JPH1175596A - Milking and milking apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a milking method capable of enabling the whole milking- objective animals to be suitably milked while carrying out efficiently milking of the animals suitable to an automatic milking, and further while reducing the operating load of an operator by avoiding worries such as previous division of the animals unsuitable to the automatic milking. SOLUTION: This milking method comprises forming an automatic milking device capable of automatically attaching a milking tool to the animal come to the milking place 3 and milking, allowing the milking-objective animal to come the milking place 3 freely, and dividing the animals not suitably milked by the automatic milking by the automatic milking device from the animals suitably milked by the automatic milking and artificially managing the milking of the not-milked animals.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a milking direction for animals such as dairy cows and a milking facility therefor.

[0002]

2. Description of the Related Art Conventionally, as such a milking facility,
For example, there has been a configuration disclosed in JP-A-8-131001. In other words, there is an automatic milking device that can automatically milk the dairy cows (an example of animals as milking targets) that have entered the milking room (milking place). At the resting place (free stall), feeding ground, etc., the cows are housed so that they can move freely, and all cows are collected in the resting place at every preset milking time (usually every predetermined time). It is configured so that milking is performed automatically by moving from the rest area to the feeding place through an automatic milking device, and
Dairy cows that failed automatic milking by the automatic milking device were not moved to the feeding ground as they were, but temporarily suspended in the separation area, and milked by the automatic milking device again.

[0003]

The automatic milking apparatus as described above is intended to reduce the workload of manual milking by a dairy worker, but milking animals such as dairy cows takes one day. It is generally performed several times. However, in the above-described conventional configuration, for each such milking time, the worker must move the dairy cow to the rest area or perform manual milking work on the cow for which automatic milking has failed multiple times. Not much work burden, still,
Work load reduction has not been sufficiently achieved.

[0004] In the automatic milking apparatus as described above, the milking implement is automatically mounted on the nipple of the animal. However, not all animals conform to the shape of the milking implement. There are quite a few animals that cannot perform automatic milking properly, such as animals that cannot be worn properly, or animals that fall asleep when entering such an automatic milking device. Therefore, it is conceivable to preliminarily manage an animal that cannot be adapted to the automatic milking apparatus as described above and another easily adaptable animal. It is difficult to judge easily from the outside, and it is difficult to separate and manage animals that cannot fit in this way and other easily compatible animals in advance in actual work. On the contrary, there is a disadvantage that it becomes troublesome.

The present invention has been made in view of such a point, and an object of claims 1 to 5 is to make it possible to efficiently milk an animal which can be adapted to automatic milking but not to adapt to automatic milking. In order to provide a milking method capable of appropriately performing milking for all animals to be milked while avoiding the inconvenience of pre-sorting the animals and reducing the work load of the worker. is there.

An object of claims 6 to 8 is to efficiently perform milking for an animal that can be adapted to automatic milking, while avoiding the troublesome task of preliminarily sorting animals that cannot be adapted to automatic milking. Another object of the present invention is to provide a milking facility capable of appropriately performing milking for all animals to be milked while reducing the work load of the milking.

[0007]

According to the milking method of the present invention, there is provided an automatic milking apparatus for automatically attaching a milking tool to a nipple for an animal coming to a milking place, and milking the animal.
The animal to be milked is allowed to freely come to the milking place, and the animals whose automatic milking by the automatic milking device has not been properly performed are referred to as the animals whose automatic milking has been properly performed. Separated and artificially controlled for milking.

[0008] Basically, all animals are allowed to freely milk with an automatic milking apparatus. Animals compatible with automatic milking by automatic milking equipment can milk properly and do not require any artificial work. And the animal in which automatic milking by the automatic milking device was not properly performed is separated from the animal in which other automatic milking is properly performed, for example,
At the convenience of the worker, milking can be performed while being artificially managed as appropriate.

Therefore, as compared with a case where a plurality of animals are classified and managed in advance for those that are compatible with automatic milking and those that are not suitable for milking, a cumbersome operation of preliminarily classifying them is unnecessary, and Only animals that are not compatible with automatic milking can be artificially managed and milked,
The work load on the workers is small, and the operation management can be performed more easily.

[0010] According to the milking method of the second aspect, in the milking method of the first aspect, when the automatic milking apparatus is used for milking an animal that has not been properly milked and separated, the automatic milking apparatus is again used. And when automatic milking was not performed properly, milking was performed by artificially managing the milking.

This type of automatic milking apparatus is intended for animals having individual differences in physique and personality. Therefore, even if automatic milking fails, the automatic milking apparatus can be properly executed multiple times. Since milking is also considered to be performed, for animals separated without automatic milking being performed properly, automatic milking is again performed by the automatic milking device, and still automatic milking is performed properly. If there is no milking, artificially controlled milking will ensure that only animals that are not compatible with automatic milking will be milked by artificial management, thereby increasing worker work. The burden can be reduced.

[0012] According to the milking method of the third aspect, in the first or second aspect, the animal to be milked is not adapted to the automatic milking of an animal that has not been properly milked by the automatic milking apparatus. As animals, the animals that had been subjected to the automatic milking properly were managed as animals suitable for the automatic milking in a state where they were classified.

[0013] Since the above-mentioned animals are classified and managed, for example, each animal is provided with an identification means for identifying an individual.
It is easier to manage than when managing them while judging them.

According to the milking method of the fourth aspect, in the third aspect of the present invention, the animals that have not been properly milked by the automatic milking device for a set number of times or more are classified as animals that are not compatible with the automatic milking. In order to further reduce the work load, it is necessary to artificially manage and perform milking in a state where only animals that are not compatible with automatic milking can be easily classified and managed. Can be.

According to the milking method of the fifth aspect, in the third or fourth aspect, when the automatic milking apparatus is used for milking an animal separated without being properly milked, the automatic milking apparatus again performs the milking. Automatic milking was performed, and when the automatic milking was properly performed, the animal was managed as an animal compatible with the automatic milking.

For example, in the case of the previous milking by the automatic milking apparatus, it is considered that even if the animal cannot be milked properly, the milking is properly performed again when the milking is performed again. Therefore, in such a case, by managing the animal as an animal compatible with automatic milking, milking is performed from the next milking without requiring any manual operation by an operator.

According to the characteristic configuration of the milking equipment according to claim 6, an automatic milking device for automatically milking an animal coming to the milking place is provided, and the animal to be milked is provided in a living area where the animal lives. The automatic milking apparatus is configured to be able to freely go to the milking place where the automatic milking apparatus is installed, and the automatic milking apparatus does not properly perform the automatic milking, and the automatic milking apparatus performs the automatic milking properly. And a separation part for milking while being artificially controlled and separated.

Therefore, basically, all animals can freely go from the living area to the milking place and perform milking by the automatic milking device, so that animals suitable for automatic milking by the automatic milking device can perform milking properly. No artificial work is required. Then, the animal whose automatic milking has not been properly performed by the automatic milking apparatus is separated from other animals whose automatic milking has been properly performed in the separation unit. The separated animal is milked, for example, when it is convenient for the worker, while being artificially managed as appropriate.

Therefore, as compared with the case where the animals compatible with automatic milking and those which do not conform to the automatic milking are previously classified and managed, a cumbersome operation of preliminarily classifying the animals is not required. Only animals that are not compatible with automatic milking can be artificially managed and milked,
Milking equipment that can reduce the work load on the workers and facilitate the operation and management can be provided.

