System for incising anus and cutting sacrum of carcass, and working method using same

Abstract

An embodiment of the present invention provides a system for incising the anus and cutting the sacrum of a carcass, and a working method using same, the system comprising: a position sensor unit comprising a plurality of positioning sensors for detecting a moving position of a carcass moving along a main conveyor while hung on a hanger; an image processing unit that photographs the carcass moving along the main conveyor and calculates image information of the carcass; a tool module unit for automatically performing anal incision and sacrum cutting operations on the carcass hung on the hanger; and a main control unit for providing work operation information to the tool module unit on the basis of the image information of the carcass calculated by the image processing unit, wherein the main control unit is configured to control the operations of the image processing unit and the tool module unit according to the moving position of the carcass measured by the position detection sensor.

Description

System for anal incision and sacral cutting of a carcass and method of operation using the same

[0001] The present invention relates to a system for anal incision and sacral cutting of a carcass and a method of work using the same, and more specifically, to a system for anal incision and sacral cutting of a carcass configured to automatically incise the anus of a carcass and cut the sacrum, and a method of work using the same.

[0002] One of the main processes in a slaughterhouse is the removal of the anus from the carcass (slaughtered animal).

[0003] The anal removal operation of such a carcass is usually performed by two workers using a manual anal removal device.

[0004] However, when workers directly remove the carcass's anus, there is a problem in that the results vary depending on the worker's skill level. For example, if an inexperienced worker causes the internal organs to rupture while removing the anus, foreign matter inside the organs may leak out and spread into the meat. If such foreign matter spreads into the meat, the marketability of the carcass is significantly reduced.

[0005] In addition, since workers must incise the anal area using a manual anal excision instrument for every operation, they may suffer musculoskeletal disorders and may be seriously injured during the process of incising the anal area using the instrument.

[0006] In addition, the sacrum of the carcass must be cut as a preliminary step for the abdominal incision and splitting of the carcass, and if this process is also performed manually, there are difficulties in the work.

[0007] Therefore, various research and development are needed on automated systems and work methods designed to automatically incise the anus of a carcass and cut the sacrum, rather than manually.

[0008] The technical objective of the present invention to solve the above-mentioned problems is to provide a system for automatically cutting the anus of a carcass and cutting the sacrum, and a method of operation using the same.

[0009] To achieve the above technical objective, one embodiment of the present invention provides a system for anal incision and sacral cutting of a conductor, comprising: a position sensor unit equipped with a plurality of position sensing sensors for detecting the movement position of a conductor moving along a main conveyor while hanging on a hanger; an image processing unit that photographs the conductor moving along the main conveyor and calculates image information of the conductor; a tool module unit that automatically performs anal incision and sacral cutting operations of the conductor hanging on the hanger; and a main control unit that provides operation information to the tool module unit based on the image information of the conductor calculated from the image processing unit; wherein the main control unit is configured to control the operation of the image processing unit and the tool module unit according to the movement position of the conductor measured by the position sensing sensors.

[0010] In one embodiment of the present invention, the tool module comprises: an anal incision tool having a guide rod inserted into the anus of a carcass and an anal incision blade having a hollow hole formed inside and cutting the carcass surrounding the anus; a sacral cutting tool provided on the upper part of the anal incision tool and moving forward and backward from the anal incision tool to cut the sacrum of the carcass; and a sacrum avoidance tool provided on the lower part of the anal incision tool and preventing the tailbone of the carcass from covering the anus; wherein the anal incision tool, the sacral cutting tool, and the sacrum avoidance tool may be provided in the form of a single tool module.

[0011] In one embodiment of the present invention, the anal incision tool comprises: a body casing having a driving unit provided in a receiving space formed therein; an anal incision blade having a cylindrical shape to form the hollow hole, which rotates by power provided from the driving unit and cuts out the carcass surrounding the anus in a circular manner; a guide rod inserted through the hollow hole and inserted into the anus of the carcass to prevent the internal organs from bursting due to the anal incision blade during the process of the anal incision blade cutting the carcass surrounding the anus; and a power transmission shaft connecting the driving unit and the anal incision blade and transmitting rotational force provided from the driving unit to the anal incision blade; wherein the front end of the guide rod may be positioned ahead of the front end of the anal incision blade.

[0012] In one embodiment of the present invention, the guide rod comprises: an insertion part that is inserted into the anus of a conductor and maintains an internal organ connected to the rectum parallel to the direction of entry of the anal incision blade; a connecting bar disposed within the hollow hole and having one end connected to the insertion part; and a fastening part coupled to the other end of the connecting bar and coupled to the power transmission shaft; wherein a plurality of air passage holes may be formed along the circumference of the fastening part.

[0013] In one embodiment of the present invention, the apparatus further comprises: a connecting casing coupled to the body casing and protecting the power transmission shaft disposed inside from the outside; and an air control valve coupled to the connecting casing and supplying air into the connecting casing or sucking in air inside the connecting casing and discharging it to the outside; wherein when air is supplied into the connecting casing through the air control valve, the air supplied into the connecting casing is supplied to a first air passage hole formed inside the power transmission shaft through an opening hole formed in the power transmission shaft, the air supplied to the first air passage hole is supplied to a second air passage hole formed inside the fastening part communicating with the first air passage hole, and the air supplied to the second air passage hole can be discharged to the hollow hole through the air movement hole formed in the fastening part.

