JP3979472B2 - Automatic conveying device for milking unit - Google Patents

Description

  The present invention relates to an automatic conveying device for a milking unit including a plurality of conveying machines that self-travel a guide rail portion along a plurality of stalls mooring a cow and convey a milking unit.

  Conventionally, a guide rail portion having a main rail arranged along the arrangement direction of a plurality of stalls mooring a cow and a plurality of branch rails branched from the main rail and arranged between the stalls, and the guide rail portion is self-propelled. As an automatic conveying device for a milking unit comprising a plurality of conveying machines for conveying the milking unit, there is already known an automatic conveying device for a milking unit disclosed in Japanese Patent Application Laid-Open No. 2004-65093 proposed by the present applicant. Yes.

  In particular, the automatic conveying device includes a branch portion that curves the branch rail in the downstream direction with respect to the home position of the main rail and joins the main rail to the guide rail portion, and the upstream of the main rail with respect to the branch portion. A diverter that can be displaced to a non-merging position that connects the downstream side and the downstream side of the main rail or a merging position that connects the downstream side of the main rail and the branch rail side, and a milking unit (conveyor) move from the upstream side of the main rail to the downstream side The diverter is switched to the joining position at a predetermined position downstream from the branching section, and the diverter is moved to a predetermined position downstream from the branching section when the milking unit (conveyor) moves from the downstream side to the upstream side of the main rail. It is equipped with a diverter switching mechanism that switches to a non-merging position, which can reduce the overall cost, size and weight of the device, and can be used for a long time. Even it is possible to increase the stability and reliability of the operation and enables smooth and reliable entry into the branch rail (exit).

In this case, one end side of the main rail reaches the inside of the processing chamber (control room) serving as a home position where a cleaning device, a charging device, and the like are provided, and the main rail inside the processing chamber has a pair of branched standbys. One standby branch rail is positioned on a straight line of the main rail using one end side of the main rail, and the other standby branch rail is branched at a right angle from the main rail. And arranged in an L shape.
JP 2004-65093 A

  However, the conventional automatic milking unit conveying apparatus described above has the following problems to be solved.

  First, the standby branch rail disposed in the processing chamber is configured in the same manner as the branch rail disposed on the stall side, and is provided for each guide rail portion. When the distance is long, it is necessary to install the same number of main rails as each guide rail part, and the equipment configuration from the guide rail part on the stall side to the processing chamber becomes complicated and large, and the occupied space is large. Is also disadvantageous in terms of cost.

  Secondly, the standby branch rail uses the principle of the main rail and the branch rail as it is, and is configured as a dedicated standby branch rail for each transporter (milking unit), so the number of standby branch rails is limited. In particular, it cannot easily cope with an increase in the number of conveyors and can respond flexibly.

  An object of the present invention is to provide an automatic conveyance device for a milking unit that solves the problems existing in the background art.

  In order to solve the above-described problems, the present invention self-propells the guide rail portions 2 along the plurality of stalls A mooring the dairy cows C to convey the milking units 3ax, 3ay. When configuring the automatic conveying device 1 of the milking unit comprising: the main standby rail 4m, and branching from the main standby rail 4m at predetermined intervals, it corresponds to at least the number of the transfer machines 3a arranged at the home position Po. Between the standby rail portion 4 having a plurality of branch standby rails 4a, 4b, 4c..., The delivery rail portion 5 connecting the main standby rail 4m and the guide rail portion 2, and between each branch standby rail 4a. The branch standby rail is provided for the travel of the transporter 3a from the downstream side (delivery rail portion 5 side) of the main standby rail 4m by being provided at the branch portions 6a, 6b, 6c. The diverter 8 that switches to the entry position Xi that allows entry to a ... or the passing position Xp that passes to the upstream side of the main standby rail 4m, and the diverter 8 ... that is not in the transfer machine 3a to the branch standby rail 4a ... And a switching mechanism 7 having an operation mechanism 9 for switching to an entry position Xi at the time of entry and at least a specific switching position Ps at the time of entry to a passage position Xp, and the operation mechanism 9 to a diverter 8. Is transmitted to the diverter 8 through a displacement amount based on the engagement with the elastic member 11 urging the entry position Xi... The control function unit 13 is configured to stop the transport machines 3a at the switching position Ps, or the diverter is entered when the transport machines 3a enter the branch standby rail 4a. Is switched to the passing position Xp, and the diverter 8 is switched to the approach position Xi when the transfer device 3a is withdrawn from the branch standby rail 4a, and the diverter 8 at the passing position Xp and the approach position Xi is ... It is characterized by comprising a position holding mechanism 14 that holds this position.

  In this case, according to a preferred aspect of the invention, the main standby rail 4 m can be connected to the delivery rail portion 5 in the linear direction Fd or the perpendicular direction Fr. Are connected to the first branch standby rail 4a in the linear direction Frd with respect to the delivery rail portion 5, and are provided on the other branch standby rails 4b. A reverse switching mechanism 7s for switching in the reverse direction with respect to the switching mechanism 7 can be provided. On the other hand, the home position Po can be provided with a cleaning device 16 that cleans each milking unit 3ax, 3ay... In a state where the milking units 3ax, 3ay.

  According to the automatic conveying device 1 of the milking unit according to the present invention having such a configuration, the following remarkable effects can be obtained.