According to the characteristic structure of the milking equipment described in claim 7, in claim 6, the automatic milking apparatus is characterized in that the milking device attached to an animal nipple and the milking device are automatically attached to the nipple. An automatic mounting state to be mounted and a switching means that is switchable between a manual mounting state in which the breast pump is artificially mounted on the nipple are provided, and a milking operation is automatically performed in a state in which the breast pump is mounted on the nipple. Is configured to perform
By switching the switching means to the manual mounting state, and manually mounting the milking implement on the animal separated by the separating unit, the milking by the automatic milking apparatus is performed artificially and controlled. Is configured.

When performing milking of an animal that is not compatible with automatic milking, the switching means was switched to the manual mounting state, the animal separated in the separation section was moved to the milking place, and the milking implement was manually mounted. In the state, it can respond by performing milking by an automatic milking device. In addition, when not performing milking of an animal that is not compatible with automatic milking, by switching the switching means to the automatic mounting state, an animal that is compatible with automatic milking can freely come and perform milking by the automatic milking device. .

According to the characteristic configuration of the milking facility described in claim 8, in claim 6 or 7, between the milking place where the automatic milking apparatus is installed and the separation unit, and between them. Open / close means is provided which can be artificially switched between a closed state in which animal traffic is prohibited and an open state in which animal traffic is allowed.The open / close means is switched to the open state, and the switching means is manually mounted. The automatic milking apparatus is configured to be able to execute milking in a state in which the animal separated by the separation unit is moved to the milking place and the milking implement is manually mounted by switching to the state.

Therefore, by switching the opening / closing means to the closed state, the animal separated in the separating section does not freely go to the milking place, and the operator switches the opening / closing means to the open state as appropriate. Since the animal separated in the separation unit can be moved to the milking place and milking can be performed by artificial management using an automatic milking device, the management can be easily performed.

[0024]

BEST MODE FOR CARRYING OUT THE INVENTION A milking method according to the present invention and a milking facility therefor are described below with reference to the drawings in which the milking method is applied to a cow as an animal to be milked.
FIG. 1 shows the entire layout of the barn. 1A is a cattle feeding ground, 2A is a first area as a living area which is a free stall (resting area) for cows, and 3 is a milking place as a milking place. 2B is a second area as a separation unit for separating cows that have not been properly milked by the automatic milking apparatus as described later, and 1B is an auxiliary part for cows in the second area 2B. It is a feeding ground. A large number of stalls (beds) 2a, 2b separated by pipes are arranged in the first and second areas 2A, 2B. Feeding area 1A and first area 2A are two unidirectional gates 4 and 5
The one-way gates 4 and 5 are configured to allow only passage from the feeding area 1A to the first area 2A. That is, the one-way gates 4 and 5 correspond to one-way passing means. And between the 1st area 2A and the milking place 3, the passage L1 which a cow moves and the waiting place 6 which waits the order of milking are provided. In addition, a passage L2 is formed between the milking place 3 and the feeding place 1A. Therefore, the cows in the first area 2A pass through the milking parlor 3 to the feeding area 1A, and after eating, pass through the one-way gates 4 and 5 and return to the first area 2A along a one-way circulation path. To move. Note that a passage L3 is formed between the second area 2B and the feeding ground 1B so as to be able to move freely.

Between the first and second areas 2A, 2B and the dairy 3, cows in the first area 2A can freely go to the dairy 3 and are in the second area 2B. A first state in which cows are prohibited from going to milking place 3, and a cow in first area 2A is prohibited from moving to milking place 3, and cows in second area 2B are free to go to milking place 3. An opening / closing gate G8 (an example of opening / closing means) is provided which can be switched to a second state in which the opening / closing operation can be performed. The milking place 3 is provided with an automatic milking apparatus A that automatically attaches a teat cup 50 as a milking tool to a nipple for a cow that has come and milks the cow.

The milking system in this barn will be described briefly. A plurality of cows to be milked are basically managed so as to live in the first area 2A, and each cow is free to use a milking station at any time. 3 to feed site 1A. Then, only the cows whose automatic milking by the automatic milking device A was not properly performed at the milking place 3 for a set number of times (a plurality of times) were the cows whose other automatic milking was properly performed at the second area 2B. And is managed separately. In addition, as a cause which is not suitable for automatic milking, for example, when the shape of the nipple does not match the shape of the teat cup 50 and it is difficult to automatically attach it, Milking cannot be performed.

In many time periods of the day, as shown by the solid line in FIG. 1, the open / close gate G8 is switched to the first state, and the automatic cows in the first area 2A are Whenever you are hungry, you can freely go through the milking parlor 3 to the feeding ground. Although there is no food in the first area 2A, the place where the animal feeds when milking is performed by the automatic milking apparatus A in the milking place 3 is fed with a tasty but dense feed that is intriguing to cows. The dairy cow who knows this (educated) naturally goes to the milking parlor 3 when hungry. still,
Feeding areas 1A and 1B, which are places to feed when milking by the automatic milking apparatus A is not performed, are fed with a feed containing a large amount of roughage such as grass. First area 2
The cows in A can freely go to the milking parlor 3 at any time, but each cow detects the individual identification information transmitted by the responder provided to each cow by the tag T as described later, and identifies the individual. If the set time (approximately 4 hours) has not elapsed since the last milking time, the child is moved out of the milking place 3 without executing automatic milking.

The cows separated in the second area 2B are artificially managed and milked. In other words, cows in the second area 2B can go to the feeding place at any time through the passage L3 and feed, but cannot normally go to the milking place 3 freely because the opening and closing gate G8 is closed. Then, when the operator reaches a predetermined milking time, as shown in FIG.
Is switched to the second state, the cows in the second area 2B are sequentially moved to the milking place 3, and the automatic milking device A first executes automatic milking. That is, the automatic milking by the automatic milking apparatus A is performed again, and if the automatic milking is properly performed, the cow is returned to the first area 2A. Cows for which automatic milking is not properly performed will perform milking by manually attaching the teat cup 50 in the milking place 3. It should be noted that the cows that have finished milking by manual operation return to the second area 2B through the return route L4.

As described above, the cows capable of automatic milking by the automatic milking apparatus A can basically return to the first area 2A and freely go to the milking place 3 and the feeding place 1A at any time. I can do it.

Next, the milking parlor 3 will be described. As shown in FIG. 1, in the milking parlor 3, automatic milking apparatuses are installed in each of two milking rooms 7, 7 arranged in series, and a moving passage 8 is provided beside these milking rooms, and automatic milking fails. A return passage L5 for returning the cows to the entrance side (standby place 6 side) is provided side by side. As shown in FIG. 5, a first gate G1 which can be opened and closed is provided at the entrance side of the moving passage 8, and each milking room 7, 7 has a second (fourth) gate G2, which is an entrance of a cow.
G4 and third (fifth) gates G3 and G5 as exits are provided. At the exit side of the moving passage 8, a sixth gate G6 for distributing the automatic cow to the passage L2 to the feeding ground 1A and the return passage L5, and a seventh gate G7 for distributing the manual cow to the return passage L4 and the return passage L5. Is provided. still,
A one-way gate G9 that can only pass to the waiting area 6 is provided on the waiting area 6 side of the return path L5.

