JP2002320421A - Manger for stall - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a manger for stall that can realize stabilized and efficient milking operations by always regulating the cow in the stall at a prescribed position in no need of the driving system and the control system for adjusting the position of the manger. SOLUTION: When the manger for stall that has the entrance 2i equipped with the rear door 2d on the back side and the exit 3o equipped with the front door 3d on the front side is constituted, the manger 5 arranged in front of the stall and the guide mechanism 6 that guides the manger 5 freely displaceably over a prescribed range L in the longitudinal direction and the energizing material 7 for energizing the manger 5 to the rear of the stall A.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stall tank apparatus provided for a stall having an entrance at a rear portion and an exit at a front portion.

[0002]

2. Description of the Related Art Conventionally, a stall breeding apparatus provided with a breeding tub disposed in front of the stall is disclosed in Japanese Unexamined Patent Publication No. Hei 8-280288.
There is known a stall tub apparatus attached to a dairy cow mooring apparatus for an automatic milking machine disclosed in Japanese Patent Application Publication No. JP-A-2006-133873.

[0003] In this tunnel apparatus, a tunnel (feed tank) is arranged at the front of a stall having an entrance provided with a rear door at the rear and an exit provided with a front door at the front. Yes,
A milking cow enters the inside of the stall from the entrance and can eat the food in the tub, and the milked cow that has finished milking can exit the stall from the exit. A series of operations related to milking is automatically performed by a milking robot.

By the way, when milking is performed by a milking robot, it is necessary to restrict the dairy cow in the stall to a fixed position as much as possible, thereby shortening the moving distance of the teat cup, stably attaching the teat cup to the teat, reducing the time, and further reducing the size. It is desirable for cost reduction. For this reason, in the above-described conventional apparatus, the stanchion unit integrally provided with the breeding tank is provided so as to be movable in the front-rear direction of the stall by the moving drive unit, and has a database relating to the body shape stored in advance for the cows entering the stall. The control unit controls the movement drive unit, and adjusts the position of the stanchion unit (tank) so that the nipple of the dairy cow becomes the reference position.

[0005]

However, such a conventional apparatus has the following problems.

First, since the position of the breeding tank is adjusted corresponding to each dairy cow, the configuration of a drive system and a control system for adjusting the position becomes complicated, resulting in an increase in cost.

Second, since the position of the tank is adjusted based on a database relating to the body shape stored in advance, for example, when the body shape at the time of milking differs from the database, the position of the tank is determined to be the best. Therefore, there is a possibility that the cow in the stall cannot be regulated to a fixed position.

The present invention has been made to solve the problems existing in the prior art, and realizes a stable and efficient milking process by always restricting the cows in the stall to a fixed position. An object of the present invention is to provide a stall tub apparatus that can reduce the cost by eliminating the need for a drive system and a control system for adjusting the position of the tub.

[0009]

SUMMARY OF THE INVENTION The present invention relates to a stall A having an entrance 2i provided with a rear door 2d at the rear and an exit 3o provided with a front door 3d at the front. When configuring the stall tank device 1 to be provided,
A tub 5 disposed in front of the stall A, a guide mechanism 6 that guides the tub 5 to be displaceable over a predetermined range L in the front-rear direction, and an urging member that urges the tub 5 rearward of the stall A. 7 is provided.

In this case, according to a preferred embodiment, the guide mechanism section 6 includes guide rails 11u..., 11d.
, 12ur... 12ur..., 12df.
, 12f..., 12r.
In addition, a brisket bar 13 that protrudes rearward and comes into contact with the dairy cow C that has entered the stall A is attached to the tub 5.
On the other hand, it is desirable that the stall A be provided with a forced displacement mechanism 14 for forcibly displacing the breeding tank 5 forward, and to be provided with a forced push-out mechanism 15 for forcibly pushing the cow C to urge out.