  (1) A diverter 8 provided at each branching portion 6a to switch to the entry position Xi ... or the passage position Xp ... and this diverter 8 ... to the entry position Xi ... when the conveyor 3a is not yet entered, and to pass when entering. Since the switching mechanism 7 having the operation mechanism 9 that switches to the position Xp is provided, the delivery rail portion 5 that connects the main standby rail 4m and the guide rail portion 2 is one regardless of the number of installed guide rail portions 2. Even if the processing chamber H is separated from the guide rail portion 2 on the stall A ... side with the book, the equipment configuration from the guide rail portion 2 on the stall A ... side to the processing chamber H The simplification (simplification) and downsizing of the apparatus can be achieved, and the occupied space can be reduced.

  (2) A standby rail section having a main standby rail 4m and a plurality of branch standby rails 4a ... corresponding to at least the number of transporting machines 3a ... arranged at the home position Po by branching from the main standby rail 4m at predetermined intervals. 4, the number of branch standby rails 4 a connected to the main standby rail 4 m can be arbitrarily set without limitation. In particular, the quantity of the transport machines 3 a. Can respond to changes.

  (3) According to a preferred embodiment, the main standby rail 4m is connected to the delivery rail portion 5 in the perpendicular direction Fr, the first branch standby rail 4a is connected to the delivery rail portion 5 in the linear direction Frd, and If the first switching standby rail 4a is provided with a reverse switching mechanism 7s for switching in the reverse direction with respect to the switching mechanisms 7 provided on the other branch standby rails 4b, the location and form of the processing chamber H can be changed. Accordingly, it is possible to increase the degree of freedom in designing the equipment, such as designing the introduction route of the delivery rail unit 5.

  (4) If each milking unit 3ax, 3ay ... is equipped with the washing | cleaning apparatus 16 which wash | cleans each milking unit 3ax, 3ay ... in the state which mounted milking units 3ax, 3ay ... in the conveyance machine 3a ... by the suitable aspect, each milking While the units 3ax, 3ay... Are mounted on the transporters 3a..., The cleaning device 16 having a sealed sanitary cleaning water path can be easily constructed.

  Next, the best embodiment according to the present invention will be given and described in detail with reference to the drawings.

  First, the whole structure of the automatic conveyance apparatus 1 which concerns on this embodiment is demonstrated with reference to FIGS.

  In the figure, reference numerals 2 and 2 denote a pair of left and right guide rail portions. The guide rail portions 2 and 2 are linearly arranged main rails 21 and 21 and project from the main rails 21 and 21 in a perpendicular direction. A plurality of branch rails 22 are included, and a milking passage R through which an operator can pass is provided between the guide rail portions 2 and 2. Further, a number of stalls A are provided along the milking passage R on both sides of the milking passage R, and a cow C is moored to each stall A as shown in FIG. The basic configuration of the left and right guide rail portions 2 and 2 is the same except that they are configured symmetrically.

  One guide rail portion 2 has a plurality of branch rails 22 protruding from the main rail 21 in a right angle direction. Each of the branch rails 22 is provided for every other stall A, arranged between the pair of stalls A and A, and the tip extends to the vicinity of the milk line L. The milk line L includes a vacuum line. As shown in FIG. 2, a pair of milk taps Mx, My... Are provided at predetermined positions of the milk line L corresponding to the stalls A.

  The arbitrary branch rail 22 has a branch portion 23 that is curved in the downstream direction with respect to the main rail 21 and joins the main rail 21 when the home position Po is the upstream side. A diverter (switching rail) 24 (FIG. 2) capable of connecting the upstream side and the downstream side of the main rail 21 with respect to the branch portion 23 or the downstream side of the main rail 21 and the branch rail 22 side is incorporated. The other branch rails 22 are similarly configured.

  On the other hand, one end side of the main rails 21, 21 in each guide rail portion 2, 2 is joined by the branch portion 23 p as shown in FIG. 1 and reaches the processing chamber H (home position Po) via the delivery rail portion 5. Make it. In this case, the delivery rail portion 5 has a first delivery rail 5a and a second delivery rail 5b connected in an L shape. A standby rail portion 4 is disposed in the processing chamber H. The standby rail portion 4 includes a plurality of main standby rails 4m arranged in a straight line, and a plurality corresponding to the quantity of at least the conveyors 3a arranged at the home position Po by branching from the main standby rail 4m at predetermined intervals. There are (six) branch standby rails 4a, 4b, 4c, 4d, 4e, and 4f, and one end of the main standby rail 4m is connected to the delivery rail portion 5 (second delivery rail 5b). In this case, the main standby rail 4m is connected to the second delivery rail 5b in the linear direction Fd.

  Further, branch sections 6a, 6b, 6c, 6d, 6e, and 6f are provided between each branch standby rail 4a ... and the main standby rail 4m. 3 and 4 show one branch portion 6a (the same applies to the other branch portions 6b). As shown in FIG. 4, a diverter (switching rail) 8 that is rotatably supported by a support shaft 31 is provided inside the branch portion 6 a. The diverter 8 is rotationally displaced about the support shaft 31 as a fulcrum, and enters the branch standby rail 4a with respect to the travel of the transporter 3a from the 4ms downstream side (delivery rail portion 5 side) of the main standby rail 4m. The operation mechanism 9 (to be described later) selectively switches to the allowed entry position Xi shown in FIG. 4 or the passage position Xp shown in phantom in FIG. 4 for passing to the upstream 4 mf side of the main standby rail 4 m.

  Further, as shown in FIGS. 3 to 5, the branch standby rail 4 a includes a spring (elastic member) 11 that urges the diverter 8 toward the entry position Xi, and a cam plate 77, which will be described later, provided in the transporter 3 a. An operation mechanism 9 including a transmission link mechanism 12 that transmits a displacement amount based on the engagement to the diverter 8 to switch to the passing position Xp, and a control function unit 13 that stops the transporter 3a at the time of entry at the switching position Ps. Is disposed.

