JPH0750947A - Method and device for mounting teat cup of automatic milking machine - Google Patents

Abstract

PURPOSE:To rapidly mount a teat cup for an automatic milking machine on the teat of a cow without injuring the cow by disposing a position sensor for detecting the contact position of the teat on the inner surface of the teat cup, raising the teat cup, detecting the contact position of the teat, and controlling the contact position. CONSTITUTION:A method for mounting the teat cup of an automatic milking machine by detecting the teat position of a cow with a position sensor, controlling the position of the teat cup on the basis of the detection result, and automatically mounting the teat cup or the teat of the cow is characterized by attaching a position sensor 3a for detecting the contact position of the teat Ta of the cow C to the inner surface of the teat cup 2a. When the teat cup 2a is mounted, the teat cup 2a is raised, and the contact position of the teat Ta of the cow is detected with the position sensor 3a. The position of the teat cup 2a is controlled with a controller 4 on the basis of the detection result so that the teat Ta is placed at the normal position of the teat cup 2. Thus, the teat cup can be mounted at a high speed without injuring the body of the cow, and can efficiently be milked.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teat cup mounting method and device for an automatic milking machine, which is suitable for automatically mounting a teat cup on a teat of a cow.

[0002]

2. Description of the Related Art Conventionally, an automatic milking machine for fully automatic milking is known. This type of automatic milking machine is usually a teat cup mounting device for automatically mounting a teat cup on a teat of a cow. Is equipped with.

By the way, since the teat cup mounting device automatically mounts the teat cup on the teat whose position is not fixed, it is necessary to accurately control the relative position of the teat cup to the teat. For this reason, conventionally, Japanese Patent Laid-Open No.
As in the automatic milking device (tea cup mounting device) disclosed in JP-A-2-159078 and JP-A-2-23823, the position of the teat is detected by a sensor using ultrasonic waves, and The teat cup is made to follow the position and movement of the teat by controlling the drive unit based on the detection result.

[0004]

However, the above-mentioned conventional teat cup mounting device has the following problems.

First, since the detection mechanism including the position sensor is constructed separately, there are complicated geometrical mechanism parts, obtrusive protruding parts, etc., which complicates the entire structure including the control part and reduces the cost. In addition to increasing the size and size, failures are likely to occur and the reliability is reduced.

Secondly, since there is a limit to increase the mounting speed of the teat cup, the mounting speed cannot be increased and the milking efficiency cannot be improved.

Thirdly, since it is difficult to specify the detected nipple portion, the accuracy of control is poor, and the cow's body may be injured due to the positional deviation when the teat cup is attached.

The present invention solves the problems existing in the prior art as described above, and simplifies the overall structure including the control portion, reduces the cost, downsizes and improves the reliability, and when the teat cup is attached. It is an object of the present invention to provide a teat cup mounting method and device for an automatic milking machine, which are capable of speeding up, improving milking efficiency, improving control accuracy, and preventing damage to a cow body.

[0009]

A teat cup mounting method for an automatic milking machine according to the present invention is a teat Ta in a cow body C.
The position of the teat cup 2a is controlled by the position sensor, and the position of the teat cup 2a is controlled by the detection result.
At the time of automatically mounting the teat cups 2a, a position sensor 3a for detecting the contact position of the teats Ta is attached to the inner surface 2ai of the teat cups 2a, and when the teat cups 2a are mounted, the teat cups 2a. Is moved upward, and the contact position of the teat Ta is detected by the position sensor 3a, and the position of the teat cup 2a is controlled so that the teat Ta is located at the regular position in the teat cup 2a. It is characterized by doing so.

In this case, the position sensor 3a ...
When the contact position of a ... Is detected, the teat Ta ... horizontally moves the teat cups 2a ... In a direction away from the position sensor 3a .... And when the teat Ta ... is separated from the position sensor 3a. Control to stop horizontal movement. In addition, the previous horizontal normal position (reference position) for each cow C ... is stored, and the cow C is identified when the teat cups 2a are attached, and the identified reference position of the cow C is set. Initialize the teat cups 2a.