The first gate G1 is usually called a Texas gate, and is provided with a pair of left and right gate pieces 9, 9 which can swing around the vertical axis, and the pair of gate pieces 9, 9 are simultaneously opened and closed by an air cylinder or the like. It has a double door structure. The second gate G2 is configured as a door type that is swingable about the vertical axis, and is set so as to almost block the moving passage 8 at the open position, so that the cow can enter the first milking room 7 without fail. It is. The fourth gate G4 of the second milking room 7 has exactly the same structure.

The third gate G3 is supported on the side wall of the milking room 7 by a first door 10 swingably around the vertical axis, and is supported by the first door 10 to be swingable about the vertical axis. The second door 11 has a two-folded structure.
The third gate G3 is configured to push the buttocks of the cows out of the milking room 7 to accelerate the forward movement of the cows by the movement of the second doors accompanying the closing operation (see FIG. 7F). The fifth gate G5 of the second milking room 7 has exactly the same structure.

The sixth gate G6 is formed as a composite door comprising a distribution gate 12 swingable about an axis P6 oriented vertically and one-way gates 13 and 14 at both exits. The distribution gate 12 is configured to be freely switchable between a position where the moving passage 8 communicates with the passage L2 and a position where the moving passage 8 communicates with the return passage L5.
The one-way gates 13 and 14 are configured to urge the distribution gate 12 to return to positions along the respective switching positions. The seventh gates G7 are provided so as to be swingable about vertical axes, respectively, and are 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.

In order to operate the gates in a coordinated manner, a number of sensors S1 to S8 for detecting the presence or absence of a cow are provided. All of the sensors are configured as optical sensors that are pairs of a light emitter and a light receiver, and detect and operate by blocking the optical axis or restarting the optical axis. Assuming that S1 to S8 are marked on the optical axis of each sensor in the drawing expression, each sensor is arranged as follows.

As shown in FIG. 5, a pair of upper and lower first and second
The sensors S1 and S2 are arranged so as to be orthogonal to the moving path 8 at a point 60 cm away from the first gate G1. The first sensor S1 detects a cow leg and the second sensor S2 detects a trunk. Is what you do. Third sensor S3
Are obliquely arranged so as to extend over the start end side portion of the first milking room 7 and the end portion of the first milking room 7 opposite to the moving passage. The fourth sensor S4 is disposed obliquely so as to extend over the portion of the first milking room 7 opposite to the moving passage on the start end side and the end portion of the first milking room 7. The fifth sensor S5 is disposed obliquely so as to extend over the start end side portion of the second milking room 7 and the end portion of the second milking room 7 opposite to the moving passage. Sixth
The sensor S6 is disposed obliquely so as to extend over the portion of the second milking room 7 opposite to the moving passage on the starting end side and the end portion of the second milking room 7. A pair of upper and lower seventh and eighth sensors S7, S8
Are arranged so as to be orthogonal to the moving passage 8 near the terminal side of the second milking room 7, and the first and second sensors S1, S
Similarly to the second sensor, the seventh sensor S7 has a leg portion, and the eighth sensor S8
Detects the body part respectively.

Next, the linking operation between each sensor and each gate will be described with reference to FIGS. First, in the initial state, as shown in FIG. 5 (a), the second gate G2 is opened, and the sixth gate G6 is operated at a position where it is distributed to the side of the passage to the feeding ground. G3, G4,
G5 is all closed. As shown in FIG.
The gate G1 opens and the cow enters the passage 8 and
When the passage through the second sensors S1 and S2 is completed, the first gate G1 is closed. Then, the cow enters the first milking room 7 through the third sensor S3, and the tag (receiving device) T is solid (cow) by a responder (not shown) which is a transmitting device attached to the neck.
When the detection operation is performed, the second gate G2 is closed and the fourth gate G4 is opened (see FIG. 6C).

Then, the milking by the automatic milking apparatus A is started in the first milking room 7, and the first gate G1 can be 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 a presence / absence sensor (not shown) arranged in front of the gate.
1 It is convenient if the cow is at the immediately preceding standby position and it is set to be openable only when the first and second milking rooms 7, 7 are empty (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 room 7, is opened (the second gate G4). When the gate G2 is closed or when the first gate G1 is opened, the fourth gate G4 may be opened.)
The milking room 7 is ready to be greeted (see FIG. 6 (d)). And the third, fourth and fifth sensors S3, S4, S
When the cattle enters the second milking room 7 and the tag T is solid detected, the fourth gate G4 is closed and the milking state in the two milking rooms 7, 7 is established.

Next, when the milking in the first milking room 7 is completed, the third gate G3, which is the outlet of the first milking room 7, opens,
The cow proceeds to the moving passage 8 (see FIG. 7 (e)). At this time,
When the fourth sensor S4 blocked by the passage of the cow returns to the initial state again (or when the fifth and sixth sensors S5 and S6 both detect and operate), the fourth sensor S4 is opened in the folded state. The third gate G3 is closed and the second door 11 is closed as shown in FIG.
As shown in (f), a function of pushing the buttocks of the cow to promote forward movement is exhibited. When the cows exiting the first milking room 7 pass the fifth and sixth sensors S5 and S6 and then reach the seventh and eighth sensors S7 and S8, the third gate G3.
Is closed and the first gate G1 opens [FIG.
(G), the first gate G1 can be opened by detecting the passage of the seventh and eighth sensors S7 and S8. When the milking is completed, the cow is opened to the feeding ground 1 through the passage L2.

When the milking in the second milking room 7 is completed, the operation is almost the same as in the case of the first milking room 7 (see FIG. 8 (h)), but 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 detection of the completion of the passage of the seventh and eighth sensors S7 and S8 (see FIG. 9), and the fourth gate G4 is still maintained in the closed state. (At this time, the fourth gate G4 is opened and operated when a cow is in the first milking room 7 at that time). Then, the cows in the second milking room 7
If no cows have yet come to the first milking room 7 when leaving outside, the gates G1 to G6 return to the initial state in which only the second gate is opened.

In this system, when both milking rooms 7, 7 are both empty, the first milking room 7 is set to preferentially receive cows. The advantages of the cross arrangement of the third to sixth sensors S3 to S6 in the moving passage 8 in front of the milking rooms 7, 7 are as follows. That is, since the moving-out movement from the moving passage 8 to the milking room 7 arranged in series is performed at the side wall portion of the milking room 7, the sensor can be sensed at a position close to the entrance and exit of the milking room 7 by the diagonal arrangement of the sensors. The function and, for example, if the cows exiting the second milking room 7 back up during the passage of the seventh and eighth sensors S7 and S8, the fifth and sixth sensors S5 and S6 are activated and It is possible to exhibit both functions of detecting inconveniences, and is superior to the means of arranging sensors at right and left of the moving passage 8 before and after each gate in terms of detection points and the required number of sensors.

The opening and closing operation of each gate as described above is the first operation.
The control is controlled by the control device 81 based on the detection information of each sensor. The above operation is an example when the system is operating smoothly, and various operation situations can be considered depending on a case-by-case basis. For example, if the milking in the second milking room 7 is completed earlier than the first milking room 7,
As the cows in the milking room 7 have passed the seventh and eighth sensors S7 and S8, the first gate G1 can be opened. At that time, if the next cow is in front of the first gate G1, the first gate G1 is opened, and the cow passes the first milking room 7 and enters the second milking room 7 directly. is there.

