JP3464892B2 - Milking equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is provided with an automatic milking device for automatically milking an animal to be milked when it comes to a milking place. A milking tool that can be automatically attached to and detached from the nipple of an animal to be milked, a storage means for storing milk that has been milked, and the storage by sucking for milking with the milking tool attached Milking means comprising feeding means for feeding milk to the means, washing means for performing a washing operation for washing a milk path portion through which milk to be milked passes, and control means for controlling the operation of each part Regarding equipment.

[0002]

2. Description of the Related Art A milking facility having the above-mentioned structure is designed so that an animal can freely come from a breeding area to a milking place in order to reduce a work load of milking by a worker who operates a dairy farm manually. , It is used as a device that can automatically perform milking on an animal that has come to a milking place so as to reduce the work load of a worker. Conventionally, the start command of the control operation by the cleaning means has been appropriately artificially issued.

[0003]

However, in the above-mentioned conventional structure, when the movement to the milking place is left to the free will of the animal, it is not possible to know when the animal comes to the milking place. The automatic milking device may wait a long time after the execution of the procedure before the arrival of the next animal.
As described above, when milking is performed once and then left for a set time or longer, there is a disadvantage that milk remains on the inner surface of the feeding means and the residual milk is solidified.
Therefore, in order to avoid such a disadvantage, it is necessary to frequently clean the feeding means, and there is a disadvantage that the work load becomes heavy.

The present invention has been made by paying attention to such a point, and an object thereof is to perform automatic milking and to reduce the work load on the operator while avoiding the inconvenience caused by the long waiting time. The point is to provide milking equipment that makes it possible.

[0005]

According to the first aspect of the present invention, when an animal to be milked comes to a milking place, milking is automatically performed on the animal by an automatic milking device. That is, the milking tool is automatically attached to the nipple of the animal, and the milk that has been sucked and milked in the state where the milking tool is attached is fed to and stored in the storage means. Then, when a milking standby state for waiting for the next animal to come to the milking place for milking continues for a set time or longer, the milking means is automatically washed by the washing means. A cleaning operation will be performed. In front of one
Each time the milking operation for the animal is performed, the partial cleaning operation is performed.
The milking standby state continues for a set time or longer.
And is configured to perform the all-path cleaning operation.
It

Therefore, it is possible to perform automatic milking by the automatic milking device on the animal to be milked that has come to the milking place, and the milk path portion is automatically washed when the milking standby state continues for the set time or longer. In addition, it is possible to properly clean the milk passage through which milk flows without obstructing the milking operation as much as possible, and to avoid the inconvenience such as milk solidification. Compared to,
The work load can be reduced. In addition, wash the milking equipment
Purification is performed for each animal, and the milk does not pass through for a long time.
In some cases, the milk route part should be cleaned more appropriately and automatically.
You can

According to claim 2, the animal to be milked is
When you come to the milking area, the animal will go through the automatic milking device.
Milking is automatically performed. That is, the animal's nipple
Automatically attaches the breast pump to the
The milk that has been sucked and milked in the stored state is fed to the storage means.
Stored. And for milking, the next animal is
Waiting longer than the set time to wait for milk to arrive
When continued, it is automatically milked by the cleaning means
A washing operation is performed to wash the milk path that milk passes through.
Will be done. Also provided in the milk path part
When switching the flow path switching means to a state in which milk is allowed to flow,
Milk that has been milked flows through the milk path and is stored in the storage means.
When stored, the cleaning liquid is switched to the state where it flows
The cleaning liquid stored in the liquid storage part flows through the milk passage part.
It is discharged from the discharge part to the outside and the milk path part is washed.
It

Therefore, the movement to be milked at the milking site
It is possible to perform automatic milking on an object using an automatic milking device.
If the milking standby state continues for a set time or longer, the milk passage section
Minutes are cleaned automatically, so milking work is not disturbed as much as possible
Properly clean the milk path through which the milk flows in
It is possible to avoid inconveniences such as the juice solidifying.
However, compared to manual cleaning by the operator,
The work load can be reduced. Also, flow path switching means
The milk passage part to a state suitable for milking work.
It is possible to properly switch to a state that supports cleaning work.
Wear.

According to claim 3, Oite to claim 1, when a channel switching means provided in the milk path portion switched to a state in which flow through the milk, milking been milk is a milk path portion passing When the washing liquid is flowed and stored in the storage means and switched to the state in which the washing liquid is made to flow, the washing liquid stored in the washing liquid storage portion is made to flow through the milk passage portion and discharged from the discharge portion to the outside, so that the milk passage portion is washed. .

Therefore, the flow path switching means can appropriately switch the milk passage portion between the state corresponding to the milking operation and the state corresponding to the washing operation.
One suitable measure is obtained.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, a case where the milking equipment according to the present invention is applied to a dairy cow as an animal to be milked will be described with reference to the drawings. Figure 1 shows the overall layout of a barn. 1A is a cattle feeding area suitable for automatic milking, 1B is a cattle feeding area not suitable for automatic milking, and 2
A is the first area as a cow living area suitable for automatic milking, 2B is the free stall for cows that are not suitable for automatic milking, second area 2B and 3 are milking areas as milking places, and first, first A large number of stalls (beds) 2a and 2b partitioned by pipes are arranged in the two areas 2A and 2B. The feeding area 1A and the first area 2A are partitioned by two unidirectional gates 4,5, which are unidirectional gates 4,5.
Is configured to allow only passage from the feeding area 1A to the first area 2A. Further, between the first area 2A and the second area 2B and the milking station 3, there is provided a passage L1 through which the cows move and a waiting field 6 waiting for the order of milking.
A passage L2 is formed between the milking station 3 and the feeding station 1A. Therefore, the cows in the first area 2A are
Go to the feeding ground 1A through the one way, and after feeding, the one-way gate 4,
It moves along a unidirectional circulation path so as to pass through 5 and return to the first area 2A. First area 2
A and the feeding area 1A constitute a breeding area. A passage L3 is formed between the second area 2B and the feeding area 1B so as to freely move in and out.

