Slaughtered animal cutting system and slaughtered animal cutting method using same

Abstract

One embodiment of the present invention provides a slaughtered animal cutting system and a slaughtered animal cutting method using same, the system comprising: a scanning unit for scanning a bisected slaughtered animal moving while suspended on a hanger; a first fixing module for pressing and fixing the slaughtered animal to cut a first portion of the slaughtered animal scanned by the scanning unit; a second fixing module, disposed at a rear portion of the first fixing module, for pressing and fixing the slaughtered animal to cut a second portion of the slaughtered animal from which the first portion has been cut; a cutting robot for cutting the first portion of the slaughtered animal fixed by the first fixing module and for cutting the second portion of the slaughtered animal fixed by the second fixing module; and a conveyor module for moving the first portion and the second portion cut by the cutting robot, wherein the cutting robot continuously cuts the first portion and the second portion and automatically trisects the slaughtered animal into first to third portions.

Description

Slaughter animal cutting system and slaughter animal cutting method using the same

[0001] The present invention relates to a slaughter animal cutting system and a slaughter animal cutting method using the same, and more specifically, to a slaughter animal cutting system configured to automatically divide a slaughter animal into three parts and a slaughter animal cutting method using the same.

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

[0003] The bisection process, which divides a slaughtered animal into two halves, involves dividing 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 this way, slaughtered animals undergoing this bisection process undergo additional cutting operations to obtain the desired carcass parts. That is, workers use slaughter knives to cut the slaughtered animals into the desired parts.

[0005] However, when workers use slaughter knives to cut up animals, the resulting results vary depending on the worker's skill level. In other words, the commercial value of the slaughtered animals varies depending on the worker.

[0006] And workers can be seriously injured during the process of cutting up slaughtered animals using slaughter knives.

[0007] Accordingly, various research and developments are being conducted on a slaughter animal cutting system that enables automatic cutting of slaughtered animals rather than manual cutting, and a slaughter animal cutting method using the same.

[0008] The technical task of the present invention to solve the above problems is to provide a slaughter animal cutting system configured to automatically divide a slaughter animal into three parts and a slaughter animal cutting method using the same.

[0009] In order to achieve the above technical problem, one embodiment of the present invention provides a slaughter animal cutting system including: a scanning unit that scans a slaughter animal divided into two parts and moved while hanging from a hanger; a first fixing module that pressurizes and fixes the slaughter animal for cutting a first part of the slaughter animal scanned by the scanning unit; a second fixing module that is arranged at the rear of the first fixing module and pressurizes and fixes the slaughter animal for cutting a second part of the slaughter animal for which the first part has been cut; a cutting robot that cuts the first part of the slaughter animal fixed by the first fixing module and cuts the second part of the slaughter animal fixed by the second fixing module; and a conveyor module that moves the first part and the second part cut by the cutting robot; wherein the cutting robot continuously cuts the first part and the second part and automatically divides the slaughter animal into three parts, the first part, the second part, and the third part.

[0010] In one embodiment of the present invention, the conveyor module may include: a first conveyor to which the first fixed module is coupled and which guides movement of the first portion cut by the cutting robot; a first direction changing unit to which the first portion delivered from the first conveyor is coupled and which guides movement of the first processing conveyor arranged adjacent to one side of the first conveyor; a second conveyor to which the second fixed module is coupled and which guides movement of the second portion cut by the cutting robot; and a second direction changing unit to which the second portion delivered from the second conveyor is coupled and which guides movement of the second portion cut by the cutting robot; and

[0011] In one embodiment of the present invention, the first fixed module includes a pair of spaced first moving parts, the lower part of which is coupled to a pair of first guide parts provided on both sides of the first conveyor and moves along the first guide parts; a first base part coupled to an upper part of the first moving part; and a plurality of first pressure support rods coupled to the first base part and moved forward to pressurize and fix a slaughtered animal; wherein the first pressure support rods provided on the first base part, which are spaced apart from each other and arranged to face each other, are configured to pressurize and fix one side and the other side of the slaughtered animal, and the ends of the first pressure support rods may be formed in a hemispherical shape.

[0012] In one embodiment of the present invention, the second fixed module includes: a pair of second moving parts coupled to a pair of second guide parts provided on both sides of the second conveyor and moved along the second guide parts; a second base part coupled to an upper portion of the second moving part; and a plurality of second pressure support rods coupled to the second base part and moved forward to pressurize and fix the slaughtered animal; wherein the second pressure support rods provided on the second base part and spaced apart from each other so as to face each other are configured to pressurize and fix one side and the other side of the slaughtered animal where the first portion is cut, and the ends of the second pressure support rods may be formed in a hemispherical shape.

