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 holding function 14 that holds a plurality of teat cups Tc... with housing openings Tco... for teats Cb... facing upward and freely displaceable upward from a predetermined position Ph by providing the other end 5t of the support arm part 5 with a teat cup support part A1 that supports the teat cups Tc... at a predetermined height and a teat cup regulating part A2 that regulates the lateral displacement of the teat cups Tc..; 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, a dairy cow is 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 transfer device) described in the automatic transfer method and device of the milking unit of Patent Document 1 and a milking system described in the control method of the milking system of Patent Document 2 are known.

[0004] The automatic transfer device of Patent Document 1 aims to reduce the working labor and improve the working efficiency by shortening the working line, enhance the flexibility and versatility with respect to the number of milking units, and reduce costs and improve the assembly property by commonalization of 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, and in advance, the detectable part is switched to the detectable side, and when an arbitrary milking unit travels on the main rail, entry into 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 guide rails 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] 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, characterized in that it includes 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, a teat cup holding function unit 14 that holds a plurality of teat cups Tc... that are positioned with the receiving opening Tco... for the teats Cb... facing upward and are displaceable upward from a predetermined position Ph, and a teat cup support mechanism unit 7 having an operating mechanism unit 8 that allows the teat cup setting unit 6 to be rotated to a predetermined angle.

[0012] In this case, according to a preferred embodiment of the invention, the teat cup support portion A1 can be composed of suspension members 43 that suspend the teat cups Tc... from the upper part of a support body 36 fixed to the other end 5t of the support arm portion 5 at a predetermined height, and the teat cup regulating portion A2 can be composed of a ring member 37 that is fixed to the upper part of the support body 36, surrounds the teat cups Tc..., and has an inner diameter that is larger than the outer diameter of the teat cups Tc....

[0013] On the other hand, the teat cup support section A1 can be configured with a post support section 71 fixed to the other end 5t of the support arm section 5, one or more support posts 72... provided on the post support section 71, and a suspension member 73... that suspends each teat cup Tc... at a predetermined horizontal position and height by supporting the first position X1 which is the lower part of each teat cup Tc... from the support posts 72..., while the teat cup regulating section A2 can be configured with a support member 76... that supports a second position X2 which is above the first position X1 in each teat cup Tc... and has a wire insertion section 75..., a connecting wire 77 with one end 77s connected to any wire insertion section 75, and the other end 77t sequentially inserted through other wire insertion sections 75..., and the other end 77t connected to the last wire insertion section 75, and a main wire 78 that pulls the connecting wire 77 by being connected to the middle part of the connecting wire 77. Furthermore, the connecting wire 77 may be provided with one or more pipe members 81 that are attached to the outer circumference of the connecting wire 77 to restrict the spacing between each teat cup Tc to a predetermined interval, and the connecting wire 77 may be provided with a flexible tube member 79 that is attached to the outer circumference of the connecting wire 77 in the intermediate portion where the main wire 78 is connected.

[0014] Furthermore, the teat cup support mechanism 7 can be provided with 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 5, and connecting the milk outlets Tce... of the teat cups Tc... with milk tubes 44... set to a predetermined length. In this case, it is desirable to connect the milk tubes 44... led out from the milk outlets Tce... to the milk collection unit 39 via an inverted U-shaped curved section 44r... in the milk collection function unit 17. On the other hand, the milk collection function unit 17 can be connected to a buffer 38... that suppresses vacuum fluctuations during milking at an intermediate position of each milk tube 44... between the lowest end position Pd and the milk outlets Tce.... The milking system M can also 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 is capable of detecting the side surface position Cp or Cq. [Effects of the Invention]

[0015] 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.

[0016] (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.

[0017] (2) By providing a teat cup support section A1 that supports the teat cups Tc... at a predetermined height and a teat cup restricting section A2 that restricts the lateral displacement of the teat cups Tc..., the receiving opening Tco... for the teat Cb... is positioned upward, and a teat cup holding function section 14 is provided that holds multiple teat cups Tc... which can be freely displaced upward from a predetermined position Ph. When the tip of the teat cup set section 6 is displaced and the teat cup holding function section 14 is moved to a target position below the dairy cow C, the operator can attach each teat cup Tc... to the teat Cb... by simply displacing it upward with one hand, thereby reducing the operator's complicated work and making the teat cup attachment work easier and faster.