[0014] In one embodiment of the present invention, during the process in which the anal cutting blade cuts the anus of the conductor in a circular manner, the air control valve is configured to suck air into the connecting casing, and when the anal cutting blade has completed the anal cutting of the conductor, the air control valve is configured to supply air into the connecting casing.

[0015] In one embodiment of the present invention, the tailbone avoidance tool may include: a lower casing coupled to the lower part of the body casing; a first cylinder part provided within the lower casing; a pair of rod parts spaced apart at a predetermined interval and extending or retracting by the operation of the first cylinder part; and a tailbone fixing part, each having its end portion coupled to the end portion of the spaced-apart rod part to prevent the tailbone of the conductor from covering the anus.

[0016] In one embodiment of the present invention, the sacral cutting tool comprises: an upper casing provided on the upper part of the body casing and having a moving guide provided on the lower part; a power unit provided within the upper casing; a rotational force transmission unit having one end coupled to the power unit and the other end having a first gear; a rotary saw blade unit having a second gear meshing with the first gear and cutting the sacral bone of a conductor; a protective cover protecting the rotational force transmission unit from the outside and supporting the rotary saw blade unit; and a second cylinder unit controlling the forward and backward movement of the upper casing from the body casing; wherein, when the second cylinder unit is operated, the moving guide can move along the longitudinal direction of a moving rail provided on the upper part of the body casing.

[0017] In one embodiment of the present invention, the tool module is further equipped with a contamination detection unit that photographs whether foreign substances within the internal organs of the carcass have spread into the carcass during the process of anal incision and sacral bone cutting of the carcass, and the contamination measurement information photographed from the contamination detection unit is provided to the image processing unit, and the image processing unit may be configured to analyze the contamination measurement information provided from the contamination detection unit to determine whether contamination has occurred in the carcass.

[0018] An embodiment of the present invention provides a method of operation of a system for anal incision and sacral cutting of a conductor, comprising: (A) a first position sensing sensor, a second position sensing sensor, and a third position sensing sensor spaced apart at predetermined intervals on a main conveyor detecting the moving position of a conductor; (B) when the position of the conductor is detected by the first position sensing sensor, a scanning unit photographs the conductor and obtains shape information of the conductor until the second position sensing sensor detects the position of the conductor; (C) an image processing unit calculates image information of the conductor based on the shape information of the conductor provided by the scanning unit; and (D) a main control unit provides work operation information to a tool module unit and an automatic robot according to claim 1 based on the image information of the conductor provided by the image processing unit, and when the position of the conductor is detected by the third position sensing sensor, the tool module unit automatically performs anal incision and sacral cutting of the conductor according to the work operation information.

[0019] In one embodiment of the present invention, after step (D), (E) a contamination detection unit provided in the tool module unit photographs the tube after the anal incision and sacral cut of the tube are completed, and provides the contamination measurement information photographed from the contamination detection unit to the image processing unit; and (F) the image processing unit analyzes the contamination measurement information provided from the contamination detection unit and determines whether contamination has occurred in the tube; and if it is determined through the analysis of the image processing unit in step (F) that contamination has occurred in the tube, the image processing unit provides contamination occurrence information to the main control unit, the main control unit notifies the operator that contamination has occurred in the tube through the notification unit, and the operator can remove the contaminants from the tube through manual work.

[0020] The effects of the anal incision and sacral bone cutting system of a conductor and the method of operation using the same according to the present invention described above are as follows.

[0021] According to the present invention, the anal incision and sacral cutting operations of a carcass can be performed automatically through the carcass anal incision and sacral cutting system.

[0022] According to the present invention, based on the shape information of a conductor scanned from a scanning unit, the main control unit moves the tool module unit to a required work position via an automatic robot, and the tool module unit also automatically performs an anal incision and sacral bone cutting operations of the conductor according to the work operation information provided by the main control unit.

[0023] Specifically, while the guide rod equipped in the anal incision tool is inserted into the carcass's anus, the anal incision blade rotates to cut out the carcass tissue around the anus into the required circular shape. Since this anal incision is performed automatically via the anal incision tool, the operation can be carried out simply and accurately.

[0024] Here, since the anal incision tool is operated with the tailbone of the carcass prevented from covering the anus by the tailbone avoidance tool, it is possible to prevent operational defects or malfunctions caused by the tailbone during the anal incision process.

[0025] And the sacral cutting tool is moved to the required position on the carcass by an automatic robot and automatically cuts the sacrum of the carcass. Accordingly, the sacrum cutting operation of the carcass can be easily performed.

[0026] This tool module allows for the convenient performance of various operations on the carcass as the anal incision tool, sacral cutting tool, and coccygeal avoidance tool are provided in the form of a single tool module.

[0027] In addition, the carcass anal incision and sacral cut system is equipped with a contamination detection unit. This contamination detection unit is configured to photograph the carcass after the anal incision and sacral cut operations are completed. In this way, contamination measurement information captured by the contamination detection unit is provided to an image processing unit, and the image processing unit ultimately determines whether contamination has occurred in the carcass. If it is determined through the analysis of the image processing unit that contamination has occurred in the carcass, the main control unit notifies the operator that contamination has occurred in the carcass, and the operator can remove the contaminants from the carcass through manual work.