  In this case, as shown in FIG. 5, the transmission link mechanism 12 is an L-shaped member that is rotatably supported by the support shaft 32 on the side surface of the branch standby rail 4a and has a rotatable roller 34 at the lower end. A follow lever 33, an L-shaped lever plate 37 rotatably supported by a support shaft 35 on the upper surface of the branch portion 6a, and having one end rotatably mounted on the upper surface of the diverter 8 by a support shaft 36, and the lever plate A connecting rod 38 connecting the other end of 37 and the upper end of the follow lever 33 is provided. The connecting rod 38 is coupled to the upper end of the follow lever 33 via a pair of front and rear springs 38f and 38r, and the spring 11 is installed between the support shaft 36 and the upper surface of the branch portion 6a. Reference numeral 4as denotes a circular opening formed on the upper surface of the branch standby rail 4a, and the support shaft 36 provided on the upper surface of the diverter 8 projects upward through the opening 4as. On the other hand, a stop dog 39 is provided on the lower surface of the branch standby rail 4a to detect that the conveyor 3a at the time of entry has reached the switching position Ps, that is, the position where the follower lever 33 is engaged. Thereby, the operation mechanism 9 and the diverter 8 constitute the switching mechanism 7, and the stop dog 39, the detection switch 56 and the controller 42 described later constitute the control function unit 13.

  Further, the processing chamber H (home position Po) is provided with a cleaning device 16 that can clean the milking units 3ax, 3ay,... In a state where the milking units 3ax, 3ay,. Is a type of cleaning device that removes each milking unit 3ax, 3ay,... From the transporter 3a, and takes it to a separately provided cleaning place so that it is cleaned by a non-hermetic cleaning bath or the like containing cleaning liquid. In contrast, the milking units 3ax, 3ay,... Can be easily and quickly washed while being mounted on the transporters 3a, and the washing device 16 having a sealed sanitary washing water path can be easily constructed.

  On the other hand, the rails 21, 22... In the guide rail portion 2, the rails 5 a, 5 b in the delivery rail portion 5, and the rails 4 m, 4 a in the standby rail portion 4, as shown in FIG. It is formed in a hollow shape, and has slits Sr ... functioning as rails on the bottom surface. And each rail part 2 ... accommodates a plurality of (three) transfer machines 3a, 3b, 3c that run along the rail parts 2 .... FIG. 2 shows only the transporters 3a and 3b.

  As shown in FIGS. 6 to 9, the transporter 3 a (the same with the other transporters 3 b...) Is supported by a self-propelled portion 41 suspended from each rail portion 2 and below the self-propelled portion 41. A controller 42 is provided. The controller 42 includes a control system constituting the control function unit 13... And various control systems for controlling the self-running unit 41, a controller main body having a collision prevention circuit, a battery box, an operation panel provided on the outer surface, and the like. . Moreover, the self-propelled portion 41 includes a pair of suspension arms 43x and 43y protruding left and right, and milking units 3ax and 3ay (FIG. 9) can be suspended from the suspension arms 43x and 43y, respectively. . In addition, FIG. 6 shows the conveyance machine 3a before suspending each milking unit 3ax and 3ay. In the figure, 44x and 44y are distributor mounting portions, and the distributors provided in the milking units 3ax and 3ay are mounted on the distributor mounting portions 44x and 44y. The distributor is connected to milk taps Mx and My provided in the milk line L, respectively. Thereby, each milking unit 3ax and 3ay can milk each independently. The connection between the distributor provided in each milking unit 3ax, 3ay and the milk tap Mx, My is automatically connected (disconnected) using the automatic attachment / detachment unit disclosed in Japanese Patent No. 2998749 or the attachment / detachment mechanism of Japanese Patent Application No. 2002-30441. be able to. In the example milking unit 3ax (the milking unit 3ay is also the same), if the worker attaches the teat cup 45 to the cow C, the automatic milking process is performed thereafter. Therefore, the end of milking is automatically detected, and automatic removal processing of the teat cups 45 is performed. Through the automatic detachment process, the teat cups 45 are pulled back to the non-use position Ph shown in FIG.

  As shown in FIGS. 6 and 7, the self-propelled portion 41 includes a base portion 51, and a traveling motor 52 and a speed reduction mechanism portion 53 that decelerates the rotation of the traveling motor 52 are mounted on the upper surface of the base portion 51. To do. On the other hand, a pair of left and right traveling wheels 54, 54 are accommodated inside each rail portion 2, and the traveling wheels 54, 54 and the speed reduction mechanism portion 53 are connected by a rotation transmission mechanism portion 55. Further, on the upper surface of the base portion 51, there is disposed a detection switch 56 connected to the controller 42 and operated by the above-described stop dog 39... And a movable dog 57. Reference numeral 56d denotes a switch lever of the detection switch 56 protruding upward.

  By the way, in the automatic conveyance apparatus 1 which concerns on this embodiment, when the several conveyance machine 3a ... is each made to self-run with respect to each guide rail part 2 ... from the home position Po, one of the conveyance machines 3a ... Each of the branch rails 22 ... enters and exits once, and a plurality of transport machines 3a ... share and sequentially enter and exit all of the branch rails 22 ... and each transport machine 3a ... guides. A self-propelled route that returns to the home position Po from the middle or the end of the rail portion 2 is set. In particular, the self-propelled route of each of the transporters 3a ... is automatically said to correspond to the milking time of each of the transporters 3a ... Is set automatically.