Between the first and second areas 2A and 2B and the milking station 3, the cows in the first area 2A can freely go to the milking station 3 and are in the second area 2B. The first state in which cows are prohibited from going to the milking farm 3, and the cows in the first area 2A are prohibited from moving to the milking farm 3, and the cows in the second area 2B can freely go to the milking farm 3 An opening / closing gate G8 is provided which can be switched to the second state in which it can be turned on. The milking station 3 is provided with an automatic milking device A which automatically attaches a teat cup 50 as a milking tool to a nipple and milks a coming cow.

The milking system in the cowshed will be briefly described. A plurality of cows to be milked are divided into a cow suitable for automatic milking by the automatic milking apparatus A and a cow not suitable for automatic milking, and group management is performed. The cows suitable for automatic milking (hereinafter referred to as automatic cows) are managed so as to live in the first area 2A, and the cows not suitable for automatic milking (hereinafter referred to as manual cows). Are managed to live in the second area 2B. Cows that are not suitable for automatic milking are, for example, cows whose nipple shape does not match the shape of the teat cup 50 and are difficult to fit automatically, and when they enter three milking stations, they become restless and run wild. It refers to cows that cannot be automatically milked, or cows that are sick with diseases such as mastitis and that cannot be properly milked by the automatic milking device A.

In many time zones of the day, as shown in FIG. 2, the opening / closing gate G8 is switched to the first state, and the automatic cattle in the first area 2A are If you are hungry, you can freely go to the feeding area through the milking station 3 at any time. Although there is no food in the first area 2A, the place where the animal feeds when milking is performed by the automatic milking device A in the milking plant 3 is a delicious food that is tasting the cow, but is fed with a concentrated feed. However, dairy cows who know this (educated) will naturally go to the milking plant 3 when they are hungry. still,
The feed stations 1A and 1B, which are the places to feed when milking by the automatic milking device A is not performed, are fed with feed containing a large amount of rough feed such as grass. The automatic cow can freely go to the milking plant 3 at any time, but each cow can perform individual identification by detecting the individual identification information transmitted by the responder provided in each cow by the tag T, as described later. When the set time (about 4 hours) has not elapsed since the previous milking time, the milking facility 3 is exited without executing the automatic milking.

The above-mentioned manual cow is artificially managed and milked. In other words, the manual cow in the second area 2B can go to the feeding place at any time through the passage L3 to feed, but normally cannot move freely to the milking place 3 because the opening / closing gate G8 is closed. . Then, when the worker reaches a predetermined milking time, the operator switches the opening / closing gate G8 to the second state and sequentially moves the manual cows in the second area 2B to the milking farm 3, and basically, the milking farm. In No. 3, the teat cup 50 is mounted by manual operation and milking is performed. The manual cow, which has finished milking, passes through the return route L4 and returns to the second area 2B.

Next, the milking plant 3 will be described. As shown in FIG. 1, in the milking plant 3, the automatic milking apparatus A is installed in each of the two milking chambers 7, 7 arranged in series, and the moving passage 8 and the automatic milking chamber are provided beside these milking chambers. A return passage L5 for returning the failed cow to the entrance side is provided side by side. As shown in FIG. 3, a first gate G1 that can be freely opened and closed is provided at the entrance side of the moving passage 8 (at the waiting place 6 side), and each milking chamber 7, 7 is provided with a second (fourth) which is an entrance of a dairy cow. ) Gate G
It is equipped with 2, G4, and the third (fifth) gates G3, G5 which are the exits. On the exit side of the moving passage 8, the automatic cow is divided into a passage L2 to the feeding ground 1A and a return passage L5.
Gate G6, manual cattle return L4 and return L5
A seventh gate G7 for allocating to and is provided.
A one-way gate G9 that allows only passage to the side of the waiting place 6 is provided on the side of the waiting place 6 of the return passage L5.

The first gate G1 is usually called a Texas gate, and is provided with a pair of left and right gate pieces 9 and 9 which can swing about the vertical axis, and a pair of gate pieces 9 and 9 are simultaneously opened and closed by an air cylinder or the like. It is structured in a possible double door structure. The second gate G2 is configured as a door that can swing about the vertical axis, and is set so as to close the moving passage 8 almost at the open position so that cows can enter from the first milking chamber 7 first. I am doing it. The fourth gate G4 of the second milking chamber 7 has the same structure.

The third gate G3 is supported on the side wall of the milking chamber 7 so as to be swingable about the vertical axis, and is supported on the first door 10 so as to be swingable about the vertical axis. It is configured as a folding door having a double folding structure with the second door 11.
The third gate G3 is configured to push the buttocks of the cow out of the milking chamber 7 to promote the forward movement by the movement of the second door associated with the closing operation thereof (see FIG. 5 (f)). The fifth gate G5 of the second milking room 7 has the same structure.

The sixth gate G6 is switchable between a position for connecting the moving passage 8 and the passage L2 and a position for connecting the moving passage 8 and the return passage L5. The seventh gate G7 is provided so as to be swingable around a vertically oriented axis, and is switchable between a position for connecting the moving passage 8 and the return passage L5 and a position for connecting the moving passage 8 and the return passage L4. It is configured.

Further, in order to operate the respective gates in association with each other, a large number of sensors S1 to S8 for detecting the passage or existence of cattle are provided. All the sensors are configured as an optical sensor composed of a pair of a light emitter and a light receiver, and detect and operate by interrupting the optical axis or restarting the optical axis.