[0018] (3) In a preferred embodiment, when configuring the teat cup support A1, if it is configured with suspension members 43 that suspend the teat cups Tc... from the upper part of a support 36 fixed to the other end 5t of the support arm 5 at a predetermined height, then basically one suspension member 43 is sufficient for one teat cup Tc, which contributes to reducing implementation costs and miniaturization, and also makes it easy to realize the function of supporting the housing opening Tco... facing upward and allowing it to be freely displaced upward from a predetermined position Ph.

[0019] (4) In a preferred embodiment, when configuring the teat cup regulating section A2, if it is configured with ring members 37 that are fixed to the upper part of the support post 36, surround the teat cups Tc..., and have an inner diameter larger than the outer diameter of the teat cups Tc..., then basically one ring member 37 is sufficient for one teat cup Tc, which contributes to cost reduction, ease of implementation, and miniaturization, and in particular, when combined with the teat cup support section A1, it is possible to reliably achieve easier and faster teat cup installation.

[0020] (5) In a preferred embodiment, when configuring the teat cup support A1, if it is configured to include a post support 71 fixed to the other end 5t of the support arm 5, one or more support posts 72... provided on the post support 71, and a suspension member 73... that supports the first position X1 which is the lower part of each teat cup Tc... from the support posts 72... and suspends it to a predetermined horizontal position and height, then the first position X1 which is the lower part of each teat cup Tc... can be supported by a single suspension member 73 such as a string, so that each teat cup Tc... can be positioned to a predetermined horizontal position and height, and the overall cost can be reduced and the size can be miniaturized.

[0021] (6) In a preferred embodiment, when configuring the teat cup regulating section A2, if it is configured to include a support member 76 that supports a second position X2 above the first position X1 in each teat cup Tc... and has wire insertion sections 75..., a connecting wire 77 with one end 77s connected to any wire insertion section 75 and the other end 77t sequentially inserted through other wire insertion sections 75... and the other end 77t connected to the last wire insertion section 75, and a main wire 78 that pulls the connecting wire 77 by being connected to the middle of the connecting wire 77, then no separate regulating means with a fixed position is used, thus eliminating the need for cumbersome regulating means. This allows each teat cup Tc... to move smoothly, avoids unnecessary contact with the teats Cb... and protects the dairy cow C. Moreover, since it can be implemented basically by a combination of wire members using the connecting wire 77 and the main wire 78, it can be made lower cost and smaller.

[0022] (7) In a preferred embodiment, if one or more pipe members 81... are attached to the outer circumference of the connecting wire 77 and restrict the spacing between each teat cup Tc... to a predetermined interval, then even when using the connecting wire 77, the spacing between each teat cup Tc... can be restricted, making it easy to position each teat cup Tc....

[0023] (8) In a preferred embodiment, if a flexible tube member 79 that is attached to the outer peripheral portion of the connecting wire 77 is provided at an intermediate portion where the main wire 78 is connected to the connecting wire 77, during use, in addition to being able to regulate the distance between a pair of teat cups Tc, Tc located on both sides of the intermediate portion, when separating by pulling with the main wire 78, by bending or folding the tube member 79, the pair of teat cups Tc, Tc can be made to approach each other. Therefore, the size during the movement of all the teat cups Tc... can be made compact and smoothly moved.

[0024] (9) In a preferred embodiment, a milk collecting portion 39 having a buffer function is fixedly arranged at another portion Pf spaced apart from the other end 5t of the support arm portion 5 in the teat cup support mechanism portion 7. A milk collecting function portion 17 is provided which is configured by connecting each milk outlet Tce... of this milk collecting portion 39 and the teat cups Tc... with milk tubes 44... having a predetermined length. Thus, it is possible to eliminate the disadvantage that a large downward load is applied to the entire teat cups Tc... and the milk claw during milking to the mammary papilla Cb... during milking. That is, the liner lip of the teat cup Tc during milking can be significantly reduced, and even if a liner lip occurs, due to the length of the milk tubes 44... and the buffering effect of the buffer function of the milk collecting portion 39, the influence on the other remaining milk tubes 44..., specifically, the droplet phenomenon can be prevented, and the adverse effect on the mammary papilla Cb... can be significantly reduced. In addition, the degree of freedom related to the displacement of each teat cup Tc... with respect to the mammary papilla Cb... can be further increased.