  Therefore, the guide rail unit 2 and the conveyor 3a... Have a configuration for setting such a self-propelled route. First, the detection switches 56 are arranged at predetermined positions on the main rail 21, that is, on the outer surface of the main rail 21, as shown in FIG. To the opposite side), specifically, a movable dog (retracting dog) attached at a position where the transporter 3a has completely passed through the branch portion 23 and does not travel unnecessarily downstream. ) 57, and the conveyor 3 a... Is turned on by reaching the movable dog 57.

  As shown in FIGS. 7 and 8, the movable dog 57 is attached to a vertical support plate 62 located on the other side of the L-shaped support plate 61 with one side fixed to the upper surface of the main rail 21. In this case, the upper portion of the movable dog 57 is rotatably attached by the rotation shaft 63. A dog body 58 that is bent in the horizontal direction is integrally formed at the lower end of the movable dog 57, and an engagement plate 64 that is laterally separated from the dog body 58 is provided at an intermediate position of the movable dog 57. Fix it. A spring 65 is installed between the intermediate position of the movable dog 57 and the upper portion of the vertical support plate 62. Therefore, if the rotation angle range of the movable dog 57 is restricted by a stopper (not shown), the movable dog 57 is indicated by a detectable position Xs indicated by a solid line and a virtual line with the rotation shaft 63 as a fulcrum. It is displaced buckling to the undetectable position Xr.

  On the other hand, a switching operation portion 66 for displacing the movable dog 57 is disposed in the vicinity of the detection switch 56 in the transport device 3a (the same is true for the other transport devices 3b...) And on the rear side (downstream side). The switching operation unit 66 fixes a vertical support plate 67 to the upper surface of the base unit 51, and a front operation unit 66f is disposed near the upper front end of one surface of the vertical support plate 67, and on the other surface. A rear operation section 66r is disposed near the upper rear end. The front operation portion 66f includes a front operation lever 69f that is rotatably supported by a rotation shaft 67f, a stopper piece 70f that is formed on the vertical support plate 67 and restricts the rotation of the front operation lever 69f in one direction, A spring 71f for urging the front operation lever 69f in a direction in which the rotation is restricted is provided, and the front operation lever 69f in a natural state stands substantially vertically as shown in FIG. 8 and is engaged with the stopper piece 70f. Stop. Accordingly, the upper end of the front operation lever 69f is restricted to the rear (upstream side), but can be tilted to the front (downstream side) against the elasticity of the spring 71f. Further, the upper end of the front operation lever 69 f can be engaged with the dog main body 58.

  On the other hand, the rear operation portion 66r includes a rear operation lever 69r that is rotatably supported by a rotation shaft 67r, and a stopper piece 70r that is formed on the vertical support plate 67 and restricts the rotation of the rear operation lever 69r in one direction. And a spring 71r that urges the rear operation lever 69r in a direction in which the rotation is restricted. The rear operation lever 69r in a natural state stands substantially vertically as shown in FIG. Lock. Accordingly, the upper end of the rear operation lever 69r is restricted forward (downstream), but can be inclined backward (upstream) against the elasticity of the spring 71r. Further, the upper end of the rear operation lever 69r can be engaged with the engagement plate portion 64. In addition, although not shown, a deceleration detection switch, a termination detection switch, a charging detection switch, and the like are arranged apart from each other in the left-right direction. A limit switch can be used for each detection switch 56. Reference numerals 75 and 75 denote a pair of left and right idle wheels accommodated in the guide rail portion 2.

  Further, the transporter 3a includes a cam plate 77 shown in FIGS. As shown in FIG. 5, the cam plate 77 engages with the lower end of the follow lever 33 when it reaches the switching position Ps in the branch standby rail 4a (the same applies to the other branch standby rails 4b...). Has a function of rotationally displacing. That is, when the transport device 3a enters from the main standby rail 4m side (in the direction of the arrow Fi), the follow lever 33 is rotationally displaced to the position indicated by the solid line in the counterclockwise direction, and the transport device 3a is moved to the branch standby rail. When traveling from the front end side of 4a to the main standby rail 4m side (in the direction of arrow Fm), the follow lever 33 has a function of turning and displacing to a position indicated by a virtual line 33r that is clockwise.

  Further, as shown in FIG. 7, the main rail 21 in the guide rail portion 2 is also provided with a follow lever 78 having a similar function of engaging with the cam plate 77, and the movement of the follow lever 78 relative to the cam plate 77 is as follows. The same as the follow lever 33. As a result, the follow lever 78 moves the diverter 24 between the downstream side of the main rail 21 and the branch rail 22 at a predetermined position downstream of the branch portion 23 when the transporter 3a moves from the upstream side of the main rail 21 to the downstream side. The diverter 24 is connected to the upstream side and the downstream side of the main rail 21 at a predetermined position downstream of the branching portion 23 when the transporter 3a moves from the downstream side of the main rail 21 to the upstream side. A diverter switching mechanism 76 having a function of switching to a non-merging position connecting the sides is configured.

  Next, the overall operation including the operation of the main part of the automatic conveyance apparatus 1 according to the present embodiment will be described with reference to FIGS.

  Initially, operation | movement of each part at the time of milking is demonstrated. FIG. 10 shows a flowchart of operations related to the standby rail portion 4 during milking. In addition, the illustration illustrates a case where six milking units 3a... Are used and three units are used for each of the two guide rail portions 2 and 2. In this case, both basic operations are the same.

  Assume that all the transporters 3a are currently waiting at the home position Po. Accordingly, each of the transporters 3a enters the branch standby rail 4a, and stops at the front end position of the branch standby rail 4a, that is, at the position of the transporter 3b indicated by a virtual line in FIG. 1 (step S1). ).