[0013] In one embodiment of the present invention, the first fixing module is configured to pressurize and fix the area below the 4th rib of the slaughtered animal while the slaughtered animal is hung with its ankle fixed to the hanger, and the cutting robot is configured to cut the 4th rib area of ​​the slaughtered animal, and the second fixing module is configured to pressurize and fix the area below the hind leg of the slaughtered animal while the cutting robot is configured to cut the hind leg area of ​​the slaughtered animal, and the height of the second fixing module may be arranged to be higher than that of the first fixing module.

[0014] In one embodiment of the present invention, the cutting robot comprises: a robot base; a multi-joint robot arm that rotates while being coupled to the robot base and moves to a required position; and a cutting tool coupled to an end of the robot arm and cutting an animal to be slaughtered; wherein the cutter provided in the cutting tool can be configured to cut the animal to be slaughtered through ultrasonic vibration.

[0015] One embodiment of the present invention comprises: (A) a step of scanning a slaughtered animal hanging on a hanger by a scanning unit; (B) a step of pressurizing and fixing the slaughtered animal scanned by the scanning unit by a first fixing module; (C) a step of cutting a first part of the slaughtered animal pressurized and fixed by the first fixing module based on scan data provided from the scanning unit by a cutting robot; (D) a step of moving the first part cut by the cutting robot and placed on a first conveyor to a first processing conveyor; (E) a step of pressurizing and fixing the slaughtered animal of which the first part has been cut by a second fixing module; (F) a step of cutting a second part of the slaughtered animal pressurized and fixed by the second fixing module based on scan data provided from the scanning unit by the cutting robot; And (G) a step of moving the second portion cut by the cutting robot and placed on the second conveyor to the second processing conveyor; wherein the cutting robot continuously cuts the first portion and the second portion, and provides a method for cutting a slaughtered animal, which is configured to automatically divide the slaughtered animal into three portions, the first portion to the third portion.

[0016] The effects of the slaughter animal cutting system and the slaughter animal cutting method using the same according to the present invention described above are as follows.

[0017] According to the present invention, a slaughter animal cutting system is configured to automatically cut a bisected slaughter animal into required first to third parts via a cutting robot. Therefore, additional cutting operations on the bisected slaughter animal can be easily performed. Furthermore, since the additional cutting operations are performed automatically by the cutting robot, accidents involving injury to workers during the cutting process, as in the past, are avoided.

[0018] According to the present invention, the cutting robot can accurately cut the required portion of the slaughtered animal based on scan data of the slaughtered animal scanned by the scanning unit. Here, the first fixing module and the second fixing module firmly pressurize and fix the slaughtered animal when the cutting robot cuts the slaughtered animal, so that the slaughtered animal can be accurately cut into the required portion.

[0019] In addition, since the first to third parts cut by the cutting robot are automatically moved to the next processing process, the processing work can be easily performed.

[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 slaughter animal cutting system according to one embodiment of the present invention.

[0022] FIG. 2 is an exemplary diagram of a slaughter animal cutting system according to one embodiment of the present invention.

[0023] Figure 3 is a perspective view of a first fixed module according to one embodiment of the present invention.

[0024] Figure 4 is an exemplary diagram showing a process of cutting a first part of a slaughtered animal according to one embodiment of the present invention.

[0025] FIG. 5 is an exemplary diagram showing a movement process of a cut first portion according to one embodiment of the present invention.

[0026] Figure 6 is a perspective view of a second fixed module according to one embodiment of the present invention.

[0027] Figure 7 is an exemplary diagram showing a process of cutting a second part of a slaughtered animal according to one embodiment of the present invention.

[0028] Figure 8 is an exemplary diagram showing the movement process of a cut second portion according to one embodiment of the present invention.

