Gambreling automation system and gambreling automation method using same

Abstract

One embodiment of the present invention provides a gambreling automation system and a gambreling automation method using same, the gambreling automation system comprising: a scanning unit for scanning a slaughtered animal seated on a moving conveyor; a cutting module which moves along a guide rail provided on the moving conveyor, and which forms hook fastening holes in the hind legs of the slaughtered animal on the basis of scan data provided from the scanning unit; and a gambrel mounting robot for inserting and coupling a pair of fastening hooks provided in a gambrel into the hook fastening holes formed in both of the hind legs of the slaughtered animal, wherein the scan data provided from the scanning unit to the cutting module and the gambrel mounting robot is position information about both of the hind legs of the slaughtered animal.

Description

Gambling automation system and gambling automation method using the same

[0001] The present invention relates to an automated gambling system and an automated gambling method using the same, and more particularly, to an automated gambling system configured to automatically combine gambling with slaughtered animals and an automated gambling method using the same.

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

[0003] This process of dividing slaughtered animals into two parts is done while the slaughtered animals are hanging on a conveyor chain.

[0004] To hang a slaughtered animal on a conveyor chain, fastening hooks provided on the gamble are attached to the animal's hind legs, and the animal is then hung on the conveyor chain. In this manner, the slaughtered animal can be moved to the slaughtering process.

[0005] To attach a hook to the hind leg of a slaughtered animal, a hook attachment hole must be formed in the hind leg. This hook attachment hole can be formed by the worker holding the hind leg of the animal and using a slaughter knife.

[0006] However, when a worker uses a slaughter knife to form hook fastening holes in the hind legs of a slaughtered animal, the locations of the hook fastening holes formed in the left and right hind legs may differ. If the locations of the hook fastening holes formed in the left and right hind legs differ, the slaughtered animal hanging from the conveyor chain may tilt. In other words, the tilt of the slaughtered animal hanging from the conveyor chain may vary depending on the worker's skill level. Thus, if the slaughtered animal is split in a tilted state, the task may be difficult.

[0007] And, as is the case in the past, when workers use slaughter knives to create hook fastening holes in the hind legs of slaughtered animals, the workers may suffer from musculoskeletal disorders.

[0008] Additionally, if a worker uses a slaughter knife to form a hook fastening hole, the worker may be seriously injured during the process.

[0009] Accordingly, various research and developments are being conducted on automated gambling systems that automatically attach gambling balls to the hind legs of slaughtered animals, rather than manually.

[0010] The technical task of the present invention to solve the above problems is to provide an automated gambling system configured to automatically combine gambling with slaughtered animals and an automated gambling method using the same.

[0011] In order to achieve the above technical task, one embodiment of the present invention provides a gambling automation system including: a scanning unit that scans a slaughtered animal placed on a moving conveyor; a cutting module that moves along a guide rail provided on the moving conveyor and forms a hook fastening hole in the hind legs of the slaughtered animal based on scan data provided from the scanning unit; and a gambling-equipped robot that inserts and connects a pair of fastening hooks provided on a gambling unit into the hook fastening holes formed in both hind legs of the slaughtered animal; wherein the scan data provided from the scanning unit to the cutting module and the gambling-equipped robot is positional information on both hind legs of the slaughtered animal.

[0012] In one embodiment of the present invention, the cutting module may include: a moving plate that moves along the guide rail; a pair of grip fixing parts provided on one surface of the moving plate and fixing the hind legs of a slaughtered animal seated on the moving conveyor; and a pair of cutting parts provided on one surface of the moving plate, disposed above the grip fixing parts, and forming the hook fastening holes in the hind legs of the slaughtered animal fixed by the grip fixing parts.

[0013] In one embodiment of the present invention, the cutting portion may include a cutting housing having an outer shape and a cutter receiving portion formed therein; a cutter portion that is received in the cutter receiving portion and forms the hook fastening hole in the hind leg of the slaughtered animal; and a cutter operating portion that is provided in the cutting housing and moves the cutter portion in a forward and backward direction.

[0014] In one embodiment of the present invention, the cutting portion further includes a washing nozzle provided in the cutting housing; and a washing water discharge pipe coupled to the cutting housing and discharging washing water sprayed from the washing nozzle to the outside; wherein the washing nozzle is configured to automatically wash the cutter portion forming the hook fastening hole, and the cutting housing may be formed to be inclined toward a point where the washing water discharge pipe is coupled.

