JP2001128578A - Apparatus for detecting nipple position of automatic milking machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To dissolve the problem that a nipple is damaged by a nipple position sensor, to raise safety of diary cattle body and to carry out a quick and high- precision position control of the nipple position sensor. SOLUTION: This apparatus for detecting a nipple position of a automatic milking machine is equipped with a nipple position sensor 3 which has a U-shaped sensor frame 5 into which a nipple H is introduced, plural pairs of optical elements 6... each composed of a light-emitting part 6t and a light- receiving part 6r installed at a part except the sensor frame 5 and plural pairs of optical circuit parts 7... each composed of a pair of a light-emitting side optical fiber cable 7t introducing light from the light-emitting part 6t to one end face 7ti and emitting light from the other end face 7to to the inside of the sensor frame 5 and a light receiving side optical fiber cable 7r for introducing light from the light-emitting side optical fiber cable 7t to one end face 7ri and introducing light from the other end face 7ro to the light emitting part 6r and producing matrix-like optical paths K... in a detection zone S divided by the sensor frame 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a nipple position detecting device of an automatic milking machine having a nipple position sensor for detecting a nipple position of a dairy cow.

[0002]

2. Description of the Related Art Conventionally, there is known an automatic milking machine including a milking robot that raises a teat cup supported at a home position of an end effector by a lift mechanism and automatically attaches the teat cup to a teat. Such an automatic milking machine is provided with a nipple position detecting device that detects a nipple position using a nipple position sensor when a teat cup is attached.

A nipple position detecting device of this kind has already been proposed by the present applicant in Japanese Patent Application Laid-Open No. 9-275834. This nipple position detecting device is arranged in a U-shaped sensor frame by arranging a plurality of sets of optical detecting units each including a pair of light emitting units and a light receiving unit, so that a matrix-shaped detection space defined by the sensor frames is provided. A nipple position sensor that generates an optical path of the nipple, the nipple enters the detection space,
If any optical path is interrupted by the nipple, the position of the nipple is detected by the optical detection unit whose optical path is interrupted. The detection result of the nipple position detection device is applied to the control unit of the milking robot, whereby the end effector is driven and controlled, and the teat cup follows the nipple.

[0004]

However, the above-mentioned conventional nipple position detecting device has the following problems to be solved.

[0005] First, the nipple position sensor has a U-shaped sensor frame into which the nipple enters, and the sensor frame incorporates a light emitting unit and a light receiving unit using semiconductor elements. However, since the sensor frame easily hits the nipple, the nipple may be damaged, and the safety of the cow body is not sufficient.

Second, the weight of the nipple position sensor increases and is supported by the sensor arm in a cantilever manner.
This leads to a decrease in responsiveness and controllability in controlling the position of the nipple position sensor, and it is not possible to perform quick and highly accurate position control.

[0007] The present invention has been made to solve the problems existing in the prior art, and eliminates the problem that the nipple is likely to be damaged by the nipple position sensor, thereby improving the safety of the cow body and improving the speed of the nipple position sensor. Another object of the present invention is to provide a nipple position detecting device of an automatic milking machine that can perform high-precision position control.

[0008]

SUMMARY OF THE INVENTION The present invention relates to an end effector 2 for supporting teat cups T.
, The nipple position detection device 1 of the automatic milking machine U including the nipple position sensor 3 for detecting the position of the nipple H of the dairy cow C is supported by one end of the sensor arm 4 and U-shaped sensor frame 5 into which
And a light emitting unit 6 arranged at a portion other than the sensor frame 5
, a plurality of sets of optical element sections 6 composed of a light receiving section 6t and a light emitting side optical fiber cable 7t that receives light from one end face 7ti from the light emitting section 6t and emits light from the other end face 7to to the inside of the sensor frame 5. The light enters the end face 7ri from the light emitting side optical fiber cable 7t and the light receiving section 6r from the other end face 7ro.
And a plurality of sets of optical circuit units 7 that form a matrix of optical paths K in a detection space S defined by the sensor frame 5 as a pair.
.. Are provided.

In this case, according to a preferred embodiment, the sensor arm 4 is formed of an elastic member Sm having elasticity at least vertically. The other end of the sensor arm 4
It is supported by the shaft 12 of the rotary air actuator 11.