Each of the sensors S1 to S8 uses the same sensor. The structure of the first sensor S1 will be described with reference to the structure of the first sensor S1. As shown in FIG. 16 and optically configured as a pair,
The light projector 15 is provided with a light emitting path (S
(1) A cylindrical cover 18 is provided to prevent other objects from entering the starting end from the surroundings, and a transparent wall 19 is provided in the cylindrical cover 18 at a distance in front of the light emitter 17. is there. More specifically, the luminous body 17 includes a plurality of heat radiating holes 2.
Cover 20 with a partition wall 20a formed with the first cover 20b
, And a transparent wall 19 made of transparent glass is fixedly attached to the distal end of the first cover 20. The cylinder cover 18 is a round cylinder with both ends open, and is integrated by screwing its base end to the outer periphery of the distal end of the first cover 20.

That is, it is known that the luminous body 17 emits light and also generates heat, and that the fly approaches the luminous body in response to the heat.
No heat is radiated around the optical axis 7.
As a result, the optical axis of the projector 15 is blocked by the fly,
This prevents the sensor S1 from malfunctioning. As shown in FIG. 2, the light receiver 16 is also provided with a cylindrical cover 22 for preventing other objects from entering the light receiving path starting end of the light receiver 21 from the surroundings. The optical axis is not interrupted by the insects.

Next, the milking room 7 and the moving passage 8 will be described in detail. As shown in FIGS. 15 and 16, the second gate G
Reference numeral 2 denotes a simple door structure which can swing open and close around the vertical axis P2 at the tip of the gate.
It can be driven and opened and closed freely by a second cylinder C2 installed between a and 7b. The third gate G3 is constructed by supporting the base end of the first door 10 at the vertical axis P3, and connecting and connecting a guide rod 29 across the tip of the second door 11 and the right side wall 7b of the milking room 7. It can be opened and closed by a third cylinder C3 extending between the first door 10 and the right side wall 7b.

Further, the second gate G2 has an ejection mechanism E.
Is installed. That is, an ejection mechanism E is configured by attaching the ejection member 30 swingable about the vertical fulcrum Y, the quadruple link 31, and the ejection cylinder Co to the second gate G2, and opening the third gate G3. The expulsion cylinder Co extends, and the expulsion member 30 operates just around the buttocks of the cow and operates to rotate and push out by nearly 180 degrees. Note that the above structure is similarly configured in the second milking room 7.

As shown in FIGS. 11 and 12, the first gate G1 is provided with an opening / closing mechanism F including a first cylinder C1 and a link mechanism 32 so that left and right gate pieces 9, 9 having a vertical axis P1 are provided. Can be simultaneously opened and closed.
Further, FIG. 13, as shown in FIG. 14, the swing viewpoint X1, X2 of the one-way gates 13 and 14 in the sixth gate G ₆
Is set on the opposite side of the axis P6 of the distribution gate 12 and inclined, and is urged to return to the closed position by the weight of the gate.

As shown in FIGS. 15, 33 and 34, the front kick preventing device I for preventing the rearward movement of the rear leg so that the cow entering the milking room 7 does not step on the automatic milking device A with the rear leg.
Is provided. In other words, the front kick prevention device I is a working posture in which a cow in a predetermined milking posture (corresponding to a milking animal) projects to a position immediately before the rear leg of the cow and restricts the forward movement of the rear leg,
A retractable member 33 whose posture can be changed to a retracted posture that allows the milking animal in the predetermined milking posture to move forward is provided, and the retractable member 33 is changed from the retracted posture to the working posture based on the detection operation of the posture detecting means 35. The moving operation means 34 and the posture detecting means 3 capable of switching the posture of the restraint member 33 so as to perform the switching.
5 are linked to each other.

More specifically, the milking room 7 is designed to feed delicious food so as to keep the cow calm during milking, and the feed box 36 has an electric motor at the front end of the milking room 7. When the tag T is detected, the bait box 36 at the front position is moved rearward after the tag T is detected, as shown in FIG. 33 showing the state of FIG. 6C in detail. Then, the cow is set back to a predetermined milking posture by moving backward. In other words, feed box 3
6 is provided as a posture detecting means 35 provided with a detection switch 35 which is activated by the rearward movement, when the tag T detects and the detection switch 35 is subsequently activated, the check cylinder Ck is moved in the longitudinal direction of the milking chamber 7. The detection switch 35 and the control valve 3 of the traction cylinder Ck are switched so that the traction member 33 in the retracted posture along the direction is rotated by 90 degrees to switch the posture to the operation posture.
8 are linked by a second control device 39. A pipe restraining member 33 wound with a cushion material is supported by a vertical axis Q on the right side on the right side wall, and the left side is supported on the second gate G2, and a restraining cylinder Ck.
Is configured to be in the working posture by the shortening movement, and to the retracted posture by the stretching movement.

When the feeding box 36 moves forward after the milking is completed and the detection switch 35 is deactivated, the traction cylinder Ck extends and switches the traction member 33 to the retracted position, thereby restricting the rear leg from moving forward. It is released to allow the cow to move out of the milking room 7. This series of operations is shown in FIG.
This is executed between (c) and FIG. 7 (e). By the way, as shown in FIG. 24, the automatic milking apparatus A is normally in a position retracted to the side of the milking room 7 and the detection switch 3
5 is configured to be in a milking position where the milking position protrudes and moves to the lower abdomen of the cow when activated. Means for switching the position of the check member 33 based on only the detection operation of the detection switch 35 may be used. However, as an operation check when the bait box 36 moves rearward without a cow, the tag T is used. A means for setting the detection to the operating condition is more desirable.

As shown in FIG. 17 and FIG. 18, the moving passage 8 at the part exiting the first milking room 7 through the third gate G3 has a forward movement for advancing the cow without stopping on the spot. Means H are provided. A beating mechanism a provided with a pusher 40 that can be swingably switched between a storage position along the passage side wall 8a and a displaced position protruding into the passage is provided on a side wall portion of the moving passage 8 on the side of the feed place 1;
And a slide mechanism b for driving the slider 0 along the passage longitudinal direction. That is, a moving body 44 having a substantially H-shape in side view is fitted slidably back and forth on a pair of upper and lower guide rails 42 and 43 provided on the side wall 8a. The U-shaped pipe pusher 40 is pivoted, and the pusher 4
A retraction cylinder Ct, which is a moving operation means 34, is provided between the moving body 44 and the moving body 44. The moving body 44 and the side wall 8
The rodless cylinder C extends over the fixing member 41
r is provided, and the moving body 44 is supported so as to be able to slide in parallel along the side wall 8a to form a forward acceleration means H.

The operation will be described. When a cow comes out of the first milking room 7 into the moving passage 8, first, the retraction cylinder Ct extends and moves the pusher 40 to the pushing-out position, and blocks the cow from backing further. I do. Then, by continuously shortening and extending the retraction cylinder Ct, the pusher 40 hits the buttocks two or three times to promote the forward movement. Then, the rodless cylinder Cr is shortened and the cow is forced through the moving body 44. The retraction cylinder Ct is driven again at that position, and the pusher 40 hits the buttocks two or three times, and finally returns to the initial position. The above series of operations is performed by the fifth or sixth sensor S5, S6 sensing from the state of sensing by the fourth sensor S4 shown in FIG. 7F (i.e., the movement between the first and second milking rooms). When the time during which the cow is present in the passage 8) is equal to or longer than a predetermined time, it is convenient to determine that the cow has stopped moving and to activate the forward acceleration means H. Also, cows are in milking room 7
When the vehicle comes out of the vehicle, the forward acceleration means H may be activated.

