Automatic carcass washing system

Abstract

One embodiment of the present invention relates to an automatic carcass washing system for washing a meat carcass that is hung on a hanger and moved while bifurcated into a first meat carcass and a second meat carcass, the system comprising: a sensor unit which detects the bifurcated meat carcasses and collects scan information including the size and curvature of the bifurcated meat carcasses; a robot arm unit which moves along a movement path calculated on the basis of the scan information; a washing module unit which is connected to an end of the robot arm unit to move with the robot arm unit and has a plurality of washing nozzles for spraying washing water toward the bifurcated meat carcasses; and a control unit which calculates the movement path of the robot arm unit on the basis of the collected scan information, and controls the movement of the robot arm unit and the spraying of the washing water of the washing module unit.

Description

Automatic conductor cleaning system

[0001] The present invention relates to an automatic conductor washing system, and more particularly, to an automatic conductor washing system configured to automatically wash two-part conductor meats simultaneously.

[0002] A key process in slaughterhouses is dividing the carcass into two parts, followed by washing to remove any remaining bone fragments and other foreign matter. Conventional carcass washing involves inspecting the carcass visually and spraying washing water on the necessary areas to remove any foreign matter and clean the carcass.

[0003] However, when workers directly spray cleaning water to remove foreign substances, the results vary depending on the worker's skill level. Furthermore, because cleaning requires workers to perform repetitive tasks using their arms and hands, they often suffer from musculoskeletal disorders.

[0004] Additionally, many workers suffer from post-traumatic stress because they have to constantly look at conductors with their heads cut off and their intestines removed.

[0005] And since the conductor cleaning work is carried out using cleaning water sprayed at a pressure of, for example, 30 to 40 psi, the worker may be seriously injured by the cleaning water during the cleaning process.

[0006] Additionally, in a high-volume auction house, for example, up to 6,000 heads must be washed per day, so when a large amount of washing is done, there is a problem that the washing cannot be done accurately.

[0007] Therefore, it is necessary to introduce an automated conductor cleaning system rather than a manual one.

[0008] Prior art literature

[0009] Korean Patent No. 10-2364290 (February 14, 2022)

[0010] The present invention is intended to solve the problems of the prior art described above, and an object of the present invention is to provide an automatic carcass washing system configured to automatically wash two-part carcasses simultaneously.

[0011] In order to achieve the above object, one aspect of the present invention provides a carcass automatic washing system for washing carcass that is hung on a hanger and moved in a state of being divided into first carcass and second carcass, the system comprising: a sensor unit that detects the divided carcass and collects scan information including the size and curvature of the divided carcass; a robot arm unit that moves along a movement path calculated based on the scan information; a washing module unit that is connected to an end of the robot arm unit and moves together with the robot arm unit and has a plurality of washing nozzles that spray washing water toward the divided carcass; and a control unit that calculates the movement path of the robot arm unit based on the collected scan information and controls the movement of the robot arm unit and the spraying of washing water by the washing module unit.

[0012] In one embodiment of the present invention, the washing module unit may include a connecting unit connected to an end of the robot arm unit, a first washing unit extending in one direction from the connecting unit and having one or more washing nozzles, a second washing unit extending in the other direction from the connecting unit and having one or more washing nozzles, and a central washing unit extending in the central direction from the connecting unit and having one or more washing nozzles, wherein the first washing unit performs a washing operation on the outer surface of the first carcass, the second washing unit performs a washing operation on the outer surface of the second carcass, and the central washing unit performs a washing operation on the inner surfaces of the first carcass and the second carcass.

[0013] In one embodiment of the present invention, the first washing unit may include a first transverse washing pipe section extending in one direction from the connecting unit and a first longitudinal washing pipe section bent at one end of the first transverse washing pipe section and arranged to face the central washing unit, and the second washing unit may include a second transverse washing pipe section extending in the other direction from the connecting unit and a second longitudinal washing pipe section bent at one end of the second transverse washing pipe section and arranged to face the central washing unit, which may be a conductor automatic washing system.

[0014] In one embodiment of the present invention, the first washing unit is coupled to the first longitudinal washing tube unit and further includes a first distance maintenance guide for maintaining a distance so that the first carcass does not block the inlet of the washing nozzle while reducing movement of the first carcass due to a washing repulsive force, and the second washing unit may be coupled to the second longitudinal washing tube unit and further includes a second distance maintenance guide for maintaining a distance so that the second carcass does not block the inlet of the washing nozzle while reducing movement of the second carcass due to a washing repulsive force. It may be a conductor automatic washing system characterized in that.