Thus, the plurality of sets of optical element sections 6 composed of the light-emitting section 6t and the light-receiving section 6r are arranged in portions other than the sensor frame 5, so that the size and weight of the nipple position sensor 3 can be reduced. . Also, if the sensor arm 4 supporting the nipple position sensor 3 (sensor frame 5) is formed of an elastic member having elasticity up and down, and the other end of the sensor arm 4 is supported by the shaft 12 of the rotary air actuator 11, The nipple position sensor 3 can be temporarily released with respect to the vertical and horizontal loads applied to the nipple position sensor 3.

[0011]

Next, preferred embodiments according to the present invention will be described in detail with reference to the drawings.

First, in order to facilitate understanding of the present invention, an outline of a stall A and a milking robot R provided in the automatic milking machine U will be described with reference to FIGS.

The stall A is constituted by a combination of a plurality of frames 100, as shown in FIG. A rear door 102 is attached to the left rear half of the stall A. The rear door 102 opens and closes at the front end at a pivot point, and the cow C can enter the stall A by opening. On the other hand, a front door 103 is attached to the left front half of the stall A. The dairy cow C can retreat from the stall A by opening and closing the front door 103 at the rear end at a pivot point. On the other hand,
The frame 100 that forms the right side of the stall A includes:
The support frame 104 shown in FIG. 8 is fixed, and the milking robot R is supported by the support frame 104.

The milking robot R includes a manipulator M as shown in FIGS. Manipulator M
Comprises an X-direction moving mechanism 20, a Z-direction moving mechanism 21, and a Y-direction moving mechanism 22.
2 supports the end effector 2.

The X-direction moving mechanism 20 includes a support frame 1
04 fixed pair of X-direction guide rails 23, 2
The movable chassis 25 is movably mounted on the guide rails 23 and 24. A rodless air cylinder 26 is mounted on the support frame 104 located between the guide rails 23 and 24, and the slider of the air cylinder 26 is connected to the moving chassis 25. Thus, if the drive of the air cylinder 26 is controlled, the end effector 2 can be moved in the X direction (front-back direction).

On the other hand, the moving chassis 25 is provided with a Z-direction moving mechanism 21. The Z-direction moving mechanism 21 includes a pair of left and right Z-direction guide rails 27 and 28 fixed to the surface 25 f of the moving chassis 25.
A lift board 29 is mounted on the lifters 7 and 28 so as to be able to move up and down. Also,
A rodless air cylinder 30 is disposed between the guide rails 27 and 28.
Attach to 5f. The air cylinder 30 functions as a drive cylinder, and the slider 30s of the air cylinder 30
It is connected to the lifting board 29 via the connection link 31. Thus, if the drive of the air cylinder 30 is controlled, the end effector 2 can be moved in the Z direction (vertical direction).

On the other hand, the lifting / lowering board 29 is provided with a Y-direction moving mechanism 22. The Y-direction moving mechanism unit 22 includes a lift board 29
A drive arm 34 whose one end is rotatably supported by a pair of upper and lower brackets 33 fixed to the drive arm 34 is connected to the other end of the drive arm 34 by turning the end of the effector arm 35 protruding from the end effector 2. It is movably supported.
The drive arm 34 incorporates a drive unit using a rodless type air cylinder not shown in the figure, and the drive unit 34 can rotate the drive arm 34 about the brackets 33. In addition, a link portion that constitutes a parallel link mechanism is provided between the effector arm 35 and the lift board 29, and can be moved while keeping the direction of the effector arm 35 constant. Since the effector arm 35 pivots in the Y direction along an arc, the drive arm 3
The X-direction moving mechanism section 20 is controlled in accordance with the rotation angle of the drive arm 4 and the effector arm 35 based on the rotation of the drive arm 34
Is provided with a correction function to make the displacement in the X direction zero. Therefore, the end effector 2 can be moved in the Y direction (left / right direction) by the Y direction moving mechanism section 22.

