JP3374071B2 - Milking equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] [0001] The present invention relates to a method for locating a milking animal.
A plurality of milking compartments for each of the milking compartments
Automatically attaches and removes the milking implement to the teat of the milking animal.
The present invention relates to a milking facility provided with an automatic milking device for performing. [0002] 2. Description of the Related Art In such milking facilities, conventionally,
Milking compartments are arranged in a line in a straight line.
Was. [0003] However, in the prior art,
Is to arrange multiple milking parcels in a straight line
Automatic milking system installed in each milking area
Milk equipment management and inspection, or milking status in each milking compartment
The amount of movement of the worker for checking the condition is large.
The burden on workers was heavy, and improvements were being made. Special
To increase the number of milking compartments to improve milking capacity
Then, the above-mentioned inconvenience was remarkable. The present invention has been made in view of such circumstances.
The purpose is to reduce the workload of workers
To provide milking equipment. [0005] A feature structure according to claim 1.
According to the results, several milking compartments form a work area between rows.
Automatic milking equipment placed between rows
Workers are required to work on both sides of the work area.
Management and inspection of automatic milking equipment installed in
Check the milking condition in the milking compartments on both rows.
With a small amount of movement and more efficiently
Work can be done. Therefore, the workload of the worker is reduced.
It is possible to provide milking equipment that can be reduced more than before.
It became so. In addition, milking animals enter and leave the milking area.
Can be performed in parallel on both rows,
Efficient entry and exit of milking animals into the milk compartment
Milking capacity can be improved.
Now you can do it. [0006]Claim 1Depending on the feature configuration
For example, for each row, several milking compartments are juxtaposed,
There is a doorway for milking animals on the opposite side of the work area in
Is not disturbed by the worker
In each of the multiple milking compartments in each row, milking animals can be efficiently
You can get in and out. There are also many milking compartments
However, they are arranged in a straight line in a row.
Compared to the conventional method, the movement amount of the worker during the work is more effective
Work efficiency and work efficiency
It can be improved effectively. Therefore, many milking
Even though the compartments are provided, the work load on the workers is further reduced
And further improve milking capacity
Now you can do it. [0007]Claim 1Depending on the feature configuration
If the milking means, the milking device is attached to the teat of the milking animal
Mounting position for the working area side of the milking compartment
Since the position can be freely changed to the evacuation position, milked animals
When milk enters or exits the milking area,
Position the milking device in the evacuation position to prevent interference with the behavior of the milking animal.
You can avoid becoming a demon. Therefore, milking plots
Milk animals can enter and leave the painting smoothly and efficiently
I can make it. The mounting means is operated to move in the row direction to
Located in the operating position for the milk compartment,
And the milking means is linked to the milking means by the linking means.
Position the means in the mounting position. And place in the mounting position
The milking method that has been set is to place the milking implement on the teat of the milking animal.
Installing. Milking means for a plurality of milking compartments by means of mounting
Of milking compartments by positioning
Milking can be performed in parallel. In other words, squeezing
Position the dairy at the mounting position where it should be mounted on the teat of the milking animal
The means with the functions for
And expensive. So, in several milking compartments
Milking equipment so that milking can be performed in parallel
Milking means with a
The milking means also includes a mounting means having a positioning function of the milking implement.
Separate from multiple milking hands by one mounting means
The position of the milking implement is configured by operating the step
The number of expensive mounting means with
I am trying to make it. [0009] By the way, a plurality of mounting means
In configuring the milking means to operate, the milking means
It is not necessary to cover milking means in all milking compartments in the equipment
No milking means in several milking compartments of the milking facility
It may be an elephant. However, in this case, multiple mounting means
Will be Milking operated by one mounting means
As the number of means increases, the number of
The efficiency of operating the milking means
Milking hand operated by one mounting means as it falls
The number of tiers depends on the number of milking compartments in the milking facility,
It can be set appropriately. Therefore, high milking capacity
While reducing equipment costs.
It became so. [0010]Claim 1Depending on the feature configuration
For example, since mounting means are provided corresponding to each row,
Align the milking means to the mounting position in parallel on both rows
Can be done. Therefore, the milking capacity is further improved.
You can now be up. [0011]Claim 1Depending on the feature configuration
If there is a working passage between the mounting means corresponding to each row,
The worker must not move through the work passage because
In addition, it is possible to manage and check the mounting means on both sides.
You. Therefore, mounting means are provided for each row.
While improving milking capacity,
Efficient management and inspection with a small amount of travel
Can further reduce the workload of the operator.
Now you can. [0012] BRIEF DESCRIPTION OF THE DRAWINGS FIG.
When the milking equipment is applied to dairy cows as milking animals
An embodiment will be described. FIG. 1 shows the milking of the present invention.
