Milking system teat cup setting device

Abstract

To improve work efficiency, to improve productivity in accordance with it, to reduce labor of a worker, and to contribute to cost reduction of system construction.SOLUTION: A milking system includes: a teat cup setting part 6 including a support arm part 5 in which one end 5s is provided at a lower part of a vertical support part 2 supported by milking units Ua and the other end 5t is displaceable in a lateral direction Fh; a teat cup retaining function part 14 holding teat cups Tc... which turns receiving opening Tco... to nipple Cb... upward and whose displacement is attained from the predetermined position Ph upwards; a milk collecting function part 17 in which a milk collecting part 39 having a buffer function is fixed and arranged in the other part Pf, and the milk collecting part 39 and each milk outlet Tce... of the teat cups Tc... are connected by milk tubes 44... set to a predetermined length; and a teat cup support mechanism part 7 having an operation mechanism part 8 capable of turning the teat cup set part 6 at a predetermined angle.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a teat cup setting device for a milking system that moves a milking unit to each stall in a tie-up barn to perform milking.

Background Art

[0002] Generally, in a tie-up barn (stanchion barn), a group of stalls in which a large number of stalls are arranged is installed, dairy cows are tied to each stall, and a milking system that automatically moves a milking unit to each stall to perform milking is installed.

[0003] Conventionally, as this type of milking system, a milking system (automatic conveyance device) described in the automatic conveyance method and device of a milking unit in Patent Document 1 and a milking system described in the control method of the milking system in Patent Document 2 are known.

[0004] The automatic conveyance device of Patent Document 1 aims to reduce work labor and improve work efficiency by shortening the work flow line, enhance flexibility and versatility with respect to the number of milking units, and reduce costs and improve assembly by commonalizing parts and assembly. Specifically, a detectable part that can be switched to the detectable side or the non-detectable side is provided corresponding to each branch rail. In advance, the detectable part is switched to the detectable side, and when an arbitrary milking unit travels on the main rail, entry to the branch rail corresponding to the detected detectable part is permitted on the condition that the detectable part is detected, and once the detectable part is detected, the detectable part is switched to the non-detectable side. As a basic configuration, it includes a milking system including a milking unit that can move along a guide rail installed for a plurality of stalls in a tie-up barn.

[0005] Furthermore, the control method for the milking system described in Patent Document 2 aims to enable early detection of abnormalities such as the presence of diseased cows and to enable milking under optimal conditions at all times. Specifically, it enables mutual communication between the communication unit of the milking machine controller mounted on the milking machine and the management communication unit of the management computer. During milking, the milking data obtained from the milk extracted by the milking machine is transmitted from the communication unit of the milking machine controller to the management communication unit of the management computer. The management computer monitors the received milking data, and if it detects an unusual pattern based on a predetermined judgment criterion, it controls the operation during milking that caused the unusual pattern using a predetermined special processing mode corresponding to that unusual pattern. The basic configuration includes a milking system that includes a milking unit (milking machine) that can move along guide rails installed for multiple stalls in a mooring barn. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2005-021045 [Patent Document 2] Japanese Patent Publication No. 2014-233250 [Overview of the project] [Problems that the invention aims to solve]

[0007] However, the conventional milking systems described above also had the following problems that needed to be addressed.

[0008] In other words, in this type of milking system, the milking unit can be moved almost automatically to the milking position located beside the dairy cow to be milked by a mobile unit (self-propelled unit) controlled by a controller, but the work after arriving at the milking position is often performed manually by an operator. As a result, it takes time to start milking, leading to a decrease in work efficiency and consequently a decrease in productivity, as well as an increase in the labor required of the operator, including the task of attaching the teat cup.

[0009] While automating such attachment procedures is technically possible, it fundamentally requires controlling dairy cows with different body shapes and standing positions—that is, dairy cows (animals) with unstable positions. This would complicate the system configuration, requiring advanced position control and large-scale equipment, leading to significant cost increases and the risk of harming the dairy cows. In reality, there are problems that make it difficult to easily adopt such automation.

[0010] The present invention aims to provide a teat cup setting device for a milking system that solves the problems present in the background technology described above. [Means for solving the problem]

[0011] In order to solve the above-mentioned problems, the present invention provides a teat cup setting device 1 for a milking system M that includes at least one milking unit Ua... that is movable along a guide rail R installed for a plurality of stalls St... in a mooring barn 100, and comprises a teat cup setting unit 6 having a support arm 5 with one end 5s provided at the lower part of a vertical support 2 supported by the milking unit Ua and the other end 5t being displaceable in the horizontal direction Fh, and the other end 5t of the support arm 5 having an opening Tco... for the teat Cb... facing upward, The teat cup support mechanism 7 is characterized by comprising: a teat cup holding function unit 14 that holds a plurality of teat cups Tc… that can be freely displaced upward from a predetermined position Ph; a milk collection function unit 17 which is configured by fixing a milk collection unit 39 having a buffer function to another part Pf spaced apart from the other end 5t of the support arm unit 5, and connecting the milk outlets Tce… of each teat cup Tc… with milk tubes 44… set to a predetermined length; and an operating mechanism unit 8 which allows the teat cup set unit 6 to rotate to a predetermined angle.

[0012] In this case, according to a preferred embodiment of the invention, the milk collection section 39 of the milk collection function unit 17 can be fixed to one end 5s of the support arm section 5. Furthermore, the milk collection function unit 17 connects each milk tube 44... led out from the milk outlet Tce... to the milk collection section 39 via an inverted U-shaped curved section 44r..., and it is desirable that the height Lr from the lowest end position Pd of the milk tube 44... to the uppermost end position Pu of the inverted U-shaped curved section 44r... and the height Lb from the lowest end position Pd to the lower end position Pb of the teat Cb... during milking be set such that Lb > Lr. In addition, it is desirable that the milk collection function unit 17 connects buffers 38... to suppress vacuum fluctuations during milking at intermediate positions of each milk tube 44... between the lowest end position Pd and the milk outlet Tce.... On the other hand, it is desirable that the milking system M be provided with a moving means Fm for moving the milking unit Ua to a set milking position Pc located to the side of the dairy cow C to be milked. Furthermore, the vertical support section 2 can be configured with a vertical support shaft section 2s that contacts the side surface of the dairy cow C and can detect the side surface position Cp or Cq. In addition, when configuring the operating mechanism section 8, it may be configured with a power driving means 15 that includes a teat cup rotation drive unit 15f that can rotate at least the teat cup set section 6, or it may be configured with a manual operating means 16 that allows at least the teat cup set section 6 to rotate by manual operation. [Effects of the Invention]

[0013] The teat cup setting device 1 of the milking system M according to the present invention, which has such a configuration, produces the following remarkable effects.

