JP2002071533A - Apparatus for collecting sample milk of milking machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve various problems accompanying manual work, enhance an ease of use and a general versatility, and enable easy and low-cost collection by realizing complete automation. SOLUTION: There are provided many aligned sample containers C, etc., a transfer mechanism part 2 for relatively transferring a milk injection nozzle 2n to each of the sample containers C, etc., a milk supply part 3 for supplying the sample milk Ls to the milk injection nozzle 2n, and a control part 4 for controlling the transferring mechanism part 2 by a milking information D from the milking machine M to relatively transfer the milk injection nozzle 2n sequentially to each of the sample containers C, etc., and also controlling the milk supply part 3 to discharge a constant quantity of the sample milk Ls from the milk injection nozzle 2n.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sample milk collecting apparatus for a milking machine for collecting a fixed amount of sample milk from milk expressed.

[0002]

2. Description of the Related Art Conventionally, as an automatic milking machine for performing milking by a milking robot attached to a stall, an automatic milking machine disclosed in Japanese Patent Application Laid-Open No. 11-56142 proposed by the present applicant has already been known. However, the milk expressed by such a milking robot is usually collected by a milking system.

[0003] In this case, the milk receiving system is provided with a recorder jar (receiver jar) for temporarily storing the milk milked by the milking robot, and the milk amount is measured and the sample milk is collected using the recorder jar. Will be When collecting the sample milk, the milk contained in the recorder jar is stirred and then milked from the milking section provided at the bottom of the recorder jar. Collect milk. The milking section includes a milking pipe extending downward from the bottom of the recorder jar and an open / close valve provided on the milking pipe.

[0004]

However, since the above-mentioned conventional milk collection of a sample relies on manual work by an operator, the collection work and further related work such as storage are required, and the number of work steps is large. In addition to the increase, it is practically difficult to collect at night or the like, and there has been a problem that efficient collection cannot be performed. In addition, there is a problem that it is easy for the operator to make mistakes in collecting milk, such as mixing or forgetting to sample milk, and that the time and conditions for collection tend to vary. .

Although it is technically possible to automatically collect the milk, this kind of milk collection is different from the milk quality inspection and mainly has a quality improvement aspect. Therefore, collection is usually performed once a month. Therefore, to provide an automatic harvesting device as part of a milking machine,
It cannot be adopted in terms of cost, and actually depends on the manual work of workers.

The present invention has solved the problems existing in the prior art as described above. By realizing complete automation, various problems associated with manual work can be solved.
An object of the present invention is to provide a milking machine sample milk collecting apparatus which is excellent in usability and versatility, and which can be implemented easily and at low cost.

[0007]

SUMMARY OF THE INVENTION The present invention relates to a sample milking apparatus 1 of a milking machine M for sampling a fixed amount of sample milk Ls from milked milk L. A moving mechanism 2 for relatively moving the feeding nozzle 2n with respect to the containers C, the feeding unit 3 for supplying the sample milk Ls to the feeding nozzle 2n, and milking from the milking machine M In accordance with the information D, the moving mechanism unit 2 is controlled to sequentially move the feeding nozzle 2n relative to each sample container C... It is characterized by including a control unit 4 for releasing Ls.

In this case, according to a preferred embodiment, the moving mechanism 2 includes a belt circulation mechanism 11 having an endless belt 11b along each sample container C, and a feeding nozzle 2n supported by the endless belt 11b. , A driving mechanism 12 for moving the endless belt 11b, and the driving mechanism 12 includes engagement protrusions 13 provided on the endless belt 11b in order corresponding to the intervals between the sample containers C, It has a piston rod 14r provided with a one-way clutch 15 for locking the engaging projections 13 in only one direction, and moves the engaging projections 13 by a distance corresponding to the distance between the sample containers C. The driving cylinder 14 is provided. In addition, the milking unit 3 includes a milk feeding tube 17 that connects between the recorder jar 16 of the milking machine M and the milking nozzle 2n.

Thus, the control section 4 controls the moving mechanism section 2 based on the milking information D from the milking machine M, and moves the milking nozzle 2n relative to each sample container C in order. , The feeding unit 3 can be controlled to discharge a fixed amount of the sample milk Ls from the feeding nozzle 2n.
Can be automatically collected.