Part of the layout of the barn with equipment is shown.
You. Cow living area Z1, automatic milking from cows automatically
Milking place Z2 with milking device A, cows in living area Z1
Milking at milking station Z2, entrance passage L1 leading to milking station Z2
Leads cattle that have been properly completed to a feeding ground (not shown)
Milking cannot be performed properly in passage L2 and milking place Z2.
The cows back to the living area Z1 for milking again
A road L3 is provided. [0013] As shown in FIG.
A plurality of milking rooms 7 as milking compartments to be milked
Place and milk the cow teats against each of the 7 milking rooms
Of the teat cup 50 (see FIG. 5)
An automatic milking apparatus A that performs dynamically is provided and configured. In the present invention, a plurality of milking rooms 7 are arranged in a row.
Automatically squeezed in two rows with a work area Z3 between them
The milking device A is arranged between the rows. Furthermore, for each row,
(3 rooms in this embodiment) milking rooms 7 are juxtaposed, and each milking room is
7, the cow entrance Gi and the cow
An exit Go is provided. The automatic milking apparatus A includes a teat cup 50
In the milking room 7 in a state where it is provided and positioned at a predetermined mounting position.
The teat cup 50 is attached to and detached from the teat of the cow to be placed.
Milking machine (cluster) Aa as milking means
A mounting means for positioning the breast pump Aa at the mounting position;
Milking machine Aa comprising all sensor robots Ab
For each of the milking rooms 7, the mounting position and the milking room 7
Change operation to the retreat position on the side of the work area Z3 side
Provided freely, sensor robots Ab corresponding to each milking room 7
To the operating position for operating the breast pump Aa
To move in the column direction when
When the robot Ab is located at each operation position,
Link as a linking means that can be switched between the state and the detached state.
Milking corresponding to each operation position by the engaging device C (see FIG. 9)
Breast pump Aa is linked to the breast pump Aa,
It is configured to be positioned. Sensor robot Ab
Are provided corresponding to each row, and the sensor robot corresponding to each row is provided.
A work passage Z4 is formed between the contacts Ab. In the milking parlor Z2, the living area Z1
3 milking rooms 7 in a direction perpendicular to the boundary with milking room Z2
Two rows are arranged, and a work area Z3 is formed between the rows.
You. In addition, as shown in FIG.
Should be the same for each column and
In a plan view, it is almost symmetrical by the virtual straight line in the center between the rows.
It is so. Hereinafter, for one column,
The equipment for this will be described. From the living area Z1 to each milking room 7
Passage L1 for guiding cows to each milking room 7
On the side opposite to the working area Z3 side,
The road L3 communicates with the end of the entrance passage L1,
Side by side on the opposite side to the work area Z3 in the entrance passage L1
I have. In addition, the passage L2 to the feeding ground is also the end of the entrance passage L1.
It is provided in communication with the end. In addition, three milking rooms in each row
7 is the first, second, and third in order from the living area Z1 side.
Name. The entrance side of the entrance passage L1 (habitation area Z1)
Side) is provided with a first gate G1 that can be opened and closed,
Chambers 7, 7, 7 have the second, fourth and fourth dairy cow entrance Gis, respectively.
Sixth gates G2, G4, G6 and third and third exits Go
Fifth, seventh gates G3, G5, G7 are provided. For admission
At the end of the passage L1, the cow returns to the passage L2 going to the feeding ground.
An eighth gate G8 for distributing to the road L3 is provided.
You. A living area is located on the side of the living area Z1 of the return passage L3.
A one-way gate G9 that allows only passage to the Z1 side is provided.
Be killed. The first gate G1 is usually connected to a Texas gate.
A pair of left and right gate pieces that are called and can swing around the vertical axis
With a pair of gate pieces
It has a double door structure that can be opened and closed. 2nd game
The gate G2 is configured as a door type that can swing about the vertical axis.
In the open position, it is set to almost block the entrance passage L1
And make sure that cows enter first milking room 7 first.
It is. The fourth gate G4 of the second milking room 7, the third milking room 7
The sixth gate G6 has exactly the same structure. Third gate G
3 is mounted on the side wall of the milking room 7 so that it can swing around the vertical axis.
The first door d1 and the first door d1 around the vertical axis.
Two-fold structure with the second door d2 supported to be swingable
The folding door is configured. The third gate G3 is closed.
The milking room 7 is moved out of the milking room 7
A cow that is configured to push the buttocks to promote advancement
(See FIG. 4). The fifth gate G5 of the second milking room 7,
The 7th gate G7 of the 3 milking room 7 is set to the same structure.
ing. The eighth gate G8 is for the entrance passage L1 and the feeding ground
Return to the position connecting the passage L2 and the entrance passage L1
It is configured to be freely switchable to a position for communicating with the passage L3.
