JP3013155B2 - Automatic milking machine - Google Patents

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 milking robot for attaching a teat cup to a teat.

[0002]

2. Description of the Related Art In general, in an automatic milking machine, a teat cup supported by an end effector of a milking robot is automatically mounted on a cow moored in a stall. Need to be moved to

For this reason, the conventional automatic milking machine has an X-direction moving mechanism for moving the end effector straight in the X direction, a Y-direction moving mechanism for moving the end effector straight in the Y direction, and an end effector. A Z-direction moving mechanism for moving straight in the Z-direction is provided, and the end effector is moved in an arbitrary direction by controlling each moving function (see European Patent No. 300115A1 and the like).

[0004]

However, in the conventional automatic milking machine described above, when attached to the stall, the moving direction of the Y-direction moving mechanism is the left and right direction of the stall.
Since the Y-direction rails and the like in the direction moving mechanism portion become longer corresponding to the Y-direction movement stroke, it is not possible to reduce the size and size of the whole milking machine, and in particular, it becomes a hindrance in the left-right direction of the stall. There was a problem in that it was disadvantageous in terms of workability and safety in a pit provided on the side.

[0005] The present invention has been made to solve the problems existing in such prior art, and it is possible to reduce the size and size of the whole milking machine and to improve the workability and safety of the pit. For the purpose of providing.

[0006]

The present invention relates to an X-direction moving mechanism 3 for moving an end effector 2 for attaching a teat cup Ta to a teat H in the X direction.
In the automatic milking machine 1 including the milking robot 6 having the Y-direction moving mechanism 4 for moving the end effector 2 in the Y-direction and the Z-direction moving mechanism 5 for moving the end effector 2 in the Z-direction, The direction moving mechanism 4
One end is rotatable by a rotation drive unit 7, a first arm 9 having one end attached to a rotation shaft 8 of the rotation drive unit 7, and a first shaft 11 provided at the other end of the first arm 9. The supported second arm 10, a parallel link mechanism unit 12 attached to the second arm 10 for parallelly moving the second arm 10 in the Y direction, and moving in the X direction according to the rotation angle of the rotation drive unit 7. It is characterized by including a correction function unit 13 that controls the mechanism unit 3 and makes the X-direction displacement of the second arm 10 based on the rotation of the rotation drive unit 7 zero.

By rotating the rotary shaft 8 of the rotary drive 7, the first arm 9 turns around the rotary shaft 8 as a fulcrum. The second arm 10, which is freely supported, moves in the Y direction along an arc and moves in parallel by the parallel link mechanism 12. At this time, since the second arm 10 is simultaneously displaced also in the X direction, the correction function unit 13 controls the X direction moving mechanism unit 3 in accordance with the rotation angle of the rotation drive unit 7, and the second arm 1
Correction is performed to make the displacement in the X direction of zero to zero. As a result, the second arm 10 moves straight in the Y direction. Therefore, a Y-direction rail or the like for securing a movement stroke in the Y-direction is not required, and the miniaturization and compactness in the Y-direction (left-right direction) can be achieved.

In this case, according to a preferred embodiment, the parallel link mechanism 12 includes a fixed link 14 extending from one end of the second arm 10 in a direction opposite to the second arm 10,
A second shaft portion disposed near the rotary shaft portion; and a movable link rotatably connecting the second shaft portion to a third shaft portion provided at a distal end of the fixed link. Each of the shaft portions 8, 11, 1 such that a straight line connecting the shaft portion 8, the first shaft portion 11, the second shaft portion 15, and the third shaft portion 16 becomes a parallelogram S.
5 and 16 are provided. The X-direction moving mechanism 3 is
X-direction drive unit 19 disposed on the upper surface of fixed base 18
And a horizontal moving plate 20 attached to the movable portion of the X-direction driving unit 19, and the Z-direction moving function unit 5 is disposed on the upper surface of the horizontal moving plate 20. Further, the X-direction moving mechanism unit 3
A guide rail 21 is provided in parallel with the X-direction drive unit 19. One end of the horizontal moving plate 20 is attached to the movable portion of the X-direction drive unit 19, and the other end is slidably mounted on the guide rail 21. The Z-direction moving mechanism 5
Is a Z-direction drive unit 22 disposed on the upper surface of the horizontal moving plate 20.
And a vertical moving plate 23 attached to a movable portion of the Z-direction driving unit 22, and the rotation driving unit 7 of the Y-direction moving mechanism unit 4 is disposed on the upper surface of the vertical moving plate 23.