As shown in FIG. 3, a pair of upper and lower first and second
The sensors S1 and S2 are arranged so as to be orthogonal to the moving passage 8 at a point 60 cm away from the first gate G1, and the first sensor S1 detects the leg portion of the cow and the second sensor S2 detects the body portion, respectively. To do. Third sensor S3
Is obliquely arranged so as to extend over the start end side portion of the first milking chamber 7 and the end portion of the first milking chamber 7 opposite to the moving passage. The fourth sensor S4 is obliquely arranged so as to extend across a portion of the first milking chamber 7 opposite to the moving passage on the start end side and a portion of the first milking chamber 7 on the end side. The fifth sensor S5 is obliquely arranged so as to extend from the start end side portion of the second milking chamber 7 and the end portion of the second milking chamber 7 opposite to the moving passage. Sixth
The sensor S6 is obliquely arranged so as to extend across the portion of the second milking chamber 7 opposite to the moving passage on the starting end side and the end portion of the second milking chamber 7. A pair of upper and lower seventh and eighth sensors S7, S8
Are arranged in a state where the moving passages 8 near the terminal side of the second milking chamber 7 are orthogonal to each other, and the first and second sensors S1, S
Similar to 2, the 7th sensor S7 has a leg portion and the 8th sensor S8
Detects the body parts respectively.

Next, referring to FIGS. 3 to 7, the linking operation between each sensor and each gate will be described. First, in the initial state, as shown in FIG. 3 (a), the second gate G2 is opened, and the sixth gate G6 is operated to a position where it is distributed to the passage side to the feeding station, and the other gates G1, G3, G4,
G5 is all closed. As shown in FIG. 3B, the first
Gate G1 opens and cows enter the moving passage 8
When the passage of the second sensors S1 and S2 is completed, the first gate G1 is closed. Then, the cow passes through the third sensor S3 and enters the first milking room 7, and the tag (reception device) T is solid (cow) by a responder (not shown) which is a transmitter mounted on the neck.
When the detection operation is performed, the second gate G2 is closed and the fourth gate G4 is opened (see FIG. 4C).

Then, milking by the automatic milking device A is started in the first milking chamber 7, and the first gate G1 is opened again so that the next cow can enter the moving passage 8. The first gate G1 is connected to the first gate G1 by an existence sensor (not shown) arranged in front of the gate.
1 It is convenient that the cow is set to be openable only when the cow is coming to the standby position immediately before and one of the first and second milking rooms 7 and 7 is vacant (first Gate G
There is also a means to manually operate only the opening operation of 1.)

Next, when the cow enters the moving passage 8 and passes through the first and second sensors, the first gate G1 is closed and the fourth gate G4 which is the entrance of the second milking chamber 7 is opened (second The fourth gate G4 may be opened when the gate G2 is closed or when the first gate G1 is opened.)
Preparations for the milking room 7 are complete (see Fig. 4 (d)). Then, the third, fourth, and fifth sensors S3, S4, S
When 5 detects and the cow enters the second milking chamber 7 and the tag T is detected as a solid, the fourth gate G4 is closed and the milking states in the two milking chambers 7, 7 are set.

Next, after the milking in the first milking chamber 7 is completed,
When the automatic milking device A is reset, the third gate G3 which is the outlet of the first milking chamber 7 is opened in association with the reset, and the cow advances to the moving passage 8 (see FIG. 5 (e)). At this time, the fourth sensor S4 blocked by the passage of the cow returns to the initial state again (or the fifth and sixth sensors S5 and S6 both detect and operate), etc. The third gate G3, which is open at, is closed and the second door 11 is opened as shown in FIG.
As shown in (f), the function of promoting the forward movement by pushing the buttocks of the cow is exerted. When the cow leaving the first milking room 7 passes through the fifth and sixth sensors S5 and S6 and approaches the seventh and eighth sensors S7 and S8, the third gate G3
And the first gate G1 is opened [Fig. 6
(See (G)), the first gate G1 can be opened by the passage detection of the seventh and eighth sensors S7, S8. When milking has ended, the cow is opened to the feeding ground 1 through the passage L2.

When the milking in the second milking chamber 7 is completed, the operation is almost the same as in the case of the first milking chamber 7 (see FIG. 6C). However, the difference is that the fifth gate G5 is closed. The operation and the openable state of the first gate G1 are achieved by the passage completion detection of the seventh and eighth sensors S7 and S8 (see FIG. 7), and the fourth gate G4 is still maintained in the closed state. This is the point (when the fourth gate G4 is opened and operated at this time, there is a cow in the first milking room 7). Then, the cows in the second milking room 7 move through the passage 8
If there is no cow in the first milking room 7 when leaving, the gates G1 to G6 return to the initial state in which only the second gate is opened.

In this system, when both milking chambers 7, 7 are empty, the first milking chamber 7 is preferentially set to receive cows. The advantages of the cross arrangement of the third to sixth sensors S3 to S6 in the moving passages 8 in front of the milking chambers 7 and 7 are as follows. That is, due to the structure in which the movement passage 8 to and from the milking chamber 7 arranged in series is performed on the lateral side wall portion of the milking chamber 7, it can be sensed at a position close to the entrance / exit of the milking chamber 7 due to the diagonal arrangement of the sensor. Function and, for example, if a cow exiting the second milking room 7 backs up while passing the seventh and eighth sensors S7, S8, the fifth and sixth sensors S5, S6 are activated to Since it is possible to exhibit both the function of detecting inconvenience and the function of arranging the sensor orthogonal to the moving passage 8 in front of and behind each gate, it is superior in terms of the detection points and the required number of sensors.