Have been. In the work area Z3, the sensor robot Ab is lined up.
A pair of rails 62 for guiding movement in the direction
It is laid along. In addition, the rail 62 corresponding to each row
However, they are laid with a space allowing workers to move between each other.
So that the interval functions as a work passage Z4.
It is configured. Also, in order to operate each gate in cooperation, a cow
Equipped with a number of sensors S1 to S10 for detecting the presence or absence of traffic
Have been. All sensors are a pair of emitter and receiver
The optical axis is interrupted or the optical axis is
The detection operation is performed by being restarted. FIG.
, A pair of upper and lower first and second sensors S1, S2
Is the entrance at a point 60 cm away from the first gate G1
The first passage L1 is disposed orthogonal to the first passage.
The sensor S1 is for the cow leg and the second sensor S2 is for the torso.
To detect each other. The third sensor S3 is the first milking room
7 and the entrance passage at the end of the first milking room 7
It is arranged obliquely so as to extend over the opposite part. 4th
The sensor S4 is on the opposite side of the entrance passage at the beginning of the first milking room 7.
Portion and the end of the first milking room 7
Are located. The fifth sensor S5 detects the start of the second milking room 7
The end part and the opposite side of the entrance passage on the terminal side of the second milking room 7
It is arranged obliquely so as to cover the portion. 6th sensor S
6 is a part of the second milking room 7 on the opposite side of the entrance passage on the starting end side.
And an oblique arrangement so as to extend over the terminal side portion of the second milking room 7
Have been. The seventh sensor S7 is located at the start end of the third milking room 7.
Part and the part opposite to the entrance passage on the terminal side of the third milking room 7
And are arranged obliquely so as to extend over the area. Eighth sensor S8
Is a portion opposite to the entrance passage on the starting end side of the third milking room 7,
It is arranged obliquely so as to extend over the terminal side portion of the third milking room 7.
ing. The upper and lower pair of ninth and tenth sensors S9 and S10 are
3 Cross the entrance passage L1 near the end of the milking room 7
And the first and second sensors S1, S2
Similarly, the ninth sensor S9 has a leg portion and the tenth sensor S10
Detects the body part respectively. Next, referring to FIG. 2 to FIG.
The link operation with the gate will be described. First, the initial state
Then, as shown in FIG. 2A, the second gate G2 is opened.
And the eighth gate G8 swings toward the feeding passageway L2.
It is operated at the separating position, and the other gates G1, G3,
G4, G5, G6, G7 are all closed. As shown in FIG.
As the first gate G1 opens, the cows enter the entrance passage L1.
When it enters and passes through the first and second sensors S1 and S2,
The first gate G1 closes. Then, through the third sensor S3
A cow enters the first milking room 7 and the transmitter attached to the neck
Receives solid information transmitted from a tag (not shown)
When the device T detects that the second gate G2 is closed,
Finally, the fourth gate G4 opens (see FIG. 3C). Then, in the first milking room 7, an automatic milking machine
Milking at the location A is started and the next cow enters the entrance passage L
The first gate G1 is opened again so that it is possible to enter 1.
It is in a state where it can come. The first gate G1 is connected to the gate
The first game is performed by a presence / absence sensor (not shown) arranged in front.
A cow is at the waiting position just before G1 and the first and
2. Conditions in which one of the third milking rooms 7, 7, 7 is vacant
It is convenient if it is set to be openable only when
(There is also a means to manually operate only the opening operation of the first gate G1.
). The second and third milking rooms 7, 7 are also sequentially described above.
Milking with automatic milking equipment A
The milking is started in three milking rooms 7, 7, and 7
You. Next, when the milking in the first milking room 7 is completed,
When the automatic milking machine A is reset,
The third gate G3, which is the exit of the first milking room 7, opens,
Goes to the entrance passage L1 (see FIG. 3D). This and
The fourth sensor S4 interrupted by the passage of the cows
(Or if the fifth and sixth sensors S5 and S6 are both
Detection operation), etc., in a folded state
The open third gate G3 is closed and the second door d2 is closed.
As shown in Fig. 4 (e), push the buttocks of the cow to encourage forward
The function to advance is demonstrated. 1st milking room
The cow that exited 7 passed the fifth and sixth sensors S5 and S6
When the sensors approach the ninth and tenth sensors S9 and S10, the third game
G3 is closed and the ninth and tenth sensors S9,
When the passage of S10 is detected, the first gate G1 can be opened.
You. If milking has been completed, the cow is
It is led to 2. Milking in the second and third milking rooms 7, 7 is over
Then, in the same manner as in the case of the above-mentioned first milking room 7,
To use. Each of the above gates is operated by an air cylinder or the like.
