JP2002306006A - Automatic milking machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To always accurately and surely perform detection of teat positions, thereby raise the reliability, eliminate trouble damaging cattle bodies with a teat positional sensor and enhance the safety. SOLUTION: This automatic milking machine 1 is obtained by installing a detection processing part 4 for carrying out detection processing with the teat positional sensor 3 when the teat positional sensor 3 is located in a prescribed unused position Pn without detecting teats H and a washing treating part 5 for jetting a washing medium L on the teat positional sensor 3 in a prescribed washing position Pc, and carrying out washing if foulings are detected by the detection processing when the automatic milking machine 1 is equipped with the teat positional sensor 3 arranged above an end effector 2 supporting teat cups Ta, etc., and detecting the positions of teats H of dairy cattle C.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to 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 detection device has a U-shaped sensor frame provided with a plurality of sets of optical detection units each including a pair of light-emitting units and a light-receiving unit, thereby providing a matrix in a detection space defined by the sensor frames. A nipple position sensor for generating a nipple-shaped optical path is provided.If the nipple enters the detection space and an arbitrary optical path is interrupted by the nipple, the position of the nipple is detected by the optical detection unit whose optical path is interrupted. Is done.
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 conventional nipple position detecting device described above performs detection in a state where the nipple position sensor is brought close to the nipple, so that excrement and refuse of dairy cows adhere to the nipple position sensor. However, the nipple position cannot be detected or erroneously detected, and when the nipple position sensor cannot be detected or erroneously detected, the nipple position sensor directly hits the nipple etc. There were still issues to be addressed.

[0005] The present invention has been made to solve the problems existing in the prior art, and it is possible to always accurately and reliably detect the position of the nipple, thereby improving reliability.
An object of the present invention is to provide an automatic milking machine that can improve the safety by eliminating the problem of damaging the cow body by the nipple position sensor.

[0006]

According to the present invention, a nipple position sensor 3 for detecting the position of nipples H of a cow C is disposed above an end effector 2 supporting teat cups Ta. When the automatic milking machine 1 is provided, the detection processing unit 4 performs the detection processing by the nipple position sensor 3 when the nipple position sensor 3 is at a predetermined non-use position Pn where the nipple H is not detected. Is detected, the nipple position sensor 3 is set at the predetermined washing position Pc.
And a cleaning processing unit 5 for performing cleaning by spraying the cleaning medium L.

In this case, according to a preferred embodiment, the nipple position sensor 3 includes a plurality of transmissive optical sensor units 3a and 3b that detect a nipple H located in a detection space S defined by the sensor frame 11 by coordinates. , 3c, and the cleaning processing unit 5 includes a plurality of injection holes 13 arranged inside the sensor frame 11 and for injecting the cleaning medium L toward each transmission-type optical sensor unit 3a. And an ejection head 12 having the same. In addition, after the automatic milking machine 1 is cleaned by the cleaning processing unit 5, the nipple position sensor 3 is moved to a predetermined non-use position P where the nipple H is not detected.
n, re-detection processing is performed by the detection processing unit 4, and if dirt is detected by this re-detection processing, re-cleaning is performed by the cleaning processing unit 5 at a predetermined cleaning position Pc, and this re-cleaning is performed a set number of times (N times). ) And if you detect dirt,
At least an error processing unit 15 for notifying an error can be provided.

Accordingly, the detection processing unit 4 performs the detection processing at the predetermined non-use position Pn where the nipple position sensor 3 does not detect the nipple H, that is, the non-use position Pn which is originally in the non-detection state. When the detection result indicates the detection state, it is determined that dirt is attached, and the cleaning processing unit 5 immediately performs cleaning. In this case, the cleaning is performed by directly spraying the cleaning medium L to the nipple position sensor 3 at the predetermined cleaning position Pc. Therefore, the detection processing for the nipple H can always be performed by the nipple position sensor 3 from which dirt has been removed.

[0009]

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

First, an outline of a stall A provided with the automatic milking machine 1 according to the present embodiment will be described with reference to FIG.

The stall A is composed of a combination of a plurality of frames F. on the other hand,
A rear door 102 is attached to the left rear half of the stall A. The rear door 102 opens and closes using the front end as a rotation fulcrum, and by opening it, the dairy cow C can enter the inside of the stall A. Further, a front door 103 is attached to the left front half of the stall A. Front door 1
03 opens and closes by using the rear end as a pivot point, and opens,
Cow C can exit stall A.