On the other hand, the end effector 2 is
Attach to 0. The end effector 2 is provided with a cup hand portion 24 that is engaged with the teat cups Ta and raises the teat cups Ta. The end effector 2 also moves the cup hand portion 24 to a position corresponding to each teat cup Ta arranged in the Y direction. A multipoint positioning actuator 25 that moves in the Y direction, a first air cylinder 26 that moves the cup hand portion 24 in the X direction to a position where it can be locked to each teat cup Ta,.
a. The second air cylinder 27 for moving the cup hand unit 24 in the X direction by the distance of a.
A third air cylinder 28 that moves up and down in each direction.

[0010]

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

First, the overall configuration of a stall A including the automatic milking machine 1 according to the present embodiment will be described with reference to FIGS.

The stall A is a compartment for accommodating one cow C. The stall A is constituted by a combination of a plurality of frames F... On the other hand, a rear door 102 is attached to the left 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. Also,
A front door 103 is attached to the left front half of the stall A. The front door 103 opens and closes using the rear end as a pivot point, and opens to allow the cow C to exit the stall A. Note that 104
Is a step for suppressing the movement of the cow C.

Next, the configuration of the automatic milking machine 1 according to the present embodiment will be described with reference to FIGS.

The automatic milking machine 1 has a milking robot 6 installed on a mounting surface G lower than the floor of the stall A. The milking robot 6 has a base 18 and the base 18
Is provided with a manipulator 31 on the upper surface thereof. The manipulator 31 includes an X-direction moving mechanism 3, a Z-direction moving mechanism 5, and Y
The end effector 2 is attached to the Y-direction moving mechanism 4.

The X-direction moving mechanism 3 has an X-direction drive unit 19 disposed on the upper surface of the base 18. X direction drive unit 19
Has a movable portion (slider) that moves directly in the X direction, and one end of the horizontal moving plate 20 is attached to this movable portion. Base 1
A guide rail 21 parallel to the X-direction drive unit 19 is disposed on the upper surface of the horizontal moving plate 2.
0 is slidably loaded at the other end. Thus, the X-direction moving mechanism 3 can move the horizontal moving plate 20 (end effector 2) in the front-rear direction.

On the other hand, the Z-direction moving mechanism unit 5 includes a Z-direction driving unit 22 disposed on the upper surface of the horizontal moving plate 20. The Z-direction drive unit 22 includes a movable unit that moves directly in the Z direction, and a vertical moving plate 23 is attached to the movable unit. As a result, the Z-direction moving mechanism 5 is moved to the vertical moving plate 23 (end effector 2).
Can be moved up and down.

On the other hand, as shown in FIG. 3, the Y-direction moving mechanism unit 4 includes a rotation driving unit 7 mounted on the upper surface of the vertical moving plate 23.
One end is rotatably supported by a first arm 9 having one end attached to a rotation shaft 8 of the rotation drive unit 7 and a first shaft 11 provided at the other end of the first arm 9; A second arm 10 arranged in the Y direction and a parallel link mechanism 12 attached to the second arm 10 are provided. The parallel link mechanism 12 includes a fixed link 14 extending from one end of the second arm 10 in a direction opposite to the second arm 10, a second shaft 15 disposed near the rotation shaft 8, and a second shaft 15. A movable link 17 is provided that rotatably connects the portion 15 and a third shaft portion 16 provided at the distal end of the fixed link 14. In this case, a straight line connecting the rotating shaft portion 8, the first shaft portion 11, the second shaft portion 15, and the third shaft portion 16 becomes a parallelogram S. Since the second arm 10 moves in the Y direction along the circular arc, the second arm 10 controls the X-direction moving mechanism unit 3 in accordance with the rotation angle of the rotation driving unit 7, and
And a correction function unit 13 (see FIG. 8) for making the X-direction displacement of the second arm 10 based on the rotation of the second arm 10 zero.