[0010]

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

First, the configuration of a sample milk collecting apparatus 1 according to the present embodiment will be described with reference to FIGS.

In FIG. 1, reference numeral 16 denotes a recorder jar (receiver jar) provided in the milking machine M. FIG. 1 shows only the recorder jar 16 in the milking machine M.
In general, a milking machine M includes a milking robot that automatically milks dairy cows, and milk L that is milked by the milking robot.
The recorder jar 16 is connected via a milk tube 21 to a teat cup provided in the milking robot. Therefore, the milk L milked by the milking robot is stored in the recorder jar 1
6, and then stored in a bulk cooler.

The recorder jar 16 is a scaled transparent container, and has a milking pipe 22 extending downward at the bottom 16d. Reference numeral 23 denotes a milk amount measuring unit for measuring the amount of milk by a float 24 housed inside the recorder jar 16, and reference numeral 25 denotes a diffusion plate for enhancing the stirring effect.

The recorder jar 16 can be provided with the sample milk collecting apparatus 1 according to the present embodiment. The sample milk collecting device 1 includes a control unit 4 and a collecting device unit 50. The control unit 4 includes a controller 31 having a computer function. In this case, the controller 31
A controller built in the milking robot may be used, or may be provided as a dedicated controller of the sample milk collecting apparatus 1. 41 is a compressor, and this compressor 41 can utilize the compressor provided in the milking robot. Reference numeral 32 denotes a sampling valve using a tube pinch type cylinder valve provided in the middle of the milking pipe 22,
This sampling valve 32 is an on-off valve (electromagnetic on-off valve) 32
s, and the open / close valve 32s is connected to the controller 31. The tube pinch type cylinder valve is a valve having a function of closing an elastic tube by crushing it with air. The collection valve 32 may directly open and close the milk discharge tube 22 using an electromagnetic on-off valve. Reference numeral 42 denotes an air supply pipe connected between the compressor 41 and the sampling device unit 50.
A cylinder valve (electromagnetic on-off valve) 33 is connected in the middle of the
Connect to 1. Further, milking information D is provided to the controller 31. The milking information D includes identification information of a dairy cow to be milked, various information relating to milking start and milking end, and the like. In addition, milk amount data obtained from the milk amount measuring unit 23 is also provided to the controller 31.

On the other hand, the sampling device unit 50 is configured as shown in FIGS. FIG.
0 shows the appearance configuration. The sampling device unit 50 includes a housing 51 formed entirely in a rectangular parallelepiped shape. The housing 51 includes an upper housing part 52 and a lower housing part 5.
3 and an upper housing part 52 and a lower housing part 53
Can be attached and detached by connecting members 54. The phantom line in FIG. 5 indicates the lower housing portion 53 removed in the direction of the arrow H1. Also,
The upper housing portion 52 is composed of an upper housing portion main body 55 having four side surfaces and a cover portion 56 covering the upper surface portion of the upper housing portion main body 55. One side of the cover portion 56 is supported by hinge portions 57. It becomes rotatable (openable and closable) with respect to the main body 55. The phantom line in FIG. 5 indicates the cover portion 56 opened in the arrow H2 direction. In addition, 58 ...
Reference numerals 59 (see FIG. 4) attached to a pair of opposed outer surfaces of the upper housing body 55, respectively.
Are handles attached to the upper end of the cover 56, 60 ...
Indicates feet attached to four locations on the bottom surface of the lower housing portion 53, respectively.

2 to 4 show the internal structure of the upper housing section 52 and the lower housing section 53. FIG. Lower housing part 53
Functions as an accommodating portion of the container tray 61. The container tray 61 is provided with a tray body 63 having a mounting plate 62 for mounting a plurality of sample containers C. A positioning plate 64 is provided for positioning so as to be arranged in a position. Therefore, the positioning plate 64 has a plurality of positioning holes 65 for positioning the sample containers C. Further, the lower housing portion 53 is formed in a container shape in which only the upper surface portion is opened. Thus, the container tray 61 can be accommodated in the lower housing portion 53 from above, and can also accommodate cooling water inside the lower housing portion 53. FIG.
As shown in FIG. 4, a cooling pipe (heat exchange pipe) 66 is provided on the inner surface of the lower housing part 53. This allows
A cooling liquid is circulated from a separately prepared cooling device inside the cooling pipe 66, so that the water housed inside the lower housing portion 53 can be cooled.