Next, the automatic milking machine 1 attached to the stall A
Will be described with reference to FIGS.

The automatic milking machine 1 includes a milking robot 21 installed on the side of the stall A. The milking robot 21 has a base 22, and a manipulator 23 is provided on the upper surface of the base 22.
Is provided. The manipulator 23 is an X-direction moving mechanism 2
4, a Z-direction moving mechanism 25 and a Y-direction moving mechanism 26, and the end effector 2 is supported by the Y-direction moving mechanism 26.

The X-direction moving mechanism section 24 includes an X-direction drive section 27 disposed on the upper surface of the base 22. X direction drive unit 2
7 includes a horizontal moving plate 28 having one end attached to a movable portion (slider) that moves in the X direction. A guide rail 29 parallel to the X-direction driving unit 27 is provided on the upper surface of the base 22, and the other end of the horizontal moving plate 28 is movably loaded on the guide rail 29. Thus, the X-direction moving mechanism 2
4 can move the horizontal moving plate 28, that is, the end effector 2 in the X direction (front-back direction). On the other hand, the Z-direction moving mechanism unit 25 includes a Z-direction driving unit 30 disposed on the upper surface of the horizontal moving plate 28. The Z-direction drive unit 30 includes a vertical moving plate 31 attached to a movable unit that moves in the Z direction.
As a result, the Z-direction moving mechanism unit 25 can move the vertical moving plate 31
That is, the end effector 2 can be moved in the Z direction (vertical direction). On the other hand, the Y-direction moving mechanism 26
A rotation drive unit 32 is mounted on the upper surface of the vertical moving plate 31, and a main arm 34 having one end mounted on a rotation shaft 33 of the rotation drive unit 32. The other end of the main arm 34 projects from the end effector 2. The end (rear end) of the effector arm 2a is rotatably connected by a support shaft 35. A parallel link mechanism 36 is attached to the effector arm 2a.

The end effector 2 has a base portion 2o that is continuous with the effector arm portion 2a in an L-shape. On the upper surface of the base portion 2o on the distal end side, as shown in FIG. Support the four teat cups Ta, Tb, Tc, Td via. In this case, as shown in FIG. 5, one telescopic mechanism Me (the other telescopic mechanisms Me...) Rotates a plurality of X link parts 52. Movable joint 53
, The telescopic link mechanism 54 is sequentially connected via the...
A pair of telescopic link mechanisms 54 are prepared, and the telescopic link mechanisms 54 arranged side by side are connected by a separator member. The lower end of the telescopic link mechanism 54 is connected to a side surface of the mounting portion 56 fixed to the upper surface of the base 2o via a rotating portion 57d through a pair of mounting links 52d. Are connected to the side surface of the support portion 58 via a pair of mounting links 52u via a rotating portion 57u. In addition, each support portion 58.
Have a laterally protruding support plate portion 58p, and the tip of the support plate portion 58p is connected to each teat cup Ta.
Fix to each side of….

Further, the end effector 2 is provided with a pulling mechanism Mp for releasing the teat cups Ta or returning to the home position. Each of the pulling mechanisms Mp has a wire member 61 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 expansion / contraction mechanism Me and the base 2o, and the other end is fixed below the base 2o. Further, the tension mechanisms Mp ... are wire members 61 ...
Is pressed in the horizontal direction, and the wire members 6 in the telescopic mechanisms Me ...
The pulling drive mechanism 62 pulls the push-out members 1 and 2. The pulling-out drive mechanism 62 pulls the push-out engagement portions 63 through which the wire members 61 are inserted and air that displaces the push-out engagement portions 63 in the horizontal direction. A driving unit 64 using a cylinder or the like, and a guide unit 65 for vertically guiding the wire members 61 in the expansion and contraction mechanism Me are provided.

On the other hand, a lift mechanism Mu is provided on the upper surface of the base 2o. The lift mechanism Mu includes a first movable base 72 movably supported by a pair of guide rails 71 fixed to the upper surface of the base 2o, and the first movable base 72 is a main cylinder disposed on the base 2o. (Air cylinder) 73 and sub cylinder (air cylinder)
74 moves in the Y direction. In this case, the expansion / contraction stroke of the sub cylinder 74 is set to の of the expansion / contraction stroke of the main cylinder 73, and by combining the expansion / contraction strokes of the two cylinders 73 and 74, the first movable base 72 is connected to the four teat cups Ta. It is configured to be able to move to the position.