By rotating the rotary shaft 8 of the rotary drive 7, the first arm 9 turns around the rotary shaft 8 as a fulcrum. The second arm 10, which is freely supported, moves in the Y direction along an arc and moves in parallel by the parallel link mechanism 12. At this time, since the second arm 10 is simultaneously displaced also in the X direction, the correction function unit 13 controls the X direction moving mechanism unit 3 in accordance with the rotation angle of the rotation drive unit 7, and the second arm 1
Correction is performed to make the displacement in the X direction of zero to zero. Thus, Y
The direction moving mechanism unit 4 can move the second arm 10 (the end effector 2) in a left-right direction in a straight line and in a parallel direction along an arc.

The end effector 2 is mounted on the second arm 10. The end effector 2 is a second arm 10
And a horizontal support plate 41 having one end fixed to the bottom of the plate. Four cup bases 4 are provided on the top surface on the tip side of the support plate 41.
2a, 42b... Are attached, and the cup bases 42a, 4
2b ... four teat cups Ta, Tb, T
Hold the lower ends of c and Td. In this case, the bottom of the teat cup Tb (the same applies to other teat cups) has a taper, and the upper surface of the cup base 42b (the same applies to the other cup bases) has a fitting recess into which the bottom of the teat cup Tb fits. 43. In addition, teat cup Tb
Is returned to the cup base 42b. The return mechanism 44 has one end connected to the center of the bottom of the teat cup Tb and the other end connected to the support plate 4.
1, a wire operating portion 46 for pulling or releasing the wire 45, the wire operating portion 46 includes a movable guide portion 47 for guiding an intermediate portion of the wire 45, and a movable guide portion An air cylinder 48 for displacing 47 in the horizontal direction and a fixed guide portion 49 for disposing the wire 45 below the center of the fitting recess 43 and guiding the wire 45 in the vertical direction are provided.

On the other hand, a teat cup operating section 51 is attached to the side of the second arm 10. Teat cup operation unit 5
1 is an electric multi-point positioning actuator 25 mounted on the side of the second arm 10;
A first air cylinder 26 attached to a movable portion 52 of the first air cylinder 26 via a first frame 53; a second air cylinder 27 attached to a distal end of a movable rod 54 of the first air cylinder 26 via a second frame 55; A third air cylinder 28 attached to a distal end of a movable rod 56 of the second air cylinder 27 via a third frame 57, a cup hand unit 24 attached to a distal end of a movable rod 58 of the third air cylinder 28, A U-shaped nipple position sensor 60 is attached to the frame 57 via the support portion 59 and is disposed above the cup hand portion 24.

In this case, the multipoint positioning actuator 2
5 is each teat cup T arranged in the Y direction (lateral direction)
has a function of moving the cup hand unit 24 to a position corresponding to a. Further, the first air cylinder 26 moves the second air cylinder 27 in the X direction (front-back direction) to move the cup hand portion 24 to each teat cup Ta ...
It has a function to move to a position where it can be locked. Further, the second air cylinder 27 has a function of moving the cup hand portion 24 back and forth by an interval of each teat cup Ta located in the X direction (front-back direction). On the other hand, the third air cylinder 28 has a function of moving the cup hand portion 24 up and down in the Z direction (vertical direction).

The cup hand portion 24 has a U-shaped engaging portion 24s for accommodating the teat cups Ta at the tip thereof, and the teat cup Ta has a flange portion Tas for engaging with the engaging portion 24s. . Further, the nipple position sensor 60 has a U-shaped sensor frame 61 in which the nipple H enters, and a plurality of pairs of a light-emitting unit and a light-receiving unit not shown in the drawing are arranged on the sensor frame 61 to thereby provide a sensor frame. A matrix optical path is formed in the space inside 61, and the position of the nipple H entering the sensor frame 61 is detected.

On the other hand, a cow body position detecting device 71 is provided behind the stall A. 6 and 7 show the cow body position detecting device 71 extracted. In the bovine position detecting device 71,
Reference numeral 72 denotes a detection member displacement mechanism provided with a detection member 73 that can contact the rear end of the cow body Cb so as to be displaceable in the front-rear direction. The detection member displacement mechanism 72 attaches mounting plates 74 and 75 to the right frame F in the stall A, and a pair of upper and lower rails 76a and 76 are attached to the mounting plates 74 and 75.
b in the horizontal direction, and
One end of the detection member 73 is slidably mounted on each of a and 76b. The detecting member 73 includes a rail portion 76a,
The slider 77 includes a slider 77 slidably mounted on the slider 76b, and an abutment plate 78 having one end mounted in a cantilever shape on the inner side of the stall of the slider 77. In this case, the contact plate 78 is formed of a single plate material, and a U-shaped bent portion is provided at an intermediate portion.