[0015] In one embodiment of the present invention, the conductor automatic washing system may be characterized in that the distance between the first longitudinal washing pipe section and the central washing section is greater than the distance between the first distance maintenance guide and the central washing section, and the distance between the second longitudinal washing pipe section and the central washing section is greater than the distance between the second distance maintenance guide and the central washing section.

[0016] In one embodiment of the present invention, the robot arm may be a conductor automatic washing system characterized in that it includes a waterproof cover to prevent washing water from flowing into the inside of the machine.

[0017] In one embodiment of the present invention, the washing module unit may be coupled to the robot arm unit that moves along a movement path calculated by the control unit and moves up and down, and may be a conductor automatic washing system characterized in that it performs washing work on the outer and inner surfaces of the first body and the outer and inner surfaces of the second body simultaneously.

[0018] According to one aspect of the present invention, the conductor automatic washing system according to the present invention can significantly shorten the working time by simultaneously washing the first and second pieces of meat that are divided into two parts by a washing module including a first washing section, a second washing section, and a central washing section.

[0019] In addition, the automatic conductor washing system according to the present invention can reduce the waste of washing water and ensure a consistent washing quality by precisely washing the first and second conductors while the washing module connected to the robot arm moves along an optimal path.

[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] FIG. 1 is a perspective view of a conductor automatic cleaning system according to one embodiment of the present invention.

[0022] Figure 2 is a configuration diagram of a conductor automatic cleaning system according to one embodiment of the present invention.

[0023] FIG. 3 is a partially enlarged view of an automatic conductor cleaning system according to one embodiment of the present invention.

[0024] Figure 4 is a plan view of a washing module according to one embodiment of the present invention.

[0025] Figure 5 is a perspective view of a washing module according to one embodiment of the present invention.

[0026] Figure 6 is a front view of a washing module according to one embodiment of the present invention.

[0027] Figures 7 and 8 are usage state diagrams of a conductor automatic cleaning system according to one embodiment of the present invention.

[0028] 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.

[0029] 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.

[0030] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0031] FIG. 1 is a perspective view of an automatic conductor washing system according to an embodiment of the present invention, FIG. 2 is a configuration diagram of an automatic conductor washing system according to an embodiment of the present invention, FIG. 3 is a partially enlarged view of an automatic conductor washing system according to an embodiment of the present invention, FIG. 4 is a plan view of a washing module according to an embodiment of the present invention, FIG. 5 is a perspective view of a washing module according to an embodiment of the present invention, FIG. 6 is a front view of a washing module according to an embodiment of the present invention, and FIGS. 7 and 8 are use state diagrams of an automatic conductor washing system according to an embodiment of the present invention.

[0032] Referring to FIGS. 1 to 8, the conductor automatic washing system (1000) is configured to automatically wash the conductor divided into a first conductor (11) and a second conductor (12).

[0033] In the present invention, the carcass that is automatically washed through the automatic carcass washing system (1000) is described as an example of a pig, but the carcass that is automatically washed through the automatic carcass washing system (1000) is not limited to pigs, and it is obvious that washing can be performed on various types of meat, such as beef.

[0034] Such a conductor automatic cleaning system (1000) includes a sensor unit (100), a robot arm unit (200), a cleaning module unit (300), and a control unit (400).

[0035] More specifically, the conductor automatic washing system (1000) is configured to include a sensor unit (100) that detects a bisected conductor and collects scan information including the size and curvature of the bisected conductor, a robot arm unit (200) that moves along a movement path calculated based on the scan information, a washing module unit (300) that is connected to an end of the robot arm unit (200) and moves together with the robot arm unit (200) and has a plurality of washing nozzles (321, 331, 341) that spray washing water toward the bisected conductor, and a control unit (400) that calculates a movement path of the robot arm unit (200) based on the collected scan information and controls the movement of the robot arm unit (200) and the spraying of washing water by the washing module unit (300).

[0036] Here, the washing module (300) moves along the calculated path while connected to the robot arm (200), and simultaneously performs automatic washing on the first and second legs (11) and legs (12) that are moved while hanging on the hanger (10).

[0037] The sensor unit (100) is configured to detect the first and second conductors (11) and (12) that are moved by hanging on a hanger (10) before the robot arm unit (200) and the washing module unit (300). The sensor unit (100) detects the conductors moving to the washing position and also collects scan information such as the size and curvature of the first and second conductors (11) and (12).