[0028] 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 configuration of the invention described in the detailed description of the invention or the claims.

[0029] FIG. 1 is an exemplary diagram of a system for anal incision and sacral incision of a carcass according to an embodiment of the present invention.

[0030] FIG. 2 is a diagram showing the configuration of a system for anal incision and sacral cut of a carcass according to an embodiment of the present invention.

[0031] FIG. 3 is a perspective view showing a tool module part coupled to an automatic robot according to an embodiment of the present invention.

[0032] FIG. 4 is a perspective view of a tool module part according to an embodiment of the present invention.

[0033] FIG. 5 is an exploded perspective view of a sacral cutting tool, an anal incision tool, and a coccyx avoidance tool according to an embodiment of the present invention.

[0034] FIG. 6 is an exemplary diagram showing the process of an anal incision tool being operated while the tailbone of the conductor is fixed by a tailbone avoidance tool according to an embodiment of the present invention.

[0035] FIG. 7 is a perspective view of an anal incision tool according to an embodiment of the present invention.

[0036] FIG. 8 is a cross-sectional perspective view of an anal incision tool according to an embodiment of the present invention.

[0037] FIG. 9 is an exemplary diagram showing the air flow through the operation of an air control valve according to an embodiment of the present invention.

[0038] FIG. 10 is an exemplary diagram showing a tailbone avoidance tool according to an embodiment of the present invention.

[0039] FIG. 11 is a bottom perspective view showing a sacral cutting tool according to an embodiment of the present invention.

[0040] FIG. 12 is an exemplary diagram showing the state in which a sacral cutting tool according to an embodiment of the present invention moves along a moving rail.

[0041] FIG. 13 is a flowchart showing the process of anal incision and sacral cut of a carcass according to an embodiment of the present invention.

[0042] The present invention will be described below with reference to the attached drawings. However, the present invention may be implemented in various different forms and is therefore not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification have been given similar reference numerals.

[0043] Throughout the specification, when it is stated that a part is "connected" to another part, this includes not only cases where they are "directly connected," but also cases where they are "indirectly connected" with other members interposed between them. Furthermore, when it is stated that a part "includes" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but rather allows for the inclusion of additional components.

[0044] In the present invention, "upper" and "lower" refer to being located above or below the target member, and do not necessarily mean being located above or below with respect to the direction of gravity.

[0045] Embodiments of the present invention will be described in detail below with reference to the attached drawings.

[0046] FIG. 1 is an exemplary diagram of a system for anal incision and sacral cutting of a conductor according to an embodiment of the present invention, wherein anal incision and sacral cutting of a conductor are performed; FIG. 2 is a configuration diagram of a system for anal incision and sacral cutting of a conductor according to an embodiment of the present invention, wherein anal incision and sacral cutting of a conductor are performed; FIG. 3 is a perspective view showing a tool module part coupled to an automatic robot according to an embodiment of the present invention; FIG. 4 is a perspective view of a tool module part according to an embodiment of the present invention; FIG. 5 is an exploded perspective view of a sacral cutting tool, an anal incision tool, and a coccyx avoidance tool according to an embodiment of the present invention; FIG. 6 is an exemplary diagram showing the process of anal incision tool operation being performed while the coccyx avoidance tool according to an embodiment of the present invention fixes the coccyx of the conductor; FIG. 7 is a perspective view of an anal incision tool according to an embodiment of the present invention; FIG. 8 is a cross-sectional perspective view of an anal incision tool according to an embodiment of the present invention; FIG. 9 is an exemplary diagram showing the air flow through the operation of an air control valve according to an embodiment of the present invention, Fig. 10 is an exemplary diagram showing a tailbone avoidance tool according to an embodiment of the present invention, Fig. 11 is a bottom perspective view showing a sacral bone cutting tool according to an embodiment of the present invention, Fig. 12 is an exemplary diagram showing the state in which a sacral bone cutting tool according to an embodiment of the present invention moves along a moving rail, and Fig. 13 is a flowchart showing the process of anal incision and sacral bone cutting of a tube according to an embodiment of the present invention.

[0047] As seen in FIGS. 1 to 13, the anal incision and sacral cutting system (1000) of a conductor may include a position sensor unit (2000), an image processing unit (3000), a tool module unit (4000), and a main control unit (5000).

[0048] Here, the position sensor unit (2000) is configured to determine the movement position of a conductor (P) that is moved along the length direction of the main conveyor (20) while hanging on a hanger (10).

[0049] In the present invention, the example is that the carcass (P) hanging on the hanger (10) is a pig. Here, the carcass (P) that is worked on through the tool module (4000) is not necessarily limited to a pig, and may be various carcasses (P) other than a pig, such as a cow.

[0050] In this way, the conductor (P) moves along the length direction of the main conveyor (20) with the ankle portion of the hind leg of the conductor (P) hanging on the hanger (10).

[0051] Such a position sensor unit (2000) may include a first position detection sensor (2100), a second position detection sensor (2200), and a third position detection sensor (2300).

[0052] These first position sensing sensors (2100) to third position sensing sensors (2300) may be installed on the main conveyor (20) at predetermined intervals along the longitudinal direction of the main conveyor (20). These first position sensing sensors (2100) to third position sensing sensors (2300) are configured to detect the movement position of a conductor (P) moving along the longitudinal direction of the main conveyor (20).

