ultrasonic sensor to obtain conductor image information for finding the optimal bleeding point.

[0045] And the bloodletting analysis unit (700) accurately analyzes the carotid artery bleeding location of the conductor based on the conductor image information provided by the ultrasonic sensor unit (400). In this way, the bloodletting location information of the conductor analyzed by the bloodletting analysis unit (700) is provided to the bloodletting robot module (600). And the bloodletting robot module (600) performs the bloodletting operation of the conductor transferred to the bleeding performance location (103) based on the bloodletting location information provided by the bloodletting analysis unit (700).

[0046] Meanwhile, the gripper robot module (300) grips and fixes the neck of the conductor that has entered the conductor entry space (102). This gripper robot module (300) fixes the neck of the conductor in the state in which the conductor has been photographed through the ultrasonic sensor unit (400) and transports it to the bleeding performing location (103). That is, the gripper robot module (300) prevents the neck of the conductor from rotating during the process of transporting the conductor from the conductor entry space (102) to the bleeding performing location (103). Accordingly, the bleeding robot module (600) can accurately puncture the carotid artery of the conductor based on the bleeding position information photographed through the ultrasonic sensor unit (400).

[0047] This gripper robot module (300) is moved by a conductor transfer actuator (500) installed on a transfer guide bar (120). Here, the conductor transfer actuator (500) guides the movement of the gripper robot module (300) in the same direction and at the same transfer speed as the conductor transfer conveyor (200). Therefore, the body of the conductor mounted on the conductor transfer conveyor (200) and the neck portion of the conductor fixed by the gripper robot module (300) can be moved at the same speed and transferred to the bleeding performing position (103).

[0048] Such a conductor transport actuator (500) is guided by a transport guide bar (120) and moves a gripper robot module (300) along the longitudinal direction of the transport guide bar (120).

[0049] This gripper robot module (300) may include a support frame (310), a fixed frame (320), a rotating frame (330), a conductor gripping part (340), and a first cylinder (350).

[0050] Here, the support frame (310) is coupled to the lower portion of a pair of spaced conductor transport actuators (500) and is configured to connect the conductor transport actuators (500). Accordingly, when the gripper robot module (300) is moved from the conductor entry space (102) to the bleeding performance position (103), the gripper robot module (300) can be moved stably without tilting.

[0051] And the fixed frame (320) is coupled to both ends of the support frame (310). This fixed frame (320) is hinge-coupled to the rotating frame (330), so that the rotating frame (330) can be rotated about the hinge axis (331) from the fixed frame (320).

[0052] And a first cylinder (350) is coupled to the support frame (310). One end of the first cylinder (350) is fixed to a cylinder fixing part (311) provided to the support frame (310), and the other end of the first cylinder (350) is coupled to a rotating frame (330). Accordingly, when the length of the first rod (351) provided to the first cylinder (350) increases, the pair of conductor gripping parts (340) can wrap around and fix the neck portion of the conductor. The conductor gripping part (340) is coupled to the rotating frame (330) so as to rotate together with the rotating frame (330). The first cylinder (350) that operates the conductor gripping part (340) may be formed of, for example, a pneumatic cylinder.

[0053] In this way, the conductor gripping portions (340) that wrap around and fix the neck portion of the conductor form a pair. In addition, a first cylinder (350) is also provided in a pair to individually control the operation of the conductor gripping portions (340) that form a pair. Accordingly, the conductor gripping portions (340) that are individually controllable even when the neck of the stunned conductor is rotated in various forms can stably fix the neck portion of the conductor.

[0054] The operation of the gripper robot module (300) is performed in a state where the conductor has entered the conductor entry space (102). In other words, before the conductor enters the conductor entry space (102), the gripper robot module (300) maintains a gripping standby state in which the conductor gripping part (340) for gripping the neck portion of the conductor is spread out at a certain angle or more.

[0055] The conductor gripper (340) waiting in this phage standby state fixes the neck portion of the conductor through the operation of the gripper robot module (300) when the conductor is transferred to the conductor entry space (102).

[0056] When a conductor entry detection signal is transmitted from the entry detection sensor (800) installed on the front side of the main frame (100), the conductor gripping part (340) in the standby state rotates and fixes the neck portion of the conductor. In other words, when the conductor is being transferred from the conductor transfer conveyor (10) to the conductor transport conveyor (200), for example, the nose portion, which is the frontmost portion of the conductor, is detected by the entry detection sensor (800), the gripper robot module (300) starts an operation to fix the neck portion of the conductor.