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 erected on the upper surface of the second movable base 76, and a cup hand portion 79 is attached to an elevating rod of the elevating cylinder 77. The tip of the cup hand portion 79 has a U-shaped locking portion 79s for accommodating the teat cup Ta, and the other teat cup Ta has a locked portion Tas locked to the locking portion 79s. .

Further, an elevating cylinder 80 is erected at a position close to the elevating cylinder 77 on the upper surface of the second movable base 76, and a supporting plate 81 is attached to an elevating rod of the elevating cylinder 80. A rotation drive unit 82 using a rotary solenoid or the like is attached to the support plate 81, and a rear end of the sensor arm unit 83 is attached to a rotation shaft projecting upward from the rotation drive unit 82. Then, the nipple position sensor 3 is attached to the tip of the sensor arm 83. The sensor arm 83, the rotation drive unit 82, the lifting cylinder 80, the actuator 75, the main cylinder 73, and the sub cylinder 74 also serve as a moving mechanism for storing the nipple position sensor 3 in a storage unit 92 described later. .

The nipple position sensor 3 has a U-shaped sensor frame 11 as shown in FIG. 2 so that the nipple H can enter therein. 3a, 3b, 3c, 3d, 3e ...
Is arranged and configured. Each of the transmissive optical sensor units 3a includes a pair of light-emitting units 3ai and light-receiving units 3ar, and generates a matrix-like optical path in a detection space S defined by the sensor frame 11. In this case, in particular, one horizontal optical path and one oblique optical path are disposed so as to pass through the center position of the teat cups Ta. As a result, the nipple H enters the detection space S, and if any optical path is blocked by the nipple H, the position (coordinates) of the nipple H is detected by the transmissive optical sensor unit 3a whose optical path is blocked. Is done.

On the other hand, a storage portion 92 is provided by attaching a cover portion 91 to the effector arm portion 2a. The storage portion 92 is formed in a pocket shape having a rectangular cross section and having an opening 92o on the base portion 2o side. The addition of the cover 91 also has a secondary effect of reinforcing the effector arm 2a. Further, the inside of the storage unit 92, that is, the inner surface of the cover unit 91, which is located substantially at the center of the stored nipple position sensor 3 (sensor frame 11), has a jet head constituting the cleaning processing unit 5. 12 is fixed using a plurality of mounting screws 16. The ejection head 12 has a bottom portion 1
A plurality of hot water (cleaning medium) L for cleaning is directed to each of the transmission-type optical sensor portions 3a of the nipple position sensor 3 on the peripheral surface. ) Are formed to penetrate. Since such an injection head 12 can be manufactured only by forming a plurality of holes on the cylindrical peripheral surface, it can be implemented at low cost, and since each transmission type optical sensor unit 3a can be individually washed, there is little Effective cleaning can be achieved by the amount of hot water. It is to be noted that each of the transmissive optical sensor sections 3a... Ensures waterproofness.

A screw hole is provided at the center of the bottom portion 12d, and the connection portion 17c of the connection joint 17 attached to the tip of the water supply pipe 18 is screwed to communicate the water supply pipe 18 with the inside of the jet head 12. Connecting. On the other hand, the water supply pipe 18 is
As shown in the figure, the electromagnetic valve 19 is connected to the hot water source 20 via the electromagnetic valve 19, and the electromagnetic valve 19 is connected to the output side of the controller 41. As a result, when the control signal is output from the controller 41 and the solenoid valve 19 is controlled to open, the hot water L is supplied from the hot water source 20 to the inside of the jet head 12 via the water supply pipe 18, and each of the jet holes 13 The cleaning processing unit 5 is configured such that the hot water L is sprayed toward the corresponding transmission optical sensor units 3a from the corresponding ones. The nipple position sensor 3 can be housed in the housing 92 through the opening 92o,
FIG. 1 in which the nipple position sensor 3 is completely stored in the storage section 92
The position indicated by the imaginary line 3i is the cleaning position Pc.