[0025] (10) In a preferred embodiment, if the milk tubes 44... led out from the milk outlets Tce... in the milk collecting function portion 17 are connected to the milk collecting portion 39 via reverse U-shaped bending portions 44r..., the degree of freedom in routing each milk tube 44... can be increased. Therefore, the length of each milk tube 44... can be set without being affected by the length of the support arm portion 5, and the position energy of the milk flow can be suppressed, and the fluctuation range of the vacuum degree during milking can be suppressed.

[0026] (11) In a preferred embodiment, if a buffer 38... is connected to the milk collection function unit 17 at an intermediate position in each milk tube 44... between the lowest end position Pd and the milk outlet Tce... to suppress fluctuations in the vacuum during milking, each teat cup Tc... can be provided with an auxiliary buffer function, and can function as an independent buffer that does not interfere with other teat cups Tc....

[0027] (12) In a preferred embodiment, if the milking system M is provided with a moving means Fm for moving the milking units Ua... to a set milking position Pc located to the side of the dairy cow C to be milked, the units can be moved automatically to the milking position Pc, and thereafter the operator can quickly perform setting work using the teat cup setting device 1.

[0028] (13) 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. [Brief explanation of the drawing]

[0029] [Figure 1] A partial front view showing one teat cup attached to the nipple, as provided in a preferred embodiment of the teat cup setting device of the present invention. [Figure 2] A partial cross-sectional front view showing the main components of the teat cup setting device. [Figure 3] Plan view of the teat cup holding function part of the teat cup setting device. [Figure 4] Principle diagram of the teat cup setting device, [Figure 5] A diagram illustrating the principle of this embodiment and a conventional example of the teat cup setting device. [Figure 6]A bar graph shows the relationship between the number of teat cups installed and the average load (per teat) in this embodiment and a conventional example of the teat cup setting device. [Figure 7] Rear view of the stall when using the power drive means of a milking system equipped with the same teat cup setting device. [Figure 8] Plan view of the teat cup 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 the stall in the first modified example when using the manual operating means of the milking system equipped with the teat cup setting device. [Figure 18] Plan view of the teat cup holding function part according to the second modified example provided in the teat cup setting device. [Figure 19] Plan view of the teat cup holding function part according to the third modified example provided in the teat cup setting device. [Figure 20]A plan view including a partially extracted and enlarged view of the teat cup holding function part related to the fourth modification example provided in the teat cup setting device, [Figure 21] A side view showing the configuration of the teat cup support part in the teat cup holding function section. [Figure 22] A side view illustrating the configuration of the teat cup regulating section in the teat cup holding function section. [Figure 23] A plan view showing the main wire in the teat cup holding function section under tension. [Modes for carrying out the invention]

[0030] Next, preferred embodiments of the present invention will be described in detail with reference to the drawings.

[0031] First, the schematic configuration of the milking system M equipped with the teat cup setting device 1 according to this embodiment will be described with reference to Figures 7-10.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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....

[0037] 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 (the other milking unit 23b is the same) is equipped with a milking unit body 24, four teat cups Tc… to be attached to each teat Cb… of the dairy cow C, a milk yield meter 25, etc., as shown in Figure 9.

[0038] 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.

[0039] Next, the configuration of one teat cup setting device 1 according to this embodiment will be described with reference to Figures 1-9.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] As shown in Figure 2, the example support arm portion 5 is formed in a crank shape by providing two bends, and a vertical support 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 36 between the other end 5t of the support arm portion 5 and the upper end of the support 36, thereby forming the teat cup holding function portion 14.

[0052] Then, on the upper surface of the mounting support portion 41, four ring members 37… formed in the shape of a ring from, for example, a metal material, as shown in Figures 1-3, are arranged at positions corresponding to the four corners of a rectangle and fixed with fixing screws 42…. These ring members 37… constitute the teat cup restricting portion A2, which restricts the lateral displacement of the teat cup Tc…. In this case, the center position of each of the four ring members 37… corresponds to the positions of the four teats Cb… on the dairy cow C. In this way, when constructing the teat cup restricting portion A2, if it is constructed using ring members 37… that are fixed to the upper part of the support 36, surround the teat cup Tc…, and have an inner diameter larger than the outer diameter of the teat cup Tc…, then basically one ring member 37 is sufficient for one teat cup Tc, which contributes to cost reduction, ease of implementation, and miniaturization, and in particular, when combined with the teat cup support portion A1, it is possible to reliably achieve easier and faster teat cup installation.