Further, 79 is arranged in front of the detecting member 73 so that an engaging portion 80 engageable with the detecting member 73 is provided.
Is an engagement part moving mechanism for moving the front and rear directions. The engaging portion moving mechanism 79 includes a rodless air cylinder 81 disposed in a horizontal direction.
The engaging portion 80 is attached to the first movable portion.

Reference numeral 82 denotes a detection member urging mechanism for urging the detection member 73 forward. One end of the wire member 83 is connected to the detection member 73, and a weight 84 is attached to the other end. A weight 84 is hung by hanging an intermediate portion of the member 83 around a guide portion 85 using a guide roller. Reference numeral 86 denotes a mounting plate mounted on the frame F supporting the guide portion 85, and reference numeral 87 denotes a cylindrical weight cover that accommodates the weight 84.

On the other hand, reference numeral 88 denotes a front / rear position detecting unit for detecting the position of the detecting member 73 in the front / rear direction. The reflecting plate 89 attached to the detecting member 73 and the reflecting plate Reflection type first bovine position sensor 90 using an ultrasonic sensor for detecting the distance to the part 89
Is provided.

Reference numeral 91 denotes a left and right position detecting unit for detecting the position of the cow body Cb in the left and right direction.
That is, the L-shaped arm portion 92 is mounted on the outer side of the stall of the slider 77, and the reflection type second cow body position sensor 93 using an ultrasonic sensor is mounted on the tip side of the arm portion 92 protruding forward.

FIG. 8 shows the overall configuration of the control system in the automatic milking machine 1. Reference numeral 94 denotes a control unit main body having a computer function, which is indicated by a functional block. Reference numeral 95 denotes a sensor processing unit to which the detection signals of the bovine position sensors 90 and 93 and the detection signal of the nipple position sensor 60 are provided. The positions of the nipples H are obtained. Reference numeral 96 denotes a bovine identification processing unit to which a detection signal from a bovine identification sensor (code reader) 97 is applied. The cow identification sensor 97 is attached to a predetermined position of the stall A, and reads the ID code set on the collar of the cow C to identify the cow C. Reference numeral 98 denotes a storage unit, which has nipples H in the cow body Cb measured in advance.
Is stored as a database. Reference numeral 99 denotes a drive unit, which includes the manipulator 31 and the end effector 2
Connect.

Next, the operation (function) of the automatic milking machine 1 according to the present embodiment will be described with reference to the flowchart shown in FIG.

First, the cow body position detecting device 71 moves the detecting member 73 to the last retreat position (home position) by moving the engaging portion 80 backward by the engaging portion moving mechanism 79. Thus, the entrance path of the cow C is opened, and if the rear door 102 of the stall A is opened, the cow C enters the stall A (step S1). When the dairy cow C enters the stall A, the rear door 102 is closed and the dairy cow C is identified (step S2). Cow C is I
A cow having a collar set with a D code is read, and the cow ID sensor 97 attached to the stall A reads the ID code to identify the cow C. When the dairy cow C is identified, the database regarding the position of the nipples H ... in the dairy cow C is read from the storage unit 98 (step S3).

Next, the position of the bovine Cb is detected by the bovine position detecting device 71 (step S4). In this case, first, the engaging portion 80 is moved forward (front end) by the engaging portion moving mechanism 79. At this time, since the detection member 73 is urged forward by the detection member urging mechanism 82, the detection member 73 moves forward following the engagement portion 80, and the cow body Cb
Stop if it touches the rear end (buttock). The position of the detection member 73 at this time is detected by the front / rear position detection unit 88. That is, the first cow position sensor 90 detects the distance to the reflection plate 83 (detection member 73), and the cow body C is detected.
The position of b in the front-back direction is detected.