[0053] And when a conductor (P) is detected by the first position detection sensor (2100) to the third position detection sensor (2300), the first position detection sensor (2100) to the third position detection sensor (2300) provide the position information of the detected conductor (P) to the main control unit (5000).

[0054] Here, the first position sensing sensor (2100) is installed at the front of the main conveyor (20) to determine the position of the conductor (P) entering the conductor anal incision and sacral cut system (1000) for the anal incision and sacral cut of the conductor (P).

[0055] In this way, when the position of the conductor (P) is detected by the first position detection sensor (2100), the main control unit (5000) controls the operation of the scanning unit (3100) provided in the image processing unit (3000). The power of this scanning unit (3100) may be turned on / off by the image processing unit (3000).

[0056] Here, the main control unit (5000) controls the operation of the scanning unit (3100) so that the scanning unit (3100) scans the shape information of the conductor (P) until the second position detection sensor (2200) detects the position of the conductor (P).

[0057] The scanning unit (3100) is configured to scan a conductor (P) that is moved by the main conveyor (20). The scanning unit (3100) may be, for example, an optical-based vision sensor. The scanning unit (3100) may be, for example, a 2D Lidar, or the scanning unit (3100) may be a 3D scanner, and any device can be used as long as it can acquire more accurate shape information of the conductor (P).

[0058] In this way, shape information of the conductor (P) scanned through the scanning unit (3100) is provided to the image processing unit (3000), and the image processing unit (3000) calculates image information of the conductor (P) based on the shape information of the conductor (P) provided from the scanning unit (3100). That is, the image processing unit (3000) may generate, for example, a 3D image of the conductor (P) through an image conversion operation using the shape information of the conductor obtained through the scanning unit (3100).

[0059] Image information of the conductor (P) calculated from the image processing unit (3000) is provided to the main control unit (5000), and the main control unit (5000) provides work operation information for the work of the tool module unit (4000) to the tool module unit (4000) based on the image information of the conductor (P) provided from the image processing unit (3000). Here, the main control unit (5000) also controls the operation of the automatic robot (6000) so that the anal incision and sacral cut of the conductor (P) can be performed at the required location of the tool module unit (4000). That is, the main control unit (5000) moves the tool module unit (4000) to the required location through the operation control of the automatic robot (6000), and the tool module unit (4000) can automatically perform the anal incision and sacral cut of the conductor (P).

[0060] Specifically, when the position of the conductor (P) is detected through the third position detection sensor (2300), the main control unit (5000) provides work operation information to the automatic robot (6000) and the tool module unit (4000) based on the image information of the conductor (P) provided by the image processing unit (3000). The automatic robot (6000) moves the tool module unit (4000) to the required position, and the tool module unit (4000) performs the anal incision and sacral bone cutting operations of the conductor (P). That is, the tool module unit (4000) automatically performs the anal incision and sacral bone cutting operations of the conductor (P) according to the work operation information provided by the main control unit (5000) while the tool module unit (4000) is moved to the required position by the automatic robot (6000).

[0061] Meanwhile, the tool module (4000) moves to the required position by the automatic robot (6000) and performs an anal incision and sacral bone cutting operations on the conductor (P).

[0062] Such a tool module (4000) may include an anal incision tool (4100), a sacral cutting tool (4200), and a coccyx avoidance tool (4300).

[0063] Here, based on the anal incision tool (4100), the sacral cutting tool (4200) is provided on the upper part of the anal incision tool (4100), and the coccyx avoidance tool (4300) is provided on the lower part of the anal incision tool (4100).

[0064] In this way, the tool module (4000) is formed such that the anal incision tool (4100), the sacral cutting tool (4200), and the tailbone avoidance tool (4300) are formed as a single tool module, so that the anal incision and sacral cutting operations of the carcass (P) can be performed continuously and accurately.

[0065] Here, the anal incision tool (4100) may include a body casing (4110), an anal incision blade (4120), a guide rod (4130), a power transmission shaft (4140), a connecting casing (4150), and an air control valve (4160).

[0066] A receiving space (not shown) is formed inside the body casing (4110). A driving unit (4170) may be provided in this receiving space. Rotational power generated from such a driving unit (4170) is provided to an anal incision blade (4120) and a guide rod (4130), so that the anal incision blade (4120) and the guide rod (4130) can rotate.

[0067] For example, such a drive unit (4170) may be equipped with an air wing (not shown) inside. When air is introduced from the outside into the interior of such a drive unit (4170), the air wing rotates and may provide rotational power to the power transmission shaft (4140) connected to the drive unit (4170). Alternatively, the drive unit (4170) for rotating the power transmission shaft (4140) may be made of a general motor, and the drive unit (4170) may be made in various forms.

[0068] And the connecting casing (4150) is coupled to the front side, which is the front part of the body casing (4110). This connecting casing (4150) is configured to protect the power transmission shaft (4140) placed inside from the outside.

[0069] And the air control valve (4160) is coupled to the connecting casing (4150) and is configured to supply air into the connecting casing (4150) or to draw in air from the connecting casing (4150) and discharge it to the outside. The operation of such an air control valve (4160) will be explained in detail later.