The opening / closing operation is configured to be freely
It is controlled based on the detection information of each sensor.
Is an example of when the system is running smoothly
There are various operating conditions depending on case-by-case
Conceivable. For example, milking in the second milking room 7 is the first milking
In case of finishing earlier than room 7, cows in second milking room 7
At the end of the passage of the ninth and tenth sensors S9 and S10, the first
The gate G1 can be opened. At that time the first game
When the next cow is in front of G1, the first gate G1 opens.
And the cow passes the first milking room 7 directly to the second milking room 7
And so on. Also, each sensor
S1 to S10 all use the same sensor.
It is configured optically as a pair of a detector and a receiver. The structure of the automatic milking apparatus A will be described.
In addition, in the following description, it goes to the traveling direction of the entrance passage L1.
Automatic milking apparatus A provided for the milking room 7 in the left row
A description will be given with reference to FIG. In the direction of travel of entrance passage L1
Thus, the direction orthogonal to the traveling direction is defined as the left-right direction.
As shown in FIGS. 5 to 8, four tees that can be
Milking the waist-folded arm 51 with a heat cup 50 at the tip
A breast pump (cluster) A provided on the right side of room 7
a and 4 of the cows in the milking room 7 having the predetermined milking posture.
Sensing the teat at the location and each teat cup 50
Robot for positioning just below the nipple corresponding to
Ab Ab. As shown in FIGS. 5 and 6, the breast pump Aa comprises:
A tip arm 51a having a teat cup 50,
Support 5 fixed to the right side of the tip arm 51a and the milking room 7
And a base arm 51b mounted on
Link 51 and two return cylinders 52 and 53
Have been. The outside of the teat cup 50 is covered with rubber
The upper link 63a
And a lower link 63b having a shorter length than the lower link 63b.
And supported on the distal arm 51a via the link mechanism 63.
First, it rises over the distal arm 51a and the lower link 63b.
A descending cylinder 64 is provided. The base end arm 51b is connected via an elevating mechanism 66.
Supported by the support 54 so that it can move up and down in parallel.
A support 54 is provided so that the cylinder 53 can be moved up and down in conjunction with it.
Is slidably fitted up and down on a bar 67
You. The four teat cups 50 are for the teat of the cow.
The front side is arranged in a trapezoidal shape with a wide side according to the arrangement state.
This arrangement is basically fixed. But
The upper and lower links 63a, 63b and the tip arm 51a
Rubber bush (not shown) interposed at the connection with the
By the elasticity of the rubber member covering the teat cup 50,
The position and posture of the teat cup 50 have flexibility.
And the opening at the upper end of the teat cup 50 is
Since it has a curled shape (see Fig. 5), the phase of four nipples
Teat cup even if the position is slightly shifted from the standard state
50 fittings are possible. This structure is compatible with the nipple
The position is basically not so different for each cow
It is possible. Also, a teat cup 50 is attached to the teat.
Then, it is the support for the next teat cup 50 installation
It becomes a reference body, and the attached teat cup 50 is
If you do not move, you can improve the success rate of the next cup installation
It is convenient in point. So, to the teat of teat cup 50
With the rubber bushing,
Mechanism (for example, an electromagnetic magnet embedded in the connection
And the upper and lower links 63a, 63b and the tip
Arm 51a is in a rigid state, etc.)
The reliability of the cup mounting has been enhanced. This milking machine A
a is a telescopic drive between the distal end cylinder 52 and the proximal end cylinder 53;
The milking room is moved from the retracted position to the right
Milking position (lower abdomen of dairy cow) protruding right and left center of dairy room 7
Can be moved without changing the posture of the teat cup 50
It is so. Incidentally, 65 is the combination of the sensor robot Ab.
It is a mounting part for use. As shown in FIGS. 7 and 8, the sensor robot
Ab is two rough sensors 55, 55 and one scanner
-(Equivalent to a fine sensor) 56
The link 57 and the vertical protruding plate 69 below the frame cylinder 69
a, 69b and the base parallel quadruple link 58,
And the second cylinders 60, 61 and the like. Frame
69 is a vertical movement composed of a motor 70a and a screw shaft 70b.
It is fitted to the column 59 so as to be able to move up and down by the mechanism 70.
At the same time, the strut 59 extends along the row direction of the milking room 7.
On a pair of left and right moving rails 62 laid in the work area Z3
It is supported by a trolley 68 that can roll. In addition, downward projection
An extension of the plate 69b is connected to a support bar 68 erected on a carriage 68.
a so that it can be freely slid up and down.
Is going. When the first cylinder 60 expands and contracts, the base flat
The row quad link 58 can be moved left and right with respect to the frame cylinder 69.