The end effector 2 has an L-shaped base portion 2b which is continuous with the effector arm 35, and four teat cups T are provided on the top surface of the base portion 2b via a telescopic mechanism N. Supports ... In this case, one telescopic mechanism N (the other telescopic mechanisms N ... are the same)
As shown in FIG. 6, a plurality of X-link portions 52... Connected via rotatable connecting portions 51.
The telescopic link mechanisms 54 sequentially connected via the third link 3 are arranged in a pair on the left and right. Each telescopic mechanism N... Has a certain play at each connecting portion, so that it can be tilted within a certain range when extended.

The lower ends of the telescopic link mechanisms 54 are
A pair of mounting links 52d are connected to a side surface of a mounting portion 56 fixed to the upper surface of the base portion 2b via a rotating portion 57d through a pair of mounting links 52d. Is connected to the side surface of the support portion 58 via the rotating portion 57u. Each of the support portions 58 has a support plate portion 59 projecting in the lateral direction, and the tip of the support plate portion 59 is fixed to the side surface of each teat cup T.

Further, the end effector 2 is provided with a pulling mechanism Np for releasing the teat cup T or returning to the home position Ph. As shown in FIG. 4, the pulling mechanisms Np have wire members 61 each having one end connected to the bottom of the support portion 58. The other side of the wire members 61 penetrates through the inside of the telescopic mechanism N and the base portion 2b, and the other end is fixed below the base portion 2b. Also, the tension mechanism Np ...
Pushes the wire members 61 in the horizontal direction, and the telescopic mechanism N ...
The pulling drive mechanism 62 pulls the wire members 61 in the inside. The pulling drive mechanism 62 includes a pushing engagement portion 63 through which an intermediate portion of the wire member 61 is inserted, and a pushing engagement portion 6.
3 are provided with a driving part 64 using an air cylinder or the like for displacing the horizontal direction, and a guide part 65 for vertically guiding the wire members 61 in the telescopic mechanism N.

On the other hand, a lift mechanism L is provided on the upper surface of the base 2b. The lift mechanism L includes a first movable base 72 movably supported by a pair of guide rails 71 fixed to the upper surface of the base 2b, and the first movable base 72 is a main cylinder disposed on the base 2b. (Air cylinder) 73 and sub cylinder (air cylinder) 74
Moves in the Y direction. In this case, the sub cylinder 74
The telescopic stroke of the first movable base 72 is set to の of the telescopic stroke of the main cylinder 73, and the telescopic strokes of the two cylinders 73 and 74 are combined.
Can be moved to the positions of the four teat cups T.

A multipoint positioning actuator 75 is provided on the upper surface of the first movable base 72, and the second movable base 76 is moved in the X direction by the actuator 75. Further, an elevating cylinder (air cylinder) 77 is installed on the upper surface of the second movable base 76 in the vertical direction, and a cup hand portion 79 is attached to an elevating rod 78 of the elevating cylinder 77.
Install. The tip of the cup hand portion 79 has a U-shaped locking portion 79s for accommodating the teat cups T, and the other teat cup T has a locked portion Ts locked to the locking portion 79s. .

Further, an elevating cylinder 80 is vertically installed at a position close to the elevating cylinder 77 on the upper surface of the second movable base 76, and a supporting plate 82 is attached to an elevating rod 81 of the elevating cylinder 80. The rotary air actuator 11 using an air motor is mounted on the support plate 82. Then, the rear end (the other end) of the sensor arm 4 is attached to the shaft 12 protruding above the rotary air actuator 11. The sensor arm 4 is formed in a leaf spring shape using spring steel as an elastic member Sm,
It can be elastically displaced up and down as indicated by a virtual line 4s shown in FIG. Reference numeral 13 denotes the sensor arm 4 connected to the shaft 12
3 shows a mounting plate for mounting on a vehicle.

The nipple position sensor 3 is attached to the tip (one end) of the sensor arm 4. As shown in FIG. 1, the nipple position sensor 3 has a U-shaped sensor frame 5 into which the nipple H (FIG. 6) can enter.
Is fixed to the tip of the sensor arm 4. On the other hand, a plurality of sets of optical element units 6 shown in FIG. One set of the optical element unit 6 includes a light emitting unit 6t and a light receiving unit 6r using the semiconductor element shown in FIG. 2, and the light emitting unit 6t and the light receiving unit 6r are connected to the control computer 15.