Each of the above-mentioned gates is constructed to be freely opened and closed by an air cylinder or the like, and its opening and closing operation is controlled by the control device based on the information detected by each sensor. This is an example of a case where the vehicle is operating, and various operating conditions can be considered on a case-by-case basis. For example, when the milking in the second milking chamber 7 is completed earlier than in the first milking chamber 7, the cows in the second milking chamber 7 are The gate G1 becomes openable. At that time, if the next cow comes before the first gate G1, the first gate G1 will open, and the cow will overrun the first milking chamber 7 and directly go to the second milking chamber 7.
And so on. Further, all the sensors S1 to S8 use the same sensor, and are constituted by an optical system composed of a pair of a light emitter and a light receiver.

The structure of the automatic milking device A will be described.
As shown in FIGS. 8 to 11, a breast pump (cluster) configured by including a waist bending arm 51 having four teat cups 50 that can be attached to a teat at the tip on the right side of the milking chamber 7.
Aa and a sensor robot Ab for sensing the teats at four points of a cow in a predetermined milking position in the milking room 7 and aligning the teat cups 50 directly under the corresponding teats, respectively. ing.

As shown in FIGS. 8 and 9, the breast pump Aa is
A tip arm 51a having a teat cup 50, and a support body 5 fixed to the tip arm 51a and the milking chamber 7 on the right side.
The waist bending link 51 is composed of a base end arm 51b which is erected on the base 4, and two return cylinders 52 and 53. The outside of the teat cup 50 is covered with a rubber material, and the upper link 63a is attached to the protruding portions above and below the rubber material.
And a lower link 63b having a length shorter than that of the lower link 63b, the lower arm 63a is supported by the distal arm 51a through an unequal side link mechanism 63, and an elevating cylinder 64 is installed over the distal arm 51a and the lower link 63b. The proximal arm 51b is
It is supported by a support body 54 so as to be able to move up and down in parallel via an elevating mechanism 66, and is vertically slidably fitted to a bar 67 provided upright on the support body 54 so that the base end cylinder 53 can also be moved up and down. I am doing it.

The four teat cups 50 are arranged in a trapezoidal shape whose front side is wide laterally according to the arrangement state of the cow's teats, and this arrangement state is basically fixed. However, the upper and lower links 63a, 63b and the tip arm 51a
Due to the elasticity of the rubber bush (not shown) interposed in the connection portion with and the rubber member covering the teat cup 50,
The position and posture of the teat cup 50 are flexible, and the opening at the upper end of the teat cup 50 has an upwardly expanding shape (see FIG. 8), so the relative positions of the four teats are different from the standard state. The teat cup 50 can be fitted even if it is slightly displaced. This structure is possible because the relative positions of the teats are basically not very different from cow to cow.

Further, when the teat cup 50 is mounted on the teat, it serves as a support reference body for mounting the next teat cup 50, and the mounted teat cup 50 is not moved so much in the next cup mounting. It is convenient because it can improve the success rate. Therefore, when the teat cup 50 is attached to the teat, a mechanism for reducing the flexibility of the rubber bush (for example, an electromagnetic magnet is embedded in the connecting portion and the upper and lower links 63a and 63b and the front end arm are energized when energized). 51a and the like are provided in a rigid state, etc.) to enhance the certainty of cup mounting. This milking machine A
a is a milking position (lower abdomen of the milk cow) protruding from the retracted position retracted to the right of the milking chamber 7 to the left and right center of the milking chamber 7 by the expansion and contraction drive of the tip cylinder 52 and the base cylinder 53.
The position of the teat cup 50 can be moved without changing the posture. Reference numeral 65 is a mounted portion for sensor robot Ab combination.

As shown in FIGS. 10 and 11, the sensor robot Ab has a tip parallel quadruple link 57 having two rough sensors 55, 55 and one scanner (corresponding to a fine sensor) 56, and this. And a base end parallel quadruple link 58 extending over the upper and lower protruding plates 69a and 69b at the bottom of the frame cylinder 69, and first and second cylinders 60 and 61.
The frame cylinder 69 is fitted to the support column 59 so as to be able to move up and down by the vertical movement mechanism 70 composed of the motor 70a and the screw shaft 70b, and the support column 59 has two support chambers 7 and 7 for milking.
A pair of left and right moving rails 6 laid across the right side of the
It is supported by a dolly 68 which can roll on the upper part. still,
The extension of the lower projecting plate 69b is slidably fitted on a support bar 68a provided upright on the carriage 68 to prevent the frame cylinder 69 from rotating.

The base end parallel quadruple link 58 can be moved to the left and right with respect to the frame cylinder 69 by the expansion and contraction of the first cylinder 60, and the tip parallel quadruplet link 57 can be connected to the base end parallel by the expansion and contraction of the second cylinder 61. It is movable left and right with respect to the four-link 58, and as shown in FIG.
It is possible to move laterally from the retracted position retracted to the right side of the milking chamber 7 to the milking position (the lower abdomen of the cow) projecting to the left and right center of the milking chamber 7 without changing the posture of the 56 with respect to the carriage 68. Although the rough sensors 55, 55 are fixed in position, the scanner 56 has a quadruple link consisting of an upper arm 56a and a lower arm 56b, and a motor mechanism 71 acting on the lower arm 56b so that the scanner 56 can move up and down in parallel. Link 57
Is supported by the pedestal 56 by an electric motor or the like.
It is configured to be rotatable about the vertical axis with respect to c.
In addition, 72 is a mounting part for a breast pump Aa combination.

Here, the breast pump Aa and the sensor robot Ab
As shown in FIG. 12, the mounted portion 65 is configured to include a pair of hook portions 65a and 65a and a pair of protrusion guides 65b and 65b, and the mounting portion 7 will be described.
2, a pair of engaging pieces 72a, 72a, which are relatively connected to each other by a hip breaking link 73, are vertically provided so as to be pivotally supported, and a lower end of a rod 75 which can be operated by a solenoid 74 is attached to a central link piece 73a of the hip breaking link 73. It is configured by connecting to. To release the engagement, the solenoid 74 may be extended. Therefore, as shown in FIG. 12A, when the entire sensor robot Ab is moved downward while the mounting portion 72 and the mounted portion 65 are laterally aligned, the engaging piece 72a moves to the protrusion guide 65b. As shown in FIG. 12B, the tip of the engaging piece 72a and the hooking portion 65a are engaged with each other at the two positions, and the breast pump Aa and the sensor robot Ab are guided.
And are united.