[0029] Figure 9 is a work flow chart showing a cutting process of 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 a block diagram of a slaughter animal cutting system according to an embodiment of the present invention, FIG. 2 is an exemplary diagram of a slaughter animal cutting system according to an embodiment of the present invention, FIG. 3 is a perspective view of a first fixing module according to an embodiment of the present invention, FIG. 4 is an exemplary diagram showing a process of cutting a first part of a slaughter animal according to an embodiment of the present invention, FIG. 5 is an exemplary diagram showing a process of moving a cut first part according to an embodiment of the present invention, FIG. 6 is a perspective view of a second fixing module according to an embodiment of the present invention, FIG. 7 is an exemplary diagram showing a process of cutting a second part of a slaughter animal according to an embodiment of the present invention, and FIG. 8 is an exemplary diagram showing a process of moving a cut second part according to an embodiment of the present invention.

[0035] As shown in FIGS. 1 to 8, a slaughter animal cutting system (1000) configured to automatically divide a slaughter animal (P) into three parts may include a scanning unit (100), a first fixing module (200), a second fixing module (300), a cutting robot (400), and a conveyor module (500).

[0036] In the present invention, the slaughter animal (P) divided into two parts and hung on a hanger (10) is described as an example of a pig. Here, the slaughter animal (P) cut through the slaughter animal cutting system (1000) is not necessarily limited to a pig, and may be a variety of slaughter animals (P) other than pigs, such as cattle.

[0037] In this way, the divided slaughter animal (P) moves along the length of the main conveyor (20) with the hind leg ankle area of ​​the slaughter animal (P) hanging on the hanger (10).

[0038] The scanning unit (100) is configured to scan slaughtered animals (P) moved by the main conveyor (20).

[0039] The scan data scanned through the scanning unit (100) is transmitted to the cutting robot (400) described later, and the cutting robot (400) automatically cuts the required cutting area based on the scan data provided from the scanning unit (100).

[0040] Here, the scan data acquired through the scanning unit (100) can also be used to create a 3D image of a slaughtered animal (P) through image conversion.

[0041] This scanning unit (100) may be, for example, a 2D Lidar. Alternatively, the scanning unit (100) may be a 3D scanner. Any device may be used as the scanning unit (100) as long as it can obtain more accurate scan data of the slaughtered animal (P).

[0042] Meanwhile, the first fixing module (200) is configured to pressurize and fix the slaughtered animal (P) for cutting the first part (P1) of the slaughtered animal (P) photographed by the scanning unit (100).

[0043] Here, the first part (P1) of the slaughtered animal (P) may be, for example, the part below the 4th rib of the slaughtered animal (P) hung upside down on the hanger (10). That is, the first part (P1) of the slaughtered animal (P) may be from the 4th rib of the slaughtered animal (P) to the neck of the slaughtered animal (P) with its head cut off. The first part (P1) of the slaughtered animal (P) is not necessarily limited to the parts mentioned above, and the worker may optionally designate the first part (P1).

[0044] The first fixed module (200) may include a first moving part (210), a first base part (220), and a first pressure support rod (230).

[0045] Here, the lower part of the first moving part (210) can be respectively connected to a pair of first guide parts (511) provided on both sides of the first conveyor (510).

[0046] These first moving parts (210) are arranged to face each other at predetermined intervals. These first moving parts (210) can move along the longitudinal direction of the first guide part (511).

[0047] And the first base part (220) is coupled to the upper part of the first moving part (210).

[0048] This first base portion (220) is made of a plate having a certain size and is configured to support a plurality of first pressure support rods (230) coupled to the first base portion (220).

[0049] And the first pressure support rod (230) is connected to the first base part (220). These first pressure support rods (230) are provided at predetermined intervals and can be provided in multiple pieces on the first base part (220).

[0050] A first pressure support rod (230) like this can be moved forward or backward by, for example, a pneumatic cylinder.

[0051] Here, the first pressure support bar (230) is configured to pressurize and fix the slaughter animal (P) hanging on the hanger (10). That is, the first pressure support bar (230) moves forward in a direction away from the first base part (220) and pressurizes and fixes the slaughter animal (P).

[0052] These plurality of first pressure support rods (230) can, for example, press and fix the slaughter animal (P) with a predetermined pressure. That is, since the outer surface of the divided slaughter animal (P) is not flat on all sides and has various shapes (various curves, etc.), the plurality of first pressure support rods (230) spaced apart at predetermined intervals do not move forward by the same distance, but move forward by different lengths, and can stably press and fix the outer surface of the slaughter animal (P) with a predetermined pressure.

[0053] In this way, the slaughtered animal (P) supported by the pressure by the plurality of first pressure support rods (230) is configured to be pressed with the same predetermined pressure at any position.