On the other hand, the nipple position sensor 3 is
1 input side. An alarm 42 using an alarm buzzer, an alarm lamp, or the like is connected to the output side of the controller 41. The controller 41 has a computer function capable of performing various control processes, and constitutes a detection processing unit 4 that performs a detection process by the nipple position sensor 3 when the controller 41 is at a predetermined non-use position Pn. Further, the controller 41 and the alarm 42 move the nipple position sensor 3 to a predetermined non-use position Pn after performing the cleaning by the cleaning processing unit 5, perform the re-detection processing by the detection processing unit 4, and perform the re-detection. If dirt is detected by processing,
The re-cleaning is performed at the cleaning position Pc, and if dirt is detected even after the re-cleaning is performed a predetermined number of times (N times), an error processing unit 15 configured to perform at least an error notification is configured. In this case, the non-use position Pn is a position where the nipple position sensor 3 does not detect the nipple H. For example, the non-use position Pn is a position where the nipple position sensor 3 stored in the storage portion 92 is pulled out by a predetermined distance (see FIG. 1). It can be set as the use position Pn. Since the non-use position Pn does not particularly require accuracy, a non-use position Pn can be set after a fixed time after a control command for drawing out to the nipple position sensor 3 is output.

Next, the operation of the automatic milking machine 1 according to this embodiment will be described with reference to the drawings and the flowchart shown in FIG.

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 23 of the milking robot 21, that is, the X-direction moving mechanism 24, the Y-direction moving mechanism 26 and the Z-direction moving mechanism 25 are respectively driven and controlled, and the end effector 2 is indicated by a virtual line in FIG. Move to the position shown (under the breast). At this time, since the nipple position sensor 3 is stored in the storage portion 92, that is, at the position indicated by the virtual line 3i in FIG. 1, the nipple position sensor 3 is moved to the use position. In this case, first, the main cylinder 73 and the sub-cylinder 74 are driven and controlled, and the first movable base 72 is moved toward the teat cup Td, whereby the nipple position sensor 3 is completely pulled out from the storage portion 92. Thereafter, the drive of the elevating cylinder 80 is controlled to raise the nipple position sensor 3, and the drive of the rotation drive unit 82 is controlled to rotate the sensor arm 83 by 90 °. As a result, the nipple position sensor 3 is in a usable state.

Thereafter, the process shifts to a normal mounting process of mounting each teat cup Ta on the corresponding teat H (step S1). When mounting, first, the main cylinder 73
Then, the drive of the sub cylinder 74 is controlled to move the first movable base 72 to the position of the teat cup Ta, and the drive of the actuator 75 is controlled to move the cup hand unit 79 forward. Then, the manipulator 23 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 drive of the manipulator 23 is controlled so that the nipple H is positioned at the center of the teat cup Ta.

As a result, the teat cup Ta is changed to the teat H
, The drive of the elevating cylinder 77 is controlled to raise the cup hand portion 79. Thereby, the locking portion 79s of the cup hand portion 79 is locked to the locked portion Tas of the teat cup Ta, and the teat cup Ta is raised. In this case, with the rise of the teat cup Ta, the extension mechanism Me also follows and extends. Since the teat cup Ta has a negative pressure, if the teat cup Ta rises to some extent, the nipple H is sucked and vacuum-connected, and milking starts. Thereafter, the cup hand unit 79 is lowered by controlling the drive of the elevating cylinder 77, and the drive of the actuator 75 is controlled to retract the cup hand unit 79 so as to be separated from the teat cup Ta.
The teat cup Ta attached to the nipple H follows the movement of the nipple H by the connecting portion 53 having a predetermined play (gap) in the expansion mechanism Me even if it moves randomly. That is, the angle and the displacement of the teat cup Ta are allowed over a predetermined range.

Such an operation is performed by another teat cup T
The same applies to b, Tc, and Td. In this case, the cup hand unit 79 changes the position in the Y direction by the main cylinder 73 and the sub cylinder 74 and changes the position in the X direction by the actuator 75 so as to correspond to each teat cup Tb, Tc, Td.

When the mounting of all the teat cups Ta is completed, processing for storing the nipple position sensor 3 in the storage section 92 is performed. At this time, since the second movable base 76 has been moved to the rearmost retreat position and the first movable base 72 has been moved to the position of the teat cup Td, first, the rotation drive unit 82 is driven and controlled, and the sensor arm The part 83 is rotated by 90 °. In addition, the drive of the lifting cylinder 80 is controlled to lower the nipple position sensor 3 to the lowermost position. At this time, the rotation of the sensor arm 83 and the lowering of the nipple position sensor 3 may be advanced simultaneously. As a result, the sensor arm 83 is parallel to the effector arm 2a. Next, the main cylinder 73 and the sub cylinder 74
Is driven to move the first movable base 72 toward the teat cup Ta, the nipple position sensor 3
Then, the nipple position sensor 3 moves to the storage position (cleaning position Pc) indicated by the imaginary line 3i in FIG. As a result, the nipple position sensor 3 is
Is completely housed inside, and is covered by the cover part 91.