[0015] In one embodiment of the present invention, the grip fixing part includes a leg gripping part for fixing the hind legs of a slaughtered animal; and a support fixing part having one end coupled to one surface of the moving plate and the other end coupled to the leg gripping part and supporting the leg gripping part; wherein the support fixing part is configured to be movable in the forward and backward directions, and the leg gripping part is configured to be folded and spread, so as to grip and fix the hind legs of the slaughtered animal.

[0016] In one embodiment of the present invention, the gamble-equipped robot includes: a robot base; a multi-joint robot arm that rotates while being coupled to the robot base and moves to a required position; and an end effector coupled to an end of the robot arm and that grips the gamble; wherein the gamble-equipped robot is configured to insert and couple the fastening hook into the hook fastening hole formed in the slaughtered animal based on scan data provided from the scanning unit while the end effector is in a state of gripping the gamble, and the gamble-equipped robot may be configured to couple a stand provided on the gamble to a conveyor chain while the fastening hook is coupled to the hook fastening hole.

[0017] An embodiment of the present invention provides a method for automating gambling, comprising: (A) a step of scanning a slaughtered animal placed on a moving conveyor by a scanning unit; (B) a step of fixing the hind legs of the slaughtered animal scanned by the scanning unit by a grip fixing unit provided in a cutting module; (C) a step of forming a hook fastening hole in a cutting unit provided in the cutting module while the hind legs of the slaughtered animal are fixed by the grip fixing unit; (D) a step of connecting a fastening hook provided in a gamble to the hook fastening hole by a gamble-equipped robot while holding the gamble; and (E) a step of connecting the gamble, to which the fastening hook is connected, by the gamble-equipped robot to a conveyor chain.

[0018] The effects of the gambling automation system according to the present invention described above and the gambling automation method using the same are as follows.

[0019] According to the present invention, the cutting module can precisely form hook fastening holes at the required locations on the slaughtered animal based on scan data from the scanning unit. This automated gambling system can form hook fastening holes in the left and right hind legs of the slaughtered animal at the same locations. Thus, the slaughtered animal can be suspended on the conveyor chain without tilting.

[0020] According to the present invention, a gamble-equipped robot can automatically attach a hook provided on the gamble to a hook attachment hole based on scanned data of a slaughtered animal scanned by a scanning unit. Furthermore, the gamble-equipped robot can automatically attach the slaughtered animal, to which the gamble is attached, to a conveyor chain. Therefore, the gamble operation can be performed conveniently.

[0021] 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.

[0022] FIG. 1 is a configuration diagram of an automated gambling system according to a first embodiment of the present invention.

[0023] FIG. 2 is an exemplary diagram of an automated gambling system according to a first embodiment of the present invention.

[0024] Figure 3 is an exemplary diagram showing a cutting module according to the first embodiment of the present invention.

[0025] Figure 4 is an operating state diagram of a cutting module according to the first embodiment of the present invention.

[0026] Figure 5 is an exemplary diagram showing a state in which a fastening hook is coupled to a hook fastening hole according to the first embodiment of the present invention.

[0027] Figure 6 is a flowchart illustrating a gambling automation process according to the first embodiment of the present invention.

[0028] Fig. 7 is an exemplary diagram of a cut portion according to a second embodiment of the present invention.

[0029] Fig. 8 is an exemplary diagram of a phage fixing part according to a second 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 configuration diagram of a gambling automation system according to a first embodiment of the present invention, FIG. 2 is an exemplary diagram of a gambling automation system according to a first embodiment of the present invention, FIG. 3 is an exemplary diagram showing a cutting module according to the first embodiment of the present invention, FIG. 4 is an operating state diagram of a cutting module according to the first embodiment of the present invention, and FIG. 5 is an exemplary diagram showing a state in which a fastening hook is coupled to a hook fastening hole according to the first embodiment of the present invention.

[0035] As shown in FIGS. 1 to 5, the gambling automation system (1000) may include a scanning unit (100), a cutting module (200), and a gambling-equipped robot (300).

[0036] In the present invention, the slaughter animal (P) hanging from the gamble (20) is described as an example of a pig. Here, the slaughter animal (P) is not necessarily limited to a pig, and may be various slaughter animals (P) other than pigs, such as cattle.

[0037] The scanning unit (100) is configured to scan a slaughtered animal (P) that is moved while being seated on a moving conveyor (10).

[0038] The scan data scanned through the scanning unit (100) can be transmitted to the cutting module (200) and the gamble-equipped robot (300) described later. Here, the cutting module (200) is configured to form a hook fastening hole (h) in both hind leg areas of the slaughtered animal (P) based on the scan data provided from the scanning unit (100), and the gamble-equipped robot (300) is configured to insert and connect a pair of fastening hooks (21) provided in the gamble (20) into the hook fastening holes (h).