[0038] The sensor unit (100) may include one or more LiDAR scanners. That is, the sensor unit (100) may utilize the LiDAR scanner to determine the length, thickness, etc. of the first and second bodies (11) and (12) that are bisected, obtain a depth value based on the scanner, and calculate the curvature of the spine, etc., and provide scan information to the control unit (400) so that the robot arm unit (200) and the cleaning module unit (300) may calculate the optimal movement path along which to move. However, the sensor unit (100) may include any device that can scan and generate two-dimensional or three-dimensional image data regarding the size and shape of the first and second bodies (11) and (12), as well as the LiDAR scanner.

[0039] The robot arm (200) may be a multi-joint robot arm configured to move along an optimal movement path calculated based on scan information obtained from the sensor unit (100).

[0040] The robot arm (200) having a multi-joint structure can have a degree of freedom in which the distal end of the robot arm (200) can move in any direction and / or at any point, by having at least one arm rotate up and down and / or left and right around a plurality of axes (e.g., 5 axes, 6 axes, 7 axes, 8 axes, etc.). A washing module (300) that sprays washing water toward the first carcass (11) and the second carcass (12) can be mounted on the distal end of the robot arm (200), and the washing module (300) can efficiently wash the first carcass (11) and the second carcass (12) without wasting washing water while moving along an optimal movement path.

[0041] The robot arm (200) may include a waterproof cover (210) to prevent washing water from flowing into the machine during the washing process of the meat. This waterproof cover (210) forms a positive pressure inside, thereby preventing water vapor and moisture from penetrating, thereby maintaining the durability of the robot arm (200) at its best.

[0042] Meanwhile, the washing module (300) includes a connection part (310), a first washing part (320), a second washing part (330), and a central washing part (340).

[0043] More specifically, the washing module (300) is configured to include a connection part (310) connected to an end of the robot arm part (200), a first washing part (320) extending in one direction from the connection part (310) and having one or more washing nozzles (321), a second washing part (330) extending in the other direction from the connection part (310) and having one or more washing nozzles (331), and a central washing part (340) extending in a central direction from the connection part (310) and having one or more washing nozzles (341).

[0044] Here, the first washing unit (320) performs a washing operation on the outer surface of the first meat (11), the second washing unit (330) performs a washing operation on the outer surface of the second meat (12), and the central washing unit (340) performs a washing operation on the inner surfaces of the first meat (11) and the second meat (12).

[0045] That is, the washing module (300) is coupled to a robot arm (200) that moves along a movement path calculated by the control unit (400) and is configured to simultaneously perform washing operations on the outer and inner surfaces of the first body (11) and the outer and inner surfaces of the second body (12) while moving up and down.

[0046] The first washing unit (320), the second washing unit (330), and the central washing unit (340) may be formed in a pipe shape. The first washing unit (320), the second washing unit (330), and the central washing unit (340) are connected to a washing water supply pump (not shown), and can spray high-pressure washing water supplied from the washing water supply pump through the washing nozzles (321, 331, 341).

[0047] Meanwhile, the first washing unit (320) includes a first transverse washing pipe section (320a) extending in one direction from the connecting section (310) and a first longitudinal washing pipe section (320b) bent at one end of the first transverse washing pipe section (320a) and arranged to face the central washing unit (340). The first washing unit (320) may further include a first connecting pipe section (320c) that obliquely connects the first transverse washing pipe section (320a) and the first longitudinal washing pipe section (320b) to facilitate movement of washing water. The first transverse washing pipe section (320a), the first longitudinal washing pipe section (320b), and the first connecting pipe section (320c) are each provided with one or more washing nozzles (321) to spray washing water from one or more directions toward the first piece of meat (11).

[0048] In addition, the second washing unit (330) includes a second transverse washing pipe unit (330a) extending from the connecting unit (310) in the other direction and a second longitudinal washing pipe unit (330b) bent at one end of the second transverse washing pipe unit (330a) and arranged to face the central washing unit (340). The second washing unit (330) may further include a second connecting pipe unit (330c) that obliquely connects the second transverse washing pipe unit (330a) and the second longitudinal washing pipe unit (330b) to facilitate movement of washing water. The second transverse washing pipe unit (330a), the second longitudinal washing pipe unit (330b), and the second connecting pipe unit (330c) are each provided with one or more washing nozzles (331) to spray washing water from one or more directions toward the second pork (12).