[0070] And the anal cutting blade (4120) is coupled to a power transmission shaft (4140) coupled to a driving unit (4170), and through the rotational force transmitted from the power transmission shaft (4140), the carcass around the anus of the carcass (P) is cut out in a circular shape.

[0071] This anal incision blade (4120) is formed in a cylindrical shape with a hollow hole (4121) formed inside, and the blade portion provided at the front end of the anal incision blade (4120) cuts out the flesh around the anus in a circular shape through rotation.

[0072] And the guide rod (4130) is inserted into the anus of the carcass (P) during the process of anal incision of the carcass (P) to prevent the internal organs connected to the anus from bursting while the anal incision blade (4120) cuts the carcass meat around the anus. This guide rod (4130) is configured to be directly inserted into the anus of the carcass (P) to guide the incision location of the anal incision blade (4120) so that the anal incision blade (4120) accurately cuts the required carcass meat around the anus. Here, the front end of the guide rod (4130) is positioned ahead of the front end of the anal incision blade (4120) to prevent the internal organs connected to the anus from bursting due to the anal incision blade (4120).

[0073] These guide rods (4130) may include an insertion part (4131), a connecting bar (4132), and a fastening part (4133).

[0074] Here, the insertion part (4131) is positioned at the front end of the guide rod (4130) and is configured to be inserted into the anus of the carcass (P). This insertion part (4131) is formed with an overall rounded shape so that it is inserted smoothly without any obstruction occurring during the process of inserting it into the rectum through the anus. This insertion part (4131) is configured to keep the internal organs connected to the rectum parallel to the direction of entry of the anal incision blade (4120) during the process in which the anal incision blade (4120) cuts the carcass around the anus, thereby preventing the internal organs connected to the rectum from bursting due to the anal incision blade (4120).

[0075] And the connecting bar (4132) is placed within the hollow hole (4121) formed in the anal incision blade (4120). One end of the connecting bar (4132) is connected to the insertion part (4131), and the other end is connected to the fastening part (4133), so that the insertion part (4131) can be supported by the connecting bar (4132).

[0076] And the connecting part (4133) is coupled with the power transmission shaft (4140). In such a connecting part (4133), a plurality of air passage holes (4134) are spaced apart along the circumference of the connecting part (4133). These air passage holes (4134) are configured to communicate with a second air passage hole (4135) formed inside the connecting part (4133). Accordingly, for example, when air is supplied into the connecting casing (4150) through the operation of the air control valve (4160), the air supplied to the second air passage hole (4135) can be discharged into the hollow hole (4121) through the air passage hole (4134). Conversely, when air is drawn into the connecting casing (4150) through the operation of the air control valve (4160), the air in the hollow hole (4121) can be moved to the second air flow hole (4135) through the air transfer hole (4134).

[0077] This air control valve (4160) is configured to suck air into the connecting casing (4150) during the process in which the anal cutting blade (4120) cuts the anus of the carcass (P). This is to prevent the anal cutting blade (4120) from rotating smoothly because the carcass around the anus detaches during the process in which the anal cutting blade (4120) cuts the anus of the carcass (P) and jams occur on the blade portion of the anal cutting blade (4120). That is, small pieces of carcass detached from the carcass during the process in which the anal cutting blade (4120) cuts the anus of the carcass (P) can be moved toward the connecting part (4133) by the air suction force provided into the interior of the hollow hole (4121) through the air transfer hole (4134). Therefore, during the process of the anal incision blade (4120) cutting the carcass around the anus, it is possible to prevent the carcass detached from the carcass from getting stuck in the blade portion of the anal incision blade (4120).

[0078] And the air control valve (4160) is configured to supply air into the interior of the connecting casing (4150) after, for example, the anal incision of the conductor (P) is completed through the anal incision blade (4120). This is to make it easier to separate the anal portion of the circularly incised conductor (P) from the anal incision blade (4120) as the air supplied through the second air flow hole (4135) is discharged into the hollow hole (4121) through the air transfer hole (4134).

[0079] Meanwhile, the power transmission shaft (4140) is configured to connect the driving unit (4170) and the anal incision blade (4120). The rotational power transmitted from the driving unit (4170) through the power transmission shaft (4140) is provided to the anal incision blade (4120), so that the anal incision blade (4120) can incise the carcass around the anus.

[0080] An opening hole (4141) is formed in the power transmission shaft (4140). This opening hole (4141) is configured to communicate with a first air flow hole (4142) formed inside the power transmission shaft (4140). Accordingly, when air is supplied into the connecting casing (4150) through the air control valve (4160), the air supplied into the connecting casing (4150) can move to the first air flow hole (4142) through the opening hole (4141).

[0081] In this way, the air supplied to the first air flow hole (4142) is moved to the second air flow hole (4135) formed inside the connecting part (4133) which is in communication with the first air flow hole (4142), and the air moved to the second air flow hole (4135) can be moved to the hollow hole (4121) through the air movement hole (4134) formed in the connecting part (4133).

[0082] Conversely, when air is sucked in and discharged from the connection casing (4150) through the air control valve (4160), the air in the hollow hole (4121) can be discharged via the air transfer hole (4134), the second air flow hole (4135), the first air flow hole (4142), and the opening hole (4141).