[0014] (1) The setting work up to the moment before attaching the teat cups Tc… to the teats Cb… of dairy cow C can be performed easily and accurately. This shortens the time until milking can begin, improving work efficiency and productivity, and also contributes to a significant reduction in the labor of the worker, including the work of attaching the teat cups Tc…. In addition, since it eliminates the need to build a large-scale automated system, it contributes to a significant reduction in costs, and can be provided as an optimal milking system (teat cup setting device 1) that balances both cost reduction and labor reduction.

[0015] (2) The position of the milk collection unit 39, which has a buffer function, is fixed, and the milk tubes 44... are set to a predetermined length, thus eliminating the disadvantage of the teat cups Tc... and the milk claws imposing a large downward load on the teat Cb... during milking, as in the conventional method. In other words, lining slip of the teat cups Tc during milking can be greatly reduced, and even if lining slip occurs, the length of the milk tubes 44... and the buffering effect of the milk collection unit 39 prevent the impact on the remaining milk tubes 44..., specifically the droplets phenomenon, and greatly reduce adverse effects on the teat Cb.... In addition, the degree of freedom of displacement of each teat cup Tc... relative to the teat Cb... can be increased.

[0016] (3) In a preferred embodiment, if the milk collection section 39 of the milk collection function section 17 is fixed to one end 5s of the support arm section 5, the length of the milk tubes 44... can be easily secured, and even if each teat cup Tc... is displaced by rotation, the length and position (angle) of the milk tubes 44... will not change, thus enabling stable milking.

[0017] (4) In a preferred embodiment, when configuring the milk collection function unit 17, each milk tube 44... led out from the milk outlet Tce... is connected to the milk collection unit 39 via an inverted U-shaped curved section 44r..., and the height Lr from the lowest end position Pd of the milk tube 44... to the uppermost end position Pu of the inverted U-shaped curved section 44r... and the height Lb from the lowest end position Pd to the lower end position Pb of the teat Cb... during milking are set such that Lb > Lr, thereby increasing the degree of freedom in routing each milk tube 44..., the length of each milk tube 44... can be set without being affected by the length of the support arm section 5, the potential energy of the milk flow can be suppressed, and the range of vacuum fluctuations during milking can be suppressed.

[0018] (5) In a preferred embodiment, the milk collection function unit 17 can be provided with an auxiliary buffer function for each teat cup Tc by connecting buffers 38 to the middle of each milk tube 44 between the lowest end position Pd and the milk outlet Tce, thereby suppressing fluctuations in the vacuum during milking. This allows each teat cup Tc to function as an independent buffer that does not interfere with other teat cups Tc.

[0019] (6) In a preferred embodiment, if the milking system M is provided with a moving means Fm for moving the milking unit Ua to a set milking position Pc located to the side of the dairy cow C to be milked, the unit can be automatically moved to the milking position Pc, and thereafter the operator can quickly perform setting work using the teat cup setting device 1.

[0020] (7) In a preferred embodiment, if the vertical support portion 2 is configured with a vertical support shaft portion 2s that can contact the side surface of the dairy cow C to detect the side surface position Cp or Cq, then the side surface position Cp or Cq can be detected simply by directly contacting the vertical support shaft portion 2s with the side surface of the dairy cow C, thus providing excellent low cost and ease of implementation when detecting the position of the dairy cow C.

[0021] (8) In a preferred embodiment, when configuring the operation mechanism unit 8, if it is configured by power driving means 15 including a teacup turning drive unit 15f that can turn at least the teacup set unit 6, sequence control can be easily performed by a controller or the like. Therefore, labor can be reduced and work efficiency can be improved, and it can be realized with a relatively simple control system.

[0022] (9) In a preferred embodiment, when configuring the operation mechanism unit 8, if it is configured by manual operation means 16 that can turn at least the teacup set unit 6 by manual operation, power means becomes unnecessary. Therefore, it can contribute to further simplification of the configuration and reduction of costs, and can also contribute to energy reduction.

Brief Description of the Drawings

[0023] [Figure 1] Partial cross-sectional front view showing the configuration of the main part of the teacup setting device according to the preferred embodiment of the present invention, [Figure 2] Partial front view showing a state where one teacup provided in the teacup setting device is attached to a teat, [Figure 3] Plan view of the teacup holding function unit provided in the teacup setting device, [Figure 4] Principle configuration diagram of the teacup setting device, [Figure 5] Principle explanatory diagram comparing the present embodiment and the conventional example of the teacup setting device, [Figure 6] Bar graph showing the relationship between the number of teacups attached and the average load (per teat) of the present embodiment and the conventional example of the teacup setting device, [Figure 7] Rear configuration diagram in a stall when using the power driving means of the milking system provided with the teacup setting device, [Figure 8] Plan view of the teacup setting device, [Figure 9]Side view of the milking unit when in use, including the teat cup setting device. [Figure 10] A plan view diagram showing the entire milking system. [Figure 11] A flowchart explaining the operation of the tea cup setting device during setup. [Figure 12] A flowchart explaining the operation of the teat cup setting device at the end of milking. [Figure 13] A schematic diagram of the milking position of the teat cup setting device. [Figure 14] A schematic diagram of the setting operation using the teat cup setting device. [Figure 15] A schematic diagram of other setting operations using the same teat cup setting device. [Figure 16] A schematic diagram of other setting operations using the same teat cup setting device. [Figure 17] Rear view of a stall in a modified milking system using a manual operating means equipped with the same teat cup setting device. [Modes for carrying out the invention]

[0024] Next, preferred embodiments of the present invention will be described in detail with reference to the drawings.