The structure of the automatic milking apparatus A will be described.
As shown in FIGS. 19 to 22, a breast pump (cluster) Aa including a waist-folding arm 51 having four teat cups 50 attachable to the nipple at the tip thereof on the right side of the milking room 7. In the milking room 7, the teat cup 50 is sensed by sensing the four nipples of the cow in a predetermined milking position.
And a sensor robot Ab for aligning the position immediately below the corresponding nipple constitute an automatic milking apparatus A.

As shown in FIGS. 19 and 20, the breast pump Aa
Is a tip arm 51a provided with a teat cup 50,
A waist-breaking link 51 composed of this distal arm 51a and a proximal arm 51b bridged over a support 54 fixed to the right side of the milking room 7 and two return cylinders 52, 53 are provided. The outside of the teat cup 50 is covered with a rubber material.
It is supported on the distal arm 51a via a non-equilateral link mechanism 63 comprising a lower link 3a and a lower link 63b shorter than this, and an elevating cylinder 64 is laid across the distal arm 51a and the lower link 63b. Base arm 51b
Is a lifting mechanism (rodless cylinder, electric cylinder, etc.)
It is supported by the support 54 so as to be able to move up and down in parallel via 66, and the base cylinder 53 can also be moved up and down in conjunction with it.
It is vertically slidably fitted on a bar 67 erected on the support 54.

The four teat cups 50 are arranged in a trapezoidal shape with a wide front side in accordance with the arrangement of the teats of the cow, and this arrangement is basically fixed. However, the upper and lower links 63a, 63b and the tip arm 51a
With the elasticity of the rubber bush (not shown) interposed at the connecting portion with 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. 19), so that the relative positions of the four nipples are different from the standard state. The teat cup 50 can be fitted even if it is slightly displaced. This structure is made possible by the fact that the relative positions of the teats are basically not so different from cow to cow.

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 does not move much when the next cup is mounted. It is convenient because it can improve the success rate. Therefore, when the teat cup 50 is mounted on 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 tip arm are energized when energized). 51a is in a rigid state, etc.) to enhance the reliability of cup mounting. This milking machine A
a is a milking position (lower abdomen of a dairy cow) that projects from the retracted position retracted to the right side of the milking room 7 to the left and right center of the milking room 7 by the expansion and contraction drive of the distal cylinder 52 and the proximal cylinder 53.
Can be moved without changing the posture of the teat cup 50. Incidentally, reference numeral 65 denotes a mounting portion for the sensor robot Ab to be combined.

As shown in FIGS. 21 and 22, the sensor robot Ab has a four-parallel link 57 having two rough sensors 55 and 55 and one scanner (corresponding to a fine sensor) 56. A base parallel quadruple link 58 extending between the upper and lower protruding plates 69a and 69b at the lower part of the frame cylinder 69, and the first and second cylinders 60 and 61 are provided.
The frame cylinder 69 is fitted to a column 59 so as to be able to move up and down by a vertical movement mechanism 70 including a motor 70a and a screw shaft 70b, and the column 59 is provided at two milking rooms 7,7.
Right and left pair of moving rails 6 spanning the right side of the vehicle
2 is supported by a trolley 68 that can roll. still,
An extension of the lower protruding plate 69b is fitted to a support bar 68a erected on the carriage 68 so as to be slidable up and down to prevent the frame cylinder 69 from rotating.

The base parallel quadruple link 58 can be moved left and right with respect to the frame cylinder 69 by the expansion and contraction movement of the first cylinder 60, and the distal end parallel quadruple link 57 can be moved by the expansion and contraction movement of the second cylinder 61. The sensor can be moved left and right with respect to the quad link 58, as shown in FIG.
Without changing the posture of the 56 with respect to the carriage 68, it is possible to move laterally from a retracted position retracted to the right of the milking room 7 to a milking position (lower abdomen of a dairy cow) projecting to the left and right center of the milking room 7. The positions of the rough sensors 55 and 55 are fixed, but the scanner 56 is configured to be vertically movable by a quadruple link including an upper arm 56a and a lower arm 56b and a motor mechanism 71 acting on the lower arm 56b. Link 57
And the receiving table 56 by an electric motor or the like.
It is configured to be rotatable around the vertical axis with respect to c.
In addition, 72 is a mounting part for the milking machine Aa combination.

Here, the breast pump Aa and the sensor robot Ab
23, the mounted portion 65 includes a pair of hook portions 65a, 65a and a pair of protrusion guides 65b, 65b, and as shown in FIG.
2, a pair of engaging pieces 72 a, 72 a relatively connected by a waist-folding link 73 are vertically suspended so as to be pivotally supported, and a lower end of a rod 75 operable with a solenoid 74 is connected to a central link piece 73 a of the waist-breaking link 73. It is configured to be connected to. To release the engagement, the solenoid 74 may be extended. Therefore, as shown in FIG. 23A, when the entirety of the sensor robot Ab is moved downward in a state where the mounting portion 72 and the mounted portion 65 are aligned in the horizontal direction, the engagement piece 72a is moved to the projection guide 65b. As shown in FIG. 23 (b), the tip of the engaging piece 72a and the hook 65a are engaged at two places, and the breast pump Aa and the sensor robot Ab are engaged.
And coalesce.

As shown in FIG. 35, a whole washing device J for washing the whole breast pump Aa with water and a cup washing device K for washing the inside of the teat cup 50 are provided. The overall cleaning device J is composed of a nozzle 76 attached to a side wall portion outside the milking room 7 and a lid means 77 capable of closing the teat mounting holes 50a of the four teat cups 50 (see FIG. 20). Have been. The lid means 77 is composed of a lid frame 79 having four lids 78 and a lid elevating mechanism 80 capable of driving and elevating the lid frame 79, and a standby position above the breast pump Aa in the retracted position, and descends therefrom. The teat cup 50 is moved up and down over the operation position serving as a lid. That is, the first control device 81 (see FIG. 4) that controls the operation of the automatic milking apparatus A.
3), the tag T, the lid lifting / lowering mechanism 80, and the pump device (not shown) are linked to periodically (for example, 1).
Water is discharged from the nozzle 76 in a state where the lid 78 is set on the milking device Aa at the retracted position (for each milking of the 0 milking units), and the milking device Aa
Debris such as mud, dung, straw waste, etc. attached to the can be removed.

The cup washing device K is composed of the lid means 77 and a hose 82 connected to the lid frame 79 and the like. That is, an injection nozzle (not shown) is formed at the tip of the hanging projection 83 at the center of the lid 78, and a hose is formed via a water conduit (not shown) formed inside each of the lid frame 79 and the hanging projection 83. 82 and the ejection nozzle of the hanging projection 83 communicate with each other. That is, teat cup 5
With the lid 78 set to 0, the inside of the cup can be washed by releasing high-pressure water from a pump (not shown) from the tip of the hanging projection 83, and the lid lifting mechanism 80 is moved every time the breast pump Aa returns to the retracted position. When activated, the inside of the cup is cleaned for each milking. In addition to high-pressure water, first rinse with warm water of 40 degrees Celsius, then rinse with hot water of 90 degrees Celsius (may be mixed with detergent), and finally rinse with water and send compressed air. It is convenient to set a washing step of drying.