At this time, since the detection member 73 is pulled by the load of the weight 84 via the wire member 83, if the cow body Cb moves, the detection member 73 follows and the detection member 73 is attached forward. Since the cow body Cb contacts the rear end of the cow body Cb while being urged, the movement of the cow body Cb is suppressed. At this time, the second bovine body position sensor 9 in the left / right position detector 91
3, the distance to the cow body Cb is detected, and the position of the cow body Cb in the left-right direction is detected. As a result, the position of the cow body Cb is accurately and accurately detected.

Next, the manipulator 31 of the milking robot 6, ie, the X-direction moving mechanism 3, the Y-direction moving mechanism 4,
The end effector 2 is moved to a position (under the breast) indicated by a virtual line in FIG. 4 by controlling the Z-direction moving mechanism 5 (step S5). On the other hand, the movable rod 54 of the first air cylinder 26 is advanced, and the cup hand unit 24 is set to a position where it can be raised with respect to the first teat cup Ta (steps S6 and S7). And the detected cow body C
The nipple H is located on the nipple position sensor 6 based on the database of the position of the nipple H read from the storage unit 98 and the position of the nipple H.
The manipulator 31 is controlled to enter 0. Also,
When the nipple H enters the nipple position sensor 60, the nipple position sensor 60 detects the position of the nipple H, and controls the manipulator 31 so that the nipple H is positioned at the center of the teat cup Ta (steps S8 and S9). .

As a result, the teat cup Ta is set to the teat H
, The movable rod 58 of the third air cylinder 28 is raised to raise the teat cup Ta,
It is mounted on the nipple H (step S10). At this time, since the teat cup Ta has a negative pressure, if it rises to some extent, the teat H is sucked and vacuum-connected. And
If connected, the movable rod 54 of the first air cylinder 26
Is retracted, and the cup hand section 24 is moved to the teat cup Ta.
(Step S11).

The operations of steps S7 to S11 are similarly performed for the teat cups Tb, Tc and Td (steps S12 and S13). In this case, the cup hand unit 24 changes the position in the Y direction by the multipoint positioning actuator 25 so as to correspond to each teat cup Tb, Tc, Td, and changes the position in the X direction by the second air cylinder 27. Do.

When all the teat cups Ta have been mounted, milking is performed while the milking robot 6 follows the position of the cow body Cb (step S14). When the milking is completed, the suction by the vacuum is released to stop the milking (steps S15 and S16). Then, the wire operation unit 7
6 return the teat cups Ta to the cup bases 72a by pulling the wire 75 (step S1).
7). Thereafter, the end effector 2 is moved to the home position to complete the milking operation (step S1).
8).

The embodiment has been described in detail above.
The present invention is not limited to such an embodiment,
The configuration, shape, and the like of the details can be arbitrarily changed without departing from the gist of the present invention.

[0038]

As described above, in the automatic milking machine according to the present invention, the Y-direction moving mechanism section includes the rotary drive section, the first arm having one end attached to the rotary shaft section of the rotary drive section, and the second arm. A second arm rotatably supported at one end by a first shaft provided at the other end of the one arm, and a parallel link mechanism attached to the second arm for moving the second arm in parallel in the Y direction And a correction function unit that controls the X-direction moving mechanism unit in accordance with the rotation angle of the rotation drive unit, and makes the X-direction displacement of the second arm based on the rotation of the rotation drive unit zero. It has the following remarkable effects.

There is no need for a Y-direction rail or the like that secures a movement stroke in the left-right direction, and the entire milking machine can be reduced in size and size.

Since the stall is not obstructed in the left-right direction, it is possible to contribute to improvement in workability and safety in the pit.

[Brief description of the drawings]

FIG. 1 is a plan view of a stall provided with an automatic milking machine according to the present invention,

FIG. 2 is a side view of a stall provided with the automatic milking machine,

FIG. 3 is a plan view of a Y-direction moving mechanism in the automatic milking machine;

FIG. 4 is a side view showing a part of a milking robot in the automatic milking machine;

FIG. 5 is a plan view showing a part of a milking robot in the automatic milking machine;

FIG. 6 is a plan view of a cow body position detecting device in the automatic milking machine;

FIG. 7 is a side view of a cow body position detecting device in the automatic milking machine;