Next, the operation of the automatic milking device A will be described with reference to FIGS.
This will be described with reference to FIG. First, at the right lateral position of the first milking chamber 7, the breast pump Aa and the sensor robot Ab at a position higher than this are waiting in a side-by-side state (FIG. 1).
3). Next, the feeding box 36 is moved backward by an amount suitable for the cow and operated in a predetermined milking posture. At this time, the sensor robot Ab moves leftward and downward with the completion of the backward movement of the bait box 36.
b is united with the breast pump Aa (see FIG. 14).

The combined automatic milking apparatus A moves the teat cup 50 to the lower abdomen of the cow by the approximate lateral movement of the sensor robot Ab by driving the first and second cylinders 60 and 61, and then the rough sensor. 55, 55 is used to detect the fourth teat (reference teat), and the first and second cylinders 60, 61 are driven and controlled so that each teat cup 50 is below the corresponding teat (milker Aa The two cylinders 52 and 53 of (1) and (2) follow (following movement) and perform a rough alignment. Next, the motor mechanism 71 is driven to lift the scanner 56, position it between the teats in the vertical direction, and perform teat position sensing at four locations while driving and rotating (see FIGS. 15 and 16).

When the precise sensing (nipple position measurement) by the scanner is completed and the teat cups 50 are positioned right under each teat, first, the teat cup of the first teat Te1 (see FIG. 28 for the positional relationship of the teats). A mounting trial of 50 is started (FIG. 17), and then mounting of the second, third, and fourth teats Te2, Te3, Te4 is performed. When the mounting of the four teat cups 50 on the teat is completed, the mounting portion 72 is disengaged from the mounted portion 65, the sensor robot Ab is lifted up slightly, and then moved to the right side to return to the retracted position. . After this, using the rail 62, the sensor robot A
b goes to the adjacent second milking chamber 7.

When the sensor robot Ab returns to the retracted position,
The elevating mechanism 66 is driven to rise, and the elevating cylinder 64 is driven to be shortened to lift the breast pump Aa with the teat cup 50 as a shaft, and the posture of the teat cup 50 is corrected to a state suitable for a teat (FIG. 18). Then milking begins.

That is, as shown in FIG. 17, the teat cup 50 is in a substantially vertical standing position in the lower position, giving priority to the ease of fitting to the teat, but in the unequal side link mechanism 63. Since the ascending movement is in a state similar to the swinging ascending movement, the posture becomes slightly backward and the teat is slightly twisted. Therefore, the teat cup 5 is lifted by lifting the main body of the breast pump Aa.
It is configured to return 0 from the backward tilted posture to the almost vertical standing posture. Further, the posture at the lower position of the teat cup 50 is set in accordance with the backward tilted posture of the teat whose tip is slightly forward, and the remarkable backward tilted posture due to the ascent is set back to the original slight backward tilted posture. It is more convenient. It is the teat cup 50 that lifts and moves the breast pump Aa body afterward.
Sensor robot Ab that has been united with the installation of the robot
There is also a point in securing the upper and lower spaces necessary for the side to escape and move.

Sensing (nipple position measurement) by the scanner 56 will be described. The scanner 56 has both a transmission function and a reception function, and measures the presence, size and position of an object by receiving the reflected wave of the transmitted ultrasonic wave. As shown in FIG. Four
By rotating the teat at approximately the center position, 4
The position of each teat is measured. Specifically, as shown in FIG. 23, the rear leg Le of the cow, the straw scrap St, the teat Te, and the breast U
It is assumed that d exists in the measurement target area. And FIG.
As shown in, the distance Di between the scanner 56 and the object due to the reception of the reflected wave and the angle An from the reference position are sequentially recorded, but when the reflected wave does not come (when there is no data). It is assumed that 0 (zero) is detected.

The rotation of the scanner 56 starts, presence and its distance l _L1 to l _Ln of the rear legs Le First, the angle theta _L1 through? _Ln
Is detected. Next, the existence of straw debris and its distance l _S1 ~
l _Sn and the angles θ _{S1 to} θ _Sn are detected, and then the teat T
the existence of e and its distance l _{T1 to} l _Tn, and the angles θ _{T1 to} θ _Tn ,
Presence of breast Ud and its distances l _{U1 to} l _Un , and angles θ _{U1 to} θ
_Un is detected sequentially. Also, from the teat position data measured in advance for each cow, it is an approximate teat existence area x0, x1
-A rectangular window Wi surrounded by y0 and y1 is defined, and whether or not an object exists in this window Wi,
Make a comprehensive judgment based on whether the thickness of the teat and the distance from the scanner are appropriate.

That is, as in the algorithm shown in FIG. 24, the arithmetic mean is calculated for each object by the following [Equation 1] of the detected distance and angle data (step #a),

[0044]

[Mathematical formula-see original _document ] Arithmetic mean: l _Av = l ₁ + ... l _n / n, θ _AV = θ
₁ + ... θ _n / n

Then, is the calculated value within a predetermined range? , And whether the object is within a given window Wi? Are controlled (step #b), and if both conditions are satisfied, the teat Te is considered to be treated, and if neither condition is satisfied, the teat Te is controlled to be other than the teat Te. Incidentally, as shown in FIG. 16, the one on the right rear in the plan view is the first teat Te1, and from there, the second to fourth teats Te2 to Te are sequentially turned clockwise.
It is set to 4. The rough sensor 55 detects the fourth teat Te4 at the front right.