[0025] First, the schematic configuration of the milking system M equipped with the teat cup setting device according to this embodiment will be described with reference to Figures 7-10.

[0026] Figure 10 shows a schematic plan view of the milking system M installed in the mooring barn 100. The mooring barn 100 is equipped with a group of stalls G arranged in a number of stalls St…, and dairy cows C… are moored in each stall St…. Above the group of stalls G, a guide rail R is installed along the group of stalls G. The guide rail R comprises a main rail Rm arranged along the group of stalls G, and a number of branch rails Rs… that branch perpendicularly from the main rail Rm at an intermediate position and are arranged between the stalls St…. In this case, one branch rail Rs… is placed between each row of stalls St…, that is, two stalls St… are placed between adjacent branch rails Rs and Rs…. At least one milking unit Ua…, for example, two milking units Ua, Ub are loaded onto the guide rail R, and each milking unit Ua, Ub can be moved along the guide rail R to a predetermined target position Pc.

[0027] Therefore, these devices constitute the moving means Fm in this embodiment, which moves the milking units Ua... to a set milking position Pc located to the side of the dairy cow C to be milked. Since the milking units Ua... can be automatically moved to the milking position Pc by this moving means Fm, the operator can then quickly perform setting work using the teat cup setting device 1.

[0028] Note that 200 indicates a feeding system installed in front of the stall group G, along the stall group G. This feeding system 200 comprises a feeding rail 210 positioned above and in front of the stall group G, and a feeder 220 that moves along the feeding rail 210. This feeding system 200 allows the feeder 220 to be automatically moved to each stall St… for feeding. Bs indicates the feed administered by the feeder 220.

[0029] Furthermore, the milk line 51 and vacuum line 52 shown in Figure 9 are positioned in front of the leading edge of the branch rail Rs… in the milking system M. The milk line 51 and vacuum line 52 are arranged along the stall St…, and a milk tap 53 is provided opposite each branch rail Rs… to which the distributor 22 of the milking unit Ua… (described later) is connected.

[0030] On the other hand, the milking unit Ua (and the other milking units Ub) that moves along the guide rail R is equipped with a self-propelled moving part 21 loaded onto the guide rail R. The aforementioned distributor 22 is provided at the tip of the moving part 21. This moving part 21 is equipped with a motor-driven driving unit 21m and a control box 21c including a drive battery, etc. In this case, stopping and controlling the direction of movement of the moving part 21 is performed by a detection unit (detection sensor) provided on the moving part 21 detecting a detected part placed at a predetermined position on the guide rail R. This makes it possible to automatically move each milking unit Ua... to each stall St.... The driving control is performed based on the control function installed in the controller E (see Figure 7). Therefore, at least some of the control data is transferred from the controller E to the control box 21c in each milking unit Ua....

[0031] Furthermore, the mobile unit 21 is equipped with a pair of milking units 23a and 23b suspended on both sides, specifically on the left and right sides of the control box 21c, as shown in Figure 8. One milking unit 23a (and the other milking unit 23b) includes, as shown in Figure 9, a milking unit body 24 including a pulsator device and a display unit (operating unit), four teat cups Tc... to be attached to each teat Cb... of the dairy cow C, a milk yield meter 25, etc.

[0032] Then, the pair of left and right teat cup setting devices 1… according to this embodiment are mounted using the other available space on the movable unit 21, specifically the side panels 21cp and 21cq on the left and right sides of the control box 21c. The left and right teat cup setting devices 1,1 have the same configuration except that their positions are symmetrical.

[0033] Next, the configuration of one teat cup setting device 1 according to this embodiment will be described with reference to Figures 1-9.

[0034] As shown in Figure 7, the teat cup setting device 1 has a basic configuration comprising: a teat cup set section 6 having a support arm section 5 with one end 5s at the bottom of a vertical support section 2 supported by a milking unit Ua and the other end 5t being displaceable in the horizontal direction Fh; a teat cup holding function section 14 at the other end 5t of the support arm section 5 that holds a plurality of teat cups Tc... with their receiving openings Tco... facing upward for the teats Cb... and being displaceable upward from a predetermined position Ph; a milk collection section 39 having a buffer function and fixed to another part Pf spaced apart from the other end 5t of the support arm section 5; a milk collection function section 17 connecting the milk collection section 39 and each milk outlet Tce... of the teat cups Tc... by milk tubes 44... set to a predetermined length; and a teat cup support mechanism section 7 having an operating mechanism section 8 that allows the teat cup set section 6 to rotate to a predetermined angle.

[0035] In this case, the support mechanism 3 is supported by the milking unit Ua and has the function of supporting the vertical support section 2 so that it can be raised and lowered. As shown in Figure 7, it includes a shaft lifting drive unit 15v fixed to one side panel 21cp of the control box 21c. Furthermore, a support block 32 is provided at the lower end of the lifting rod 15vr, which is raised and lowered by this shaft lifting drive unit 15v, to support a horizontal rod 32r that can be displaced left and right. In addition, one end of the horizontal rod 32r (on the cow C side) supports the vertical support section 2 which has an axis in the vertical direction. In this case, the support block 32 incorporates a horizontal movement drive unit 33 using a motor or the like, and this horizontal movement drive unit 33 can displace the horizontal rod 32r in the left and right directions. The above configuration constitutes the support mechanism 3, which is supported by the milking unit Ua and supports the vertical support section 2 so that it can be raised and lowered.

[0036] Furthermore, the vertical support section 2 is composed of a vertical support shaft section 2s that can contact the side surface of the dairy cow C to detect the lateral position Cp or Cq. By configuring the vertical support section 2 with such a vertical support shaft section 2s, the lateral position detection section 9 can be configured to detect the lateral position Cp or Cq simply by directly contacting the vertical support shaft section 2s with the side surface of the dairy cow C, thus offering excellent low cost and ease of implementation.