As a result, the dairy cow C performing milking can enter the stall A from the rear entrance 2i, and the cow body is placed in the tub 5 (the brisket bar 13) at the final stage of the entrance.
Abut. Thereafter, when the rear door 2d attached to the entrance 2i is closed, the dairy cow C is further encouraged to enter from the rear by the rear door 2d, and on the other hand, is forwardly urged by the urging member 7 from the rear. Because the breeding tank 5 is present, the cow C pushes the breeding tank 5 (the brisket bar 13) forward and enters the inside of the stall A.
(The brisket bar 13) and the rear end of the stall A are accommodated. As a result, cow C (cow body)
Regardless of its size, it is restricted to a fixed position (rear end) in the stall A, and each dairy cow C ...
This is realized without using a drive system or a control system for adjusting the position of.

[0012]

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

First, the configuration of a stall A including the tub apparatus 1 according to the present embodiment will be described with reference to FIGS.

The stall A is composed of a combination of a plurality of frames F and is entirely partitioned into a rectangular parallelepiped. The entrance 2i is provided in the rear left side of the stall A,
A rear door 2d is attached to the entrance 2i. After this door 2d
Can be opened and closed by an air cylinder (not shown) with the pivoting portion 21 at the front end as a fulcrum. The rear door 2d shown by a virtual line shows an open state, and in this state, the cow C can enter the inside of the stall A. The exit 3 is located on the left side of the front of Stall A.
and a front door 3d is attached to the exit 3o. The front door 3d can be opened and closed by an air cylinder (not shown) with the pivot portion 22 at the rear end as a fulcrum. Front door 3d indicated by a virtual line
Indicates an open state, in which the cow C can exit the stall A to the outside.

On the rear end face of the stall A, a forced extruding mechanism 15 for forcibly pushing the cow C to urge the cow to leave is provided. As shown in FIGS. 2 and 5, the forced extruding mechanism 15 includes an extruded body 24 formed by combining a plurality of frames Fr.
At the lower end of the extruded body 24, a horizontal push rod Fp (see FIG. 1) protruding forward and capable of abutting on the rear foot of the cow C is provided. Has a support post Fs that is rotatably supported by a bracket 25 provided above the stall A. A lever 26 projecting in the horizontal direction is fixed to the upper part of the support post Fs.
Is rotatably connected to the drive rod 27r. The cylinder head of the air cylinder 27 is rotatably supported by a support member 28 fixed on the upper part of the stall A.

As a result, when the drive rod 27r of the air cylinder 27 is protruded, the lever portion 26 is pivotally displaced forward, and the extruded body 24 moves to the standby position Ps indicated by a solid line in FIG. When the drive rod 27r of the air cylinder 27 is retracted while standing by at a position overlapping the end face portion, the extruded body 24 is rotated and displaced forward as indicated by the phantom line, and forcibly pushes the rear foot of the cow C. You can be prompted to leave.

On the other hand, at the front of the stall A, the tub apparatus 1 according to the present embodiment is provided. The tank device 1 is a stall A
, A guide mechanism 6 for guiding the tub 5 to be displaceable in the front-rear direction, an urging member 7 for urging the tub 5 to the rear of the stall A, and the tub 5 to the front. A forced displacement mechanism 14 for forcibly displacing is provided.

The guide mechanism 6 supports guide rails 11u... 11d provided horizontally on the left and right sides of the breeding tub 5, and supports the guide rails 11u. , 12ur provided on the stall A for regulating the position in the direction
, 12df ..., 12dr ..., 12f ..., 12r ...

In this case, the tank frame Ff surrounding the tank 5
Are provided, and a part of the tub frame Ff is also used as the guide rails 11u, 11d. As shown in FIG. 1, a pair of front and rear support frames Fvf..., Fvr. The support brackets 31f, 31r are attached. A pair of upper and lower guide rollers 12uf, 12df, 12ur are attached to the support brackets 31f, 31r.
, 12dr are rotatably mounted, and the upper guide rollers 12uf, 12ur are in contact with and guided by the lower surface of the upper guide rails 11u, and the lower guide rollers 12df, 12dr are , And guides by contacting the upper surface of the lower guide rails 11d. Thus, the guide rails 11u, 11d are supported so as to be displaceable in the front-rear direction, and their positions are regulated in the vertical direction.
Furthermore, guide rollers 1 rotatably supported by a vertical axis are provided at the lower ends of the support brackets 31f, 31r.
2f... 12r.
12r contact and guide the side surfaces of the lower guide rails 11d. As a result, the guide rails 11u ...,
11d are restricted in the left-right direction.