[0054] And the end of the first pressure support rod (230) may be formed, for example, in a hemispherical shape. This is to prevent damage to the slaughter animal (P) during the process of the first pressure support rod (230) pressurizing and fixing the slaughter animal (P).

[0055] The first pressure support bar (230) moves forward from the first base part (220) that is spaced apart from each other so as to face each other, and can stably pressurize and fix one side and the other side of the slaughter animal (P).

[0056] In this way, since one side and the other side of the slaughter animal (P) are pressurized and fixed by the pair of first pressure support bars (230), the slaughter animal (P) can be stably fixed without shaking.

[0057] This first fixed module (200) prevents the slaughter animal (P) from shaking during the process of the cutting robot (400) cutting the 4th rib area of ​​the slaughter animal (P).

[0058] Meanwhile, the cutting robot (400) cuts the 4th rib area while the first fixing module (200) pressurizes and fixes the slaughter animal (P) to divide the first part (P1) of the slaughter animal (P).

[0059] This cutting robot (400) accurately cuts the required cutting area based on scan data provided from the scanning unit (100).

[0060] Such a cutting robot (400) may include a robot base (410), a robot arm (420), and a cutting tool (430).

[0061] The robot base (410) is configured to support a multi-joint robot arm (420).

[0062] This robot arm (420) is configured to be rotatable relative to the robot base (410) while being coupled to the robot base (410).

[0063] And the robot arm (420) has a multi-joint shape and is configured to be able to move to a required position.

[0064] A cutting tool (430) can be attached to the end of such a robot arm (420).

[0065] This cutting tool (430) is equipped with a cutter (431) for cutting the slaughtered animal (P), and the cutter (431) can accurately cut the required part of the slaughtered animal (P) through the movement of the robot arm (420).

[0066] A cutter (431) of this type is configured to cut a slaughtered animal (P) using, for example, ultrasonic vibrations. When cutting a slaughtered animal (P) using such ultrasonic vibrations, the slaughtered animal (P) can be cut sharply. Accordingly, the slaughtered animal (P) cut by the cutter (431) can be cut at a required location with greater precision.

[0067] Meanwhile, the conveyor module (500) may include a first conveyor (510), a second conveyor (520), a first direction change unit (530), a second direction change unit (540), a first processing conveyor (550), and a second processing conveyor (560).

[0068] A first fixed module (200) is coupled to this first conveyor (510).

[0069] In a state where the first fixing module (200) pressurizes and fixes the slaughtered animal (P), the first part (P1) of the slaughtered animal (P) cut by the cutting robot (400) can be placed on the first conveyor (510).

[0070] And the first part (P1) placed on the first conveyor (510) moves along the first conveyor (510) and is supplied to the first direction change unit (530).

[0071] And the first direction change unit (530) transfers the first portion (P1) transferred from the first conveyor (510) to the first processing conveyor (550).

[0072] This first direction change unit (530) is provided between the first conveyor (510) and the second conveyor (520), and prevents the first part (P1) moving along the first conveyor (510) from moving to the second conveyor (520).

[0073] Here, the first processing conveyor (550) is arranged adjacent to one side of the first conveyor (510) and moves the first portion (P1) transmitted from the first direction change unit (530) to a work process where additional processing of the first portion (P1) is to be performed.

[0074] And, while the second fixing module (300) is pressurizing and fixing the slaughtered animal (P), the second part (P2) of the slaughtered animal (P) cut by the cutting robot (400) can be placed on the second conveyor (520).

[0075] The second portion (P2) placed on the second conveyor (520) moves along the second conveyor (520) and is supplied to the second direction change unit (540).

[0076] And the second direction change unit (540) transfers the second portion (P2) transferred from the second conveyor (520) to the second processing conveyor (560).

[0077] Here, the second processing conveyor (560) is arranged adjacent to the other side of the second conveyor (520) and moves the second portion (P2) delivered from the second direction change unit (540) to a work process where additional processing of the second portion (P2) is performed.

[0078] Meanwhile, the second fixed module (300) may include a second moving part (310), a second base part (320), and a second pressure support rod (330).

[0079] The lower part of the second moving part (310) can be respectively connected to a pair of second guide parts (521) provided on both sides of the second conveyor (520).

[0080] A second fixing module (300) like this is placed at the rear of the first fixing module (200) and is configured to pressurize and fix the slaughtered animal (P) when the cutting robot (400) cuts the second part (P2) of the slaughtered animal (P) for which the first part (P1) has been cut.