[0037] As shown in Figure 7, the vertical support shaft section 2s is configured as a connecting structure in which an upper shaft section 2u and a lower shaft section 2d are connected via a connecting support section 11 in the axial direction Fs. The upper shaft section 2u and the lower shaft section 2d are configured such that relative displacement in the vertical direction is restricted, while relative displacement in the rotational direction is permitted. Specifically, the upper shaft section 2u protrudes vertically upward from the upper end of the cylindrical connecting support section 11, and the lower shaft section 2d protrudes vertically downward from the lower end of the connecting support section 11. The upper half of the interior of the connecting support section 11 houses an upper rotation drive section 34, which allows the upper shaft section 2u to rotate and displace, while the lower half of the interior of the connecting support section 11 houses a teat cup swivel drive section 15f, which allows the lower shaft section 2d to rotate and displace.

[0038] With this configuration, the upper shaft portion 2u or the lower shaft portion 2d can be rotated independently, and the displacement of the upper shaft portion 2u can be directly transmitted to the lower shaft portion 2d. This allows for the provision of a height-direction position detection unit 4 (described later) on the upper end 2us side or lower end side of the vertical support shaft portion 2s, or a teat cup set portion 6 (described later) on the lower shaft portion 2d, thereby simplifying the configuration while enhancing multifunctionality.

[0039] In this example, the upper shaft portion 2u of the vertical support shaft portion 2s is configured as a height-direction position detection unit 4. That is, as shown in Figure 7, it is configured by a detection horizontal bar 12 provided at the upper end of the upper shaft portion 2u. The detection horizontal bar 12 has one end 12s provided at the upper end of the upper shaft portion 2u, and the other end 12t extends horizontally in the direction Fh to a predetermined length that can contact the upper end position Cu of the dairy cow C.

[0040] This allows the system to be implemented simply by adding a detection horizontal bar 12 that can be formed into a simple shape, offering advantages in terms of low cost and ease of implementation. Furthermore, since the vertical support shaft section 2s can be used for both the lateral position detection section 9 and the height position detection section 4, the number of parts related to the detection system can be reduced, resulting in a more compact and cost-effective overall system, while also enabling more accurate acquisition of the position information of the dairy cow C. In Figure 7, Xp indicates the pad section that contacts the dairy cow C and is provided on the bottom surface of the detection horizontal bar 12.

[0041] Furthermore, a pad portion Xq is provided on the circumferential surface of the cylindrical connecting support portion 11 to contact the side surface of the dairy cow C. As a result, the connecting support portion 11, which is part of the vertical support shaft portion 2s, also serves as a lateral position detection unit 9 for detecting the lateral position Cp or Cq of the dairy cow C.

[0042] On the other hand, a teat cup support mechanism 7 is provided at the lower part of the vertical support shaft portion 2s, that is, at the lower end of the lower shaft portion 2d, as shown in Figure 7.

[0043] Figures 1-6 show the specific configuration and function of the teat cup support mechanism 7. The configuration and function of the teat cup support mechanism 7 will be described in detail below with reference to Figures 1-6.

[0044] The teat cup support mechanism 7 includes a teat cup set section 6 having a support arm section 5 extending horizontally Fh with one end 5s rotatably positioned at the lower end of the lower shaft section 2d; a teat cup holding function section 14 at the other end 5t of the support arm section 5 that holds a plurality (usually four) of teat cups Tc... with their receiving openings Tco... for the teats Cb... facing upward and freely displaceable upward from a predetermined position Ph; a milk collection function section 17 having a milk collection section 39 fixedly positioned at another part Pf spaced apart from the other end 5t of the support arm section 5, and connecting the milk outlets Tce... of each teat cup Tc... with milk tubes 44... set to a predetermined length; and an operating mechanism section 8 that allows the teat cup set section 6 to rotate to a predetermined angle.

[0045] As shown in Figure 1, the example support arm portion 5 is formed in a crank shape by providing two bends, and a vertical support post 36 is fixed to the tip (other end 5t) of this support arm portion 5. Furthermore, a mounting support portion 41 is fixed on the support post 36 between the other end 5t of the support arm portion 5 and the upper end of the support post 36, thereby forming the teat cup holding function portion 14.

[0046] Then, on the upper surface of the mounting support portion 41, four ring-shaped teat cup regulating portions 37… shown in Figures 1 and 3 are arranged to correspond to the four corners of the rectangle and are fixed with fixing screws 42…. At the same time, the upper ends of four suspension members 43… using chains or the like, as shown in Figure 1, are attached to the positions corresponding to each teat cup regulating portion 37… on the lower surface of the mounting support portion 41. In this case, the center positions of the four teat cup regulating portions 37… correspond to the positions of the four teats Cb… on the dairy cow C.

[0047] Furthermore, as shown in Figure 1, four teat cups Tc… are arranged inside the teat cup regulating section 37…, and the lower end of the aforementioned suspension member 43… is attached, in this example, near the nipple outlet Tce… of each teat cup Tc…. This ensures that the intermediate position (or slightly higher position) of each teat cup Tc… is positioned at the location of the teat cup regulating section 37…. As a result, in the natural state where the teat cups Tc… are not being operated, as shown in Figure 1, the receiving opening Tco… for the nipple Cb… of the teat cup Tc… faces upward, is suspended from the mounting support section 41 by the suspension member 43…, and is held at a predetermined position (predetermined height) Ph, while the intermediate position of the teat cup Tc… is restricted from lateral displacement by the teat cup regulating section 37…. As a result, each teat cup Tc… can be freely displaced upward from its predetermined position Ph. Furthermore, the concept of the receiving opening Tco... being facing upwards includes situations where the teat cup Tc... is tilted to prevent the accumulation of dirt due to contact with the dairy cow C.

[0048] With the teat cup support mechanism 7 configured in this way, at the target position where the teat cup set section 6 has been moved, each teat cup Tc… can be attached to the nipple Cb… simply by displacing them upward. This reduces the complex work required of the operator, thereby simplifying and speeding up the teat cup attachment process.