A brisket bar 13 is attached to the tank frames Ff. The brisket bar 13 is formed in a U-shape, and is fixed to the tank frames Ff located on the left and right. The brisket bar 13 protrudes rearward of the stall A and comes into contact with the cow C that has entered the stall A. Reference numeral 33 denotes a protection pad attached to the breeding tank 5, and is disposed below the brisket bar 13.

On the other hand, the biasing member 7 uses a pair of left and right coil springs 35.
Is hooked to the front end of the lower surface of the breeding tub 5, and the other end is hooked to a hook frame Fi provided between the left and right support frames Fvr ... in the stall A. This allows
The tub 5 is constantly biased behind the stall A. The supporting frame F is provided on the side surface of the guide rails 11u.
Projection-like stopper 36 which can be locked to vr ... or Fvf ...
Is fixed, and the stroke in the front-rear direction in which the tub 5 can be displaced is limited to a predetermined range L. In FIG. 3, the solid line indicates the last retreat position Xr.
Is shown, and the imaginary line indicates the tub 5 at the most advanced position Xf. In this case, as the last retreat position Xr, a position that matches or is slightly behind the smallest dairy cow C is selected. If necessary, the position of the stopper 36 may be changed (adjusted). Further, the elastic coefficient of the coil springs 35 is selected to be an appropriate size that does not cause a burden even if the cow C contacts, and that the cow C is regulated to a fixed position.

On the other hand, the forced displacement mechanism 14 uses an air cylinder 41, and the cylinder head of the air cylinder 41 has left and right support frames Fvr.
The air cylinder 41 is mounted on the mounting frame Fj, and the tip of the drive rod 41r of the air cylinder 41 is mounted on the bottom of the breeding tank 5. Thereby, when the air cylinder 41 is driven and the drive rod 41r is projected, the breeding tub 5 can be forcibly displaced to the most advanced position Xf. The drive rod 41r is freely displaced except for driving the air cylinder 41. In addition, in FIG. 2, reference numeral 51 indicated by a virtual line indicates a milking robot attached to the stall A.

Next, a series of operations of the stall A including the functions of the tub apparatus 1 according to the present embodiment will be described with reference to the respective drawings and the flowchart shown in FIG.

First, the rear door 2d of the stall A is opened to a position indicated by a virtual line in FIG. 2 (step S1). Thereby, the dairy cow C enters the inside of the stall A from the entrance 2i (step S2). Then, at the final stage of entry, the dairy cow C (cow body) is placed on the brisket bar 1
3 to close the rear door 2d (step S3).
S4).

With this arrangement, the cow C is further encouraged to enter from the rear by the rear door 2d, and the rear of the breeding tub 5 is provided in front of the cow C. The bar 13 (tank 5) is pushed forward to enter the inside of the stall A (step S5). At this time, the dairy cow C is pushed backward by the brisket bar 13.
(Breeding tank 5), it is stored in a state of being sandwiched between the brisket bar 13 and the rear end of the stall A. Therefore, dairy cow C (cow body) is restricted to a fixed position in stall A regardless of its size. That is, cow C
(Bow body) is always in contact with the rear end of stall A.

The dairy cow C can eat the food in the tub 5 in this state, and the milking robot 51 performs a normal milking process (step S6). On the other hand, when the milking process is completed, the air cylinder 41 is driven to forcibly displace the breeding tub 5 to the most advanced position Xf (step S8). Further, the front door 3d is opened to a position indicated by a virtual line in FIG. 2 (step S9). As a result, the cow C can exit the stall A from the exit 3o.
Further, when the cow C leaves, the air cylinder 27 is driven to rotate the extruded body 24 forward (step S1).
0). As a result, the extruded body 24 is displaced to the position indicated by the imaginary line in FIG.
The rear part (hind foot) is forcibly pushed, and the cow C is urged to leave. Therefore, the cow C can be smoothly and quickly exited. When the dairy cow C leaves the stall A, the front door 3d is closed (steps S11 and S12).