Next, the operation of the automatic milking apparatus 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 room 7, the breast pump Aa and the sensor robot Ab at a higher position are waiting side by side (FIG. 2).
4). Next, the feed box 36 is retracted by an amount suitable for the cow and is operated to a predetermined milking posture, and the left and right restraining members 33 are switched to the working posture (FIG. 25). At this time,
With the end of the retreating movement of the bait box 36, the sensor robot Ab
Moves leftward and downward (FIG. 28), whereby the sensor robot Ab is united with the breast pump Aa.

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 (FIG. 26). Then, the fourth nipple (reference teat) is detected by using the rough sensors 55, 55, and the drive of the first and second cylinders 60, 61 is controlled so that each teat cup 50 is located below the corresponding nipple. (The two cylinders 52 and 53 of the breast pump Aa follow.)
A rough alignment is performed (see FIGS. 29 and 30). next,
The motor mechanism 71 is driven to lift the scanner 56 so that the scanner 56 is positioned between the nipples in the vertical direction, and performs nipple position sensing at four locations while being driven to rotate (FIGS. 29 and 3).
0).

When the precision sensing (measurement of the nipple position) by the scanner is completed and each teat cup 50 is positioned immediately below each teat, first, the teat cup of the first teat Te1 (refer to FIG. 28 for the positional relationship of the teat). 50 mounting trials are started (FIG. 31), and then the mounting of the second, third and fourth nipples Te2, Te3, Te4 is performed. When the attachment of the four teat cups 50 to the teat is completed, the engagement between the attachment section 72 and the attachment section 65 is released, the sensor robot Ab is slightly lifted, and then moves rightward to return to the retracted position. (FIG. 27). Thereafter, the sensor robot Ab goes to the adjacent second milking room 7 using the rail 62.

When the sensor robot Ab returns to the retracted position,
The lifting / lowering mechanism 66 is driven to rise, and the lifting / lowering cylinder (corresponding to a mounting mechanism) 64 is driven to be shortened to lift the breast pump Aa around the teat cup 50 and correct the posture of the teat cup 50 to a state suitable for the teat. (Figure 3
2). Then milking begins.

That is, as shown in FIG. 31, the teat cup 50 is almost vertically erected in the lower position to give priority to easy fitting to the nipple. Since the ascending movement is similar to the swing ascending movement, the posture is slightly inclined backward, and the nipple is slightly twisted.
A posture correcting mechanism M is configured to return 0 from the backward inclined posture to a substantially vertical standing posture. Further, the posture at the lower position of the teat cup 50 is set in accordance with the backward inclination posture of the teat whose tip is slightly forward, so that the remarkable backward inclination posture due to the ascent is returned to the original slightly backward inclination posture. It is more convenient. Lifting and moving the breast pump Aa body later is also meaningful in terms of securing the vertical space necessary for moving the combined sensor robot Ab to the side and moving it with the completion of the attachment of the teat cup 50. is there.

The sensing (measurement of the nipple position) by the scanner 56 will be described. The scanner 56 has both transmission and reception functions, and measures the presence, size, and position of an object by receiving a reflected wave of the transmitted ultrasonic wave. As shown in FIG. 4
By rotating at about the center of the nipples,
The position of each nipple is measured. Specifically, as shown in FIG. 40, the rear leg Le of the cow, the straw waste St, the teat Te, and the breast U
It is assumed that d exists in the measurement target area. And FIG.
As shown in FIG. 2, the distance Di between the scanner 56 and the object due to the reception of the reflected wave and the angle An from its reference position are sequentially recorded, but when no reflected wave comes (when there is no data). Is assumed to detect 0 (zero).

As shown in FIG. 42, the rotation of the scanner 56 starts. First, the existence of the rear leg Le and its distance l _{L1 to} l _L
Ln and angles θ _{L1 to} θ _Ln are detected. Next, the presence and the distance l _{S1 to} l _{Sn of} the straw dust and the angle θ _{S1 to} θ _Sn are detected, and then the presence of the teat Te and the distance l _{T1 to} l _Tn are detected.
And angles θ _{T1 to} θ _Tn , the presence of the breast Ud and its distance l _U1
l _Un and angles θ _{U1 to} θ _Un are sequentially detected. Also, from the nipple position data for each cow measured in advance, a rectangular window Wi surrounded by x0, x1, y0, y1, which is an approximate nipple area, is defined, and an object exists in this window Wi. It is determined comprehensively based on whether or not it is appropriate and whether the thickness as a nipple and the distance from the scanner are appropriate.

That is, as in the algorithm shown in FIG. 41, the arithmetic average of the detected distance and angle data is obtained for each object by the following [Equation 1] (step #a).

[0070]

## EQU1 ## Arithmetic average: l _Av = l ₁ + ... l _n / n, θ _AV = θ
₁ + ... _{θ n} / _n

Next, is the obtained value in a predetermined range? , And whether the object is within a predetermined window Wi? Are compared (step #b), and if both conditions are satisfied, it is considered that the nipple is Te, and if either one is not satisfied, it is considered to be something other than the nipple Te. As shown in FIG. 30, the first right nipple Te1 is located at the right rear in the plan view, and the second to fourth nipples Te2 to Te are sequentially clockwise from there.
Set to 4. What is detected by the rough sensor 55 is the fourth right teat Te4 on the front right.

Next, an algorithm of the entire operation of the automatic milking apparatus A from the time when the cow enters the milking room 7 until the cow leaves the milking room 7, that is,
The control procedure of the first control device 81 will be described with reference to FIGS. That is, the first control device 81 corresponds to a management unit. First, the entrance gate G2 or G4 is opened (step # 1), and whether or not the cow has entered the milking room 7 is detected based on whether or not the passage of the cow has been completed 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 determined whether or not the cow has passed a set time (4 hours) or more from the previous milking time. Without performing milking, the process proceeds to step # 28, where the sixth gate G6 is switched to return the cow to the waiting area 6 (the first area 2A) (step # 2).
48). If the set time has elapsed, the physique data etc. of the information of the cow input in advance are output (step # 5), and the feed box 36 is moved backward by a distance suitable for the cow (step # 5). Step # 6) In this case, if a collar-like responder (not shown) wound around the cow's neck is used as a large wheel so that the heavy transmitting device portion always comes down, a situation in which the tag T cannot detect the signal may occur. Can be avoided.

When the feed box 36 is retracted and the cow is in the milking position, the sensor robot Ab moves to join the milking machine Aa (step # 7), and when the joining is completed (step # 8), the input is made in advance. The nipple position data of the information of the cow is output (step # 9), and the combined automatic milking apparatus A moves to the lower abdomen of the cow based on the preliminary data (step # 10). Then, the mounting operation of the teat cup 50 starts. Here, R: number of trials of a series of mounting operations (up to 5 times) N: nipple number (1 to 4) Sc: number of scanning attempts of the scanner (maximum) 2
Times) Tc: Defined as the number of tries (catch-up) of the teat cup ascending (up to two times).