[0039] Scan data acquired through a scanning unit (100) like this can also be used to create a 3D image of a slaughtered animal (P) through image conversion.

[0040] 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).

[0041] In this way, the cutting module (200) forms a hook fastening hole (h) at a required, precise location of the slaughtered animal (P) based on the scan data provided through the scanning unit (100). The scan data provided from the scanning unit (100) to the cutting module (200) may be configured to provide, for example, x, y, z coordinate values, i.e., location information values, for forming a hook fastening hole (h) in both hind legs of the slaughtered animal (P).

[0042] Meanwhile, the cutting module (200) moves along a guide rail (11) provided on a moving conveyor (10) and can form a hook fastening hole (h) in the hind leg area of ​​the slaughtered animal (P).

[0043] Such a cutting module (200) may include a moving plate (210), a grip fixing part (220), and a cutting part (230).

[0044] The lower part of this moving plate (210) is coupled with a guide rail (11) and is configured to be movable along the longitudinal direction of the guide rail (11). The lower part of this moving plate (210) may be configured with an LM guide that moves through the guide rail (11) and, for example, a ball screw.

[0045] This moving plate (210) is configured to move to a required position based on scan data provided from the scanning unit (100). That is, the moving plate (210) can be moved to a required position so that the grip fixing unit (220) coupled to the moving plate (210) can fix both hind legs of the slaughtered animal (P), and the cutting unit (230) can form a hook fastening hole (h) at a required position of the slaughtered animal (P).

[0046] One side of the moving plate (210) is provided with a phage fixing part (220).

[0047] These phage fixing parts (220) are formed in pairs to fix each of the hind legs of the slaughtered animal (P). That is, a pair of phage fixing parts (220) are formed to fix each of the hind legs of the slaughtered animal (P) mounted on the moving conveyor (10).

[0048] Such a phage fixing member (220) prevents the hind legs of the slaughtered animal (P) from shaking when the cut member (230) forms a hook fastening hole (h) in the required hind leg area of ​​the slaughtered animal (P).

[0049] Such a grip fixing member (220) may include a leg gripping member (221) and a support fixing member (222).

[0050] Here, the leg grip section (221) is configured to fix the hind legs of the slaughtered animal (P).

[0051] And the support fixing part (222) is configured to support the leg grip part (221). One end of the support fixing part (222) is coupled to one surface of the moving plate (210), and the other end of the support fixing part (222) is coupled to the leg grip part (221), thereby supporting the leg grip part (221).

[0052] Such a support fixing member (222) may be configured to be able to slide in the forward and backward directions. That is, depending on the position of the hind legs of the slaughter animal (P) mounted on the moving conveyor (10), the support fixing member (222) may be selectively slidably moved, and the leg gripping member (221) may be moved to stably support and fix the hind legs of the slaughter animal (P).

[0053] These phage fixing parts (220) are not limited to a specific structure and can be formed in various forms as long as they can stably fix the hind legs of the slaughtered animal (P).

[0054] Meanwhile, the cutting portion (230) is provided on one side of the moving plate (210) and is positioned above the grip fixing portion (220). These cutting portions (230) form a pair, like the grip fixing portion (220), and are configured to form hook fastening holes (h) on both hind legs of the slaughtered animal (P) fixed by the grip fixing portion (220).

[0055] Such a cutting portion (230) may include a cutting housing (231), a cutter portion (232), and a cutter operating portion (233, see FIG. 7).

[0056] Here, the cut housing (231) forms the outer shape of the cut portion (230).

[0057] Inside this cutting housing (231), a cutter receiving portion (234, see Fig. 7) in which a cutter portion (232) is received is formed.

[0058] And the cutter part (232) is made of a blade and forms a hook fastening hole (h) on both hind legs of the slaughtered animal (P) fixed by the phage fixing part (220).

[0059] This cutter part (232) can be made to be movable in the forward and backward directions by the cutter operating part (233). That is, when the cutter part (232) is moved forward by the cutter operating part (233), the cutter part (232) forms a hook fastening hole (h) in the hind leg area of ​​the slaughtered animal (P) at the required position.

[0060] In this way, the cutter operating unit (233) configured to move the cutter unit (232) in the forward and backward directions may be formed of, for example, a pneumatic cylinder. This cutter operating unit (233) can move the cutter unit (232) in the forward and backward directions while being provided within the cutting housing (231).

[0061] This cutter part (232) can be moved to its original position, the cutter receiving part (234), after forming a hook fastening hole (h) in the hind leg of the slaughtered animal (P).