[0049] In this example, one end 5s of the teat cup set section 6 is rotatably positioned at the lower part of the vertical support section 2, and the other end 5t is configured with a support arm section 5 extending in the horizontal direction Fh. However, basically, one end 5s is provided at the lower part of the vertical support section 2 supported by the milking unit Ua, and the other end 5t is configured with a support arm section 5 that is displaceable in the horizontal direction Fh. Other examples include a bellows arm that extends and retracts in the horizontal direction Fh.

[0050] Furthermore, a milk collection unit 39 with a buffer function is attached to another part Pf spaced apart from the other end 5t of the support arm 5. Specifically, as shown in Figure 1, it is attached and fixed to one end 5s of the support arm 5. By fixing the milk collection unit 39 to one end 5s of the support arm 5 in this way, the length of the milk tubes 44… described later can be easily secured, and even if each teat cup Tc… is displaced by rotation, the length and position (angle) of the milk tubes 44… will not change, thus enabling stable milking.

[0051] The milk collection unit 39 and the milk outlets Tce… of each teat cup Tc… are connected by milk tubes 44… set to a predetermined length. In this case, the raw milk sent from the four teat cups Tc… will converge in the milk collection unit 39, so when selecting the milk collection unit 39, sufficient volume should be ensured. One end of each of the four milk tubes 44… is connected to the milk outlet Tce… of each teat cup Tc…, and the other end of each milk tube 44… is connected to one of the four inlets (inlets) provided on the upper surface of the milk collection unit 39. On the other hand, one end of a relatively large-diameter milk hose 40, which sends out the raw milk contained in the milk collection unit 39, is connected to a single outlet (outlet) at the lower end of the milk collection unit 39, and the other end of this milk hose 40 is connected to the inlet of the milk meter 25, as shown in Figure 9. This configuration, unlike conventional configurations where each milk outlet Tce... of each milk tube 44... is connected to the milk claw by a relatively short tube, increases the degree of freedom related to the displacement of each teat cup Tc... relative to the teat Cb....

[0052] Furthermore, each milk tube 44... constituting the milk collection function unit 17 is connected to one of the four inlets in the milk collection unit 39 via an inverted U-shaped curved section 44r..., as shown in Figure 1. In this case, as shown in Figure 4, if the height from the lowest end position Pd of the milk tube 44... to the uppermost end position Pu of the inverted U-shaped curved section 44r... is Lr, and the height from the lowest end position Pd to the lower end position Pb of the teat Cb... during milking is Lb, it is desirable to set the relationship to "Lb > Lr". This increases the degree of freedom in routing each milk tube 44..., allowing the length of each milk tube 44... to be set without being affected by the length of the support arm 5, and also suppresses the potential energy of the milk flow and reduces the range of vacuum fluctuations during milking.

[0053] Furthermore, as shown in Figures 1 and 2, buffers 38 are connected to the intermediate positions of each milk tube 44 between the lowest position Pd and the milk outlet Tce… to suppress fluctuations in the vacuum during milking. This allows each teat cup Tc… to have an auxiliary buffer function, enabling it to function as an independent buffer that does not interfere with other teat cups Tc…. The milk collection unit 17 is formed by the milk collection unit 39 from these milk tubes 44….

[0054] This teat cup support mechanism 7 has a fixed position for the milk collection section 39 which has a buffer function, and milk tubes 44... set to a predetermined length. Therefore, unlike conventional designs, the entire teat cup Tc... and the milk claw do not impose a downward load on the teat Cb... during milking. In other words, lining slip of the teat cup Tc during milking can be prevented, and even if lining slip occurs in one teat cup Tc, the length of the milk tubes 44... and the buffering effect of the milk collection section 39 significantly reduce the impact on the remaining milk tubes 44... and further, the adverse effects on the teat Cb..., thereby preventing the droplets phenomenon.

[0055] The reason for this will be explained with reference to Figures 5 and 6. Figure 5(a) shows the principle configuration of the teat cup Tc... and milk collection function unit 17 according to this embodiment, and Figure 5(b) shows the principle configuration of the teat cup Tc... and milk collection function unit 17r (milk claw Rc) according to a conventional example. Figures 5(a) and (b) each show a state in which one teat cup Tc has detached from the teat Cb of the dairy cow C by a lining slip.

[0056] In the embodiment shown in Figure 5(a), since each teat cup Tc… is essentially independent, there is almost no interference with other teat cups Tc… when they are attached. In contrast, in the conventional example shown in Figure 5(b), the entire milk collection function unit 17r, including the milk claw Rc, is attached to the teat cup Tc….

[0057] Figure 6 shows a bar graph comparing this embodiment with a conventional example of the same teat cup setting device, illustrating the relationship between the number of teat cups installed and the average load (per nipple). As is clear from the figure, in this embodiment, since each teat cup Tc... is independent, the load applied to each nipple Cb... remains around 350-420 [g] regardless of the number of teat cups installed, and does not change significantly. In contrast, in conventional cases, the load applied to each nipple Cb... changes significantly depending on the number of cups installed. In the case of four cups, that is, when four teat cups Tc... are properly installed on all four nipples Cb..., the load applied to each nipple Cb... is approximately 400 [g]. However, as the number of installed cups decreases, the load increases, and when only one cup is installed, the load applied to the nipple Cb becomes approximately 1800 [g], which is about 4.5 times higher than when all four cups are installed, significantly increasing the risk of lina slip and droplets.

[0058] The teat cup setting device 1, having the basic configuration described above, includes an operating mechanism 8 that allows the teat cup setting unit 6 to rotate to a predetermined angle in response to the detection result of the lateral position detection unit 9. Specifically, the operating mechanism 8 includes a power drive means 15 that includes at least a teat cup rotation drive unit 15f capable of rotating the teat cup setting unit 6. Furthermore, the vertical support shaft unit 2s can be raised and lowered by the operation of the shaft lifting drive unit 15v in this power drive means 15, allowing it to be moved to a predetermined height. With this configuration, sequence control can be easily performed by a controller or the like, thereby reducing labor and improving work efficiency, and it can be realized with a relatively simple control system.