On the other hand, the upper housing part 52 has a feeding nozzle 2 for each of the sample containers C contained in the container tray 61.
A moving mechanism 2 for relatively moving n is provided. The upper housing portion 52 includes a partition plate portion 71 that covers a lower surface portion. The partition plate portion 71 has a plurality of window holes 72 corresponding to the respective positioning holes 65 provided on the positioning plate 64 of the container tray 61. ... is formed. Further, a horizontal support plate 73 is provided at an intermediate position of the inner side surface of the upper housing portion 52 in the vertical direction, and the moving mechanism 2 is disposed using the support plate 73.

The moving mechanism 2 has a belt circulating mechanism 11. The belt circulation mechanism 11 includes a plurality of sprocket wheels (including pulleys) 74 arranged on the lower surface of the support plate 73.
And an endless chain belt (endless belt) 11b. In this case, each sprocket wheel 7
4 and the bridging pattern of the chain belt 11b are set so that the chain belt 11b follows each sample container C as shown in FIG. At a predetermined position at the bottom of the chain belt 11b, a feeding nozzle 2n projecting downward is attached. The milking nozzle 2n includes a support 75 fixed to the bottom of the chain belt 11b, and a nozzle body 76 rotatably connected to the lower surface of the support 75. The nozzle body 76 has a sample milk Ls discharge port 2o at the lower end, and has a sample milk Ls supply port 2i communicating with the discharge port 2o on the side surface. This inlet 2i
Is connected to a connection portion 77 provided on a side surface of the upper housing portion main body 55 via a breast feeding tube 17i. in this case,
The milk feeding tube 17i is selected to have a length that allows the milking nozzle 2n to circulate and move. In addition, the milk feeding tube 17i
The supporting member 75 and the nozzle body 76 are rotatably connected to each other while being placed on the upper surface of the partition plate 71 and the support body 75 and the nozzle body 76 are rotatably connected. Is prevented. Reference numeral 79 denotes a handle disposed on the upper surface of the support portion 75. The handle 79 is coupled to a predetermined sprocket wheel 74,
The sprocket wheel 74 can be turned manually.

Further, on one end of the upper surface of the support portion 75,
A drive mechanism 12 for moving the chain belt 11b is provided. As shown in FIG. 3, the drive mechanism 12 includes pin-shaped engagement protrusions 13 provided on the upper surface of the chain belt 11b in correspondence with the intervals between the sample containers C, and the engagement protrusions 13. And a piston rod 14r provided with a one-way clutch 15 for locking only in one direction.
3 are moved by a distance corresponding to the distance between the sample containers C. The one-way clutch 15 includes a clutch piece 15c whose upper end is rotatably supported. Although the clutch piece 15c is allowed to rotate forward (clockwise in FIG. 3), it can move backward (clockwise). Rotational displacement in the counterclockwise direction in FIG. 3 is restricted.

The air cylinder 14 is connected via an air supply pipe 80 to a connecting portion 81 provided on a side surface of the upper housing portion main body 55. The air cylinder 14 supplies compressed air, so that the piston rod 14r projects.
The clutch piece 15c is engaged with the engaging projection 13 located forward to move the chain belt 11b forward. Therefore, at the most protruding position shown in FIG. 1, the piston rod 14 r is set so that the feeding nozzle 2 n is located directly above the sample container C. On the other hand, when the supply of the compressed air to the air cylinder 14 is stopped, the piston rod 14r is retracted by a return spring (not shown), and the clutch piece 15c rides over the engaging projection 13 located at the rear, thereby forming a virtual line. Move to the indicated 15cr position.
In addition, the clutch piece 15c at the time of movement is indicated by a virtual line 15c.
It is rotationally displaced like cf.