On the other hand, in the teat cup mounting device 1 of the automatic milking machine according to the present invention, the position sensor for detecting the position of the teats Ta in the cow C and the position of the teat cups 2a in accordance with the detection result of this position sensor. Control the nipple Ta
When configuring a teat cup mounting device including a control unit that automatically mounts the teat cup 2a on the position, a position sensor 3a that detects the contact position of the teat Ta attached to the inner surface 2ai of the teat cup 2a. Then, according to the detection result of the position sensors 3a, the teats Ta are positioned at the regular positions in the teat cups 2a.
It is characterized by including a control unit 4 for controlling the positions of the teat cups 2a.

In this case, the control unit 4 includes a storage unit 5 for storing the previous horizontal normal position (reference position) for each cow C ..., and an identifying unit 6 for identifying the cow C, and a teat. When mounting the cups 2a ..., the identification unit 6 identifies the cow body C, and the reference position of the identified cow body C is read from the storage unit 5, and the reference position of the cow body C that identifies the teat cups 2a. It has a function to initialize to.
Further, the position sensors 3a ... Detect the coordinates on the inner surface 2ai .. of the teat cups 2a ... And the position sensors 3a ... Can detect the contact position by the change of the physical quantity such as capacitance, electric resistance and electrode contact. .

[0013]

According to the teat cup mounting method and the teat cup mounting apparatus 1 of the automatic milking machine according to the present invention, the position sensors 3a for detecting the contact position of the teats Ta are provided on the inner surfaces 2ai of the teat cups 2a. Attached. In this case, the position sensors 3a ... Are formed in a sheet shape so that the contact position can be detected by a change in physical quantity such as capacitance, electric resistance, electrode contact, etc., and a teat formed in a funnel shape (taper shape). Attached to substantially the entire inner surface 2ai ... Of the cups 2a. Therefore, the position sensor 3a ... Detects the coordinates on the inner surface 2ai ... Of the teat cup 2a.
There is no complicated geometrical mechanism part based on the existence of, or an obtrusive protruding part.

On the other hand, when the teat cups 2a are mounted, the teat cups 2a are moved upward based on the basic operation of the teat cup mounting device 1. Before the teat cups 2a ... Are moved upward, it is desirable to initially set the horizontal position of the teat cups 2a. That is, since the storage unit 5 of the control unit 4 stores the reference position for each previous cow body C ... If the identification unit 6 identifies the cow body C, the identified cow body C from the storage unit 5 is stored. The reference position corresponding to is read and the teat cups 2a ... Are initialized to the reference position.

When the teat cups 2a move upward, the tip of the teat Ta comes into contact with the position sensors 3a, so that the contact position is detected by the position sensors 3a. As a result, the teat cups 2a are horizontally moved in the direction in which the teats Ta are separated from the position sensors 3a, and when the teats Ta are separated from the position sensors 3a.
The control for stopping the horizontal movement of the teat cups 2a is repeatedly performed. In this case, since the contact position detects the coordinates on the inner surface 2ai of the teat cups 2a, the teat Ta is separated from the position sensor 3a by the detected coordinates, that is, the moving direction of the teat cups 2a in the horizontal direction. Is required. With such control,
Even if the position of the teats Ta ... Arbitrarily changes inside the teat cups 2a ..., the teats Ta ... are surely guided to the center of the teat cups 2a .. The harmful effect of being damaged is eliminated. Further, the delay of the system is remarkably reduced, and the mounting speed can be increased.

Then, the teat T is placed at the multiple points of the position sensors 3a.
When the position sensor 3a detects that the tip of the teat Ta has reached the regular position of the teat cups 2a, due to contact with a, etc., the upward movement of the teat cups 2a is stopped. Further, a negative pressure is applied to the teat cups 2a, and thereafter, a normal milking step is executed.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, preferred embodiments according to the present invention will be described in detail with reference to the drawings.

First, the structure of the teat cup mounting device 1 of the automatic milking machine according to the present invention will be described with reference to FIGS.

FIG. 6 shows the external structure of the teat cup mounting device 1. Reference numeral 61 denotes a liner support portion. One end of the liner support portion 61 is rotatably supported by the tip of the arm portion 62, and the other end of the arm portion 62 is movably supported by the base portion 63. Further, the liner support portion 61 is provided with a flat support base 64, and the four portions of the support base 64 are liners 65a, 65b, 65c, 65, respectively.
Support d.