[0062] Such an incision (230) forms a hook fastening hole (h) at a required, precise location of the slaughtered animal (P) based on scan data provided from the scanning unit (100).

[0063] Meanwhile, the gamble-equipped robot (300) is configured to insert and connect a pair of fastening hooks (21) into the hook fastening holes (h) formed on both hind legs of the slaughter animal (P).

[0064] Such a gambling-equipped robot (300) may include a robot base (310), a robot arm (320), and an end effector (330).

[0065] Here, the robot base (310) is configured to support a multi-joint robot arm (320).

[0066] This robot arm (320) is configured to be rotatable relative to the robot base (310) while being connected to the robot base (310).

[0067] And the robot arm (320) has a multi-joint shape and is configured to be able to move to a required position.

[0068] An end effector (330) is provided at the end of such a robot arm (320).

[0069] This end effect (330) is configured to automatically connect a fastening hook (21) provided on the fastened gamble (20) to a hook fastening hole (h) based on scan data provided from a scanning unit (100), while holding one of a plurality of gambles (20) placed at a predetermined gamble mounting position on a gamble mounting stand (30), for example.

[0070] In this way, the gamble-equipped robot (300) receives scan data including the position coordinates of the hook fastening hole (h) of the slaughter animal (P) from the scanning unit (100), and automatically connects the fastening hook (21) provided in the gamble (20) to the hook fastening hole (h) formed in the hind leg of the slaughter animal (P).

[0071] This gamble-equipped robot (300) connects the fastening hook (21) to the hook fastening hole (h) while the grip fixing part (220) fixes the hind legs of the slaughter animal (P). That is, since the hind legs of the slaughter animal (P) fixed by the grip fixing part (220) do not change position, the gamble-equipped robot (300) can accurately insert and connect the fastening hook (21) to the hook fastening hole (h).

[0072] In this way, after the fastening hook (21) is inserted and connected to the hook fastening hole (h), the gamble-equipped robot (300) connects the gamble (20) with the slaughter animal (P) connected to it to the conveyor chain (40). At this time, the gamble-equipped robot (300) connects the stand (22) provided on the gamble (20) to the conveyor chain (40).

[0073] In this way, the slaughter animal (P) hanging on the conveyor chain (40) through the gambling operation may be moved to a work process of dividing the slaughter animal (P) into two parts, for example.

[0074] Figure 6 is a flowchart illustrating a gambling automation process according to the first embodiment of the present invention.

[0075] Referring to Figure 6, the operation process of the gambling automation system (1000) is schematically examined. First, the scanning unit (100) scans the slaughtered animal (P) placed on the moving conveyor (10). (S100)

[0076] Next, the slaughtered animal (P) scanned through the scanning unit (100) is fixed by the hind legs of the slaughtered animal (P) by the phage fixing unit (220) provided in the cutting module (200). (S200)

[0077] Next, the cutting section (230) provided in the cutting module (200) forms a hook fastening hole (h) while the hind leg of the slaughtered animal (P) is fixed by the grip fixing section (220). (S300)

[0078] Next, the gamble-equipped robot (300) attaches the fastening hook (21) provided on the gamble (20) to the hook fastening hole (h) while holding the gamble (20). (S400)

[0079] Finally, the gamble-equipped robot (300) attaches the gamble (20) to which the fastening hook (21) is connected to the conveyor chain (40). (S500)

[0080] In this way, the gambling automation system (1000) automatically performs the entire process of attaching the gamble (20) to the hind legs of the slaughtered animal (P), so that gambling work can be easily performed.

[0081] Fig. 7 is an exemplary drawing of a cut portion according to a second embodiment of the present invention, and Fig. 8 is an exemplary drawing of a grip fixing portion according to a second embodiment of the present invention.

[0082] As seen in FIGS. 7 and 8, the cutting module (200') according to the second embodiment has a structural difference from the cutting module (200) according to the first embodiment.

[0083] Referring to FIG. 7, the cut portion (230') may further include a cleaning nozzle (235) within the cut housing (231).

[0084] A washing nozzle (235) like this is configured to automatically wash the cutter part (232) that forms a hook fastening hole (h) in the hind leg of a slaughtered animal (P). That is, after forming the hook fastening hole (h), the cutter part (232) that is moved to the cutter receiving part (234) can be automatically washed by washing water sprayed from the washing nozzle (235).

[0085] In this way, since the cutter part (232) is automatically cleaned for each operation, the cutter part (232) can be managed hygienically.