  On the other hand, when the scheduled milking time is reached, an arbitrary transport device that is waiting at the home position Po, for example, the transport device 3a is operated. As a result, the traveling wheels 54 and 54 of the self-propelled portion 41 rotate and travel forward at a relatively high speed set in advance (steps S2 and S3). Note that the transporting machines 3a to be operated do not necessarily have to be in order. Thereby, the conveyance machine 3a travels in the direction of arrow Fm shown in FIG. At this time, the follow lever 33 is displaced by the cam plate 77 to the position 33r indicated by the phantom line in FIG. 5, and the connecting rod 38 is displaced in the direction of the arrow Fr, but the diverter 8 is switched to the entry position Xi side by the spring 11. Therefore, the transport device 3a passes through the branching portion 6a as it is (steps S4, S5, S6). Then, it passes through the main standby rail 4m, further passes through the delivery rail portion 5, and is delivered to one guide rail portion 2 (main rail 21) (step S7).

  The transporter 3a delivered to the main rail 21 first enters the first branching portion 23 from the upstream side (home position Po side) and passes directly downstream. Immediately after the transport device 3a has passed through the branching portion 23, the movable dog 57 corresponding to the first branch rail 22 is reached, so that the detection switch 56 is turned on by the movable dog 57. Further, the diverter switching mechanism 76 switches the diverter 24 to the joining position where the corresponding branch rail 22 and the main rail 21 are connected. At this time, since the movable dog 57 is displaced to the detectable position Xs, it is detected by the detection switch 56 provided in the transporter 3a.

  On the other hand, when the detection switch 56 is turned on, the controller 42 controls the travel motor 52 to stop. In this case, the stop position of the transporter 3a is controlled (set) so that the movable dog 57 is positioned between the front operation lever 69f and the rear operation lever 69r. Accordingly, the front operation lever 69f passes through the movable dog 57. At this time, the front operation lever 69f pushes the dog main body 58 to displace it to the undetectable position Xr. Therefore, the movable dog 57 is displaced to the undetectable position Xr by the first detection by the detection switch 56. As a result, the movable dog 57 jumps upward, and the next transport device, for example, the second transport device 3b, passes without the switch lever 56d of the detection switch 56 touching the movable dog 57.

  Further, after stopping, the transporter 3a travels backward immediately, is guided by the branching portion 23 from the downstream side of the main rail 21, and enters the first branch rail 22. And if the conveyance machine 3a passes the deceleration dog 81 (FIG. 1) of the branch rail 3 which approached, the deceleration detection switch (not shown) will be turned on, and the self-running part 41 will be set to a relatively low speed set in advance. Switched. When the deceleration detection switch is turned on, the vehicle travels backward for a predetermined set time and stops. As the set time, a time during which each distributor can be connected to each milk tap Mx, My is selected. Thereby, each distributor is automatically connected to the corresponding milk taps Mx and My. When the distributor is connected to the milk taps Mx and My, the end of the connection is notified. Therefore, the operator connects the teat cups 45 of the milking units 3ax and 3ay located on the branch rail 22 with two heads (FIG. 9). Install on cows C and C respectively. Thereby, the milking process with respect to two cows C ... is performed simultaneously. On the other hand, the end of milking is automatically detected, and automatic removal processing of the teat cups 45 is performed. By the automatic detachment process, the teat cups 45 are pulled back to the non-use position Ph shown in FIG. 9 by the rope 46, and the disinfectant is sprayed from the unillustrated spray nozzles to the breasts of the cows C. Thereafter, the self-propelled portion 41 travels forward again.

  On the other hand, after the transport device 3a travels forward from the home position Po, the second transport device, for example, the transport device 3b, travels forward from the home position Po at an appropriate time, and thereafter all the same (six .., A forwardly traveling machine from the home position Po (steps S8, S3,...). In this case, the diverters 8 in the branch portions 6a through which the transport machines 3b other than the transport machine 3a pass are released in a direction allowing passage when the transport machines 3b pass through. Further, the diverters at the branching portion 23p are switched so that each of the transporters 3a enters the guide rail portions 2 by three.

  On the other hand, the transport machine 3b traveling forward from the home position Po is delivered to the guide rail part 2 (main rail 21) through the standby rail part 4 and the delivery rail part 5 in the same manner as the transport machine 3a. Then, it passes through the first branch part 23. At this time, the movable dog 57 corresponding to the first branch rail 22 is not detected by the transporter 3b because it is displaced to the undetectable position Xr. Therefore, the transporter 3 b passes through the first movable dog 57 and travels toward the second branch rail 22. The rear operation lever 69r abuts on the engagement plate portion 64, but is inclined backward to be released. Then, the transporter 3a passes through the branch portion 23 in the second branch rail 22. By passing through the branch portion 23, the movable dog 57 corresponding to the second branch rail 22 is reached. Since the transport device 3b reaches the movable dog 57 first, the transport device 3a described above is the first. The same operation as that when entering the branch rail 22 is performed, and the conveyor 3b enters the second branch rail 22 and the same milking process is performed.

  Further, the same operation as that performed by the transporters 3a and 3c is performed in the transporter 3c. In this case, the movable dogs 57 corresponding to the first and second branch rails 22 are displaced to the undetectable position Xr and are not detected by the transporter 3c. Accordingly, the transporter 3c travels toward the third branch rail 22 through the movable dogs 57.

  And if the conveyance machine 3a complete | finishes the milking in the 1st branch rail 22, it will advance ahead again as mentioned above, and will enter into the 4th branch rail 22 after this. In this case, when the milking of the first branch rail 22 by the transporter 3a is prolonged and the milking of the second branch rail 22 by the transporter 3a is finished early, the transporter 3b enters the fourth branch rail 22. And milking. Thus, according to the automatic conveyance apparatus 1 which concerns on this embodiment, milking can be performed in order from the non-milking stall A ... by the milking-conveying machine 3a.