The liner 65a (same for the other liners 65b ...) Is supported by the drive unit built in the support base 64, that is, the front-rear, left-right drive unit 11a shown in FIG. , Vertical drive unit 1
It is supported by 2a so as to be movable in the vertical direction. Also,
As shown in FIG. 4, the liner 65a is configured by inserting a liner main body 67 formed of a flexible material such as rubber inside a shell portion 66 having rigidity. The teat cup 2 having a funnel shape is formed on the upper end of the liner body 67.
a is integrally formed. In FIG. 6, 2b, 2c,
2d shows the teat cups provided in the liners 65b, 65c, and 65d, respectively.

On the other hand, a position sensor 3a for detecting the contact position of the teat Ta is attached to the inner surface 2ai of the teat cup 2a (the other teat cups 2b ... Are the same). As shown in FIG. 4, the position sensor 3a is formed in a flexible thin sheet shape so as to cover substantially the entire inner surface 2ai of the teat cup 2a formed in a funnel shape (tapered shape), and the whole is a donut. A part of the shape is cut out to form the shape shown in FIG. Further, specifically, as shown in FIG. 3, a multilayer is formed, and a base sheet layer 31 made of silicon rubber or the like is provided on the back surface, an insulating layer 32, and a plurality of XY axis detecting conductive film layers 33-. 1, 33-2, 33-3
..., a dielectric spacer 34 having elasticity, a plurality of Z-axis detecting conductive film layers 35-1, 35-2, 35-3, ... Are laminated,
Further, the surface is covered with the upper sheet layer 36. The electrodes 37-1, ...
37-2, 37-3 ... Are attached, and electrodes 38-1, 38-2 ... Are attached to each conductive film layer 35-1.
With such a configuration, if the nipple Ta comes into contact with an arbitrary position on the surface of the position sensor 3a, the capacitance at the contact position changes, so that the electrodes 37-1, ...
The coordinates of the contact position can be detected by sensing 8-1. Note that, in FIG. 2, a grid pattern portion drawn by a dotted line shows a pattern of each conductive film layer for detecting coordinates. Further, in FIG. 6, 3b, 3c and 3d indicate position sensors attached to the teat cups 2b, 2c and 2d, respectively.

On the other hand, 4 is a control unit, which is the position sensor 3a.
The position of the teat cup 2a is controlled so that the teat Ta is located at the center (normal position) of the teat cup 2a based on the detection result of. As shown in FIG. 1, the control unit 4 includes a control unit main body 13 having a computer function of executing various arithmetic processes and control processes. In the control unit main body 13, reference numeral 14 denotes a sensor processing unit, which applies an AC voltage between each electrode 37-1 ... It has the function of sensing. Reference numeral 15 denotes a drive unit, which has a function of driving (controlling) each of the front-rear, left-right drive units 11a, ... And the vertical drive units 12a. Reference numeral 17 denotes a cow body identification processing unit, which is a stall 41 (see FIG. 5).
(See reference) and has a function of processing a detection signal detected by the cow body identification sensor 16 to identify the cow body C. As shown in FIG. 5, the cow C has a collar attached with the device to be identified 18, and when the device to be identified 18 approaches the cow identification sensor 16, the device to be identified 18 is set. A detection signal corresponding to the generated unique identification code is induced in the cow body identification sensor 16. The identification unit 6 is configured as described above. For such an identification unit 6, for example, the identification device disclosed in Japanese Patent Application Laid-Open No. 4-23930 already proposed by the present applicant can be used. Further, 5 is a storage unit for storing various data including a reference position described later.

Next, the teat cup mounting method according to the present invention will be described with reference to the drawings and the flow chart shown in FIG.

First, the dairy cow is housed in the stall 41 shown in FIG. 5, and the cow C is provided with airbags 42, ...
43 ..., It is fixed by the airbag 44 provided at the rear position (step 71). Then, the identification unit 6 performs the identification process of the cow C (step 72). That is, when the device 18 to be identified of the cow C approaches the cow identification sensor 16, a detection signal corresponding to the unique identification code set in the device 18 is transmitted from the cow identification sensor 16 to the controller 4. The code number of the cow C is given to the cow identification processing unit 17 and the code number of the cow C is detected.