Next, an apparatus for flowing and storing the milk that has been milked will be described. As shown in FIG. 26,
A milk tank 80 is provided as a storage means for storing milk milked by the automatic milking device A, and a milk supply path 83 to the milk tank 80 has a buffer tank 82 and
A pump 84 for sending the milk accumulated in the buffer tank 82 to the milk tank 80 and a filter 85 for removing dust and the like from the milk sent by the pump 84 are interposed. The buffer tank 8 is provided on the upstream side of the milk feeding passage 83.
2 is connected to the gas phase portion, and the downstream side portion is the buffer tank 82.
It is connected to the liquid phase part of. Further, a suction device 81 for suctioning the gas phase portion of the buffer tank 82 is provided.

In the milk feeding path 83 from the teat cup 50 to the buffer tank 82, the flow path from the teat cup 50 is switched between the path to the buffer tank 82 side and the path to the discharging portion 90A to the outside. There is provided a first valve means 91 including a pair of switching valves 91A and 91B. In addition, in the milk feeding path 83 between the filter 85 and the milk tank 80, a flow path from the filter 85 is switched between a path to the milk tank 80 side and a path to the discharge portion 90B to the outside. A pair of switching valves 92A, 92
A second valve means 92 made of B is provided.

The teat cup 50 is attached to the udder of a dairy cow, and the suction device 81 is operated with the first valve means 91 switched to the buffer tank 82 side and the second valve means 92 switched to the milk tank 80 side. When actuated, milk is milked from the breast, and the milk thus expressed flows through the milk feeding passage 83 and into the buffer tank 82 so that the buffer tank 8
Accumulate to 2. When the pump 84 is operated, the milk accumulated in the buffer tank 82 flows through the milk feeding passage 83, flows into the milk tank 80, and accumulates in the milk tank 80. That is, the suction device 81, the buffer tank 82, the milk feeding passage 83, and the pump 84 suck the milk in the milk tank 8 with the teat cup 50 attached for milking.
A feeding means QS for feeding milk to 0 is constituted.

Next, a cleaning device for cleaning the flow path through which the milk expressed above flows will be described. In the standby state, the automatic milking device A is located at the standby position with the four teat cups 50 having their breast opening openings facing upward. On the other hand, 4 in the standby position
A header 89 to which four nozzles 87 are attached according to the arrangement of the teat cups 50 is connected to the nozzle mounting cylinder 86 in a state of being positioned above the teat cups 50. The header 89 is connected to a cleaning liquid tank 88 as a cleaning liquid reservoir via an opening / closing valve 93, and the cleaning liquid tank 88 is connected to the cleaning liquid tank 88.
A cleaning liquid such as water or warm water is stored in the. From the above,
Nozzle 87, header 89, nozzle mounting cylinder 86,
Cleaning means CL for performing a cleaning operation for cleaning the milk path portion through which the milk to be expressed passes by the cleaning liquid tank 88 and the like.
Is configured.

Then, the cleaning means CL performs a partial cleaning operation for cleaning the teat cup 50, and an entire path cleaning for cleaning all the milk transfer paths from the teat cup 50 to the milk tank 80. The cleaning liquid stored in the cleaning liquid tank 88 is caused to flow through the milk passage portion and the discharging portion 90
It is configured to be discharged from A and 90B to the outside. That is, during the partial cleaning operation, the first valve means 9
1 is switched to the side of the discharge portion 90A to the outside, and when the entire path cleaning operation is performed, the first valve means 91 is set to the buffer tank 82
To the outside and the second valve means 92 to the outside discharge portion 90
Switch to B side. In the case of a partial washing operation, it is possible to wash each of the two automatic milking devices A,
In the case of the all-path cleaning operation, all the flow paths from the two automatic milking devices A to the milk tank 80 are cleaned. Therefore, the first and second valve means 91, 92 are provided in the milk passage portion and correspond to the flow path switching means which can be switched between a state in which the milk is passed and a state in which the cleaning liquid is passed. .

As shown in FIG. 2, an ultrasonic sensor S9 is installed to detect whether or not there is a cow waiting for milking in the waiting chamber 6. Further, although not shown, control means for controlling the operation of the above-mentioned respective parts is provided. Then, as shown in FIG. 27, the control means is
Based on the detection information of the sensor S9, when a milking standby state (a state in which there is no cow in the standby chamber 6) waiting for the next cow to come to the milking plant 3 for milking continues for a set time or more, As the cleaning operation, the operation of the cleaning means CL is controlled so as to execute the all-path cleaning operation. The partial cleaning operation is performed every time milking is performed on one cow. On the other hand, if cows enter the milking plant 3,
The milking operation shown in 9 is started.

Next, the algorithm of the whole operation of the automatic milking device A from the time the cow enters the milking room 7 to the time it exits, that is,
The control procedure will be described with reference to FIGS. First, the entrance gate G2 or G4 is opened (step # 1), and it is detected whether or not the cow has entered the milking room 7 by the completion of passing the cow by the third or fifth sensor S3 or S5 (step # 1). 2) If it passes, the entrance gate G2 or G4 is closed (step # 3). When the tag T is detected in the milking room 7 (step # 4), it is judged whether or not the cow has passed the set time (4 hours) or more from the previous milking time, and if the set time has not passed, Without milking, move to step # 28 and switch the 6th gate to place the cow in the waiting area 6
Return to (first area 2A) (step # 48). If the set time or more has elapsed, the physique data etc. of the information of the cow input in advance is output (step #
5) The bait box 36 is moved backward at a distance commensurate with the cow (step # 6). In this case, if a large ring is used as a collar-shaped responder (not shown) that is wound around the cow's neck and the heavy transmitter unit is always located below, the situation in which the tag T cannot detect You can avoid it.