  Next, the operation of each part at the end of milking will be described. FIG. 11 shows a flowchart of operations related to the standby rail portion 4 at the end of milking.

  At the time when all milking is finished, each transporter 3a... Is stopped on the main rail 21 by the function of the collision prevention circuit or the like. First, the transporter closest to the home position Po, for example, the transporter 3c is moved backward (step S11). When moving backward, the diverter switching mechanism 76 switches the diverter 24 so that the upstream side and the downstream side of the main rail 21 with respect to the branching portion 23 are connected. Further, although the transport device 3c passes through the movable dogs 57, all the movable dogs 57 are displaced to the undetectable position Xr, so that the rear operation lever 69r can detect by pushing the engagement plate portion 64. Displace to position Xs. And the conveyance machine 3c passes along the delivery rail part 5 from the main rail 21, and enters the main branch rail 4m. At this time, since all the diverters 8 are switched to the entry positions Xi by the springs 11, the transporter 3 c enters the standby branch rail 4 a from the first branch section 6 a (step S 12). In FIG. 8, the arrow Fi direction indicates the backward direction of the transporting machine 3b.

  The conveyor 3c that has entered the standby branch rail 4a travels along the standby branch rail 4a, that is, travels in the direction of the arrow Fi in FIG. 5 (step S13). When the transport device 3c reaches a specific switching position Ps, that is, the position of the follow lever 33, the cam plate 77 is engaged with the follow lever 33, and the follow lever 33 is rotated to a position indicated by a solid line in FIG. Displace. The amount of displacement based on this rotational displacement is such that the connecting rod 38 is displaced in the direction of the arrow Ff, and as shown in FIG. 4, the lever plate 37 is rotationally displaced in the clockwise direction in FIG. Is switched to the passing position Xp indicated by (Steps S14, S15). At the same time, at the switching position Ps, the detection switch 56 is turned ON by the stop dog 39, and the traveling operation of the transporting machine 3c is stopped (steps S16 and S17). That is, the transport device 3c stops in a state where the diverter 8 is switched to the passing position Xp. The position of the transfer machine 3a indicated by the phantom line in FIG. 1 is the switching position Ps. Therefore, at this switching position Ps, it is possible to perform cleaning and maintenance for external dirt or the like with respect to the transfer device 3c (step S18).

  Similarly, the next transport device, for example, the transport device 3b is returned from the stop position of the main rail 21 (steps S19, S11...). In this case, the transport device 3b passes through the rear operation lever 69r and the engagement plate portion 64 without contact. The front operation lever 69f abuts on the dog main body 58, but is tilted forward (downstream) and released. Similarly to the transport device 3c, the transport device 3b also passes from the main rail 21 through the delivery rail portion 5 and enters the main branch rail 4m. In this case, the diverter 8 in the first branch part 6a is switched to the passing position Xp, and the diverters 8 in the other branch parts 6b are switched to the entry position Xi by the springs 11 ... The transporter 3b enters the standby branch rail 4b from the second branch portion 6b (step S12). Similarly, it is possible to return all the remaining transport machines 3a to the home position Po, including the transport machines 3a in the other guide rail portions 2.

  In this case, all (six) conveyors 3c to be returned enter in order from the first standby branch rail 4a to the standby branch rails 4a (steps S19, S11, ...). Since all the transporters 3a returned to the processing chamber H are stopped at the switching positions Ps, respectively, as described above, external dirt on each transporter 3a (each milking unit 3ax, 3ay ...). Etc. can be cleaned and maintained. When the external cleaning or the like is completed, each transporter 3a is manually moved to the front end side (home position Po) of the standby branch rail 4a, and internal cleaning is performed on each milking unit 3ax, 3ay, ... (step S20). ). In this case, since the teat cup mounting portions 82 are opposed to the front ends of the standby branch rails 4a, the teat cups 45 are mounted on the teat cup mounting portions 82 and transported using the cleaning device 16. The milking units 3ax, 3ay,... Can be cleaned while mounted on the machine 3a. Then, when the internal cleaning is completed, it is kept waiting at the home position Po as it is (step S21). As described above, since the milking units 3ax, 3ay,... Can be provided at the home position Po in a state where the milking units 3ax, 3ay,. 3ax, 3ay, etc. can be easily and quickly washed while being mounted on the transporter 3a, and a washing device 16 having a sealed sanitary washing water path can be easily constructed.

  According to the automatic transfer device 1 according to the present embodiment, the diverters 8 provided at the branch portions 6a and switched to the entry positions Xi and the passing positions Xp and the diverters 8 and the like are not used in the transfer machine 3a. The delivery rail portion 5 for connecting the main standby rail 4m and the guide rail portion 2 is provided with the switching mechanism 7 having the operation mechanism 9 for switching to the entry position Xi when entering and switching to the passing position Xp when entering. Regardless of the number of installed guide rails 2, one is sufficient, and even if the processing chamber H is separated from the guide rail 2 on the stall A ... side, the guide rail on the stall A ... side The equipment configuration from the section 2 to the processing chamber H can be simplified (simplified) and downsized, and the occupied space can be reduced, and can be implemented at low cost. Further, a standby rail section 4 having a plurality of branch standby rails 4a ... corresponding to the quantity of the conveyors 3a ... arranged at the home position Po by branching from the main standby rail 4 and the main standby rail 4m at predetermined intervals. Therefore, the number of branch standby rails 4a connected to the main standby rail 4m can be arbitrarily set without limitation, and in particular, easily and flexibly with respect to the increase in the number of transporters 3a. Yes.