Further, the control section 4 reads the corresponding reference position from the storage section 5 based on the code number of the cow C identified by the identification section 6, and moves the liner support section 61 by the base section 63 and the arm section 62. , As shown in FIG.
Of the teat cups 2a ...
The horizontal position of is initially set to the reference position (step 73). In addition, the reference position is a normal position in the horizontal direction of the teat cups 2a with respect to the previous cows C, that is, the teat cups 2a when the teats Ta are located at the horizontal center of the teat cups 2a.
This position is stored in the storage unit 5 in advance. The liners 65a ... Stand by at the lower limit position.

The teat cups 2a are mounted one by one in order. First, the teat cup 2a is attached first. During mounting, the drive unit 15 controls the vertical drive unit 12a to move the teat cup 2a upward (step 74). By the rise of the teat cup 2a,
When the tip of the teat Ta comes into contact with the position sensor 3a, the position sensor 3a detects the coordinates of the contact position (steps 75 and 76). At this time, when the detected coordinates are located at the normal position, that is, at the center of the teat cup 2a, a negative pressure is applied to the liner 65a to adsorb the teat Ta and stop the upward movement of the teat cup 2a (step 77, 78, 79). In the case of the normal position, the nipple Ta comes into contact with multiple points of the position sensor 3a,
The position can be detected based on this.

On the other hand, when the detected coordinates are not in the normal position, the teat cup 2a is moved in the direction (horizontal direction) in which the teat Ta moves away from the position sensor 3a, and when the teat Ta is moved away from the position sensor 3a, the teat cup 2a is moved. Stop movement (steps 77, 80, 81, 82,
83). In this case, since the contact position represents the coordinate on the inner surface 2ai of the teat cup 2a, if the moving direction corresponding to the coordinate is set in the ROM or the like, the detected coordinate makes it easy for the teat Ta to move away from the position sensor 3a. You can ask. Further, since the teat cup 2a is moving upward, even if the teat Ta is separated from the position sensor 3a, the teat cup 2a immediately contacts another position, and the same control is repeated (steps 75 to 77, 80 to 83). Therefore, even if the position of the teat Ta changes inside the teat cup 2a, the teat Ta is reliably guided to the center of the teat cup 2a.

Then, the nipple Ta is applied to the multiple points of the position sensor 3a.
When it is detected that the tip of the teat Ta has reached the regular position of the teat cup 2a due to contact with, the negative pressure is applied to the liner 65a to adsorb the teat Ta, and the ascending movement of the teat cup 2a is stopped. (Steps 77 to 79). Then, the remaining teat cups 2b, 2c, and 2d are similarly attached (step 84,
74-83). The teat cups 2a, 2b, 2
The c and 2c may be mounted at the same time. Further, after this, a normal milking step is executed.

The embodiment has been described in detail above.
The present invention is not limited to such an embodiment.
For example, the storage unit stores the previous reference position for each cow, and the position of the teat cup is initialized based on this reference position.However, if it is dealt with by increasing the diameter of the teat cup, it is not always necessary. There is no need to make initial settings for each cow. Further, although the position sensor of the embodiment is configured to detect the change in the electrostatic capacitance, it can be similarly detected by using the change in the other physical quantity. For example, if a space is provided instead of the dielectric spacer, it can be detected as the open / closed result of the open / close switch (electrode contact), and if a resistive film pan is provided on the upper sheet layer, the electric power when the teat comes into contact with It can be detected by a change in resistance. In addition, the detailed configuration, method, and the like can be arbitrarily changed without departing from the scope of the present invention.

[0030]

As described above, in the teat cup mounting method for the automatic milking machine according to the present invention, the position sensor for detecting the contact position of the teat is attached to the inner surface of the teat cup, and the teat cup is mounted when the teat cup is mounted. While moving the cup upward, the position sensor detects the contact position of the teat, and the position of the teat cup is controlled so that the teat is located at the regular position in the teat cup based on the detection result. Has a remarkable effect.