The drive arm 34 and the sensor frame 5
An optical fiber cable constituting a plurality of sets of the optical circuit units 7 is disposed between them. One set of the optical circuit unit 7 is a pair of the light emitting side optical fiber cable 7t and the light receiving side optical fiber cable 7r shown in FIG. And the other end face 7to is arranged at a position where light is emitted inside the sensor frame 5. On the other hand, one end surface 7ri of the light receiving side optical fiber cable 7r is connected to the light emitting side optical fiber cable 7r.
and the other end face 7ro.
Are arranged at positions where light enters the light receiving unit 6r. Thereby, the light emission of the light emitting unit 6t is performed by the light emitting side optical fiber cable 7.
t, the detection space S, the light enters the light receiving unit 6r through the light receiving side optical fiber cable 7r, and one optical circuit is formed by one set of optical circuit units 7, so that a plurality of sets of optical circuit units 7 ... As shown in FIG. 1, a matrix-shaped optical path K is generated in a detection space S defined by the sensor frame 5. In this case, in particular, one horizontal optical path Kh and one oblique optical path K
s is disposed so as to pass through the center position of the teat cups T. As a result, the nipple H enters the detection space S, and if any optical path K is interrupted by the nipple H, the position (coordinates) of the nipple H by the optical circuit unit 7 in which the optical path K is interrupted.
Is detected.

On the other hand, a storage portion 91 is provided by attaching a cover portion 90 to the effector arm 35. The storage portion 91 is formed in a pocket shape having a rectangular cross section and having an opening 91o on the base portion 2b side. Therefore, the cover 90
Has the side effect that the effector arm 35 is reinforced. Further, a cleaning unit 92 is provided inside the storage unit 91. The cleaning section 92 can be constituted by a U-shaped brush section 92b fixed to the lower surface of the upper plate section of the cover section 90. As a result, when the nipple position sensor 3 enters (or exits) the storage section 91, the brush section 92 is placed inside the sensor frame 5.
b enters, and the other end face 7 of the light emitting side optical fiber cable 7t
The to (light emitting surface) and the one end surface 7ri (light receiving surface) of the light receiving side optical fiber cable 7r are wiped off.

Next, the nipple position detecting device 1 according to this embodiment
The operation (function) of the automatic milking machine U including the function described above will be described with reference to the drawings.

First, if the rear door 102 of the stall A is opened,
Cow C enters stall A. When the cow C enters the stall A, the rear door 102 is closed and the cow C is identified. The cow C has a collar on which an ID code is set, and the cow code is read by a cow identification sensor attached to the stall A to identify the cow C. When the dairy cow C is identified, the position of the nipples H in the dairy cow C is read from the database. Further, the position of the dairy cow is detected by the cow body position detecting device.

Next, the manipulator M of the milking robot R, that is, the X-direction moving mechanism 20, the Y-direction moving mechanism 2
2 and the Z-direction moving mechanism 21 are respectively driven and controlled, and the end effector 2 is moved to a position (below the breast) indicated by a virtual line in FIG. At this time, the nipple position sensor 3 is stored in the storage unit 91, that is, the virtual line 3i in FIG.
Therefore, the nipple position sensor 3 is moved to the use position. In this case, first, the drive of the main cylinder 73 and the sub cylinder 74 is controlled, and the first movable base 72 is moved in a direction away from the effector arm 35, so that the nipple position sensor 3 is completely retracted from the storage section 91. Thereafter, the drive of the lifting cylinder 80 is controlled to raise the nipple position sensor 3, and the drive of the rotary air actuator 11 is controlled to rotate the sensor arm 4 by 90 °. As a result, the nipple position sensor 3 is in a usable state.

Thereafter, the procedure shifts to a normal mounting step of mounting the teat cups T on the nipples H. At the time of mounting, first, the main cylinder 73 and the sub cylinder 74 are drive-controlled to move the first movable base 72 to the position of the teat cup T where mounting is to be performed first, and the actuator 75
Is driven to move the cup hand unit 79 forward to a position indicated by a virtual line in FIG. Then, the manipulator M is controlled based on the detected position of the dairy cow C and the position of the nipple H read from the database so that the nipple H enters the detection space S of the nipple position sensor 3. When the nipple H enters the detection space S, the position of the nipple H is detected by the nipple position sensor 3, and the manipulator M is driven and controlled so that the nipple H is positioned at the center of the teat cup T.