While the tip of the second cylinder 61
Row quadruple link 57 left with respect to proximal parallel quadruple link 58
It can move to the right, and as shown in FIG.
6 without changing its posture with respect to the trolley 68, on the right side of the milking room 7
From the retracted position retracted to the left and right center of the milking room 7
Can move laterally over the milking position (lower abdomen of the cow)
You. Although the rough sensors 55 and 55 are fixed in position,
The nut 56 includes an upper arm 56a and a lower arm 56b.
Motor mechanism acting on quadruple link and lower arm 56b
71, the front end parallel quadruple link 57
And the receiving table 56 by an electric motor or the like.
It is configured to be rotatable around the vertical axis with respect to c.
In addition, 72 is a mounting part for the milking machine Aa combination. Here, the breast pump Aa and the sensor robot Ab
Is linked to be able to switch between the linked state and the detached state.
The engaging device C will be described. As shown in FIG.
The device C is provided with a mounting portion 65 provided on the breast pump Aa side and a sensor.
It is provided with a mounting part 72 provided on the robot Ab side.
I have. The mounted portion 65 includes a pair of hook portions 65a, 65a.
And a pair of projection guides 65b, 65b.
The mounting portion 72 is relatively connected by the waist broken link 73.
When the pair of engaging pieces 72a, 72a are vertically installed so as to be pivotally supported,
The rod 75 which can be operated by the solenoid 74
Connect the end to the center link piece 73a of the waist link 73
It is configured. To disengage, solenoid 74
May be extended. Therefore, as shown in FIG.
The mounting portion 72 and the mounted portion 65 are aligned in the horizontal direction.
Moves down the entire sensor robot Ab in the closed state
Then, the engagement piece 72a is guided by the projection guide 65b, and FIG.
(B) As shown in FIG.
And the hooking portion 65a are engaged, and the breast pump Aa and the sensor robot
The unit Ab is united. Next, the operation of the automatic milking apparatus A will be described with reference to FIGS.
This will be described with reference to FIG. Again, the entrance passage L1
For the milking room 7 on the left row in the direction of travel
The automatic milking apparatus A will be described. First, the first squeeze
At the right side position of the milking room 7, a breast pump Aa and a position higher than this
Is standing by side by side with the sensor robot Ab
(FIG. 10). The position in this state is the sensor robot Ab.
For operating the breast pump Aa in the first milking room 7
become. The feed box 36 is then retracted an amount appropriate for the cow.
And operate it in the prescribed milking posture. At this time, the feed box 36
With the end of the backward movement, the sensor robot Ab moves to the left side.
Sensor robot by moving and moving down
Ab merges with the breast pump Aa (see FIG. 14). The combined automatic milking apparatus A is equipped with a sensor robot
Drive the first and second cylinders 60 and 61 of the
Move the teat cup 50 to the lower abdomen of the cow by
Move, and then, using the rough sensors 55, 55, the fourth milk
Head (reference teat) is detected and each teat is detected.
The first and second cups 50 are positioned below the corresponding teats.
By driving and controlling the second cylinders 60 and 61 (of the breast pump Aa)
The two cylinders 52 and 53 move following.)
Perform alignment. Next, the motor mechanism 71 is driven to operate the scanner.
-56, lift it up and down and place it between the nipples.
One, four nipple position sensing while driving and rotating
(See FIGS. 12 and 13). Precision sensing by a scanner (nipple position
Measurement) is completed, and each teat cup 50 is
When aligned below, first the first nipple Te1
The mounting relationship of the teat cup 50 in FIG.
A is started (FIG. 14), and then the second, third, and
The mounting of the four teats Te2, Te3, Te4 is performed. 4 te
When the attachment of the tea cup 50 to the teat is completed,
72 is disengaged from the mounted portion 65 and the sensor robot is disengaged.
Ab lifts up a little, then moves to the right and retracts
Return to After that, the sensor robot A using the rail 62
b goes to the next second milking room 7 and milks the second milking room 7
In the first milking room, stopped at the operating position for the vessel Aa
And the sensor robot Ab operates in the next third
Heading to milking room 7 and against milking machine Aa in third milking room 7
Stops at the operating position, and operates in the same way as in the first milking room.
I do. When the sensor robot Ab returns to the retracted position,
The elevating mechanism 66 is driven up and down, and the elevating cylinder
64 is shortened and driven around the teat cup 50
The milking machine Aa is lifted and the posture of the teat cup 50 is milked.
Correct to a state suitable for the head (FIG. 15). And then milking
Is started. That is, as shown in FIG.
When the cup 50 is in the lower position, priority is given to easy fit to the teat.