[0053] Furthermore, the upper ends of four suspension members 43… using chains or the like, as shown in Figures 1 and 2, are attached to the positions corresponding to each ring member 37… on the lower surface of the mounting support portion 41. These suspension members 43… constitute the teat cup support portion A1 that supports the teat cup Tc… at a predetermined height. In this way, when constructing the teat cup support portion A1, if it is constructed using suspension members 43… that suspend the teat cup Tc… at a predetermined height from the upper part of a support body 36 fixed to the other end 5t of the support arm portion 5, then basically one suspension member 43 is sufficient for one teat cup Tc, which contributes to cost reduction and miniaturization of implementation, and also makes it easy to realize the function of facing the housing opening Tco… upward and supporting it so that it can be freely displaced upward from a predetermined position Ph.

[0054] Furthermore, as shown in Figure 2, four teat cups Tc… are arranged inside the ring member 37…, and the lower end of the suspension member 43… described above is attached. In the example, it was attached near the nipple outlet Tce… of each teat cup Tc…. At this time, the ring member 37… is selected so that the intermediate position (or slightly higher position) of each teat cup Tc… is at the position of the ring member 37…. As a result, in the natural state when the teat cups Tc… are not being operated, as shown in Figure 2, the receiving opening Tco… for the nipple Cb… of the teat cup Tc… faces upward, is suspended from the mounting support part 41 by the suspension member 43…, is held at a predetermined position (predetermined height) Ph, and the lateral displacement of the intermediate position of the teat cup Tc… is restricted by the ring member 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.

[0055] By configuring the teat cup support mechanism 7 in this way, that is, by including a teat cup support part A1 and a teat cup restricting part A2 that restricts the lateral displacement of the teat cups Tc..., the receiving opening Tco... for the teat Cb... is positioned upward, and a teat cup holding function part 14 is provided that holds multiple teat cups Tc... which can be freely displaced upward from a predetermined position Ph. When the teat cup set part 6 is rotated and the teat cup holding function part 14 is moved to a target position below the dairy cow C, the operator can attach each teat cup Tc... to the teat Cb... simply by displacing it upward with one hand, thereby reducing the operator's complicated work and making the teat cup attachment process easier and faster.

[0056] 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.

[0057] On the other hand, 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 2, 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.

[0058] 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....

[0059] 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 2. 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.

[0060] Furthermore, as shown in Figures 1 and 2, buffers 38 are connected to each milk tube 44 between the lowest position Pd and the milk outlet Tce… to suppress fluctuations in 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, which is composed of these milk tubes 44….

[0061] 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. Furthermore, during milking, lining slip of the teat cup Tc 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 even on the teat Cb..., thereby preventing the droplets phenomenon.

[0062] 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.

[0063] 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….

[0064] 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 the conventional example, the load applied to each nipple Cb... changes significantly in response to the number of teat cups installed. In the case of four teat cups, i.e., when all four nipples Cb... are properly fitted with four teat cups Tc..., the load applied to each nipple Cb... is approximately 400 [g]. However, as the number of installed teat cups decreases, the load increases, and when only one teat cup is used, the load applied to the nipple Cb is approximately 1800 [g], which is about 4.5 times higher than when all four teat cups are installed, significantly increasing the risk of linus slip and droplets.

[0065] 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.

[0066] 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 mainly to Figures 7-10 and 13-16.

[0067] 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.

[0068] 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).

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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 milking completion conditions 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 36 and its position is regulated by the ring member 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.

[0076] Figure 12 shows a flowchart illustrating the operations involved in the milking completion process (routine step SB).

[0077] 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.

[0078] 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.

[0079] 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 position shown by the solid line in Figure 15 (step S21). Next, the shaft lifting drive unit 15x 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).

[0080] 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).

[0081] 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.

[0082] 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 first modified example described later.

[0083] Next, various examples of modifications to the teat cup setting device 1 according to this embodiment will be described with reference to Figures 17-23.