On the other hand, 3 indicates that the sample milk Ls
Feeding unit for supplying milk, and the recorder jar 1 of the milking machine M
6 and a milk feeding tube 17 connecting between the milk feeding nozzle 2n. The feeding tube 17 is connected to the connecting portion 77 and the feeding nozzle 2.
n feeding tube 17i which connects the supply port 2i of the n.
And the connection part 77 and the milking tube 22 of the recorder jar 16
Consists of a feeding tube 17o (see FIG. 1)
The milk supply unit 3 can be easily configured only by fitting the milk feeding tube 17o into the milk discharge tube 22.

Next, the operation of the sample milk collecting apparatus 1 according to this embodiment will be described with reference to the drawings and according to the flowchart shown in FIG.

First, a sampling device unit 50 (including the control unit 4) is prepared and installed near the recorder jar 16 (step S1). At this time, the upper housing part 52 is detached from the lower housing part 53, the container tray 61 in which the sample containers C are set is accommodated in the lower housing part 53, and a predetermined amount of cooling water is filled. Then, the upper housing part 52 is attached to the lower housing part 53, and the cooling pipe 66 is connected to a cooling device (not shown).
7 and the milking tube 22 are connected by a milking tube 17o,
Further, the air supply tube 42 is connected to the connection portion 81.

In this case, for example, each sample container C contains:
A serial number is assigned from "No. 1", and the serial numbers are sequentially arranged on the container tray 61. Initially, the milking nozzle 2n is initially set on the sample container C of "No. 1" (step). S1). At this time, the sample container C of “No. 1”
If the nursing nozzle 2n is not positioned above the position, the position is adjusted by manual operation of the handle 79.

Next, milking is started, and a milking process is performed on the first dairy cow (step S2). When the first cow enters the stall, the milking machine M reads the discriminator on the cow and identifies the cow. This identification data (milking information D)
Is assigned to the controller 31, the controller 31 manages (registers) the identification data and the sample container C of “No. 1” in pairs.

On the other hand, the milk L
Is stored in the recorder jar 16 via the milk tube 21. When the milking is completed, the milk amount measuring unit 2
3 measures the amount of milk contained in the recorder jar 16. The measurement result of the milk amount measurement unit 23 is stored in the controller 31.
The controller 31 calculates the stirring time Tm for the milk L stored in the recorder jar 16 and the valve opening time To discharge the sample milk Ls from the recorder jar 16 from the measured amount of milk.

In this case, the stirring time T for the amount of milk is determined in advance.
m and the valve opening time To are set as a database, and the stirring time Tm and the valve opening time To for the measured milk amount can be read from this database. The relationship between the agitation time Tm and the valve opening time To for the amount of milk is as follows.
When the stirring time Tm is longer and the valve opening time To is shorter, and when the amount of milk is smaller, the stirring time Tm is shorter and the valve opening time To is longer. The stirring time Tm and the valve opening time T for such milk amount
The relationship o (database) can be calculated in advance or experimentally. The stirring time Tm for the amount of milk
The relationship between and the valve opening time To may be calculated by a function formula or the like.

On the other hand, when the stirring time Tm and the valve opening time To have been determined, stirring is performed according to the determined stirring time Tm. In the case of stirring, the collection valve 32 is opened, and a vacuum device (not shown) is operated to apply a vacuum negative pressure to the inside of the recorder jar 16 (steps S3 and S4). As a result, outside air is sucked into the recorder jar 16 from the milk discharge pipe 22 side, and the sucked outside air is dispersed by the diffusion plate 25 and then rises in the milk L, thereby increasing the milk L.
Is stirred. Then, when the stirring time Tm has elapsed,
The negative pressure applied to the inside of the recorder jar 16 is stopped.

In this state, since the collection valve 32 is open, the sample milk Ls is spontaneously dropped from the milking tube 22 and is discharged from the milking nozzle 2n through the milking tube 17. Then, after the negative pressure is stopped, if the valve opening time To in which a fixed amount of the sample milk Ls is released has elapsed,
Again, a negative pressure is applied inside the recorder jar 16. As a result, milking from the milking tube 22 is stopped, and at the same time, the milk L from the milking tube 22 to the milking nozzle 2n is returned to the inside of the recorder jar 16 (steps S5 and S6). At this time, the time for applying the negative pressure (return time) takes into account the time for the milk L from the lactation tube 22 to the lactation nozzle 2n to return to the inside of the recorder jar 16, and if the return time has elapsed, the collection valve 32, and the negative pressure is stopped (step S7). On the other hand, when the collection of the sample milk Ls is completed, the milk L in the recorder jar 16 is immediately sent to a bulk cooler (not shown).