Is almost vertically upright,
The ascending movement of the link mechanism 63 is similar to the swing ascent.
I'm in a slightly leaning position and twisting the teat a little
Then, by lifting the breast pump Aa body, teat cup 5
0 is returned from a backward tilted posture to a nearly vertical standing posture
Have been. In addition, the tip of the nipple leans slightly forward,
Set the posture at the lower position of the teat cup 50
And the remarkable backward leaning posture due to the climb is returned to the original slight backward leaning posture.
It is more convenient to set it back. Milking machine Aa book
It is the teat cup 50 that lifts and moves the body later.
With the completion of the mounting of the sensor robot Ab
Secures the vertical space required to move
It makes sense to do it. Sensing by Scanner 56 (Nipple Position)
Will be described. Scanner 56 transmits and
Equipped with both reception functions to receive transmitted ultrasonic reflected waves
Measuring the presence, size and position of an object
As shown in FIG.
By rotating at about the center of the nipples,
The position of each nipple is measured. Specifically, as shown in FIG.
So, cow's rear leg Le, straw waste St, teat Te, breast U
It is assumed that d exists in the measurement target area. And FIG.
As shown in FIG.
The distance Di from the body and the angle An from the reference position are sequentially
It is recorded, but when no reflected wave comes (data is
0) is detected when it does not exist
And The rotation of the scanner 56 starts, and first, the rear legs
Existence of Le and its distance l_L1~ L_LnAnd the angle θ_L1~ Θ_Ln
Is detected. Next, the presence of straw waste and its distance l_S1~
l_SnAnd the angle θ_S1~ Θ_SnIs detected, and then the nipple T
the existence of e and its distance l_T1~ L_TnAnd the angle θ_T1~ Θ_Tn,
Breast Ud presence and its distance l_U1~ L_UnAnd the angle θ_U1~ Θ
_UnAre sequentially detected. Also, the nipple position of each cow measured in advance
From the placement data, the approximate nipple area is x0, x1
・ A square window Wi surrounded by y0 and y1 is defined.
And whether there is an object in this window Wi,
Proper nipple thickness and distance from scanner
Or not. That is, the algorithm shown in FIG.
As shown in the following [Equation 1] of the detected distance and angle data,
An arithmetic average is obtained for each object (step #a), [0041] [Mathematical formula 1] arithmetic mean: l_Av= L₁+ ... l_n/ N, θ_AV= Θ
₁+ ... θ_n/ N Next, the obtained value falls within a predetermined range.
Or not? , And the object is within a predetermined window Wi
Exists or not? Are compared (step #b).
If both are satisfied, it is regarded as nipple Te, and either
If one is not satisfied, it is considered to be something other than teat Te
It is controlled in such a way. In addition, as shown in FIG.
In the plan view, the one on the right after is the first teat Te1,
From the second to the fourth nipples Te2 to Te sequentially in a clockwise direction.
Set to 4. Is detected by the rough sensor 55
Is the fourth teat Te4 at the front right. Next, from the time the cow enters the milking room 7 until it leaves.
Algorithm of the entire operation of the automatic milking device A of
The control procedure of the control device will be described with reference to FIGS.
You. First, open the entrance gate G2, G4 or G6 (step
# 1), the third, fifth or seventh sensor S3, S5, and
The cow is in milking room 7 based on whether or not
Is detected (Step # 2), and if
Close entrance gate G2, G4 or G6 (step #
3). Transmitted from the tag by the receiving device T in the milking room 7
If solid information is detected (step # 4), the cow is
The set time (4 hours) has passed since the last milking time
It is determined whether or not the milking
Does not execute, the process proceeds to step # 28, and the eighth gate
G8 is switched and the cow is returned to the living area Z1 (step #)
48). If the set time has elapsed, enter it in advance
Physique data etc. of the cow information
(Step # 5), the feed box 36 is the distance appropriate for the cow
Is operated (step # 6). In this case, the cow's neck
The collar-shaped tag (not shown) that is wound around
The ring is designed so that the heavy transmitter unit always comes down
Otherwise, the tag cannot be detected by the receiving device T
Will be able to avoid the situation. The feed box 36 is retracted and the cow is in a milking position.
To move the sensor robot Ab into the breast pump Aa.
Moves (Step # 7), and coalescing is completed (Step # 7).
# 8) and the milk of the cow information entered in advance
The head position data is output (step # 9), and the preliminary data
Milking device A, which has been combined based on
Move (step # 10). And teak
The mounting operation of the loop 50 starts, where R: Number of trials for a series of mounting operations (up to 5 times) N: Nipple number (1-4) Sc: Number of scanner sensing tries (maximum 2
Times) Tc: Teat cup rising movement (catch-up)
Number of trials (up to 2 times) Is defined. First, R = 0 and N = 1 are set (step
# 11) and the initial measurement by the scanner 56
In the position, Sc = 0 is set (step # 1).