[0049] The central washing unit (340) is provided between the first washing unit (320) and the second washing unit (330). A first washing space (S1) in which the first piece of meat (11) is located is formed between the first washing unit (320) and the central washing unit (340), and a second washing space (S2) in which the second piece of meat (12) is located is formed between the second washing unit (330) and the central washing unit (340).

[0050] This central washing unit (340) performs washing work on the inner surfaces of the first carcass (11) and the second carcass (12). That is, one or more washing nozzles (341) for spraying washing water toward the first carcass (11) are provided on one side of the central washing unit (340), and one or more washing nozzles (341) for spraying washing water toward the second carcass (12) are provided on the other side. In this way, a plurality of washing nozzles (341) may be provided in a spaced apart manner along the length direction of the central washing unit (340).

[0051] Meanwhile, the first washing unit (320) may further include a first distance maintenance guide (322).

[0052] More specifically, the first washing section (320) is coupled to the first longitudinal washing pipe section (320b) and may further include a first distance maintenance guide (322) for reducing movement of the first body (11) due to the washing repulsion force and maintaining a distance so that the first body (11) does not block the inlet of the washing nozzle (321).

[0053] This first distance maintenance guide (322) includes a first guide bar (322b) and a first connecting bar (322a).

[0054] The first connecting bar (322a) is configured to connect the first guide bar (322b) and the first longitudinal cleaning pipe section (320b).

[0055] The first guide bar (322b) is positioned to face the central washing section (340), but is positioned closer to the central washing section (340) than to the first longitudinal washing tube section (320b). That is, the distance (L1) between the first longitudinal washing tube section (320b) and the central washing section (340) may be greater than the distance (L2) between the first guide bar (322b) and the central washing section (340). The first guide bar (322b) guides the first piece of meat (11) to enter the first washing space (S1), prevents the first piece of meat (11) from colliding with the first longitudinal washing tube section (320b), and prevents the washing nozzle (321) from being blocked by the first piece of meat (11).

[0056] The first guide bar (322b) may include a concavely curved shape corresponding to the curvature of the outer surface of the first ridge (11).

[0057] Likewise, the second washing unit (330) may further include a second distance maintenance guide (332).

[0058] More specifically, the second washing unit (330) is coupled to the second longitudinal washing pipe unit (330b) and may further include a second distance maintenance guide (332) to maintain a distance so that the second body (12) does not block the inlet of the washing nozzle (331) while reducing the movement of the second body (12) due to the washing repulsion force.

[0059] This second distance maintenance guide (332) includes a second guide bar (332b) and a second connecting bar (332a).

[0060] The second connecting bar (332a) is configured to connect the second guide bar (332b) and the second longitudinal cleaning pipe section (330b).

[0061] The second guide bar (332b) is positioned to face the central washing section (340), but is positioned closer to the central washing section (340) than to the second longitudinal washing tube section (330b). That is, the distance (L1) between the second longitudinal washing tube section (330b) and the central washing section (340) may be greater than the distance (L2) between the second guide bar (332b) and the central washing section (340). The second guide bar (332b) guides the second meat (12) to enter the second washing space (S2), prevents the second meat (12) from colliding with the second longitudinal washing tube section (330b), and prevents the washing nozzle (331) from being blocked by the second meat (12).

[0062] The second guide bar (332b) may include a concavely curved shape corresponding to the curvature of the outer surface of the second body (12).

[0063] Meanwhile, the washing module (300) may further include a pneumatically controlled valve (350), and the pneumatically controlled valve (350) may be turned on / off in conjunction with the control unit (400) and the robot arm unit (300).

[0064] The control unit (400) can calculate an optimal path for the robot arm (200) to move based on the scan information provided from the sensor unit (100), and control the movement of the robot arm (200) and the spraying of the washing water by the washing module unit (300). In addition, the washing module unit (300) can spray high-pressure washing water toward the first body (11) and the second body (12) while moving together in a state of being coupled to the end of the robot arm unit (200). In other words, the washing module unit (300) performs a washing operation on the first body (11) and the second body (12) while moving accordingly according to the size and curvature of the first body (11) and the second body (12) based on the scan information provided from the sensor unit (100).

[0065] The conductor automatic washing system (1000) according to the present invention can significantly shorten the working time by simultaneously washing the first conductor (11) and the second conductor (12) by the washing module (300) including the first washing unit (320), the second washing unit (330), and the central washing unit (340).