Therefore, according to the breeding apparatus 1 according to the present embodiment, the position of the breeding tub 5 is always set to the best condition in accordance with the size of the dairy cow C (cow body). Regardless of the size of), the cow C in the stall A is regulated at a fixed position, and stable and efficient milking processing is realized. In addition, since it can be realized without using a drive system and a control system for adjusting the position of the breeding tank 5 for each dairy cow C..

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 guide mechanism 6 supports guide rails 11u, 11d provided horizontally on the left and right sides of the breeding tank 5, and supports the guide rails 11u, 11d so as to be displaceable in the front-rear direction, and in the vertical and horizontal directions. , 12ur provided on stall A
, 12df ..., 12f ..., 12r ..., but can be replaced by another structure that guides the breeding tank 5 to be displaceable over a predetermined range L in the front-rear direction.

[0029]

As described above, the present invention relates to a stall tub apparatus provided with a stall having an entrance provided with a rear door at the rear and an exit provided with a front door at the front. The following remarkable features are provided in order to provide a rearing tank disposed at the front, a guide mechanism for guiding the rearing tank movably over a predetermined range in the front-rear direction, and an urging member for urging the rearing tank to the rear of the stall. Effect.

(1) A stable and efficient milking process can be realized by always regulating the cows in the stall to fixed positions.

(2) A drive system and a control system for adjusting the position of the breeding tank are not required, and the cost can be reduced.

(3) According to the preferred embodiment, if the stall is provided with a forced displacement mechanism for forcibly displacing the tub forward and / or a forced extruding mechanism for forcibly pushing the dairy cow to withdraw, The cow can be moved out of the stall smoothly and promptly.

[Brief description of the drawings]

FIG. 1 is a side view of a stall provided with a tank apparatus according to a preferred embodiment of the present invention;

FIG. 2 is a plan view of a stall provided with the same tank apparatus,

FIG. 3 is a side view showing the breeding apparatus extracted and shown;

FIG. 4 is a perspective view showing a part of a guide mechanism in the breeding tank apparatus.

FIG. 5 is a front view of a forced extruding mechanism provided in a stall provided with the same tank apparatus,

FIG. 6 is a flowchart for explaining a series of operations of a stall provided with the same tank apparatus;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Stall tank apparatus 2d Rear door 2i Entrance 3d Front door 3o Exit 5 Housing 6 Guide mechanism part 7 Energizing member 11u ... Guide rail 12uf ... Guide roller 13 Brisket bar 14 Forced displacement mechanism part 15 Forced extrusion mechanism part A Stall L Predetermined range C Dairy cow

Claims (5)

[Claims] 1. A stall tub apparatus provided with a stall having an entrance provided with a rear door at a rear part and having a retreat exit provided with a front door at a front part, comprising: A stall breeding apparatus, comprising: a guide mechanism for guiding the breeding tank movably over a predetermined range in the front-rear direction; and a biasing member for biasing the breeding tub rearward of the stall. 2. The stall according to claim 2, wherein the guide mechanism is provided with guide rails horizontally provided on the left and right sides of the breeding tub, and the stall supports the guide rails so as to be displaceable in the front-rear direction, and regulates the position in the vertical and horizontal directions. The stall tank apparatus according to claim 1, further comprising a plurality of guide rollers provided in the stall. 3. The stall tub apparatus according to claim 1, wherein the tub is provided with a brisket bar projecting rearward and abutting against a cow that has entered the stall. 4. The stall tub apparatus according to claim 1, wherein the stall includes a forced displacement mechanism for forcibly displacing the tub forward. 5. The stall tank apparatus according to claim 1, wherein the stall includes a forced extruding mechanism for forcibly pushing a dairy cow to evacuate the cow.