In 2), the fourth nipple by the rough sensor 55 (reference
The detection operation of (Teet) is performed (step # 13).
When the fourth nipple is detected (Step # 14), the previous mounting
If there is nipple position data at the time of successful wearing (step # 1)
5) Based on the data alone, the teat cup 50
Precise positioning movement is performed (step # 16),
To catch up (Step # 17)
Of a sensor (not shown) accompanying the nipple of the
Judge whether the wearing is successful based on the nipple detection operation
(Step # 18). If mounting is successful (sensor operation), the next nipple
(2nd-4 nipples) catch-up try (step #)
19) When scanning fails for the first time,
To the nipple detection operation (Step # 20)
Run. The nipple wearing of four teat cups 50 is completed.
(Step # 21), the sensor robot Ab and the breast pump
Combination with Aa is released (step # 22), and the breast pump A
Milking by a is started (step # 23). As milking progresses, the milking amount per minute (g
When the total amount of water falls below 0.2 l / min (Step # 24),
The attachment of the teat cup 50 is released and the breast pump
Aa evacuates and moves (step # 25), at which point
The total milking volume of cows is estimated (based on past data, etc.).
80% or less of
(Step # 26) If 80% or more, the eighth gate G8
(Step # 27) and move the cows to the feeding ground.
And if not, switch the eighth gate G8 (step 8).
# 28), the cows are settled in the living area to milk again
Return to Z1. On the other hand, after the failure to attach the nipple in step # 18
Of the nipple of the scanner 56 (step # 2)
0), the position of the four teat cups 50 is measured.
(Step # 29) When the measurement is completed, Tc = 0
In the set state (step # 30), the rough sensor 55
The cow moves by continuously detecting the position of the fourth nipple
It is detected whether or not there is (Step # 31). That is,
4 If the position of the nipple changes, the cow is moving and must change.
Then, it can be determined that the vehicle is stationary (step # 32),
If it is moving, wait until it stops. At this time, the predetermined time
Cuts the cow's movement over time
And). Then, if it is stationary, the second teat Te2 and
The distance L1 between the front and back of the third nipple Te3 and the first nipple Te
1 and the oblique distance L2 between the third nipple Te3 (FIG. 1)
3) and set these values in advance (at the end of the standard range).
(Low value) and compare the front-back distance L10 and the oblique distance L20
(Step # 33), if the measured value is small, the normal mounting order
If the introduction (step # 34) is large, a different mounting order
[Installation of the teat cup 50 corresponding to the third teat Te3
Start with the third nipple Te3, which has a high degree of freedom] (Step #
35) are performed respectively. Next, the text is selected based on the selected order.
Cheat-up operation of the eat cup 50 (Step # 3)
6) Then, the success or failure of attachment is determined (step # 37), and the
Then catch up the next nipple (2-4 nipples)
The process proceeds to a (step # 38). All four places
Is determined (step # 39), and if mounting is successful,
If there is, the sensor robot Ab and the breast pump Aa
Merge with Step # 22. If the determination in step # 37 is negative, the cache is
Perform a trial (Step # 40)
Judge the number of times (step # 41), and if less than two times
If it returns to step # 32 and it has not been installed more than once
If the cow moves at that time due to the function of the rough sensor 55,
It is determined whether or not it has been performed (step # 42). The result
As a result, if the cow is moving,
To detect if you have spent more than one minute
(Step # 43) When the minute is reached, the cow moves too much
It is considered impossible if left as is, and the scanner 56
The number of times of sensing is increased by one (step # 44),
It is determined whether the number is less than or equal to two (step # 4).
5) If less than twice, return to step # 20 again
From the sensing of the scanner 56. If the number of times of sensing is the third time, rough
Sensin starting from the detection of the fourth nipple Te4 by the sensor 55
Increase the number of trials of the entire group by one (step # 4)
6), and determine whether the number is 5 or less (step
# 47) If it is less than 5 times, return to step # 13 and
In the sixth time, start again from the sensing operation of the sensor 55
If so, it is considered that the mounting has failed, and the process of switching the eighth gate G8
Move to top # 28 and return cows to living area Z1
I do. The automatic milking apparatus A includes a teat cup 50
An automatic mounting mode in which a series of mounting operations are automatically performed,
An artificial operation mode in which a series of mounting operations are performed manually
Can be switched to switch to artificial operation mode
And the movement of the breast pump Aa, and the teat of the teat cup 50
All lifting and moving to Te1 to 4 will be done manually.
You. The control device includes a nipple by the scanner 56.