  Next, the automatic conveyance apparatus 1 which concerns on the modified embodiment of this invention is demonstrated with reference to FIGS.

  FIGS. 12-14 shows the example of a change of the operation mechanism 9 in the automatic conveyance apparatus 1. FIG. The operating mechanism 9 shown in FIGS. 1 to 8 transmits a displacement amount based on the engagement between the elastic member 11 that urges the diverter 8 toward the approach position Xi and the transporting machine 3a to the diverter 8, and the passing position. The transmission link mechanism 12 that switches to Xp and the control function unit 13 that stops the transporting machine 3a at the time of entry at the switching position Ps are configured. The operations shown in FIGS. The mechanism 9 switches the diverter 8 to the passing position Xp when the transporters 3a ... enter the branch standby rail 4a, and switches the diverter 8 to the entrance position Xi when the transporters 3a ... retreat from the branch standby rail 4a. In addition, the position holding mechanism 14 that holds the position of the diverter 8 at the passing position Xp and the approach position Xi is provided.

  Therefore, in the modified example, as is clear from the comparison between FIG. 12 and FIG. 4, the elastic member 11 that urges the diverter 8 toward the entry position Xi is not used, and the operation mechanism in FIGS. Unlike 9, it is not always necessary to stop at a specific switching position Ps, and it can be stopped at an arbitrary position on the branch standby rail 4 a. Further, as is apparent from the comparison between FIG. 13 and FIG. 5, a position holding mechanism 14 that holds the position of the diverter 8 at the passing position Xp and the approach position Xi is provided. In the modified example, these points are different from the operation mechanism 9 shown in FIGS. In this case, as shown in FIG. 13 and FIG. 14, the position holding mechanism 14 is provided with a latch pin 91 projecting at a position below the support shaft 32 provided on the side surface of the branch standby rail 4 a. And a spring 93 is interposed between the shafts 92 of the rollers 34. An extendable guide rod 94 is interposed between the latch pin 91 and the shaft 92 and inside the spring 93. As a result, the follow lever 33 is buckled and displaced to the position indicated by the solid line and the virtual line 33r in FIG. 13, and as a result, the diverter 8 is held at the passage position Xp and the entry position Xi, respectively. .

  Therefore, when the transporter 3a travels forward toward the main standby rail 4m, that is, travels in the direction of arrow Fm shown in FIG. 13, the follow lever 33 is displaced to the position 33r indicated by the phantom line in FIG. At the same time, the connecting rod 38 is displaced in the direction of the arrow Fr, and the diverter 8 is switched to the entry position Xi. As a result, the transporter 3a passes through the branch part 6a and is delivered to the delivery rail part 5 side. The diverter 8 is held at the entry position Xi by the position holding mechanism 14. Therefore, in this case, delivery is performed sequentially from the branch standby rail 4f located at the innermost side to the branch standby rails 4e. Therefore, after delivering all the transporters 3a, all the diverters 8 are switched to the entry positions Xi.

  On the other hand, when each transport machine 3a is returned to the home position Po, all the diverters 8 are switched to the entry positions Xi, so the first transport machine 3a enters the first branch standby rail 4a. To do. When entering the branch standby rail 4a, the vehicle travels in the direction of the arrow Fi shown in FIG. At this time, the cam plate 77 displaces the follow lever 33 to the position 33r indicated by the phantom line in FIG. 13 and displaces the connecting rod 38 in the arrow Ff direction, thereby switching the diverter 8 to the passing position Xp. The diverter 8 is held at the passing position Xp by the position holding mechanism 14. Therefore, the transfer machines 3a can be sequentially entered from the first branch standby rail 4a. Other configurations and functions of the operation mechanism 9 according to the modified example are the same as those of the operation mechanism 9 illustrated in FIGS. For this reason, in FIGS. 12-14, the same code | symbol is attached | subjected to FIGS. 1-11 same part, and while the structure is clarified, the detailed description is abbreviate | omitted.

  On the other hand, FIGS. 15 to 17 show modified examples of the standby rail portion 4 in the automatic conveyance device 1. The standby rail portion 4 in FIGS. 1 to 8 shows the case where the main standby rail 4m is connected to the delivery rail portion 5 in the linear direction Fd, but the standby rail portion shown in FIGS. As shown in FIG. 15, the main standby rail 4 m is connected to the delivery rail portion 5 in the perpendicular direction Fr, and the first branch standby rail 4 a is connected to the delivery rail portion 5 in the linear direction Frd, as shown in FIG. Further, the first branch standby rail 4a is provided with a reverse switching mechanism 7s for switching in the reverse direction with respect to the switching mechanisms 7 provided on the other branch standby rails 4b.

  In this case, the switching mechanism 7 has a function of switching the diverter 8 to the approach position Xi when the connecting rod 38 is displaced in the direction of the arrow Fr using an L-shaped lever plate 37 as shown in FIG. On the other hand, as shown in FIGS. 16 and 17, the reverse switching mechanism 7 s uses a bellows type expansion / contraction link mechanism 96 instead of the L-shaped lever plate 37, and the expansion / contraction link mechanism 96. Has a configuration in which the center is supported by a support shaft 97, the connecting rod 38 is connected to one end, and the support shaft 36 on the diverter 8 side is connected to the other end. Thereby, when the connecting rod 38 is displaced in the direction of the arrow Fr, the diverter 8 can be switched in the reverse direction with respect to the passing position Xp, that is, the switching mechanism 7.