When the feeding box 36 is retracted and the cow is in the milking posture, the sensor robot Ab moves so as to be combined with the breast pump Aa (step # 7), and when the combination is completed (step # 8), it is input in advance. The teat position data of the information of the cow being output is output (step # 9), and the combined automatic milking device A is moved to the lower abdomen of the cow based on the preliminary data (step # 10). Then, the mounting operation of the teat cup 50 starts, where R: the number of trials of a series of mounting operations (up to 5 times) N: the number of the teat (1 to 4) Sc: the number of sensing trials of the scanner (up to 5 times) Two
Tc: Tc: Defined as the number of tries (up to 2 times) to move up the catch cup (catch up).

First, R = 0 and N = 1 are set (step # 11), and Sc = 0 is set at the initial measurement position of the scanner 56 (step # 1).
In 2), the rough sensor 55 detects the fourth teat (reference teat) (step # 13).
When the fourth teat is detected (step # 14), if there is the teat position data at the time of the previous successful mounting (step # 1).
5) Based on only that data, the precise adjustment movement of the teat cup 50 is performed (step # 16), then the catch-up operation is performed (step # 17), and the sensor accompanying the teat mounting of the teat cup 50 (Fig. Based on the teat detection operation (not shown), it is determined whether or not the mounting is successful (step # 18).

If the mounting is successful (sensor operation), a catch-up try of the next teat (second to fourth teats) (step #
19), and when the mounting is unsuccessful, the process proceeds to the teat detection operation by the scanner 56 (step # 20). When the teat mounting of the four teat cups 50 is completed (step # 21), the union of the sensor robot Ab and the breast pump Aa is released (step # 22), and the breast pump A is released.
Milking by a is started (step # 23).

As the milking progresses, the milking amount per minute (
When the amount of tar is less than 0.2 l / min (step # 24),
The attachment of the teat cup 50 is released, and the breast pump Aa is retracted (step # 25), at which point the total milk yield of the cow is predicted (the amount can be predicted in advance based on past data, etc.). If it is 80% or more, the sixth gate G6 is judged.
Is maintained (step # 27), the cow is moved to the feeding ground 1, and if it is not satisfied, the sixth gate G6 is switched (step # 28), and the cow is returned to the entrance side for milking again.

On the other hand, the teat detecting operation of the scanner 56 following the failure of the teat mounting in step # 18 (step # 2
0), the positions of the four teat cups 50 are measured (step # 29), and when the measurement is completed, the rough sensor 55 is set in the state where Tc = 0 is set (step # 30).
Then, the position of the fourth teat is continuously detected to detect whether or not the cow is moving (step # 31). In other words, if the position of the fourth teat changes, it can be determined that the cow is moving, and if it does not change, the cow is stationary (step # 32),
If it is moving, wait until it stops. At this time, the movement of the cow may be cut (assuming it is not moving) after a predetermined time has elapsed.

If it is stationary, the front-rear spacing L1 between the second teat Te2 and the third teat Te3, and the first teat Te
The diagonal distance L2 between 1 and the third teat Te3 was calculated (Fig. 1
6), and compares these values with the preset front-to-back distance L10 and diagonal distance L20 (step # 33), and if the measured value is small, the normal mounting order ( If step # 34) is large, a different mounting order [start from the third teat Te3 having a high degree of freedom in mounting the teat cup 50 corresponding to the third teat Te3] (step # 34)
35) are performed respectively.

Then, the teat cup 50 catches up based on the selected order (step # 3).
6) Then, it is judged whether or not the mounting is successful (step # 37), and if successful, the process proceeds to a catch-up try (step # 38) for the next teat (second to fourth teats). It is determined whether or not all the four parts have been attached (step # 39). If the attachment is successful, the sensor robot Ab and the breast pump Aa are joined to step # 22.

If the answer is NO in step # 37, the catch-up try is performed again (step # 40), and the number of tries is judged (step # 41). If the cow is still not attached, the rough sensor 55 determines whether or not the cow is moving at that time (step # 42). As a result, if the cow is moving, it is detected whether or not it spends more than 1 minute to catch up twice or less in that state (step # 43). When 1 minute is reached, the cow moves too much and it is impossible as it is. Then, the number of sensing times by the scanner 56 is increased by one (step # 44),
It is determined whether the number of times is 2 or less (step # 4
5) If it is two times or less, the process returns to step # 20 and the sensing of the scanner 56 is performed again.

If the number of times of sensing is the third time, the number of trials of the whole sensing starting from the detection of the fourth teat Te4 by the rough sensor 55 is increased by one (step # 4).
6), it is judged whether or not the number of times is 5 times or less (step # 47), and if it is 5 times or less, the process returns to step # 13 to restart from the sensing operation of the rough sensor 55, and if it is the sixth time, it is considered that the mounting has failed, The process proceeds to step # 28, where the sixth gate G6 is switched, and the cow is placed in the waiting area 6 (first area 2A).
To return to.

The automatic milking apparatus A has an automatic mounting mode in which a series of mounting operations of the teat cup 50 are automatically performed,
It is configured to be able to switch between a manual operation mode in which the series of mounting operations is performed manually, and when the manual operation mode is switched, the movement of the breast pump Aa and the lifting movement of the teat cups 50 to the teats Te1 to Te4 are all performed. It will be done manually.

A control program for storing the teat position measurement information by the scanner 56 while updating the data is provided.
"Previous success data" in step # 16 of 0
Is taken in. In other words, the determination in step # 15 is made based on the presence / absence of success data.
Scanner 5 when the teat cup 50 is installed successfully
Every time the nipple position measurement by 6 is performed, only the latest success data is stored. In "manual mode",
Even if the teat cup 50 is fitted into the teat by an artificial operation, it is convenient if it is considered that the wearing is successful and the success data is taken in.