[0084] Figure 17 shows a teat cup setting device 1 according to the first modified example. Figure 17 shows the case when a manual operating means 16 is used. This manual operating means 16 comprises 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.

[0085] 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.

[0086] 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.

[0087] 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, so 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.

[0088] 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.

[0089] 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 set unit 6 to rotate 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.

[0090] 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.

[0091] 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.

[0092] Furthermore, Figures 18 and 19 show the second and third modified examples, respectively, of the teat cup regulating section A2 that constitutes the teat cup holding function section 14.

[0093] The second modification shown in Figure 18 involves fixing a mounting member 45, for example, having a pair of mounting pins protruding in two directions, to the mounting support 41. The ring member 37 is then constructed by inserting these mounting pins into one end 37s and the other end 37t of a restricting part, which is made of a hose member formed from a resin material and cut to a predetermined length. According to the second modification, the size (ring diameter) of the ring member 37 can be changed to any optimal size. In addition, it has the advantage of being easily replaceable if damaged or soiled, and also having the added benefit of being elastically deformable when it comes into contact with a dairy cow C, thereby enhancing safety.

[0094] Furthermore, Figure 19 shows the teat cup regulating section A2 according to the third modified example. In the third modified example, the entire structure is integrally molded from a resin material. In the case of Figure 19, a mounting cylinder 41c is integrally provided at the central position, which is attached to the circumferential surface of the support 36, and four ring members 37 are integrally provided on the circumferential surface of this mounting cylinder 41c. In this case, the resin material may be a hard resin or a soft resin. Also, the axial rigidity can be arbitrarily set by selecting the axial length (parallel to the axial direction of the support 36) of the ring members 37... In the case of the third modified example shown in Figure 19, the mounting support section 41 in Figure 18, etc. can be omitted, and because it is integrally molded, it is advantageous in terms of cost due to the reduction in the number of parts.

[0095] Next, the teat cup support section A1 and the teat cup regulating section A2 related to the fourth modification example will be explained with reference to Figures 20-23.

[0096] The teat cup support section A1 according to the fourth modification example is configured as shown in Figure 20, and comprises a post support section 71 attached to the other end 5t of the support arm section 5, one or more (four in this example) support posts 72... provided on the post support section 71, and suspension members 73... that support the first position X1 which is the lower part of each teat cup Tc... from these support posts 72..., thereby suspending them to a predetermined horizontal position and height.

[0097] As shown in Figure 20, the post support section 71 is formed in a shape that corresponds to the positions of the four teat cups Tc... in plan view. In this example, the entire structure is formed in a T shape, with support posts 72, 72 positioned at both ends of the T in the horizontal direction, and two support posts 72, 72 positioned at the vertical end of the T.

[0098] As shown in Figure 21, one support post 72 (and others similarly) is erected perpendicularly upward from the top surface, and the upper end of a suspension member 73 (same as the suspension member 43) using a string or the like is fixed to its upper end, while the lower end of the suspension member 73 is attached to a first position X1 which is the lower part of the teat cup Tc. The example shows the connection part with the buffer 38. With this configuration, the first position X1 which is the lower part of each teat cup Tc... can be supported by a single suspension member 73 such as a string, so that each teat cup Tc... can be positioned at a predetermined horizontal position and height, and the overall cost can be reduced and the size reduced.

[0099] On the other hand, as shown in Figures 20 and 22, the teat cup regulating section A2 is configured to support a second position X2 which is above the first position X1 in each teat cup Tc... and has a support member 76... which has a wire insertion section 75..., a connecting wire 77 which has one end 77s connected to any wire insertion section 75 and the other end 77t sequentially inserted through other wire insertion sections 75..., and the other end 77t connected to the last wire insertion section 75, and a main wire 78 which is connected to the middle part of the connecting wire 77 and pulls the connecting wire 77.

[0100] In this case, the second position X2 was selected to be a position closer to the top of the teat cup Tc, as shown in Figure 22. In this example, the support member 76 is a ring member made of synthetic resin or the like, and a hole 76s as shown in Figure 20 is provided in this support member 76, and a ring 75r is attached to this hole 76s, thereby using this ring 75r as a wire insertion part 75. This support member 76 may be made of string or the like in a simpler form.