[0086] And the washing water sprayed from the washing nozzle (235) can be discharged to the outside through the washing water discharge pipe (236) coupled to the cut housing (231). At this time, the inner lower part of the cut housing (231) is formed to be inclined toward the point where the washing water discharge pipe (236) is coupled, so that the washing water sprayed from the washing nozzle (235) can be effectively discharged to the outside through the washing water discharge pipe (236).

[0087] Referring to Fig. 8, it can be seen that the support fixing part (222') provided in the grip fixing part (220') is configured to be able to move in the forward and backward directions, and the leg gripping part (221') is configured to be able to be folded and spread.

[0088] In this way, the phage fixing part (220') can be selectively moved according to the position of the hind legs of the slaughtered animal (P) mounted on the moving conveyor (10), and can be configured to stably fix the hind legs of the slaughtered animal (P).

[0089] That is, the support fixing member (222') can individually move the leg gripping member (221') from the moving plate (210) to a required position, and the leg gripping member (221') can be configured to stably fix the hind leg portion of the slaughtered animal (P) in response to the thickness of the hind leg of the slaughtered animal (P).

[0090] 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.

[0091] 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.

[0092] 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 slaughtered animals placed on a moving conveyor; A cutting module that moves along a guide rail provided on the above-mentioned moving conveyor and forms a hook fastening hole in the hind leg of the slaughtered animal based on scan data provided from the above-mentioned scanning unit; and A robot equipped with a gamble that inserts and connects a pair of fastening hooks provided in the gamble into the hook fastening holes formed on both hind legs of a slaughtered animal; A gambling automation system wherein the scan data provided from the above scanning unit to the above cutting module and gambling-equipped robot is positional information for both hind legs of a slaughtered animal.

2. In paragraph 1, The above incision module, A moving plate that moves along the above guide rail; A pair of grip fixing parts provided on one side of the above moving plate and fixing the hind legs of the slaughtered animal placed on the above moving conveyor; and A gambling automation system characterized by comprising a pair of cut portions provided on one side of the moving plate, positioned above the grip fixing portion, and forming the hook fastening hole in the hind legs of a slaughtered animal fixed by the grip fixing portion.

3. In paragraph 2, The above incision is, A cut housing having an outer shape and a cutter receiving portion formed inside; A cutter portion that is accommodated in the cutter receiving portion and forms the hook fastening hole in the hind leg of the slaughtered animal; and A gambling automation system characterized by including a cutter operating unit provided within the above-described cutting housing and moving the cutter unit in a forward and backward direction.

4. In paragraph 3, The above incision is, A washing nozzle provided within the above-mentioned incision housing; and It further includes a washing water discharge pipe that is coupled to the above-mentioned cutting housing and discharges washing water sprayed from the washing nozzle to the outside; A gambling automation system characterized in that the cleaning nozzle is configured to automatically clean the cutter portion forming the hook fastening hole, and the cutting housing is formed to be inclined toward a point where the cleaning water discharge pipe is coupled.

5. In paragraph 2, The above-mentioned phage fixing part is, A leg gripping part for fixing the hind legs of slaughtered animals; and A support fixing member is connected to one side of the moving plate, and the other end is connected to the leg grip section, and supports the leg grip section; The above support fixture is configured to be movable in the forward and backward directions, A gambling automation system characterized in that the leg grip section is configured to be folded and spread, thereby gripping and fixing the hind legs of a slaughtered animal.

6. In paragraph 1, The above gambling-equipped robot is, robot base; A multi-joint robot arm that rotates while being connected to the robot base and moves to a required position; and An end effector coupled to the end of the robot arm and configured to grip the gamble; The above-mentioned gamble-equipped robot is configured to insert and engage the hook into the hook fastening hole formed in the slaughtered animal based on scan data provided from the scanning unit while the end effector is holding the gamble. A gambling automation system characterized in that the above gambling robot is configured to connect the stand provided on the gambling to a conveyor chain while the fastening hook is connected to the hook fastening hole. 7.(A) A scanning unit is a step for scanning slaughtered animals placed on a moving conveyor; (B) A step in which the slaughtered animal scanned through the above scanning unit is fixed in the hind legs of the slaughtered animal by a phage fixing unit provided in the cutting module; (C) A step for forming a hook fastening hole in the cutting section provided in the above cutting module while the hind leg of the slaughtered animal is fixed by the above-mentioned phage fixing section; (D) A step in which a robot equipped with a gamble attaches a fastening hook provided on the gamble to the hook fastening hole while holding the gamble; and (E) A gambling automation method, comprising a step of connecting the gambling equipped robot with the above-mentioned hook to a conveyor chain.

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