Thus, when the teat cup T is located immediately below the nipple H, the lifting cylinder 77 is driven and the cup hand 79 is raised. Thereby, the locking portion 79s of the cup hand portion 79 is locked to the locked portion Ts of the teat cup T, and the teat cup T is raised. In this case, with the rise of the teat cup T, the telescopic mechanism N also follows and extends. Since the teat cup T has a negative pressure, if the teat cup T rises to some extent, the nipple H is sucked and vacuum-connected, and milking starts. Thereafter, by controlling the drive of the elevating cylinder 77 to lower the cup hand unit 79, and controlling the drive of the actuator 75 to retract the cup hand unit 79,
Separate from teat cup T.

Such an operation is performed by another teat cup T ...
Is performed similarly. In this case, the cup hand unit 79
Performs a position change in the Y direction by the main cylinder 73 and the sub cylinder 74 and a position change in the X direction by the actuator 75 so as to correspond to each teat cup T.

When the mounting of all the teat cups T is completed, the nipple position sensor 3 is stored in the storage section 91. In this case, since the second movable base 76 has been moved to the last retreat position and the first movable base 72 has been moved to the position of the teat cup T which is lastly attached, first, the rotary air actuator 11 is drive-controlled. , Rotate the sensor arm 4 by 90 °. In addition, the drive of the lifting cylinder 80 is controlled to lower the nipple position sensor 3 to the lowermost position. Thereby, the sensor arm 4 is connected to the effector arm 3
5 is parallel. Next, the drive control of the main cylinder 73 and the sub cylinder 74 is performed to
When the nipple 2 is moved to the effector arm 35 side, the nipple position sensor 3 enters the inside from the opening 91o of the storage section 91, and the nipple position sensor 3 moves to a position indicated by a virtual line 3i in FIG. As a result, the nipple position sensor 3 is
1 and is completely housed in the interior of the housing 1 and is covered by the cover 90. In this case, when the nipple position sensor 3 enters (or exits) the storage section 91, the brush portion 92 b disposed inside the storage section 91 enters the inside of the sensor frame 5. The other end 7to of the cable 7t
The (light emitting surface) and the one end surface 7ri (light receiving surface) of the light receiving side optical fiber cable 7r are wiped and cleaned by the brush portion 92b. Therefore, the cleaning of the nipple position sensor 3 is automatically performed for each milking.

On the other hand, a series of milking treatments is performed, and when the milking is completed, the suction by the vacuum is released to stop the milking. By pulling the wire members 61 by the pulling mechanism Np, the teat cup T is moved to the home position P.
Return to h ... Thereafter, the end effector 2 is moved to the home position to complete the milking operation.

As described above, according to the nipple position detecting device 1 according to the present embodiment, a plurality of sets of the optical element units 6 composed of the light emitting unit 6t and the light receiving unit 6r are connected to the drive arm other than the sensor frame 5. 34, the size of the nipple position sensor 3 itself can be reduced. Therefore, the problem that the nipple H is easily damaged by the nipple position sensor 3 can be eliminated, and the safety for the cow body can be improved. Further, since the weight of the nipple position sensor 3 can be reduced, quick and highly accurate position control of the nipple position sensor 3 can be performed.

Further, a sensor arm 4 for supporting the nipple position sensor 3 (sensor frame 5) is formed of an elastic member Sm having elasticity in the vertical direction, and the other end of the sensor arm 4 is connected to a shaft 12 of a rotary air actuator 11. Since the nipple position sensor 3 is supported, the nipple position sensor 3 can be temporarily released with respect to the vertical and horizontal loads applied to the nipple position sensor 3.
Can be avoided even if it hits the cow body.

The embodiment has been described in detail above.
The present invention is not limited to such an embodiment,
The detailed configuration, shape, method, and the like can be arbitrarily changed, added, or deleted without departing from the gist of the present invention. For example, the sensor arm 4 may be formed of an elastic member such as a coil spring having elasticity in any of the vertical and horizontal directions.