[0101] Then, a connecting wire 77 made of metal or the like is prepared. For example, in the case of the teat cup setting device 1 installed on the right side as shown in Figure 7 (the same positional relationship as shown in Figure 20), one end 77s of the connecting wire 77 is connected to the wire insertion part 75 (ring 75r) of the teat cup Tc at the right rear position, then passed through the wire insertion part 75 of the teat cup Tc at the left rear position, then passed through the wire insertion part 75 of the teat cup Tc at the left front position, and finally connected to the wire insertion part 75 of the teat cup Tc at the right front position.

[0102] In this case, as shown in Figure 20, ball-shaped stoppers 80, 80 are attached to both ends of the connecting wire 77, that is, one end 77s which is the starting end at the right rear position and the other end 77t which is the ending end at the right front position. In addition, a pipe member 81 made of hard synthetic resin or the like is attached to the outer circumference of the connecting wire 77 between the wire insertion section 75 at the right rear position and the wire insertion section 75 at the left rear position to regulate the distance between each teat cup Tc... to a predetermined distance, and a similar pipe member 81 is attached to the connecting wire 77 between the wire insertion section 75 at the right front position and the wire insertion section 75 at the left front position to regulate the distance between each teat cup Tc... to a predetermined distance.

[0103] This allows the spacing between each teat cup Tc... to be controlled even when a connecting wire 77 is used, making it easy to position each teat cup Tc.... Note that 82, 82 indicate ball-shaped stoppers. These stoppers 80..., 82... have the function of contacting the wire insertion portion 75 (ring 75r) when the main wire 78, which will be described later, is pulled, thereby preventing it from coming out.

[0104] Furthermore, a flexible tube member 79 is attached to the outer circumference of the connecting wire 77 between the wire insertion section 75 at the left rear position and the wire insertion section 75 at the left front position, and the main wire 78 is connected to the middle part of this tube member 79. Specifically, a ring 78s is fixed to one end of the main wire 78, and this ring 78s is attached to the tube member 79.

[0105] By configuring the system as in this fourth example of modification, it is possible to eliminate obstructive restrictive measures since no separate, fixed-position restrictive measures are used. As a result, the movement of each teat cup Tc… can be made smooth, and adverse effects such as unnecessary contact with the teats Cb… can be avoided, thereby protecting the dairy cow C. Moreover, since it can be implemented basically by a combination of wire members using connecting wires 77 and main wires 78, it is possible to reduce costs and miniaturize the system.

[0106] Specifically, as shown in Figure 20, when in use, the distance between the pair of teat cups Tc,Tc located on both sides of the intermediate section can be restricted. Furthermore, as shown in Figure 23, when detaching each teat cup Tc..., the main wire 78 can be pulled and the tube member 79 can be bent or folded, bringing the pair of teat cups Tc,Tc closer together. This makes the size of all the teat cups Tc... during movement more compact and allows for smoother movement.

[0107] 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 a teat cup support section 14 having a teat cup support section A1 that supports the teat cups Tc... at a predetermined height and a teat cup restricting section A2 that restricts the lateral displacement of the teat cups Tc..., thereby holding a plurality of teat cups Tc... that can be displaced upward from a predetermined position Ph, with the receiving opening Tco... for the teat Cb... facing upward, and an operating mechanism section 8 that allows the teat cup set section 6 to be rotated at a predetermined angle, so that the setting work up to just before attaching the teat cups Tc... to the teat Cb... of the dairy cow C can be easily and accurately performed. This shortens the time until milking can begin, improving work efficiency and, consequently, productivity. It also significantly reduces the labor required of workers, including the installation of the teat cups Tc…. In addition, it eliminates the need to construct a large-scale automated system, contributing to significant cost reductions. Thus, it can be provided as an optimal milking system (teat cup setting device 1) that achieves a good balance between cost reduction and labor reduction.

[0108] Furthermore, by providing a teat cup support section A1 and a teat cup restricting section A2 that restricts the lateral displacement of the teat cups Tc..., the receiving opening Tco... for the teat Cb... is positioned upward, and a teat cup holding function section 14 is provided that holds multiple teat cups Tc... which can be freely displaced upward from a predetermined position Ph. Therefore, when the teat cup set section 6 is rotated and the teat cup holding function section 14 is moved to a target position below the dairy cow C, the operator can attach each teat cup Tc... to the teat Cb... simply by displacing it upward with one hand, thereby reducing the operator's complicated work and making the teat cup attachment process easier and faster.