At this time, since the nipple position sensor 3 passes through the preset non-use position Pn, the detection processing unit 4 executes detection processing by the nipple position sensor 3 at the non-use position Pn (step S2). S3). That is, the light emitting units 3ai... Constituting the respective transmission type optical sensor units 3a... Emit light, and the light receiving state of the light receiving units 3ar. The detection process can be performed while the nipple position sensor 3 is moving. However, if necessary, the nipple position sensor 3 may be temporarily stopped at the non-use position Pn. Since this detection processing is performed at a position where the nipple position sensor 3 does not detect the nipple H, there is no detection target, and when the nipple position sensor 3 is not contaminated, any of the transmission type optical sensor units 3a .. Are also in the non-detection state. On the other hand, in the case of the detection state, it is determined that one or more of the transmission type optical sensor units 3a are contaminated, and the cleaning processing unit 5 performs quick cleaning (step). S4, S5).

The washing is performed after the nipple position sensor 3 is completely housed in the housing 92. That is, when the nipple position sensor 3 is stored in the storage portion 92 and stops at the cleaning position Pc, a control signal is given from the controller 41 to the solenoid valve 19, and the solenoid valve 19 is controlled to open (step S6). ). As a result, the hot water L is supplied from the hot water source 20 to the inside of the ejection head 12 via the water supply pipe 18 at a high pressure.
The hot water L is sprayed toward the respective a-type optical sensors 3a, and the cleaning process for the respective transmission-type optical sensor units 3a is performed for a set time. Then, when the cleaning process is completed, the solenoid valve 19 is controlled to close (Step S7).

Upon completion of the cleaning process, the nipple position sensor 3
Is once moved to the detection position Pn, and re-detection processing for dirt is performed at this position Pn (step S8). That is, the light emitting units 3ai... Constituting the respective transmission type optical sensor units 3a... Emit light, and the light receiving state of the light receiving units 3ar. As a result, dirt is usually removed, so that any of the transmissive optical sensor units 3a enters a light receiving state, that is, a non-detection state. Therefore, in this case, the nipple position sensor 3 is moved to a position where the nipple position sensor 3 is completely stored in the storage portion 92, and waits until the next milking of the cow C (Step S).
9). Therefore, from the next time, the detection processing is performed by the nipple position sensor 3 from which dirt has been removed, so that the position of the nipple H is accurately and reliably detected, reliability is improved, and the nipple position sensor 3 enables the detection of cows. Problems that hurt the body are also eliminated, and safety is enhanced.

On the other hand, if the detection state is reached also in the re-detection processing, the cleaning may be insufficient, so that the re-cleaning processing is performed as in steps S6 and S7 (steps S9 and S10). A re-detection process is performed as in step S8 (step S11). Then, at this time, if it is in the non-detection state, the nipple position sensor 3 is completely stored in the storage section 92, and waits until the next dairy cow C is milked (step S12). However, when the detection state is reached, the re-cleaning process and the re-detection process are similarly repeated (steps S10 to S13). If the detection state is reached even after performing the preset N re-cleaning operations, it is considered that dirt that cannot be removed by the hot water cleaning is attached or the transmission type optical sensor unit 3a has a failure. 15 to perform error processing. That is, at least error notification is performed by the alarm 42 using an alarm buzzer, an alarm lamp, and the like (step S13). Therefore, the worker can surely remove the dirt by hand, and can quickly know the failure of the transmission type optical sensor units 3a.

Note that a series of milking treatments is performed, and when the milking is completed, the suction by the vacuum is released to stop the milking. Then, the teat cups Ta are returned to the home position by pulling the wire members 61 by the pulling mechanisms Mp. Thereafter, the end effector 2 is moved to the home position to complete the milking operation.