[0038]

As described above, the nipple position detecting device according to the present invention has a U-shaped sensor frame supported by one end of a sensor arm and having a nipple inserted therein, and a light emitting portion disposed at a portion other than the sensor frame. A plurality of sets of optical element sections each including a light-receiving section, a light-emitting side optical fiber cable that receives light from a light-emitting section on one end face and emits light from the other end face into the sensor frame, and a light-emitting side optical fiber cable on one end face. A nipple position sensor having a plurality of sets of optical circuit units that emit light and enter a light receiving unit from the other end surface into a light receiving unit as a pair, and form a matrix-shaped optical path in a detection space defined by the sensor frame. Because of this, the following remarkable effects are exhibited.

Since the optical element portion is arranged at a portion other than the sensor frame, the size of the nipple position sensor itself can be reduced. Therefore, the problem that the nipple is easily damaged by the nipple position sensor can be eliminated, and the safety for the cow body can be improved.

Since the weight of the nipple position sensor can be reduced, quick and highly accurate position control of the nipple position sensor can be performed.

According to a preferred embodiment, the sensor arm for supporting the nipple position sensor is formed of an elastic member having elasticity in the vertical direction, and the other end of the sensor arm is supported by the shaft of the rotary air actuator. The nipple position sensor can be temporarily released with respect to the vertical and horizontal loads applied to the nipple position sensor, and even when the nipple position sensor hits the cow body, the nipple position detection device can Problems such as damage can be avoided.

[Brief description of the drawings]

FIG. 1 is a perspective view of a nipple position sensor and a sensor arm according to a preferred embodiment of the present invention;

FIG. 2 is a diagram showing the principle configuration of the nipple position sensor;

FIG. 3 is a partial cross-sectional plan view showing a part of an automatic milking machine including the nipple position detecting device;

FIG. 4 is a partial cross-sectional side view showing a state immediately before mounting of the automatic milking machine;

FIG. 5 is a cross-sectional side view showing the inside of a storage section of the nipple position detection device;

FIG. 6 is a partial cross-sectional side view showing a part of the automatic milking machine showing a state in which a nipple position sensor of the nipple position detection device is stored in a storage portion;

FIG. 7 is a plan view of a stall provided in the automatic milking machine,

FIG. 8 is a perspective view of a milking robot provided in the automatic milking machine.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Nipple position detection device 2 End effector 3 Nipple position sensor 4 Sensor arm 5 Sensor frame 6 ... Optical element part 6t Light emitting part 6r Light receiving part 7 ... Optical circuit part 7t Light emitting side optical fiber cable 7ti One end face of light emitting side optical fiber cable 7to The other end face of the light emitting side optical fiber cable 7r The light receiving side optical fiber cable 7ri One end face of the light receiving side optical fiber cable 7ro The other end face of the light receiving side optical fiber cable 11 Rotary air actuator 12 Shaft T ... Teat cup C Dairy cow H Nipple U Automatic milking machine S Detection space K ... Optical path Sm Elastic member

Claims (3)

[Claims] 1. A teat position detecting device of an automatic milking machine having a teat position sensor for detecting a teat position of a cow disposed above an end effector supporting a teat cup, the device being supported at one end of a sensor arm, and A U-shaped sensor frame into which the nipple enters, a plurality of sets of optical element units including a light emitting unit and a light receiving unit arranged in a part other than the sensor frame, and one end face which receives light from the light emitting unit and the other end face from which the light enters. The light emitting side optical fiber cable which emits light inside the sensor frame and the light receiving side optical fiber cable which receives light from the light emitting side optical fiber cable at one end face and enters the light receiving section from the other end face are paired, And a nipple position sensor having a plurality of sets of optical circuit units for generating a matrix-like optical path in a detection space defined by Nipple position detection device for automatic milking machines. 2. The nipple position detecting device for an automatic milking machine according to claim 1, wherein said sensor arm is formed of an elastic member having elasticity at least vertically. 3. The nipple position detecting device for an automatic milking machine according to claim 1, wherein the other end of the sensor arm is supported by a shaft of a rotary air actuator.