[0081] Here, the second part (P2) of the slaughtered animal (P) may be, for example, the part below the hind leg of the slaughtered animal (P) hung upside down on the hanger (10). That is, the second part (P2) of the slaughtered animal (P) may be from the point where the hind leg of the slaughtered animal (P) is cut to the 4th rib of the slaughtered animal (P).

[0082] A second fixed module (300) like this prevents the slaughter animal (P) from shaking during the process of the cutting robot (400) cutting the hind leg part of the slaughter animal (P).

[0083] In this way, the cutting robot (400) divides the second part (P2) of the slaughter animal (P) while the second fixing module (300) pressurizes and fixes the slaughter animal (P).

[0084] This cutting robot (400) can cut the required second portion (P2) based on scan data provided from the scanning unit (100).

[0085] This second fixed module (300) has a configuration corresponding to the first fixed module (200), and a detailed description of each configuration will be omitted.

[0086] Here, the first fixing module (200) and the second fixing module (300) are configured to support and pressurize a slaughter animal (P) hanging from a hanger (10), but the positions at which the slaughter animal (P) is pressed are different. Specifically, the second pressure support rod (330) provided in the second fixing module (300) is arranged higher than the first pressure support rod (230) provided in the first fixing module (200).

[0087] In other words, when dividing a slaughtered animal (P) into three parts, the first fixing module (200) is configured to pressurize and support the slaughtered animal (P) for cutting the first part (P1) which is the lower part of the slaughtered animal (P) hanging from the hanger (10), and the second fixing module (300) is configured to pressurize and support the slaughtered animal (P) for cutting the second part (P2) which is the upper part of the slaughtered animal (P) hanging from the hanger (10). The first fixing module (200) and the second fixing module (300) are arranged at different heights so that the slaughtered animal (P) is continuously cut into three parts.

[0088] In this way, the second part (P2) of the slaughtered animal (P) is cut by the cutting robot (400), and the third part (P3) hanging on the remaining hanger (10) can be moved to the hind leg processing process of the slaughtered animal (P) along the main conveyor (20).

[0089] This slaughter animal cutting system (1000) is configured to automatically cut the required cutting portion (first portion to third portion) of the slaughter animal (P) and automatically move the cut portion to the required processing work process.

[0090] Figure 9 is a work flow chart showing a cutting process of a slaughtered animal according to one embodiment of the present invention.

[0091] Referring to Fig. 9, the operation process of the slaughter animal cutting system (1000) is schematically examined. First, the scanning unit (100) scans the divided slaughter animal (P) that is hung on the hanger (10) and moved. (S100)

[0092] Such a scanning unit (100) is configured to provide scan data of a slaughtered animal (P) to a cutting robot (400). Accordingly, the cutting robot (400) can cut the cutting portions (first portion and second portion) of the slaughtered animal (P) required in each process based on the scan data provided from the scanning unit (100).

[0093] Next, the slaughtered animal (P) scanned by the scanning unit (100) is pressurized and fixed by the first fixing module (200). This first fixing module (200) is configured to stably pressurize and fix the slaughtered animal (P) hanging on the hanger (10) where the cutting operation will be performed. (S200)

[0094] Next, the cutting robot (400) cuts the first part (P1) of the slaughtered animal (P) that has been pressurized and fixed by the first fixing module (200) based on the scan data provided from the scanning unit (100). (S300)

[0095] Next, the first portion (P1) cut by the cutting robot (400) is moved to the first processing conveyor (550) by the first direction change unit (530) while being placed on the first conveyor (510). (S400)

[0096] Next, the second fixing module (300) pressurizes and fixes the slaughtered animal (P) in which the first part (P1) has been cut. (S500)

[0097] Next, the cutting robot (400) cuts the second part (P2) of the slaughtered animal (P) that has been pressurized and fixed by the second fixing module (300) based on the scan data provided from the scanning unit (100). (S600)

[0098] Finally, the second portion (P2) cut by the cutting robot (400) is moved to the second processing conveyor (560) by the second direction change unit (540) while being placed on the second conveyor (520), and the third portion (P3) is moved along the main conveyor (20). (S700)

[0099] In this way, the cutting robot (400) equipped in the slaughter animal cutting system (1000) continuously cuts the first part (P1) and the second part (P2) of the slaughter animal (P), and automatically divides the slaughter animal (P) into three parts, the first part (P1) to the third part (P3).

[0100] 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.