Next, the controller 31 gives an open command signal to the cylinder valve 33 to control the cylinder valve 33 to open (step S8). Thereby, compressed air is supplied to the air cylinder 14, and the piston rod 14r
Protrudes, and the clutch piece 15c is engaged with the engaging projection 13 located forward to move the chain belt 11b forward. When the piston rod 14r projects to the most protruding position shown in FIG. 1, the feeding nozzle 2n is fed by one container (step S9). Thereafter, by controlling the cylinder valve 33 to the closed side and stopping the supply of the compressed air to the air cylinder 14, the piston rod 14r
Is retracted by a return spring (not shown), and the clutch piece 15c rides over the engagement protrusion 13 located at the rear, and moves to a position of 15cr indicated by a virtual line shown in FIG. 3 (step S10). In addition, the clutch piece 15c at the time of movement is rotationally displaced like 15cf shown by a virtual line. Then, if the milking process of the next dairy cow is performed, the same collection process is sequentially repeated (steps S1 to S1).
0).

As described above, according to the sample milk collecting apparatus 1 of the present embodiment, the control unit 4 controls the milking information D from the milking machine M.
, The milking nozzle 2n is sequentially moved relative to each sample container C in order, and the milking unit 3 is controlled so that a certain amount of sample milk is fed from the milking nozzle 2n. Since Ls is released, automatic collection (complete automation) of the sample milk Ls becomes possible, and various problems associated with manual work, such as a large increase in the number of working steps, inability to perform efficient collection, and a sample for dairy cows Various problems can be solved, such as the fact that a mistake in collection by a worker, such as mixing or forgetting of milk, is likely to occur, and uniform collection cannot be performed conditionally. Moreover, when not in use, it can be stored separately and installed as needed, so that it is easy to use, and it can be carried and used, so that it is excellent in versatility. On the other hand, the moving mechanism unit 2 includes a belt circulation mechanism unit 11 having an endless belt 11b along each sample container C, a feeding nozzle 2n supported by the endless belt 11b, and a driving mechanism unit 12 for moving the endless belt 11b. And the drive mechanism 12
Are the endless belts 11b corresponding to the intervals between the sample containers C.
, And a piston rod 14r provided with a one-way clutch 15 that locks only in one direction with respect to the engagement protrusions 13. Since the drive cylinder 14 for moving the container C by a distance corresponding to the distance between the containers C is provided, it can be implemented easily and at low cost.

In this embodiment, when a certain amount of sample milk Ls is collected from the recorder jar 16 containing the milked milk L, the amount of milk contained in the recorder jar 16 is measured. , The stirring time Tm of the milk L stored in the recorder jar 16 and the recorder jar 1
6, the valve opening time To drain the sample milk Ls from the milking pipe 22 is determined, and after stirring for the determined stirring time Tm, the valve is opened for the determined valve opening time To. Since the sample milk Ls is discharged, an optimal stirring time corresponding to the milked milk amount can be set. Therefore, it is possible to avoid excessive agitation or insufficient agitation of the milk L at the time of collection, and it is possible to realize a milk sample collection in an optimal state by always ensuring milk quality and component uniformity. Further, since the optimal valve opening time corresponding to the milked milk amount can be set, a constant amount can be collected at all times, and there is an advantage that a problem that a sample shortage or milk waste occurs can be eliminated.

The embodiment has been described in detail above.
The present invention is not limited to such an embodiment, and can be arbitrarily changed, added, or deleted in details, configurations, shapes, methods, and the like without departing from the gist of the present invention.

For example, the belt circulating mechanism 11 has been illustrated as an example of the moving mechanism 2 for moving the feeding nozzle 2n relative to each of the sample containers C. Alternatively, it may be moved by a combination of the X-axis moving mechanism and the Y-axis moving mechanism. Alternatively, the milking nozzle 2n may be fixed and the sample containers C themselves may be moved. On the other hand, as a method of controlling the milk supply unit 3 and discharging a fixed amount of the sample milk Ls from the milking nozzle 2n, for example, a flow meter (a measuring container) is provided in the middle of the milk feeding tube 17 so that the sample is supplied. The measurement of the milk Ls may be performed.