A control program that stores and updates position measurement information
In step # 16 in FIG.
Success data ”has been captured. That is,
The judgment of step # 15 is made based on the presence or absence of the success data.
When the teat cup 50 is attached successfully.
Each time the nipple position is measured by the scanner 56,
Only the latest success data is stored. "manual
Mode), the teat cup 50 is placed on the teat by manual operation.
Even if it is fitted, it is considered a successful
It is convenient to capture success data
You. [Another Embodiment] (B) The number of milking rooms 7 constituting each row can be set as appropriate
soYes, both sidesMay have different numbers of milking rooms 7
No. (B) In the above embodiment, each column
Different equipment in each row
Although the case has been illustrated, the columns may be different.
In the above embodiment, various equipments for each row are provided.
In plan view, it is almost symmetrical by the virtual straight line in the center between the rows.
In the example above,
It is not necessary. For example, in the rows on both sides, the entrance passage L1
The traveling direction may be set to the opposite direction. [0057] [0058] [0059](C)  In the above embodiment,
By moving the sabot Ab over substantially the entire length of the row,
A milking machine in all milking rooms 7 in a row with one sensor robot Ab
A case has been illustrated where Aa is operated.
Instead, a plurality of sensor robots Ab are arranged in a row.
Moveable in any direction, and the moving operation range is adjacent
Are arranged in the column direction so that they do not overlap each other.
Milking room within each moving operation range with sensor robot Ab
To operate the milking machine Aa of No. 7You may comprise. [0060] [0061](D)In the above embodiment, the milking animal
As an example, the case where it is applied to cattle has been illustrated.
It may be applied to outside goats and other animals.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall plan view showing a part of a barn layout in which a milking facility of the present invention is installed. FIG. 2 is an operation diagram showing a linked operation state of a sensor and a gate. FIG. 4 is an operation diagram showing a linked operation state between the sensor and the gate. FIG. 4 is an operation diagram showing a linked operation state between the sensor and the gate. FIG. 5 is a side view showing the breast pump. FIG. 6 is a plan view showing the breast pump. FIG. 8 is a side view showing the sensor robot. FIG. 8 is a plan view showing the sensor robot. FIG. 9 is a side view of a partially cut-away view showing the structure of the mounting part and the non-mounting part. FIG. 11 is a side view of a main part showing a merging operation by descending of a sensor robot. FIG. 12 is a side view of a main part showing a sensing state of a scanner. FIG. 13 is a diagram showing a rough sensor and a scanner. The main part indicating the sensing state FIG. 14 is a side view showing a teat cup catch-up try. FIG. 15 is a side view showing a lifting state of the breast pump after the teat cup is attached. FIG. 16 is a diagram showing an algorithm 1 of an operation sequence of the automatic milking apparatus. FIG. 17 is a diagram showing an algorithm 2 of the operation sequence of the automatic milking apparatus. FIG. 18 is a diagram showing an algorithm 3 of the operation sequence of the automatic milking apparatus. FIG. 19 is an algorithm 4 of the operation sequence of the automatic milking apparatus. FIG. 20 is a plan view showing the principle of measurement by the scanner. FIG. 21 is a diagram showing the algorithm of nipple detection by the scanner. FIG. 22 is a diagram showing the principle of analysis of nipple detection data by the scanner. Milking equipment A Automatic milking device Aa Milking means Ab Mounting means C Coupling means Gi, Go Door Z3 Work area Z4 Work passage

Claims (1)

(57) [Claim 1] A plurality of milking compartments in which a milking animal is located are provided, and a milking implement is automatically attached to and detached from a nipple of the milking animal in each of the milking compartments. a milking equipment provided with an automatic milking device, wherein the plurality of milking compartment, provided in two rows in a state of forming a working space between the rows, the automatic milking device is arranged between the rows, each row For each milking section, a plurality of milking sections are juxtaposed, and the milking section on each milking section is opposite to the work area side.
An entrance for goods is provided, and the automatic milking apparatus includes the milking implement and a predetermined mounting.
Milking movement positioned in the milking compartment in a position
Milking means for attaching and detaching the milking implement to and from the teat of a product,
Mounting means for positioning the milking means at the mounting position
The milking means is mounted on each of the milking compartments.
Evacuation of position and side of the working area side in the milking compartment
And the position is operable to change the position, and the mounting means includes the milking means corresponding to each milking section.
In the state where it is located at the operation position for operation,
In a state where the mounting means is located at each operation position.
Each operation by the linkage means that can be switched between the state and the separation state
Linked to the milking means corresponding to the position,
It is configured to be positioned at the mounting position, and the mounting means is provided corresponding to each row, and a work passage is provided between the mounting means corresponding to each row.
Milking equipment being formed .