Since the position sensor is integrally attached as a part of the teat cup, a complicated geometrical mechanism part and an obstructing protruding part are eliminated, and the overall structure including the control part is simplified, the cost is reduced, and the size is small. Can be achieved,
It is difficult for failures to occur and reliability can be improved.

The system delay is significantly reduced, the teat cup mounting speed can be increased, and the milking efficiency can be improved.

Since the tip of the teat can always be detected,
The accuracy of the control can be improved, and the positional deviation when the teat cup is attached can be prevented, so that the harmful effect on the cow's body can be eliminated.

Further, the teat cup mounting device of the automatic milking machine according to the present invention has a position sensor attached to the inner surface of the teat cup for detecting the contact position of the teat and the detection result of the position sensor indicates that the teat is a normal teat cup. Since the control unit for controlling the position of the teat cup is provided so as to be located at the position, there is a remarkable effect that the above-mentioned teat cup mounting method can be carried out easily and surely.

[Brief description of drawings]

FIG. 1 is a block circuit diagram of a teat cup mounting device according to the present invention,

FIG. 2 is a developed plan view of a position sensor in the teat cup mounting device,

3 is a sectional view taken along line EE in FIG.

FIG. 4 is a vertical sectional view of a teat cup and a liner in the teat cup mounting device;

FIG. 5 is a side view of a stall including the teat cup mounting device;

FIG. 6 is an external perspective view of the teat cup mounting device.

FIG. 7 is a flowchart clearly showing a teat cup mounting method according to the present invention,

[Explanation of symbols]

 1 Teat cup mounting device 2a ... Teat cup 2ai ... Inner surface of teat cup 3a ... Position sensor 4 Control unit 5 Storage unit 6 Identification unit C Cow Ta ... Nipple

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tetsuro Ota 246, Kodaka, Suzaka City, Nagano Prefecture Orion Machinery Co., Ltd.

Claims (7)

[Claims] 1. A teat cup mounting method for an automatic milking machine, wherein the position of a teat in a cow body is detected by a position sensor, the position of the teat cup is controlled by the detection result, and the teat cup is automatically mounted on the teat. A position sensor that detects the contact position of the teat is attached to the inner surface of the teat cup, and when installing the teat cup, the teat cup is moved up and the contact position of the teat is detected by the position sensor. A teat cup mounting method for an automatic milking machine, characterized in that the position of the teat cup is controlled so that the tea cup is located at a regular position in the teat cup. 2. When the contact position of the teat is detected by the position sensor, the teat cup is horizontally moved in a direction in which the teat is separated from the position sensor, and when the teat is separated from the position sensor, the horizontal movement of the teat cup is stopped. The teat cup mounting method for an automatic milking machine according to claim 1, wherein control is performed. 3. The previous horizontal normal position (reference position) for each cow is stored, and when the teat cup is attached, the cow is identified and the teat cup is set at the identified reference position of the cow. The teat cup mounting method for an automatic milking machine according to claim 1, wherein initial setting is performed. 4. An automatic milking machine comprising a position sensor for detecting a position of a teat in a cow body, and a control unit for automatically mounting the teat cup on the teat by controlling a position of the teat cup based on a detection result of the position sensor. In the teat cup mounting device of, the position sensor that detects the contact position of the teat attached to the inner surface of the teat cup and the position of the teat cup so that the teat is located at the regular position in the teat cup according to the detection result of this position sensor. A teat cup mounting device for an automatic milking machine, comprising a control unit for controlling. 5. The control unit includes a storage unit that stores a previous horizontal normal position (reference position) for each cow.
A cow body with an identifying unit for identifying the cow body, and when attaching the teat cup, the identifying unit identifies the cow body and reads the reference position of the identified cow body from the storage unit to identify the teat cup. The teat cup mounting device of the automatic milking machine according to claim 4, wherein the teat cup mounting device has a function of initial setting to the reference position. 6. The teat cup mounting device for an automatic milking machine according to claim 4, wherein the position sensor detects coordinates on the inner surface of the teat cup. 7. The teat cup mounting device for an automatic milking machine according to claim 4, wherein the position sensor detects a contact position by a change in physical quantity such as capacitance, electric resistance, or electrode contact.