[0109] 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.

[0110] For example, the milking unit Ua... is exemplified as an automatically moving type, but this does not exclude manually moving types. That is, the means of movement Fm can be automatic electric, manually electric, or manually operated. Also, the milking unit Ua...fu is shown as two milking units Ua,Ub, but it may be one unit, or any number of two or more units can be applied. 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 in the lateral direction. 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). Furthermore, the suspension members can be replaced with various equivalent members having similar functions, such as chain members, string members, and suspension fittings, and the wires can also be replaced with various equivalent members having similar functions, such as chain members and string members. [Industrial applicability]

[0111] 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]

[0112] 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, 17: Milk collection function part, 36: Support body, 37...: Ring member, 38...: Buffer, 39: Milk collection part, 43...: Suspension member, 44...: Milk tube, 44r...: Inverted U-shaped curved part, 100: Mooring barn, A1: Teat cup support part, A2: Teat cup regulating part, M: Milking system, Tc …: Teat cup, Tco…: Inlet, Tce…: Milk outlet, C: Dairy cow, Cp: Side position of dairy cow, Cq: Side position of dairy cow, St…: Stall, R: Guide rail, Ua…: Milking unit, Fh: Horizontal direction, Fm: Means of movement, Ph: Designated position, Pf: Other part, Pd: Lower end position, Pc: Milking position, 71: Post support part, 72…: Support post, 73…: Suspension member, 75…: Wire insertion part, 76…: Support member, 77s: One end of connecting wire, 77t: Other end of connecting wire, 77: Connecting wire, 78: Main wire, 81…: Pipe member, 79: Tube member, X1: First position X2:Second position

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, characterized in that it comprises 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 a teat cup support section at the other end of the support arm section that supports the teat cups at a predetermined height and a teat cup restricting section that restricts the lateral displacement of the teat cups, thereby holding multiple teat cups with their receiving openings for the teats facing upward and that are displaceable upward from a predetermined position, 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 teat cup support portion is a suspension member that suspends the teat cup at a predetermined height from the upper part of a support post fixed to the other end of the support arm portion.

3. The teat cup setting device for a milking system according to claim 2, characterized in that the teat cup regulating portion is fixed to the upper part of the support post, surrounds the teat cup, and has an inner diameter that is larger than the outer diameter of the teat cup.

4. The teat cup setting device for a milking system according to claim 1 is characterized in that the teat cup support portion comprises a post support portion fixed to the other end of the support arm portion, one or more support posts provided on the post support portion, and a suspension member that suspends each teat cup to a predetermined horizontal position and height by supporting the first position which is the lower part of each teat cup from the support posts.

5. The teat cup regulating part comprises a support member that supports a second position in each teat cup that is above the first position and has a wire insertion part, a connecting wire that has one end connected to any wire insertion part and the other end sequentially inserted into other wire insertion parts and has the other end connected to the last wire insertion part, and a main wire that can pull the connecting wire by being connected to the middle part of the connecting wire, as described in claim 4.

6. The teat cup setting device for a milking system according to claim 5, characterized in that the connecting wire is fitted to the outer circumference of the connecting wire and comprises one or more pipe members that regulate the spacing between each teat cup to a predetermined interval.

7. The teat cup setting device for a milking system according to claim 5, characterized in that the connecting wire has a flexible tube member attached to the outer circumference of the connecting wire at the intermediate portion where the main wire is connected.

8. The teat cup setting device for a milking system according to claim 1, characterized in that the teat cup support mechanism comprises a milk collection function unit configured by fixing a milk collection unit having a buffer function to another part spaced apart from the other end of the support arm, and connecting the milk collection unit and each milk outlet of the teat cup with a milk tube set to a predetermined length.

9. The milk collection function unit is characterized in that the milk tube led out from the milk outlet is connected to the milk collection unit via an inverted U-shaped curved section, as described in claim 8, for the teat cup setting device of the milking system.

10. The milk collection function unit is characterized in that a buffer is connected to each milk tube at an intermediate position between the lowest end of the milk tube and the milk outlet to suppress fluctuations in the vacuum during milking, as described in claim 8, for the teat cup setting device of the milking system.

11. 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.

12. The teat cup setting device for a milking system according to claim 11, 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.

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