[0083] Meanwhile, the tailbone avoidance tool (4300) is configured to prevent the tailbone of the body (P) from covering the anus during the process in which the anal incision tool (4100) incisions the anus of the body (P), thereby preventing operational failure or malfunction of the anal incision tool (4100) caused by the tailbone.

[0084] This tailbone avoidance tool (4300) may include a lower casing (4310), a first cylinder part (4320), a rod part (4330), and a tailbone fixing part (4340).

[0085] Here, the lower casing (4310) is connected to the lower part of the body casing (4110). A first cylinder part (4320) is provided within this lower casing (4310) to move the tailbone fixing part (4340) to a required position. Here, the tailbone fixing part (4340) prevents the tailbone of the body (P) from covering the anus.

[0086] Both ends of such a tailbone fixation part (4340) are each connected to a pair of rod parts (4330) spaced apart at a predetermined interval. Here, the rod parts (4330) are extended and retracted by the operation of the first cylinder part (4320), thereby moving the tailbone fixation part (4340) to a required position.

[0087] This tailbone fixation part (4340) is formed in a U-shape, for example, and prevents the tailbone of the body (P) from bending and covering the anus of the body (P).

[0088] Meanwhile, a sacral cutting tool (4200) is provided on the upper part of the anal incision tool (4100). This sacral cutting tool (4200) is moved forward and backward from the anal incision tool (4100) and is configured to cut the sacral bone of the carcass (P).

[0089] Such a sacral cutting tool (4200) may include an upper casing (4210), a power unit (4220), a rotational force transmission unit (4230), a rotating saw blade unit (4240), a protective cover (4250), and a second cylinder unit (4260).

[0090] Here, the upper casing (4210) is provided on the upper part of the body casing (4110). A moving guide (4211) is provided on the lower part of the upper casing (4210) and coupled to a moving rail (4111) provided on the upper part of the body casing (4110). Accordingly, the upper casing (4210) can be moved forward and backward from the body casing (4110) by the operation of the second cylinder part (4260). That is, the upper casing (4210) can be moved forward and backward along the longitudinal direction of the moving rail (4111).

[0091] A power unit (4220) is provided within the upper casing (4210) as described above. This power unit (4220) provides rotational power to a rotating saw blade (4240) that cuts the sacrum of the conductor (P).

[0092] Here, the rotational power of the power unit (4220) can be supplied to the rotating saw blade unit (4240) through the rotational power transmission unit (4230). One end of the rotational power transmission unit (4230) is connected to the power unit (4220), and the other end of the rotational power transmission unit (4230) is connected to the rotating saw blade unit (4240). Specifically, the first gear (4231) provided at the other end of the rotational power transmission unit (4230) meshes with the second gear (4241) provided in the rotating saw blade unit (4240), so that the rotational power of the power unit (4220) can be supplied to the rotating saw blade unit (4240). Here, the gear coupling structure of the first gear (4231) and the second gear (4241) can be formed, for example, in the form of a bevel gear.

[0093] And the protective covers (4250) form a pair and are configured to support the rotating saw blade section (4240) on both sides. Here, a rotational power transmission section (4230) is disposed on one of the two protective covers (4250) to transmit rotational power generated from the power section (4220) to the rotating saw blade section (4240). These protective covers (4250) protect the rotational power transmission section (4230) from the outside.

[0094] And the second cylinder part (4260) moves the rotating saw blade part (4240) to the required position while the rotating saw blade part (4240) rotates, and cuts the sacrum of the body (P).

[0095] In this way, the tool module (4000) is equipped with an anal incision tool (4100), a sacral cutting tool (4200), and a coccyx avoidance tool (4300) in the form of a single tool module, so that the anal incision and sacral cutting operations of the carcass can be easily performed.

[0096] And the tool module (4000) may further be equipped with a contamination detection unit (4400).

[0097] This contamination detection unit (4400) is configured to photograph foreign substances leaking out and spreading into the carcass as the tool module (4000) causes damage to the internal organs of the carcass (P) during the process of cutting the anus and sacrum of the carcass (P).

[0098] In the present invention, the contamination detection unit (4400) is described as being installed on the front side of the body casing (4110), but the installation location of the contamination detection unit (4400) is not necessarily required to be installed on the front side of the body casing (4110). It may be installed in various locations if it allows for more accurate confirmation of contamination of the carcass due to foreign substances inside the internal organs, and the number of contamination detection units (4400) may also be provided as multiple units rather than a single unit.

[0099] In this way, the contamination detection unit (4400) for capturing whether contamination has occurred in the carcass may be composed of, for example, an optical-based vision sensor, and the contamination measurement information captured from the contamination detection unit (4400) may be provided to the image processing unit (3000). Here, the power of the contamination detection unit (4400) may be turned on / off by the image processing unit (3000).

[0100] Then, the image processing unit (3000) analyzes the contamination measurement information provided by the contamination detection unit (4400) to determine whether the carcass (P) is contaminated. That is, the image processing unit (3000) determines whether foreign substances inside the carcass (P) have leaked out and spread into the carcass.