[0066] In addition, the conductor automatic washing system (1000) according to the present invention can reduce the waste of washing water and ensure a constant washing quality by precisely washing the first and second conductors (11) and (12) while the washing module (300) connected to the robot arm (200) moves along an optimal path.

[0067] 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.

[0068] 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.

[0069] Description of the symbol

[0070] 1000 conductor automatic cleaning system

[0071] 100 sensor unit

[0072] 200 Robot Arm Division

[0073] 300 washing module

[0074] 310 connector

[0075] 320 1st Washing Department

[0076] 320a 1st transverse washing pipe section

[0077] 320b First longitudinal washing pipe section

[0078] 320c first connector

[0079] 321 Washing Nozzle

[0080] 322 Distance Keeping Guideline 1

[0081] 322a First connecting bar

[0082] 322b 1st guide bar

[0083] 330 Second Washing Department

[0084] 330a Second transverse washing pipe section

[0085] 330b Second longitudinal washing pipe section

[0086] 330c second connecting pipe

[0087] 331 Washing Nozzle

[0088] 332 Second Distance Maintenance Guide

[0089] 332a Second connecting bar

[0090] 332b 2nd guide bar

[0091] 340 Central Washing Department

[0092] 341 Washing Nozzle

[0093] 350 pneumatically controlled valve

[0094] 400 Control Unit

[0095] 10 hangers

[0096] 11. First Physical Education

[0097] 12 Second Physical Education

[0098] S1 1st Washing Space

[0099] S2 Second Washing Space

Claims

1. In an automatic conductor washing system for washing conductors that are hung on a hanger and moved in a state of being divided into first conductors and second conductors, A sensor unit that detects a bisected piece of meat and collects scan information including the size and curvature of the bisected piece of meat; A robot arm that moves along a movement path calculated based on the above scan information; A washing module unit having a plurality of washing nozzles that are connected to the end of the robot arm unit and move together with the robot arm unit and spray washing water toward the bisected meat; and A conductor automatic washing system comprising a control unit that calculates a movement path of the robot arm based on the collected scan information and controls the movement of the robot arm and the spraying of washing water of the washing module unit.

2. In paragraph 1, The above washing module part, A connecting portion connected to the end of the above robot arm; A first washing unit extending in one direction from the above connecting unit and having one or more washing nozzles; A second washing unit extending in the other direction from the above connecting unit and having one or more washing nozzles; and A central washing unit extending from the above connecting portion in a central direction and having one or more washing nozzles, A conductor automatic washing system, characterized in that the first washing unit performs a washing operation on the outer surface of the first body, the second washing unit performs a washing operation on the outer surface of the second body, and the central washing unit performs a washing operation on the inner surfaces of the first body and the second body.

3. In paragraph 2, The first washing section includes a first transverse washing pipe section extending in one direction from the connecting section and a first longitudinal washing pipe section bent at one end of the first transverse washing pipe section and arranged to face the central washing section. A conductor automatic washing system, characterized in that the second washing section includes a second transverse washing pipe section extending in the other direction from the connecting section and a second longitudinal washing pipe section bent at one end of the second transverse washing pipe section and arranged to face the central washing section.

4. In paragraph 3, The first washing section is coupled to the first longitudinal washing pipe section and further includes a first distance maintenance guide for reducing movement of the first piece of meat due to washing repulsion force and maintaining a distance so that the first piece of meat does not block the inlet of the washing nozzle. A conductor automatic washing system characterized in that the second washing unit is coupled to the second longitudinal washing pipe unit and further includes a second distance maintenance guide for reducing movement of the second body due to washing repulsion force and maintaining a distance so that the second body does not block the inlet of the washing nozzle.

5. In paragraph 4, The distance between the first longitudinal washing pipe section and the central washing section is greater than the distance between the first distance maintenance guide and the central washing section, A conductor automatic washing system, characterized in that the distance between the second longitudinal washing pipe section and the central washing section is greater than the distance between the second distance maintenance guide and the central washing section.

6. In paragraph 1, A conductor automatic washing system, characterized in that the robot arm part includes a waterproof cover to prevent washing water from flowing into the inside of the machine.

7. In paragraph 3, The above washing module part, A conductor automatic washing system characterized in that the robot arm is coupled to the robot arm and moves up and down along the movement path calculated by the control unit, and simultaneously performs washing operations on the outer and inner surfaces of the first body and the outer and inner surfaces of the second body.

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