[0057] In this way, with the neck portion of the conductor fixed by the gripper robot module (300), the conductor is transported to the bleeding performing position (103) by the conductor transport conveyor (200) and the gripper robot module (300) moving at the same speed.

[0058] Here, the installation space (101) is provided with a conductor detachment prevention guide (900).

[0059] This conductor detachment prevention guide (900) prevents the conductor from tilting to one side and falling over during the conductor transport process, and at the same time guides the transport of the conductor.

[0060] Such a conductor detachment prevention guide (900) forms a leg insertion space on both sides of the conductor transport conveyor (200), so that the legs of a conductor that is seated on the conductor transport conveyor (200) and transported can be inserted into the leg insertion space.

[0061] This conductor separation prevention guide (900) may include a first guide (910) and a second guide (920). The first guide (910) and the second guide (920) form a pair and are formed symmetrically with respect to the conductor transport conveyor (200).

[0062] Here, the first guide (910) is spaced apart from the conductor transport conveyor (200) on one side of the conductor transport conveyor (200) and forms a first leg insertion space (911) into which the right leg of the conductor is inserted.

[0063] And the second guide (920) is spaced apart from the conductor transport conveyor (200) on the other side of the conductor transport conveyor (200) and forms a second leg insertion space (921) into which the left leg of the conductor is inserted.

[0064] In this way, the legs of the conductor, which are transported from the conductor entry space (102) to the bleeding performance location (103) while being seated on the conductor transport conveyor (200), can be inserted into the first leg insertion space (911) and the second leg insertion space (921), respectively, so that stable transport of the conductor can be achieved.

[0065] Meanwhile, the bloodletting robot module (600) is configured to perform a bloodletting operation by stabbing the carotid artery of the conductor transferred to the bloodletting performance location (103) with a bloodletting cutter blade (610). The bloodletting robot module (600) is configured to move the second cylinder (640) in the width direction (left and right directions) and the bloodletting cutter blade (610) in the height direction (up and down directions) so as to accurately stab the bleeding location of the conductor analyzed through the bloodletting analysis unit (700) mentioned above.

[0066] This bloodletting robot module (600) may include a bloodletting cutter blade (610), a cleaning housing (620), a cleaning nozzle (630), a second cylinder (640), a width-direction guide frame (650), and a width-direction movement control unit (660).

[0067] Here, the bleeding cutter blade (610) is a blade that directly stabs the bleeding location (carotid artery location) of the conductor, and this bleeding cutter blade (610) can be moved up and down by the operation of the second cylinder (640). That is, the second rod (641) provided in the second cylinder (640) is combined with the bleeding cutter blade (610), and the bleeding cutter blade (610) can stab the bleeding location of the conductor by the operation of the second cylinder (640). Here, a cleaning housing (620) is provided on the upper part of the second cylinder (640), and the second rod (641) that is extended from the second cylinder (640) is configured to move up and down within the cleaning housing (620). The second cylinder (640) that moves the bleeding cutter blade (610) up and down may be a pneumatic cylinder.

[0068] And when the conductor bleeding operation is completed, the bleeding cutter blade (610) that was stabbing the conductor's neck is moved into the cleaning housing (620) by the operation of the second cylinder (640). In this way, the bleeding cutter blade (610) moved into the cleaning housing (620) is cleaned for the next conductor bleeding operation. Referring to FIG. 10, a cleaning space (621) that accommodates the bleeding cutter blade (610) is formed inside the cleaning housing (620). And, the cleaning nozzle (630) coupled to the cleaning housing (620) is configured to spray cleaning water into the cleaning space (621). The cleaning nozzle (630) may be arranged at predetermined intervals along the periphery of the cleaning housing (620). The cleaning nozzle (630) sprays cleaning water toward the bleeding cutter blade (610) moved into the cleaning housing (620) to clean the bleeding cutter blade (610). In this way, the blood-sucking cutter blade (610) is automatically cleaned after each operation, so that the blood-sucking cutter blade (610) can be hygienically managed.

[0069] And a width direction movement control unit (660) is coupled to the lower part of the second cylinder (640). The width direction movement control unit (660) provided at the lower part of the second cylinder (640) selectively moves the second cylinder (640) in the width direction left and right. The width direction movement control unit (660) is configured to move along a width direction guide frame (650) coupled to an opposing main frame (100) forming an installation space (101). That is, a guide roller (661) is provided in the width direction movement control unit (660), and the guide roller (661) moves along a guide rod (651) provided in the width direction guide frame (650). Accordingly, the width direction movement control unit (660) adjusts the width direction position of the second cylinder (640) so that the bloodletting cutter blade (610) can accurately pierce the bloodletting position of the conductor.