The embodiment has been described in detail above.
The present invention is not limited to such an embodiment,
The detailed configuration, shape, and the like can be arbitrarily changed, added, or deleted without departing from the gist of the present invention. For example, the nipple position sensor 3 can be similarly applied to a nipple position sensor based on another configuration or principle. Also,
The predetermined non-use position Pn where the nipple position sensor 3 does not detect the nipple H means an arbitrary position where the nipple H is not detected,
It may be a preset position or a preset range. Further, moving the nipple position sensor 3 to the predetermined non-use position Pn with respect to the cleaning processing unit 5 means relative movement. Therefore, the cleaning unit 5 may be moved with respect to the stopped nipple position sensor 3. In addition, although the warm water is illustrated as the cleaning medium L, a gas such as air may be used as well as a predetermined cleaning liquid including a disinfecting liquid or the like.

[0037]

As described above, in the automatic milking machine according to the present invention, the detection processing section for performing the detection processing by the nipple position sensor when the nipple position sensor is at a predetermined non-use position where the nipple is not detected, If dirt is detected by processing,
Since the cleaning unit for performing cleaning by injecting the cleaning medium to the nipple position sensor at a predetermined cleaning position is provided, the following remarkable effects are obtained.

(1) Since the detection of the nipple position can always be performed accurately and reliably, the reliability can be improved, and the problem of damaging the cow body by the nipple position sensor can be eliminated to enhance the safety.

(2) According to a preferred embodiment, a nipple position sensor having a plurality of transmissive optical sensor units for detecting nipples located in a detection space defined by a sensor frame by coordinates is used, and a cleaning processing unit is used. Is disposed inside the sensor frame, and is provided with an ejection head having a plurality of ejection holes for respectively ejecting the cleaning medium toward each transmission-type optical sensor unit, if the ejection head has a cylindrical shape Since it can be manufactured only by forming multiple holes on the peripheral surface,
In addition to being able to be implemented at low cost, each transmission type optical sensor unit can be individually cleaned, so that it can be effectively cleaned with a small amount of cleaning medium.

(3) According to the preferred embodiment, if an error processing section is provided which at least notifies an error when dirt is detected even after performing re-cleaning a set number of times, the operator can surely remove dirt by hand. In addition to being able to be removed, the failure of the transmission type optical sensor can be quickly known.

[Brief description of the drawings]

FIG. 1 is a main part configuration diagram including a partial cross-sectional plan view of an end effector in an automatic milking machine according to a preferred embodiment of the present invention;

FIG. 2 is a cross-sectional plan view of an ejection head provided in the automatic milking machine,

FIG. 3 is a cross-sectional side view of an ejection head provided in the automatic milking machine;

FIG. 4 is a plan view of a stall provided with the automatic milking machine,

FIG. 5 is a partial cross-sectional side view showing a state in which a nipple position sensor provided in the automatic milking machine is stored in a storage section.

FIG. 6 is a flowchart for explaining the operation of the main part of the automatic milking machine;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic milking machine 2 End effector 3 Nipple position sensor 3a ... Transmissive optical sensor part 4 Detection processing part 5 Cleaning processing part 11 Sensor frame 12 Injection head 13 ... Injection hole 15 Error processing part Ta ... Teat cup C Dairy cow H ... Nipple Pn Unused position Pc Cleaning position L Cleaning medium S Detection space

Claims (4)

[Claims] 1. An automatic milking machine having a teat position sensor for detecting a teat position of a dairy cow disposed above an end effector supporting a teat cup, wherein a predetermined unused position where the teat position sensor does not detect a teat. A detection processing unit for performing detection processing by the nipple position sensor when the cleaning processing unit is located at a predetermined position; Automatic milking machine characterized by having a. 2. The automatic milking apparatus according to claim 1, wherein said nipple position sensor has a plurality of transmission type optical sensor units for detecting nipples located in a detection space defined by a sensor frame by coordinates. Machine. 3. The cleaning unit includes an ejection head disposed inside the sensor frame and having a plurality of ejection holes for ejecting a cleaning medium toward each transmission-type optical sensor unit. The automatic milking machine according to claim 2, wherein 4. After cleaning by the cleaning processing unit,
The nipple position sensor performs re-detection processing by the detection processing unit at a predetermined non-use position where a nipple is not detected, and if dirt is detected by the re-detection processing, re-cleaning by the cleaning processing unit at a predetermined cleaning position. 2. The automatic milking machine according to claim 1, further comprising: an error processing unit for performing at least error notification when dirt is detected even after performing the re-cleaning a predetermined number of times.