[0035]

As described above, the apparatus for collecting milk of a milking machine according to the present invention comprises a number of sample containers arranged, a moving mechanism for relatively moving a milking nozzle with respect to each sample container, and a milking device. The milking unit that supplies the sample milk to the nozzle, and the milking information from the milking machine, controls the moving mechanism unit, moves the milking nozzle relative to each sample container in order, and controls the milking unit. In addition, the provision of the control unit for discharging a fixed amount of sample milk from the milking nozzle has the following remarkable effects.

(1) By realizing complete automation, various problems associated with manual work can be solved.

(2) When not in use, it can be stored separately and installed as needed, so that it is easy to use, and because it can be carried and used, it is excellent in versatility.

(3) According to a preferred embodiment, the moving mechanism section includes a belt circulating mechanism section having an endless belt and a driving mechanism section for moving the endless belt. A drive cylinder having an engagement protrusion sequentially provided on the endless belt corresponding to the distance between the sample containers and a piston rod provided with a one-way clutch for locking the engagement protrusion only in one direction. Then, it can be implemented easily and at low cost.

(4) According to a preferred embodiment, if the milking section is provided with a milk feeding tube connecting between the recorder jar of the milking machine and the milking nozzle, the milk feeding tube can be replaced by the milking of the recorder jar. The feeding unit can be easily configured simply by fitting the tube into the tube.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a milk sampler of a milking machine according to a preferred embodiment of the present invention;

FIG. 2 is a partially omitted cross-sectional front view showing the internal structure of a collection device unit in the sample milk collection device.

FIG. 3 is a partially omitted cross-sectional side view showing the internal structure of a collection device unit in the sample milk collection device.

FIG. 4 is a partially omitted cross-sectional plan view showing an internal structure of a collection device unit in the sample milk collection device.

FIG. 5 is an external side view of a collection device unit in the sample milk collection device.

FIG. 6 is a flowchart for explaining the operation of the sample milk collecting apparatus;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Sample milk sampling apparatus 2 Moving mechanism part 2n Feeding nozzle 3 Feeding part 4 Control part 11 Belt circulation mechanism part 11b Endless belt 12 Drive mechanism part 13 ... Engagement projection 14 Drive cylinder 14r Piston rod 14r 15 One-way clutch 16 Recorder jar 17 Feeding tube L Milk Ls Sample milk M Milking machine C ... Sample container D Milking information

Continuation of the front page (72) Inventor Masahiro Kuroiwa 246, Yukitaka, Sazaka, Nagano Prefecture Inside Orion Machinery Co., Ltd.

Claims (4)

[Claims] 1. A milking apparatus for a milking machine for collecting a certain amount of sample milk from milked milk, wherein a plurality of sample containers are arranged and a moving mechanism unit moves a feeding nozzle relative to each sample container. And, a milking unit that supplies sample milk to the milking nozzle, and milking information from a milking machine, controls the moving mechanism unit, and relatively moves the milking nozzle relative to each sample container in order, A milking machine sample milking apparatus, comprising: a controller that controls the milking unit and discharges a fixed amount of sample milk from the milking nozzle. 2. The moving mechanism section includes: a belt circulating mechanism section having an endless belt along each sample container; the feeding nozzle supported by the endless belt; and a driving mechanism section for moving the endless belt. 2. The method according to claim 1, further comprising:
The sample milk collecting device of the milking machine according to the above. 3. The driving mechanism section comprises: an engaging projection provided on the endless belt corresponding to an interval between the sample containers; and a one-way clutch for locking the engaging projection in only one direction. The milking machine according to claim 2, further comprising a driving cylinder having a piston rod provided with a driving cylinder for moving the engaging projection by a distance corresponding to a distance between the sample containers. 4. The milking machine according to claim 1, wherein the milking unit includes a milking tube that connects a recorder jar of the milking machine and a milking nozzle.