The milking of the above-mentioned manual cow is basically performed manually (manually). That is, when the preset milking time is reached, the operator switches the opening / closing gate G8 to the second state to sequentially move the cows in the second area 2B to the milking chamber 7 to enter the "manual mode". Switch and manually attach the teat cup 50 to the nipple of a manual cow to express the breast pump Aa.
Milking by.

[Other Embodiments] In the above-described embodiment, the case where the living area, the milking area, and the feeding area are configured as movement paths that can move in one direction as the breeding area has been described as an example. Alternatively, as a breeding area, a living area and a feeding area may be provided at the same location, and the breeding area may be configured to be freely movable from the breeding area to the milking location.

In the above-described embodiment, an example of cleaning all the flow paths of a predetermined path from the automatic milking device to the milk tank has been shown as the all-path cleaning operation. A configuration may be adopted in which a plurality of routes are branched and cleaning can be performed for each branch route. For example, there is provided a path for washing only the path from the teat cup 50 to the buffer tank 82 (it should be noted that a milk scale or other device is often provided in this path). May be.

In the above embodiment, the case of milking cows is illustrated as an example of the animal to be milked, but it may be applied to goats other than cows and other animals.

[Brief description of drawings]

[Fig. 1] Overall plan view showing the layout of a barn

FIG. 2 is a plan view showing a milking plant and a layout of gates and sensors.

FIG. 3 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 of a sensor and a gate.

FIG. 5 is an operation diagram showing a linked operation state of the sensor and the gate.

FIG. 6 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 7 is an operation diagram showing a linked operation state of the sensor and the gate.

FIG. 8 is a side view showing the breast pump.

FIG. 9 is a plan view showing a breast pump.

FIG. 10 is a side view showing the sensor robot.

FIG. 11 is a plan view showing a sensor robot.

FIG. 12 is a side view of partially cutouts showing structures of a mounting portion and a non-mounting portion.

FIG. 13 is a plan view showing a side-by-side state in which the breast pump and the sensor robot are in the retracted position.

FIG. 14 is a side view of a main part showing a uniting operation by lowering the sensor robot.

FIG. 15 is a side view of the main part showing the sensing state of the scanner.

FIG. 16 is a plan view of a main part showing a sensing state by a rough sensor and a scanner.

FIG. 17 is a side view showing a catch-up try of the teat cup.

FIG. 18 is a side view showing a state where the breast pump is lifted after the teat cup is attached.

FIG. 19 is a diagram showing an algorithm 1 of the operation sequence of the automatic milking device.

FIG. 20 is a diagram showing an algorithm 2 of the operation sequence of the automatic milking device.

FIG. 21 is a view showing an algorithm 3 of the operation sequence of the automatic milking device.

FIG. 22 is a view showing an algorithm 4 of the operation sequence of the automatic milking device.

FIG. 23 is a plan view showing the principle of measurement by a scanner.

FIG. 24 is a diagram showing an algorithm for nipple detection by a scanner.

FIG. 25 is a diagram showing the principle of analysis of nipple detection data by a scanner.

FIG. 26 is a system diagram showing a milk or cleaning liquid flow-through device of a milking facility.

FIG. 27: Flow chart of control of milking equipment

[Explanation of symbols]

1A, 2A breeding area 3 milking place 50 milking equipment 80 Storage means 88 cleaning liquid tank 90A discharge part 90B discharge part 91, 92 flow path switching means A automatic milking device CL cleaning means QS feeding means

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) A01J 1/00-27/04 A23C 1/00-23/00

Claims (3)

(57) [Claims] 1. When an animal to be milked comes to a milking place, an automatic milking device for automatically milking the animal is provided, and the automatic milking device is provided for the animal to be milked. A milking tool that can be automatically attached to and detached from the nipple, a storage means for storing the milk that has been milked, and suction for milking while the milking tool is attached and feed the milk to the storage means. A milking facility configured to include a feeding means, a washing means for performing a washing operation for washing a milk path part through which milk to be milked passes, and a control means for controlling the operation of each part, wherein: The control means controls the operation of the washing means so as to execute the washing operation when a milking standby state waiting for the next animal to come to the milking place for milking continues for a set time or longer. is configured, the cleaning hands , As the cleaning operation, the cleaning part for cleaning the milking member
Operation and transportation of milk from the milking implement to the storage means
Can be switched to all-path cleaning operation to clean all the paths
The control means is configured to perform the milking operation for one animal each time the milking operation is performed.
The part cleaning operation is executed and the milking standby state is longer than the set time.
A milking facility configured to perform the all-pass cleaning operation, if continued . 2. The animal to be milked comes to the milking site.
And automatic milking, which automatically milks the animal
A device is provided, and the automatic milking device is automatically attached to the nipple of the animal to be milked.
And removable milking equipment and storage to store the milk expressed
Means for sucking and milking with the milking equipment attached.
Feeding means for pulling and feeding milk to the storage means, and milking
Washing operation to wash the milk path part through which the milk to be passed
Cleaning means for executing the above, and control means for controlling the operation of each part
And a milking equipment configured to comprise the control means for waiting for the next animal to come to the milking site for milking.
If the milking standby state continues for a set time or longer,
Control the operation of the cleaning means so that
The cleaning means is configured so that the cleaning liquid stored in the cleaning liquid storage unit
Let the milk pass through the milk passage part and let it out from the discharge part.
Is configured so that, in the milk path portion, and a state in which flow through the milk, cleaning fluid
Provided with flow path switching means that can be switched to the state of flowing through
Obtained milking equipment. 3. The cleaning means is configured to cause the cleaning liquid stored in the cleaning liquid storage part to flow through the milk passage part and to discharge the cleaning liquid to the outside from the discharge part. state and, milking equipment according to claim 1 Symbol placement is freely flow channel switching means switchable between a state in which flow through the cleaning liquid is provided to.