First, R = 0 and N = 1 are set (step # 11), and at the initial position measured by the scanner 56, Sc = 0 is set (step # 1).
In 2), the detection operation of the fourth nipple (reference teat) by the rough sensor 55 is performed (step # 13).
When the fourth nipple is detected (step # 14), if there is nipple position data at the time of the previous successful attachment (step # 1)
5) The precise positioning movement of the teat cup 50 is performed based on only the data (step # 16), and then the catch-up operation is performed (step # 17), and the sensor accompanying the teat cup mounting of the teat cup 50 (FIG. Based on the nipple detection operation of the sensor 85) shown in FIG. 43, it is determined whether or not the attachment is successful (step # 18).

If mounting is successful (sensor operation), catch-up try for the next nipple (2nd to 4th nipple) (step # 1)
The process proceeds to 19), and when the mounting has failed, the process proceeds to the nipple detection operation by the scanner 56 (step # 20) for the first time. When the mounting of the teats 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
Milking by a is started (step # 23).

As milking proceeds, the milking amount per minute (g
If the total amount is less than 0.2 l / min (Step # 24),
At the same time the teat cup 50 is released and the breast pump Aa is retracted (step # 25), the total milking amount of the cow is predicted at that time (the milking amount can be predicted in advance based on past data and the like). It is determined whether it is 80% or more or less (Step # 26). If it is 80% or more, the sixth gate G6
(Step # 27), and move the cow to the feeding ground 1 (see FIG. 2).
(Step # 28), and the cow is returned to the entrance side through the return passage L5 to perform milking again (see FIG. 3).

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

Then, if stationary, the front-back distance L1 between the second nipple Te2 and the third nipple Te3 and the first nipple Te
2 and the oblique distance L2 between the third nipple Te3 and the third nipple Te3 (FIG. 2).
8) and these values are compared with a pre-set (lowest value in the standard range) the front-rear interval L10 and the oblique interval L20 (Step # 33). If the step # 34) is large, a different mounting order [start from the third nipple Te3 having a high degree of freedom in mounting the teat cup 50 corresponding to the third nipple Te3] (step # 34)
35) are performed respectively.

Next, based on the selected order, the teat cup 50 catches up (step # 3).
6) Then, the success or failure of the attachment is determined (step # 37), and if successful, the process proceeds to the catch-up try of the next nipple (second to fourth nipple) (step # 38). It is determined whether or not all four parts have been mounted (step # 39). If the mounting is successful, the flow merges to step # 22 where the sensor robot Ab and the breast pump Aa are united.

If NO in step # 37, a catch-up try is performed again (step # 40), and the number of tries is determined (step # 41). If the cow is not mounted yet, the function of 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 one minute or more is spent in catching operation twice or less in that state (step # 43). And the number of times of sensing by the scanner 56 is increased by one (step # 44),
It is determined whether the number is less than or equal to two (step # 4
5) If it is less than two times, return to step # 20 again and start again from sensing by the scanner 56.

If the number of times of sensing is the third time, the number of tries of the entire sensing starting from the detection of the fourth nipple Te4 by the rough sensor 55 is increased by one (step # 4).
6), it is determined whether or not the number is 5 or less (Step # 47). If it is 5 or less, the process returns to Step # 13 and starts again from the sensing operation of the rough sensor 55. The process proceeds to step # 28 for switching the sixth gate G6, and the cow is placed in the waiting area 6 (first area 2A).
Back to.

The milking of the cow is appropriately performed by the operation of the automatic milking apparatus A as described above. However, for cows that fail to attach and return to the entrance side, The number of failures is identified as identification information. If the number of failures exceeds the set number, such cows are not suitable for automatic milking by the automatic milking apparatus A. As
Thereafter, it is moved to the second area 2B.

As shown in FIG. 43, the automatic milking apparatus A switches between an automatic mounting mode in which a series of mounting operations of the teat cup 50 are automatically performed and a manual operation mode in which the series of mounting operations is performed manually. A changeover switch 84 as a possible changeover means is connected to the first control device 81. When the changeover switch 84 is switched to the manual operation mode,
Movement of breast pump Aa and teat Te of teat cup 50
All lifting movements from 1 to 4 will be done manually. However, since the lifting of the breast pump Aa body after the attachment of the teat cup 50 is heavy (see FIG. 32), when the four teat cups 50 are mounted, only the lifting of the breast pump Aa body is driven.

That is, a waist-folding arm (milking frame)
A posture correcting mechanism M for relatively lowering the unequal side link mechanism (arm) 63 in conjunction with the lifting movement of the 51, and a nipple detection sensor (attachment detecting means) 85 provided inside the teat cup 50 are provided. The first control device 81 links the four nipple detection sensors 85 and the posture correcting mechanism M so that the posture correcting mechanism M operates when the teat cup 50 is mounted.

The posture correcting mechanism M is composed of an elevating mechanism 66 and an elevating cylinder 64. By operating the elevating mechanism 66 and shortening the elevating cylinder 64, the height position of the teat cup 50 is maintained. Thus, the inclination is corrected. Reference numeral V shown in FIG. 43 denotes a moving operation unit that lifts and moves the teat cup 50 so as to fit the teat cup into the nipple. Specifically, the moving operation unit is constituted by an ascending cylinder 64, but drives the entire breast pump Aa up and down. The raising / lowering mechanism 66 can also be said to be a part of the moving operation means V.

In FIG. 43, the first control device 81 includes:
A nipple position update storage unit 86 that stores the nipple position measurement information by the scanner 56 while updating the information is provided as a control program, and the “previous success data” in step # 16 in FIG. It has been captured. That is, based on the presence / absence of success data in the nipple position update storage means 86, step # 15
Is determined, and every time the nipple position is measured by the scanner 56 when the teat cup 50 is successfully mounted, only the latest success data is stored. Even if the changeover switch 84 is in the "manual mode" and the teat cup 50 is fitted into the teat by manual operation, it is regarded as a successful attachment and the success data is taken into the teat position update storage means 86. It is convenient.

In the case of milking cows in the second area 2B, when a predetermined milking time is reached, the operator switches the opening / closing gate G8 to the second state and sequentially turns the cows in the second area. Then, it is moved to the milking room 7 (see FIG. 4). Then, first, the automatic milking by the automatic milking apparatus A is to be executed. At this time, when the automatic milking can be properly executed, the cow is placed in the first area 2A.
To be managed in the original state. For cows that do not properly perform automatic milking, milking is basically performed manually (manually). That is, the changeover switch 84 is switched to the "manual mode", and the teat cup 50 is attached to the nipple of the manual cow by manual operation to execute milking by the breast pump Aa.

[Other Embodiments] (1) In the above embodiment, the first area in which cows suitable for automatic milking live, and the second area in which cows whose automatic milking could not be properly performed live as separation units. Is provided to manage the cows in each area separately. However, the present invention is not limited to such a configuration. For example, as shown in FIG. 44, between the living area 2A and the feeding ground 1A, the feeding ground 1A is provided. From living area 2
A one-way gate 4 that allows only movement to A is provided, and cows freely pass along the one-way circulation path from the living area 2A to the feeding place 1A through the milking place 3 provided with the automatic milking device A. If the automatic milking by the automatic milking device A was not properly performed by allowing the device to move,
A separation section 2B for separating such a cow from other cows is provided (FIG. 45 (a)), and the separated cow is again
The milking place 3 may be configured to return to the feeding place 1A when milking is properly performed (FIG. 45 (b)). For cows that fail automatic milking a plurality of times, for example, an operator may determine the state of each cow at predetermined time intervals and execute milking by manual operation as appropriate.