[0101] 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.

[0102] 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 scanning unit that scans a divided slaughter animal that is moved while hanging on a hanger; A first fixing module for pressurizing and fixing a slaughtered animal for cutting a first part of the slaughtered animal scanned from the above scanning unit; A second fixing module, which is positioned at the rear of the first fixing module and pressurizes and fixes the slaughtered animal for cutting a second part of the slaughtered animal for which the first part has been cut; A cutting robot that cuts the first part of the slaughtered animal fixed by the first fixing module and cuts the second part of the slaughtered animal fixed by the second fixing module; and A conveyor module for moving the first and second parts cut by the cutting robot; A slaughter animal cutting system in which the cutting robot continuously cuts the first and second parts and automatically divides the slaughter animal into three parts, from the first part to the third part.

2. In paragraph 1, The above conveyor module, A first conveyor to which the first fixed module is coupled and which guides the movement of the first portion cut by the cutting robot; A first direction change unit that transfers the first portion transferred from the first conveyor to a first processing conveyor arranged adjacent to one side of the first conveyor; A second conveyor to which the second fixed module is coupled and which guides the movement of the second portion cut by the cutting robot; and A slaughter animal cutting system characterized by including a second direction changing unit that transfers the second portion transferred from the second conveyor to a second processing conveyor arranged adjacent to the other side of the second conveyor.

3. In paragraph 2, The above first fixed module, The lower part is connected to a pair of first guide parts provided on both sides of the first conveyor, and a pair of spaced first moving parts that move along the first guide parts; a first base part coupled to the upper portion of the first moving part; and A plurality of first pressure support rods are connected to the first base portion and move forward to pressurize and fix the slaughter animal; A slaughter animal cutting system characterized in that the first pressure support bar provided on the first base portion, which is spaced apart from each other so as to face each other, is configured to pressurize and fix one side and the other side of the slaughter animal, and the end of the first pressure support bar is formed in a hemispherical shape.

4. In paragraph 2, The above second fixed module, A pair of second moving parts coupled to a pair of second guide parts provided on both sides of the second conveyor and moved along the second guide parts; A second base part coupled to the upper portion of the second moving part; and A plurality of second pressure support rods are connected to the second base portion and move forward to pressurize and fix the slaughter animal; A slaughter animal cutting system characterized in that the second pressure support bar provided on the second base portion, which is spaced apart from each other so as to face each other, is configured to pressurize and fix one side and the other side of the slaughter animal where the first portion is cut, and the end of the second pressure support bar is formed in a hemispherical shape.

5. In paragraph 1, The first fixing module is configured to pressurize and fix the area below the 4th rib of the slaughtered animal while the slaughtered animal is hung with its ankle fixed to the hanger, and the cutting robot is configured to cut the 4th rib area of ​​the slaughtered animal. The second fixing module is configured to pressurize and fix the lower part of the hind leg of the slaughtered animal, and the cutting robot is configured to cut the hind leg part of the slaughtered animal. A slaughter animal cutting system characterized in that the height of the second fixed module is arranged to be higher than that of the first fixed module.

6. In paragraph 1, The above cutting robot, robot base; A multi-joint robot arm that rotates while being connected to the robot base and moves to a required position; and A slaughter animal cutting system, comprising: a cutting tool coupled to the end of the robot arm and cutting an animal to be slaughtered; wherein the cutter provided in the cutting tool is configured to cut the animal to be slaughtered through ultrasonic vibration. 7.(A) A step in which a scanning unit scans a slaughtered animal hanging on a hanger; (B) A step of pressurizing and fixing a slaughtered animal scanned through the scanning unit using a first fixing module; (C) A step of the cutting robot cutting the first part of the slaughtered animal fixed under pressure by the first fixing module based on the scan data provided from the scanning unit; (D) A step in which the first portion cut by the cutting robot and placed on the first conveyor is moved to the first processing conveyor; (E) A step of pressurizing and fixing the slaughtered animal, in which the first part has been cut, using a second fixing module; (F) a step of the cutting robot cutting a second part of the slaughtered animal fixed under pressure by the second fixing module based on the scan data provided from the scanning unit; and (G) a step of moving the second portion cut by the cutting robot and placed on the second conveyor to the second processing conveyor; A method for cutting an animal for slaughter, wherein the cutting robot continuously cuts the first part and the second part, and automatically divides the animal for slaughter into three parts, from the first part to the third part.

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