[0059] Next, the overall operation of the milking system M according to this embodiment, which includes such a teat cup setting device 1, will be explained in accordance with the flowcharts shown in Figures 11 and 12, with reference to Figures 7-10 and 13-16.

[0060] Figure 11 is a flowchart illustrating the operation of the teat cup setting device 1 during setting, and Figure 12 is a flowchart illustrating the operation of the teat cup setting device 1 at the end of milking.

[0061] Now, let's assume that the milking unit Ua is waiting in the home position on the guide rail R (step S01). During milking, command data related to the order of the stalls St... to be milked is transmitted from the controller E to the control box 21c of the milking unit Ua. Based on this command data, the milking unit Ua travels along the guide rail R and moves to the target stall St, i.e., the target milking position Pc (steps S02, S03).

[0062] Once the target milking position Pc is reached, the teat cup setting device 1 performs its setting operation. Figure 13 shows the state of the milking unit Ua at the milking position Pc. The setting procedure shown is an example and is not limited to this procedure. Before setting, the support block 32 is raised to its highest position, and the vertical support shaft 2 and support block 32 are moved to their closest positions, releasing them into a compact state that does not obstruct movement. The setting operation is, for example, a series of operations, i.e., a control program performed by sequence control is set in the control box 21c.

[0063] In the milking position Pc, first, as shown in Figure 14, the horizontal movement mechanism 33 of the support block 32 is driven and controlled to move the vertical support shaft 2 toward the dairy cow C (step S1). As a result, when the connecting support portion 11 of the vertical support shaft 2 comes into contact with the side of the dairy cow C, i.e., the side position Cp, the movement is stopped (step S2). In this case, the side of the other dairy cow C is the side position Cq. Next, the detection horizontal bar 12 is rotated 90° by driving and controlling the upper rotation drive unit 34 (step S3). The detection horizontal bar 12 in this state is shown by a dashed line in Figure 15. Note that the 90° rotation range is just an example, and it can be set to any angle range.

[0064] Next, the shaft lifting drive unit 15v is driven and controlled to displace the support block 32 downward (step S4). Then, as shown by the solid line in Figure 15, the detection horizontal bar 12 detects the upper end position Cu of the dairy cow C, that is, when the detection horizontal bar 12 comes into contact with the upper end position Cu of the dairy cow C, the descent is stopped (step S5). In this case, the vertical distance Ls between the detection horizontal bar 12 and the teat cup set unit 6 is set to a predetermined distance Ls (see Figure 16) so that the upper end position Cu of the dairy cow C is at a predetermined height below the abdomen of the dairy cow C. Therefore, when the detection horizontal bar 12 comes into contact with the upper end position Cu of the dairy cow C, the vertical distance between the teat cup set unit 6 and the teat Cb becomes a predetermined optimal distance Lc.

[0065] Note that detecting the upper end position Cu using the detection horizontal bar 12 is not a mandatory detection element. For example, it is possible to set it based on pre-registered individual data for dairy cow C. When using the detection vertical bar 13, as shown in the modification example described later, detection of the upper end position Cu becomes unnecessary.

[0066] Next, the teat cup rotation drive unit 15f is driven and controlled to rotate the support arm unit 5 by 90° (step S6). In this case, the 90° rotation range is just an example, and it can be set to any angle range corresponding to the position of the milking position Pc, etc. As a result, the state shown in Figure 16 is achieved, with the teat cup set unit 6 positioned almost directly below the teat Cb at the optimal height, and the four teat cups Tc... provided in the teat cup set unit 6 are set with their upper openings facing upward. With this, the series of setting operations is completed.

[0067] After the setting operation is complete, the milking operator turns on the milking start switch located on the milking unit 23a (step S7). This opens the buffer 38, allowing suction to be performed from the teat cups Tc..., so the operator attaches the four teat cups Tc... to the teats Cb... in order (step S8). Once all the teat cups Tc... have been attached, the milking process is performed (steps S9, S10). Figures 7 and 9 show the state with all the teat cups Tc... attached.

[0068] During milking, the extracted raw milk flows from the four teat cups Tc… through the buffer 38 into the milk collection unit 39, as shown in Figure 7. The raw milk in the milk collection unit 39 is then supplied to the milk line 51 via the milk collection tube 40, milk volume meter 25, and distributor 22. When the conditions for ending milking are met, such as when the flow rate of raw milk falls below the standard flow rate, the milking process is terminated (step S11). As a result, each teat cup Tc… detaches from the teat Cb… by its own weight and falls, and the teat cup detachment process is performed, in which the teat cups are held by the aforementioned holding function unit 14 (step S12). That is, each teat cup Tc… is suspended by the support post 36 and its position is regulated by the teat cup regulating unit 37, returning it to the state before attachment as shown in Figure 13. With the above, the main milking process (routine step SA) is completed, and the milking termination process (routine step SB) is then performed.

[0069] Figure 12 shows a flowchart illustrating the operations involved in the milking completion process (routine step SB).

[0070] Since the operation of this routine step SB can be basically automated, the routine step SB can be executed automatically once the completion of the milking process is detected.

[0071] On the other hand, once the milking process is complete, for example, by turning on (flashing) the milking completion lamp, the operator can check the condition of the dairy cow C, and then by turning on the release switch of the milking unit 23a, the subsequent release process can be performed automatically.

[0072] In this case, first, the teat cup rotation drive unit 15f is driven and controlled to rotate the support arm unit 5 90° back. As a result, the teat cup set unit 6 is returned to the solid line position shown in Figure 15 (step S21). Next, the shaft lifting drive unit 15v is driven and controlled to raise the support block 32, and at the same time, the horizontal movement mechanism unit 33 is driven and controlled to displace the support block 32 in a direction away from the dairy cow C. Furthermore, the upper rotation drive unit 34 is driven and controlled to rotate the detection horizontal bar 12 90° in the return direction. As a result, the vertical support shaft 2 can be returned to the state before setting shown in Figure 13 (steps S22, S23, S24).

[0073] When the milking process by the milking unit Ua is complete, a return process is performed to move it back to the home position of the guide rail R (steps S25, S28).