(2) In the above embodiment, milking tools (teet cups) are manually attached to cows that are not compatible with automatic milking by the automatic milking apparatus, and milking is performed using the automatic milking apparatus. Alternatively, the milking operation may be performed manually.

(3) In the above embodiment, the cow adapted to automatic milking is allowed to move only in one direction from the first area to the feeding place through the milking place, but the feed from the first area is not allowed. So that they can freely come and go to the
It is also possible to adopt a configuration in which only roughage is fed to the feeding ground and concentrated feed is fed to the milking place.

(4) In the above embodiment, when milking is performed by the automatic milking apparatus, a place to feed (the feed box 3)
In 6), the cattle were fed with a concentrated feed that they liked,
Rough feed such as grass may be supplied, or a mixture of rough feed such as grass and concentrated feed may be used.

(5) In the above embodiment, the case where a cow is used as a milking target animal is exemplified. However, the present invention is not limited to a cow, and can be applied to goats and other animals.

[0093] In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is an overall plan view showing a barn layout.

FIG. 2 is a plan view showing a milking place and an arrangement state of each gate and each sensor.

FIG. 3 is a plan view showing a milking place and an arrangement state of each gate and each sensor.

FIG. 4 is a plan view showing a milking place and an arrangement state of each gate and each sensor.

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

FIG. 8 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 9 is an operation diagram showing a linked operation state between a sensor and a gate.

FIG. 10 is a sectional side view showing the structure of a sensor.

FIG. 11 is a front view of a first gate.

FIG. 12 is a plan view showing an opening / closing drive structure of a first gate.

FIG. 13 is a side view of a sixth gate.

FIG. 14 is a plan view showing the structure of a sixth gate.

FIG. 15 is a side view of the first milking room showing the second and third gates.

FIG. 16 is a plan view of the first milking room showing the opening and closing structure of the second and third gates.

FIG. 17 is a side view showing the structure of the ejection device.

FIG. 18 is a plan view showing the structure of an ejection device.

FIG. 19 is a side view showing the breast pump.

FIG. 20 is a plan view showing the breast pump;

FIG. 21 is a side view showing a sensor robot.

FIG. 22 is a plan view showing a sensor robot.

FIG. 23 is a side view of a partially cutaway showing a structure of a mounting portion and a non-mounting portion.

FIG. 24 is a plan view showing a state in which the breast pump and the sensor robot are side by side at the retracted position.

FIG. 25 is a plan view showing the united state of the milking machine and the sensor robot at the retracted position.

FIG. 26 is a plan view showing the automatic milking device in the working posture by projecting and moving.

FIG. 27 is a plan view showing a milking state by the breast pump.

FIG. 28 is a side view of the main part showing the union operation by the descending of the sensor robot.

FIG. 29 is a side view of a main part showing a sensing state of the scanner.

FIG. 30 is a plan view of a main part showing a sensing state by a rough sensor and a scanner.

FIG. 31 is a side view showing a catch-up try of a teat cup.

FIG. 32 is a side view showing the state of lifting the breast pump after attaching the teat cup.

FIG. 33 is a plan view of the milking room showing the front kick prevention device;

FIG. 34 is a side view showing the position of the restraint member.

FIG. 35 is a side view showing a cleaning unit.

FIG. 36 is a diagram showing an algorithm 1 of an operation sequence of the automatic milking apparatus;

FIG. 37 is a diagram showing an algorithm 2 of the operation sequence of the automatic milking apparatus;

FIG. 38 is a diagram showing an algorithm 3 of the operation sequence of the automatic milking apparatus.

FIG. 39 is a diagram showing an algorithm 4 of the operation sequence of the automatic milking apparatus;

FIG. 40 is a plan view showing the principle of measurement by a scanner.

FIG. 41 is a diagram showing an algorithm of nipple detection by a scanner.

FIG. 42 is a view showing the principle of analysis of nipple detection data by a scanner.

FIG. 43 is a control system diagram relating to the mounting of the teat cup.

FIG. 44 is an overall plan view showing a barn layout of another embodiment.

FIG. 45 is an overall plan view showing a barn layout of another embodiment.

[Explanation of symbols]

 1A Feeding ground 2A Living area 2B Separation section 3 Milking place 50 Milking equipment 84 Switching means A Automatic milking device G8 Opening / closing means

Claims (8)

[Claims] 1. An automatic milking apparatus for automatically attaching a milking implement to a nipple for an animal coming to a milking place and for milking is provided, and an animal to be milked can freely come to the milking place. In addition to allowing automatic milking by the automatic milking device, the animal that was not properly performed is separated from the animal that has been properly milked by automatic milking so that the milking can be performed artificially. Milking method. 2. When milking of an animal separated without automatic milking being properly performed by the automatic milking apparatus, automatic milking is performed again by the automatic milking apparatus, and automatic milking is not properly performed. 2. The milking method according to claim 1, wherein the milking is performed artificially. 3. An animal to be milked is an animal that has not been properly milked by the automatic milking apparatus, and an animal that is not suitable for automatic milking, and the animal that has been properly milked is automatically milked. The milking method according to claim 1 or 2, wherein the animals are managed in a divided state as animals conforming to the above. 4. The milking method according to claim 3, wherein animals that have not been properly milked by the automatic milking device for a set number of times or more are classified and managed as animals that do not conform to the automatic milking. 5. In the milking of an animal separated without automatic milking being properly performed by the automatic milking apparatus, automatic milking is performed again by the automatic milking apparatus, and the automatic milking is properly performed. The milking method according to claim 3 or 4, wherein the animal is managed as an animal compatible with the automatic milking. 6. An automatic milking device for automatically milking an animal coming to a milking place is provided, and an animal to be milked can be freely moved from a living area to a milking place where the automatic milking device is installed. It is configured to be able to go to, The automatic milking by the automatic milking device is not properly performed animals, the automatic milking is separated from the properly performed animals to artificially manage and milk. Milking equipment in which a separation section is formed. 7. The automatic milking apparatus according to claim 1, wherein the milking device is mounted on an animal's nipple, an automatic mounting state for automatically mounting the milking device on the nipple, and the milking device is artificially mounted on the nipple. Switching means that can be switched to a manually mounted state to be operated, and the milking device is configured to automatically execute a milking operation in a state of being mounted on the nipple, and the switching means is switched to the manually mounted state. 7. The milking device according to claim 6, wherein the milking device is manually attached to the animal separated by the separation unit, thereby performing artificial milking and performing milking by the automatic milking device. Milking equipment. 8. Between a milking place where the automatic milking apparatus is installed, and the separation unit, a closed state in which animal traffic is prohibited between them, and an open state in which animal traffic is allowed. An artificially switchable opening / closing means is provided, and the opening / closing means is switched to the open state, and the switching means is switched to the manual mounting state to move the animal separated by the separating section to the milking place. The milking facility according to claim 7, wherein milking by the automatic milking apparatus is executable in a state where the milking tool is manually mounted.