[0101] Referring to FIG. 13, the operation process of the anal incision and sacral cutting system (1000) of a carcass is examined. First, an initial system setting operation is performed on the various components provided in the anal incision and sacral cutting system (1000). This initial system setting operation is performed to set the various components, such as the image processing unit (3000), the main control unit (5000), and the posture of the automatic robot (6000), to an initial state for the anal incision and sacral cutting of the carcass. (S1000)

[0102] Next, when the first position detection sensor (2100) detects the movement position of the conductor (P), the first position detection sensor (2100) transmits the information to the main control unit (5000), and the main control unit (5000) operates the scanning unit (3100) until the second position detection sensor (2200) detects the movement position of the conductor (P). The scanning unit (3100) photographs the conductor (P) hanging on the hanger (10) and obtains shape information of the conductor (P). Here, the scanning unit (3100) provides the photographed shape information of the conductor (P) to the image processing unit (3000). The image processing unit (3000) calculates image information of the conductor (P) based on the shape information of the conductor (P) provided by the scanning unit (3100). (S2000, S3000, S4000, S5000)

[0103] Next, when the second position detection sensor (2200) detects the movement position of the conductor (P), the acquisition of shape information of the conductor (P) through the scanning unit (3100) is terminated, and the image information of the conductor (P) calculated by the image processing unit (3000) is transmitted to the main control unit (5000). (S6000)

[0104] Next, the main control unit (5000) provides work operation information for anal incision and sacral bone cutting of the conductor (P) to the automatic robot (6000) and the tool module unit (4000) based on image information of the conductor (P) provided from the image processing unit (3000). (S7000)

[0105] Next, when the movement position of the conductor (P) is detected through the third position detection sensor (2300), the automatic robot (6000) and the tool module (4000) proceed with the anal incision and sacral bone cutting operation of the conductor (P). That is, the automatic robot (6000) and the tool module (4000) automatically perform the anal incision and sacral bone cutting operation of the conductor (P) while moved to the required position according to the operation information provided by the main control unit (5000). (S8000, S9000)

[0106] Finally, after the anal incision and sacral cut of the carcass (P) are completed, the contamination detection unit (4400) equipped in the tool module (4000) photographs the carcass (P). This contamination detection unit (4400) is configured to photograph whether foreign substances within the internal organs have leaked out and spread into the carcass meat, caused by damage to the internal organs of the carcass (P) during the process of the tool module (4000) performing the anal incision and sacral cut of the carcass (P). Here, the contamination measurement information captured by the contamination detection unit (4400) is provided to the image processing unit (3000), and the image processing unit (3000) analyzes the contamination measurement information and finally determines whether contamination has occurred in the carcass (P). (S9100)

[0107] At this time, if it is determined by the image processing unit (3000) that no contamination has occurred in the conductor (P), the conductor (P) is transferred to the next work process.

[0108] In contrast, if the image processing unit (3000) determines that contamination of the conductor (P) has occurred, the image processing unit (3000) provides information on the occurrence of contamination to the main control unit (5000). The main control unit (5000) is configured to notify the worker that contamination has occurred in the conductor (P) through the notification unit (7000). Here, the notification unit (7000) can notify the worker of the information regarding the occurrence of contamination of the conductor (P) through various methods, such as by using a light such as a warning light or by using sound. (S9200)

[0109] In this way, if contamination occurs on the conductor (P), the operator removes the contaminants from the conductor (P) by manual labor and then transfers the conductor (P) to the next work process. (S9300)

[0110] However, this is merely a preferred embodiment of the present invention, and the scope of the rights of the present invention is not limited by the scope of description of such embodiment.

[0111] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will understand that other specific forms can be easily modified without altering the technical spirit or essential features 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 unit may be implemented in a distributed manner, and components described as distributed may likewise be implemented in a combined form.

[0112] The scope of the present invention is defined by the claims set forth below, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts thereof should be interpreted as being included within the scope of the present invention.

Claims

1. A position sensor unit equipped with a plurality of position sensing sensors that detect the movement position of a conductor moving along a main conveyor while hanging on a hanger; An image processing unit that photographs a conductor moving along the main conveyor and calculates image information of the conductor; A tool module that automatically performs anal incision and sacral bone cutting operations on a conductor hung on the above-mentioned hanger; and A main control unit that provides work operation information to the tool module unit based on image information of the conductor calculated from the image processing unit; is included. A system for anal incision and sacral cutting of a conductor, wherein the main control unit is configured to control the operation of the image processing unit and the tool module unit according to the movement position of the conductor measured by the position detection sensor.

2. In Paragraph 1, The above tool module part is, An anal incision tool equipped with a guide rod inserted into the anus of a carcass and an anal incision blade having a hollow hole formed inside for incising the carcass surrounding the anus; A sacral cutting tool provided on the upper part of the anal incision tool, which moves in the forward and backward directions from the anal incision tool and cuts the sacrum of the carcass; and A system for anal incision and sacral cutting of a carcass, comprising: a sacral avoidance tool provided at the lower part of the anal incision tool and preventing the sacral of the carcass from covering the anus; wherein the anal incision tool, the sacral cutting tool, and the sacral avoidance tool are provided in the form of a single tool module.