[0074] On the other hand, when the milking unit Ua performs the next milking process, it moves to the corresponding stall St, which is the next target (steps S25, S26). Then, upon arriving at the next milking position Pc, the main milking process (routine step SA) described above is executed (steps S27, SA). That is, the main milking process (routine step SA) shown in Figure 11 can be executed.

[0075] The above describes the case in which the teat cup setting device 1 is configured with a power drive means 15. However, this teat cup setting device 1 can also be configured with a manual operation means 16, as shown in the modified example described later.

[0076] Next, an example of a modification related to the teat cup setting device 1 will be explained with reference to Figure 17.

[0077] Figure 17 shows a modified teat cup setting device 1 using a manual operating means 16. The manual operating means 16 in the modified example includes a mounting frame 61 fixed using the external case of the control box 21c of the milking unit Ua, a rectangular first frame 63 in which one vertical frame member 63u is rotatably supported by a pair of upper and lower rotating support parts 62, 62 fixed to the vertical frame member 61v of the mounting frame 61, a rectangular second frame 65 in which one vertical frame member 65u is rotatably supported by a pair of upper and lower rotating support parts 64, 64 fixed to the other vertical frame member 63v of the first frame 63, and a rectangular third frame 67 in which one vertical frame member 67u is rotatably supported by a pair of upper and lower rotating support parts 66, 66 fixed to the other vertical frame member 65v of the second frame 65.

[0078] In this case, the third frame 67 functions as a vertical support shaft 2s, so the support mechanism from the mounting frame 61 to the third frame 67 functions as a support mechanism 3 that is supported by the milking unit Ua and supports the vertical support shaft 2s so that it can move up and down. The vertical support shaft 2s can be moved forward and backward relative to the dairy cow C by the bellows extension and contraction of this support mechanism 3, and the vertical support shaft 2s can be moved up and down by the rotating support parts 66, 66.

[0079] Furthermore, the upper end of the third frame 67 is provided with one end 12s and the other end 12t extending horizontally in the direction Fh to integrally provide a detection horizontal bar 12 of a predetermined length that can contact the upper end position Cu of the dairy cow C. In this case, the other end 12t is provided with a pair of left and right contact parts 12tp, 12tp that contact the upper end position of the dairy cow C. As a result, the detection horizontal bar 12 shown in Figure 17 functions as a height-direction position detection unit 4 for detecting the upper end position Cu of the dairy cow C by being provided on the upper end 2us side of the vertical support shaft 2s. With this configuration, two positions can be detected, and since it can contact the upper end by sandwiching the left and right sides, it can follow the movement of the dairy cow C, thus enabling more accurate and stable detection (indirect detection) of the upper end position Cu.

[0080] On the other hand, the lower part of the vertical support shaft portion 2s is provided with a teat cup support mechanism portion 7, to which one end 5s of the support arm portion 5 is rotatably positioned, and the other end 5t extending in the horizontal direction Fh is provided with a teat cup set portion 6 equipped with teat cups Tc.... In the third frame 67, one vertical frame member 67u, which is rotatably supported, functions as the substantial vertical support shaft portion 2s, while the other vertical frame member 67v functions as a shaft that abuts against the side of the dairy cow C. Note that 68s, 68s indicate reinforcing frame members.

[0081] Figure 17 shows the basic frame configuration, and various support mechanisms may be added as needed to assist with operation. For example, auxiliary mechanisms such as damper mechanisms with springs may be provided to mitigate impact on dairy cows C, or auxiliary mechanisms such as air cylinders operated by a switching mechanism may be provided to assist with operation, thereby further reducing the workload of the operator.

[0082] Therefore, as described above, an operating mechanism 8 is configured that allows the vertical support shaft 2s to move to a predetermined height in accordance with the detection result of the height direction position detection unit 4, and allows the teat cup set unit 6 to rotate to a predetermined angle, and can function as a manual operating means 16. By configuring the operating mechanism 8 in this way, which allows the vertical support shaft 2s to be raised and lowered by manual operation and the teat cup support unit 6 to be rotated by manual operation as a manual operating means 16, a power means is not required, which can contribute to further simplification of the configuration and reduction of costs, as well as energy reduction.

[0083] Furthermore, Figure 17 (Figure 16) includes an example of a modification to the height-direction position detection unit 4 in the teat cup setting device 1. Specifically, when configuring the height-direction position detection unit 4, it is also possible to provide a detection vertical bar 13 by extending the lower end of the vertical support shaft 2s downward for a predetermined length, as shown by the dashed line in Figure 17 (Figure 16). With this configuration, the target height can be detected without the height-direction position detection unit 4 directly contacting the dairy cow C, thus enabling accurate and stable detection without interference from the movement of the dairy cow C.

[0084] In particular, by using the detection vertical bar 13, the function of the upper shaft portion 2u as an effective height-direction position detection unit 4 becomes unnecessary. Therefore, as shown in Figure 17, a detection horizontal bar 12 having a pair of left and right contact portions 12tp, 12tp can be provided at the upper end of the vertical support shaft 2. These contact portions 12tp, 12tp can be given the function of gripping the upper end of the dairy cow C, thereby suppressing the lateral displacement of the dairy cow C. In this case, since it does not have the function of a height-direction position detection unit 4, it is also possible to configure it to be vertically displaceable relative to the detection horizontal bar 12, as shown by dashed lines in Figure 17, and to interpose a spring 12b between the detection horizontal bar 12 and the contact portions 12tp, 12tp to absorb the vertical displacement of the dairy cow C.