FIG. 8 is a block diagram of a control system of the automatic milking machine,

FIG. 9 is a flowchart for explaining the operation of the automatic milking machine;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic milking machine 2 End effector 3 X direction moving mechanism part 4 Y direction moving mechanism part 5 Z direction moving mechanism part 6 Milking robot 7 Rotation drive part 8 Rotation shaft part 9 First arm 10 Second arm 11 First shaft part 12 Parallel link mechanism unit 13 Correction function unit 14 Fixed link 15 Second shaft unit 16 Third shaft unit movable link 17 Movable link 18 Base 19 X-direction drive unit 20 Horizontal movement plate 21 Guide rail 22 Z-direction drive unit 23 Vertical movement plate 24 Cup Hand 25 Multipoint Positioning Actuator 26 First Air Cylinder 27 Second Air Cylinder 28 Third Air Cylinder H ... Nipple S Parallelogram Ta ... Teat Cup

──────────────────────────────────────────────────の Continuation of the front page (72) Inventor Tetsuro Ota 246 Yukitaka, Oaza, Suzaka City, Nagano Prefecture Inside Orion Machinery Co., Ltd. (56) References JP 9-100 (JP, A) (58) Investigation Field (Int.Cl. ⁷ , DB name) A01J 5/00-7/00

Claims (11)

(57) [Claims] 1. An X-direction moving mechanism for moving an end effector for attaching a teat cup to a teat in an X direction, a Y-direction moving mechanism for moving the end effector in a Y direction, and the end effector in a Z direction. In an automatic milking machine having a milking robot having a Z-direction moving mechanism for moving, the Y-direction moving mechanism includes a rotary drive, a first arm having one end attached to a rotary shaft of the rotary drive, A second arm, one end of which is rotatably supported by a first shaft provided at the other end of the first arm, and a parallel link mechanism attached to the second arm to translate the second arm in the Y direction And a correction function unit that controls the X-direction moving mechanism unit according to the rotation angle of the rotation drive unit, and makes the X-direction displacement of the second arm based on the rotation of the rotation drive unit zero. An automatic milking machine, characterized in that: 2. The parallel link mechanism, comprising: a fixed link extending from one end of the second arm in a direction opposite to the second arm; a second shaft disposed near the rotation shaft; A movable link that rotatably connects a second shaft portion and a third shaft portion provided at the tip of the fixed link;
2. The automatic milking machine according to claim 1, wherein each shaft portion is arranged such that a straight line connecting the first shaft portion, the second shaft portion, and the third shaft portion is a parallelogram. 3. 3. The X-direction moving mechanism section includes an X-direction driving section disposed on an upper surface of a fixed base, and a horizontal moving plate attached to a movable section of the X-direction driving section. 2. The automatic milking machine according to claim 1, wherein the Z-direction moving function unit is disposed on an upper surface of the plate. 4. The X-direction moving mechanism section includes a guide rail disposed in parallel with the X-direction driving section, and has one end of the horizontal moving plate attached to a movable section of the X-direction driving section, and the other end connected to the movable section of the X-direction driving section. The automatic milking machine according to claim 3, wherein the automatic milking machine is slidably mounted on a guide rail. 5. The Z-direction moving mechanism section includes a Z-direction drive section disposed on an upper surface of the horizontal movement plate, and a vertical movement plate attached to a movable section of the Z-direction drive section. 4. The automatic milking machine according to claim 1, wherein a rotation drive unit of the Y-direction moving mechanism is disposed on an upper surface of the automatic milking machine. 6. The automatic milking machine according to claim 1, wherein the end effector is attached to the second arm. 7. The automatic milking machine according to claim 1, wherein the end effector includes a cup hand portion which is engaged with the teat cup and raises the teat cup. 8. The end effector according to claim 1, further comprising a multipoint positioning actuator for moving the cup hand in the Y direction to a position corresponding to each teat cup arranged in the Y direction. Automatic milking machine. 9. The automatic milking apparatus according to claim 1, wherein the end effector includes a first air cylinder for moving the cup hand portion in the X direction to a position where it can be locked to each teat cup. Machine. 10. The end effector moves the cup hand portion by an interval of each teat cup positioned in the X direction.
The automatic milking machine according to claim 1, 6 or 7, further comprising a second air cylinder that moves in a direction. 11. The automatic milking machine according to claim 1, wherein the end effector includes a third air cylinder that raises and lowers the cup hand section in the Z direction.