[0070] In this way, the precision robotic bleeding system (1000) enables accurate bleeding of conductors because bleeding of conductors is performed automatically. Furthermore, bleeding of conductors can be performed hygienically and easily.

[0071] 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.

[0072] 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.

[0073] 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 main frame having an installation space formed inside and a pair of transport guide bars fixedly installed on guide bar fixing parts provided on the front and rear sides; A conductor transport conveyor placed in the above installation space and transporting the settled conductor; A gripper robot module that grips and fixes the neck portion of a conductor that has entered the conductor entry space on the front side of the main frame; An ultrasonic sensor unit provided in the conductor entry space and located on the upper portion of the conductor transport conveyor to photograph the neck portion of the conductor fixed by the gripper robot module; A conductor transfer actuator coupled to the gripper robot module and installed on the transfer guide bar to move the gripper robot module along the length direction of the transfer guide bar; and A precision robotic bleeding system for slaughtered animals, which is installed on the rear side of the main frame and includes a bleeding robot module that performs bleeding by stabbing the carotid artery of a conductor moved to a bleeding position by the conductor transfer conveyor and gripper robot module.

2. In paragraph 1, It further includes a blood loss analysis unit that analyzes the location of the carotid artery bleeding of the conductor based on the conductor image information captured from the above ultrasonic sensor unit, A precision robotic bleeding system for slaughtered animals, characterized in that the bleeding location information of the conductor analyzed from the above bleeding analysis unit is provided to the bleeding robot module, and the bleeding robot module performs the bleeding operation of the conductor.

3. In paragraph 1, The above gripper robot module, A support frame connecting a pair of spaced conductor transport actuators; A fixed frame coupled to both ends of the above support frame; A rotating frame hingedly connected to the fixed frame and rotated from the fixed frame; A conductor gripping portion that is coupled to the above rotating frame and wraps and fixes the neck portion of the conductor; and One end is fixed to a cylinder fixing part provided on the above support frame, and the other end includes a first cylinder coupled to the above rotating frame. A precision robotic bleeding system for slaughtered animals, characterized in that a pair of conductor gripping parts wrap around and fix the neck area of the conductor by the operation of the first cylinder.

4. In paragraph 2, The above bloodletting robot module is, A bleeding cutter blade for stabbing the bleeding location of the conductor provided from the above bleeding analysis unit; A cleaning housing having a cleaning space formed to accommodate the above-mentioned blood-letting cutter blade; A plurality of cleaning nozzles installed in the cleaning housing and spraying cleaning water toward the bleeding cutter blade moved into the cleaning housing; A second cylinder coupled to the lower portion of the above cleaning housing and moving the blood-letting cutter blade; A width-direction guide frame coupled to the facing main frame forming the above installation space; and A width-direction movement control unit is coupled to the lower portion of the second cylinder and includes a guide roller that moves along a guide rod provided in the width-direction guide frame. The above width direction movement control unit is configured to adjust the width direction position of the second cylinder to match the bleeding position of the conductor, A precision robotic bleeding system for slaughtered animals, characterized in that the above washing nozzles are arranged at predetermined intervals along the periphery of the above washing housing.

5. In paragraph 1, A precision robotic bleeding system for slaughtered animals, characterized in that the gripper robot module, in which the conductor transfer conveyor and the conductor transfer actuator are combined, transfers the conductor moved to the conductor entry space in the same direction and at the same transfer speed to the bleeding performance position.

6. In paragraph 1, A precision robotic bloodletting system for slaughtered animals, characterized in that an entry detection sensor for detecting a conductor moving into the conductor entry space is provided on the front side of the main frame, and when the entry of the conductor is detected by the entry detection sensor, the gripper robot module operates to grip the neck area of the conductor.

7. In paragraph 1, It is arranged in the above installation space and further includes a conductor detachment prevention guide that forms a leg insertion space on both sides of the conductor transport conveyor. The above conductor detachment prevention guide is, A first guide formed on one side of the conductor transport conveyor and spaced apart from the conductor transport conveyor and forming a first leg insertion space; and A second guide is included on the other side of the conductor transport conveyor and is spaced apart from the conductor transport conveyor and forms a second leg insertion space. A precision robotic bloodletting system for slaughtered animals, characterized in that the legs of the conductor transported while seated on the conductor transport conveyor are transported while being inserted into the first leg insertion space and the second leg insertion space, respectively.

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