[0085] Therefore, according to the milking system M of this embodiment, the basic configuration includes a teat cup set section 6 having a support arm section 5 extending horizontally Fh, with one end 5s rotatably positioned at the lower part of a vertical support section 2 supported by a milking unit Ua, and the other end 5t of the support arm section 5 having a teat cup holding function section 14 that holds a plurality of teat cups Tc... with their receiving openings Tco... for the teats Cb... facing upward and being displaceable upward from a predetermined position Ph, and the other end 5t of the support arm section 5 The milk collection function unit 17 is configured by fixing a milk collection unit 39 with a buffer function to another part Pf spaced apart from the teat, and connecting the milk outlets Tce... of the teat cups Tc... with milk tubes 44... set to a predetermined length. The teat cup support mechanism unit 7 has an operating mechanism unit 8 that allows the teat cup setting unit 6 to rotate to a predetermined angle. As a result, setting work up to just before attaching the teat cups Tc... to the teats Cb... of the dairy cow C can be performed easily and accurately. This shortens the time until milking can begin, improving work efficiency and productivity, and significantly reducing the labor of the worker, including the work of attaching the teat cups Tc.... In addition, since it eliminates the need to construct a large-scale automated system, it contributes to significant cost reduction, and can be provided as an optimal milking system (teat cup setting device 1) that balances both cost reduction and labor reduction.

[0086] Furthermore, by fixing the position of the milk collection unit 39 which has a buffer function and having milk tubes 44… set to a predetermined length, the disadvantage of the teat cups Tc… and milk claws applying a large downward load to the teat Cb… during milking, as in the conventional method, can be eliminated. In other words, lining slip of the teat cups Tc… during milking can be greatly reduced, and even if lining slip occurs, the length of the milk tubes 44… and the buffering effect of the milk collection unit 39 prevent the impact on the remaining milk tubes 44…, specifically the droplets phenomenon, and greatly reduce adverse effects on the teat Cb…. In addition, the degree of freedom related to the displacement of each teat cup Tc… relative to the teat Cb… can be increased.

[0087] Although preferred embodiments, including modified examples, have been described in detail above, the present invention is not limited to these embodiments, and the details of the configuration, shape, materials, quantity, numerical values, etc., can be arbitrarily changed, added, or deleted without departing from the spirit of the present invention.

[0088] For example, while the milking unit Ua... is exemplified as an automatically moving type, this does not exclude manually moving types. That is, the means of movement Fm can be automatic electric, manually electric, or manually operated. Also, while the milking unit Ua... shows two milking units Ua and Ub, it can be one unit or any number of two or more units. The vertical support shaft section 2s is shown as a connected structure in which the upper shaft section 2u and the lower shaft section 2d are connected in the axial direction Fs via the connecting support section 11, but it can be replaced with various structures that have a similar function, such as inserting the upper shaft section 2u inside the pipe-shaped lower shaft section 2d, or separating the lower shaft section 2d and the upper shaft section 2u laterally. The height direction position detection section 4 and the lateral direction position detection section 9 are exemplified as contact detection methods, but this does not exclude the case where a non-contact detection method is adopted, such as by attaching a reflective optical sensor to the tip of the detection horizontal bar 12 (13). [Industrial applicability]

[0089] The milking system according to the present invention can be used in various milking systems that perform milking by moving the milking unit to each stall in a mooring barn. [Explanation of symbols]

[0090] 1: Teat cup setting device, 2: Vertical support part, 2s: Vertical support shaft part, 5: Support arm part, 5s: One end of support arm part, 5t: Other end of support arm part, 6: Teat cup set part, 7: Teat cup support mechanism part, 8: Operating mechanism part, 14: Teat cup holding function part, 15: Power driving means, 15f: Teat cup rotation drive part, 16: Manual operating means, 17: Milk collection function part, 38... Buffer, 39: Milk collection part, 44...: Milk tube, 44r...: Inverted U-shaped curved part, 1 00: Tethered barn, St…: Stall, R: Guide rail, Ua…: Milking unit, M: Milking system, Fh: Horizontal direction, Fm: Means of transport, C: Dairy cow, Cb…: Teat, Cp: Lateral position, Cq: Lateral position, Tc… Teat cup, Tco…: Teat cup opening, Tce…: Teat cup milk outlet, Ph: Designated position, Pf: Other part, Pd: Lower end position of milk tube, Pu: Upper end position of inverted U-shaped curve, Pb; Lower end position of teat, Pc: Milking position, Lr: Height, Lb: Height

Claims

1. A teat cup setting device for a milking system comprising at least one milking unit movable along guide rails installed for multiple stalls in a mooring barn, the device comprising: a teat cup set section having one end provided at the lower part of a vertical support section supported by the milking unit and the other end of a support arm section that is displaceable in the horizontal direction; a teat cup holding function section having the other end of the support arm section for holding multiple teat cups with their teat-receiving openings facing upward and that are displaceable upward from a predetermined position; a milk collection function section having a milk collection section having a buffer function fixedly arranged at another part spaced apart from the other end of the support arm section, and the milk collection section and each milk outlet of the teat cups connected by milk tubes set to a predetermined length; and a teat cup support mechanism section having an operating mechanism section that allows the teat cup set section to rotate to a predetermined angle.

2. The teat cup setting device for a milking system according to claim 1, characterized in that the front milk collection function unit is fixed to one end of the support arm unit.

3. The milk collection function unit is characterized in that it connects the milk tube led out from the milk outlet to the milk collection unit via an inverted U-shaped curved section, and the height Lr between the lowest end position of the milk tube and the uppermost end position of the inverted U-shaped curved section and the height Lb between the lowest end position and the lower end position of the teat during milking are set such that Lb > Lr.

4. The milk collection function unit is characterized in that a buffer is connected to an intermediate position in each milk tube between the lowest end position and the milk outlet to suppress fluctuations in the vacuum during milking, as described in claim 3, for the milking system teat cup setting device.

5. The milking system is characterized by comprising a means for moving the milking unit to a set milking position located to the side of the dairy cow to be milked, as described in claim 1.

6. The teat cup setting device for a milking system according to claim 5, characterized in that the vertical support portion is composed of a vertical support shaft portion that contacts the side surface of the dairy cow and is capable of detecting the side surface position.

7. The teat cup setting device for a milking system according to claim 1, characterized in that the operating mechanism is configured by a power driving means including at least a teat cup rotation drive unit capable of rotating the teat cup setting unit.

8. The teat cup setting device for a milking system according to claim 1, characterized in that the operating mechanism includes a manual operating means that allows at least the teat cup setting section to be rotated by manual operation.

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