3. In Paragraph 2, The above anal incision tool is, A body casing equipped with a driving unit in a receiving space formed inside; An anal incision blade having a cylindrical shape to form the above hollow hole, rotates by power provided from the above driving unit, and cuts out the carcass around the anus of the conductor in a circular shape; A guide rod that is inserted through the above hollow hole and inserted into the anus of the body to prevent the internal organs from bursting due to the anal incision blade during the process in which the anal incision blade cuts the flesh around the anus; and It includes a power transmission shaft that connects the above-mentioned drive unit and an anal incision blade, and transmits rotational force provided from the above-mentioned drive unit to the anal incision blade; A system for anal incision and sacral cutting of a carcass, characterized in that the front portion of the guide rod is positioned ahead of the front portion of the anal incision blade.

4. In Paragraph 3, The above guide rod is, An insertion part that is inserted into the anus of the conductor and maintains the internal organ connected to the rectum parallel to the direction of entry of the anal incision blade; A connecting bar disposed within the above hollow hole and connected to an insertion part at one end; and A fastening part coupled to the other end of the above connecting bar and coupled to the above power transmission shaft; comprising A system for anal incision and sacral cutting of a conductor, characterized by having a plurality of air movement holes formed along the circumference of the above-mentioned fastening part.

5. In Paragraph 4, A connecting casing coupled to the body casing and protecting the power transmission shaft disposed inside from the outside; and It further includes an air control valve coupled to the above-mentioned connection casing, which supplies air into the above-mentioned connection casing or sucks in air inside the above-mentioned connection casing and discharges it to the outside. A system for anal incision and sacral cutting of a conductor, characterized in that when air is supplied into the connecting casing through the air control valve, the air supplied into the connecting casing is supplied to a first air passage hole formed inside the power transmission shaft through an opening hole formed in the power transmission shaft, the air supplied to the first air passage hole is supplied to a second air passage hole formed inside the connecting part communicating with the first air passage hole, and the air supplied to the second air passage hole is discharged into the hollow hole through the air movement hole formed in the connecting part.

6. In Paragraph 5, In the process where the above anal incision blade makes a circular incision in the anus of the conductor, the above air control valve is configured to suck in air inside the above connecting casing, and A system for anal incision and sacral cutting of a tube, characterized in that when the anal incision blade has completed the anal incision of the tube, the air control valve is configured to supply air into the connecting casing.

7. In Paragraph 3, The above tailbone avoidance tool is, A lower casing coupled to the lower part of the above body casing; A first cylinder portion provided within the lower casing above; A rod portion that forms a pair and is spaced apart at a predetermined interval and extends / extends by the operation of the first cylinder portion; and A system for anal incision and sacral cutting of a conductor, characterized by including a tailbone fixing part that prevents the tailbone of the conductor from covering the anus, wherein both ends are respectively coupled to the ends of the spaced-apart rod part.

8. In Paragraph 3, The above sacral cutting tool is, An upper casing provided on the upper part of the body casing and having a movement guide provided on the lower part; A power unit provided within the upper casing above; A rotational force transmission unit that is coupled to the power unit at one end and equipped with a first gear at the other end; A second gear meshing with the first gear is provided, and a rotary saw blade section for cutting the sacrum of a conductor; A protective cover that protects the above-mentioned rotational force transmission unit from the outside and supports the above-mentioned rotating saw blade unit; and It includes a second cylinder part that controls the forward and backward movement of the upper casing from the body casing; and A system for anal incision and sacral cutting of a conductor, characterized in that, when the second cylinder part is operated, the moving guide moves along the longitudinal direction of a moving rail provided on the upper part of the body casing.

9. In Paragraph 1, The above tool module is further equipped with a contamination detection unit that photographs whether foreign substances within the internal organs of the carcass have spread into the carcass during the process of anal incision and sacral bone cutting of the carcass. A system for anal incision and sacral cut of a conductor, characterized in that contamination measurement information captured by the contamination detection unit is provided to the image processing unit, and the image processing unit analyzes the contamination measurement information provided by the contamination detection unit to determine whether contamination has occurred in the conductor.

10. (A) A first position sensing sensor, a second position sensing sensor, and a third position sensing sensor spaced apart at predetermined intervals on a main conveyor detect the movement position of a conductor; (B) When the position of the conductor is detected by the first position detection sensor, the scanning unit photographs the conductor and obtains shape information of the conductor until the second position detection sensor detects the position of the conductor; (C) The image processing unit calculates image information of a conductor based on shape information of a conductor provided from the scanning unit; and (D) A main control unit provides work operation information to a tool module unit and an automatic robot according to claim 1 based on image information of the conductor provided from the image processing unit, and when the position of the conductor is detected by the third position detection sensor, the tool module unit automatically performs an anal incision and sacral cut operation of the conductor according to the work operation information; comprising the step of operating a system for anal incision and sacral cut of a conductor.

11. In Paragraph 10, (D) After step, (E) A contamination detection unit provided in the tool module unit photographs the carcass after the anal incision and sacral cut of the carcass have been completed, and provides the contamination measurement information photographed from the contamination detection unit to the image processing unit; and (F) The image processing unit analyzes the contamination measurement information provided from the contamination detection unit and determines whether contamination has occurred in the conductor; the step of A method of operation of a system for anal incision and sacral cutting of a conductor, characterized in that if it is determined through analysis by the image processing unit in step (F) above that contamination of the conductor has occurred, the image processing unit provides contamination occurrence information to the main control unit, the main control unit notifies the operator that contamination has occurred in the conductor through the notification unit, and the operator removes the contaminated material from the conductor by manual work.

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