  By using the standby rail portion 4 shown in FIGS. 15 to 17, the main standby rail 4 m is connected to the delivery rail portion 5 in addition to a mode in which the main standby rail 4 m is connected to the delivery rail portion 5 in the linear direction Fd. Since it is possible to select a mode of connection in the direction perpendicular to Fr, the introduction route of the delivery rail unit 5 can be designed according to the location and form of the processing chamber H, and the degree of freedom in designing the equipment can be increased. . Other configurations and functions of the standby rail unit 4 according to the modified example are the same as those of the standby rail unit 4 illustrated in FIGS. For this reason, in FIGS. 15-17, the same code | symbol is attached | subjected to FIGS. 1-11 same part, and while the structure is clarified, the detailed description is abbreviate | omitted.

  Although various embodiments have been described in detail above, the present invention is not limited to such embodiments, and details, configurations, shapes, quantities, materials, techniques, and the like do not depart from the spirit of the present invention. It can be changed, added, or deleted arbitrarily. For example, although the case where the three conveyance machines 3a ... are used for one guide rail part 2 ... was illustrated, it can implement by arbitrary number of conveyance machines 3a .... Further, the configuration of the operation mechanism 9 and the branch rail portion 4 can be replaced by another configuration that exhibits the same function. For example, the operation mechanism 9 is not only a mechanical operation mechanism but also a position detection unit. Replacement by an electric operation mechanism using power means such as a switch and an electromagnetic plunger is also possible.

The top view which shows the whole automatic conveyance apparatus of the milking unit which concerns on the best embodiment of this invention, A schematic perspective view of the automatic transfer device, The perspective view which shows a part of standby rail part in the automatic conveyance apparatus, A partial cross-sectional plan view of the branching portion in the standby rail portion of the automatic transfer device, A side view showing a part of the switching mechanism in the standby rail portion of the automatic transfer device, A perspective view of a transport machine provided in the automatic transport device, A cross-sectional front view of a self-propelled part equipped in the transport machine of the automatic transport device A side view showing a part of the movable dog and the self-propelled part provided in the automatic transfer device, Front view of a transporter equipped with a milking unit provided for the automatic transport device, Flow chart of operation related to standby rail section 4 at the time of milking of the automatic conveyance device, Flowchart of operations related to the standby rail section at the end of milking of the automatic transfer device, The partial cross section top view of the branch part in the standby rail part of the automatic conveyance apparatus which concerns on the modified embodiment of this invention, A side view showing a part of the switching mechanism in the standby rail portion of the automatic conveyance device according to the modified embodiment, Sectional front view showing a part of the switching mechanism in the standby rail portion of the automatic transport device according to the modified embodiment, The top view which shows a part of automatic conveyance apparatus which concerns on other modified embodiment of this invention, A partial cross-sectional plan view of the branching portion in the standby rail portion of the automatic transfer device according to the modified embodiment, An enlarged plan view showing a part of the switching mechanism in the standby rail portion of the automatic transfer device according to the modified embodiment,

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Automatic conveyance apparatus 2 ... Guide rail part 3a ... Conveyor 3ax Milking unit 3ay Milking unit 4 Standby rail part 4m Main standby rail 4a ... Branch standby rail 5 Delivery rail part 6a ... Branch part 7 ... Switching mechanism 7s ... Reverse switching mechanism 8 ... Diverter 9 ... Operation mechanism 11 ... Elastic member 12 ... Transmission link mechanism 13 ... Control function part 14 Position holding mechanism 16 Cleaning device C ... Dairy cow A ... Stall Po Home position Xi Entrance position Xp Passing position Ps Switching position Fd Linear direction Fr Right angle Direction Frd Linear direction

Claims (4)

  In an automatic transfer device of a milking unit comprising a plurality of transporters for self-propelling guide rail portions along a plurality of stalls mooring dairy cows and transporting the milking unit, the main standby rail and the main standby rail at predetermined intervals A standby rail portion having a plurality of branch standby rails corresponding to at least the quantity of the conveyors arranged at the home position by branching, a delivery rail portion connecting the main standby rail and the guide rail portion, and each branch standby An entry position or a main standby rail that allows entry into the branch standby rail for the travel of the transport device from the downstream side (delivery rail side) of the main standby rail by being provided at a branch portion between the rail and the main standby rail A diverter that switches to a passing position that passes to the upstream side of the conveyor and the diverter that has not entered the branch standby rail A switching mechanism having an operation mechanism for switching to the entry position and switching to the passage position at least at a specific switching position when entering, and an elastic member for urging the operation mechanism toward the entry position A transmission link mechanism that transmits a displacement amount based on the engagement with the transfer device to the diverter and switches to the passing position and a control function unit that stops the transfer device at the switching position at the switching position; or The diverter is switched to the passing position when the transporter enters the branch standby rail, and the diverter is switched to the entering position when the transporter leaves the branch standby rail. Milking characterized by comprising a position holding mechanism that holds the position of the diverter at the entry position. An apparatus for automatically conveying knit.   The said main standby rail is connected to the said delivery rail part in a linear direction or a right angle direction, The automatic conveyance apparatus of the milking unit of Claim 1 characterized by the above-mentioned.   The main standby rail is connected to the delivery rail portion in a direction perpendicular to the delivery rail portion, the first branch standby rail is connected to the delivery rail portion in a straight line direction, and another branch is connected to the first branch standby rail. The automatic transfer device for a milking unit according to claim 2, further comprising a reverse switching mechanism for switching in a reverse direction with respect to the switching mechanism provided on the standby rail.   The milking unit automatic transport device according to claim 1, wherein the home position includes a cleaning device that cleans each milking unit in a state where the milking unit is mounted on the transporter.

Images