Milking system

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: Provided is a milking system, including: a support mechanism part 3 that is supported by milking units Ua and can lift and lower a vertical support part 2; a height direction position detection part 4 that is provided on an upper end 2us side or lower end 2ds side of the vertical support part 2 to detect an upper end position Cu or lower end position Cd of a dairy cow C; a teat cup support mechanism part 7 having a support arm part 5 with one end 5s at a bottom of the vertical support part 2 and the other end 5t that can be displaced in a horizontal direction Fh, and a teat cup set part 6 that supports teat cups Tc... on the other end 5t side of the support arm part 5; and an operating mechanism part 8 that enables the vertical support part 2 to move to a predetermined height in response to the detection result of the height direction position detection part 4 and displaces the other end 5t of the support arm part 5 on the teat cup set part 6.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to 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 arranged with a large number of stalls 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 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 work labor and improve the work efficiency by shortening the work flow line, enhance the flexibility and versatility with respect to the number of milking units, and reduce the cost 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. 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 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 Initiative] [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 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 milking system M according to the present invention comprises 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 includes 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, and a support mechanism 3 supported by the milking unit Ua and supporting the vertical support part 2 so that it can be raised and lowered, and provided on the upper end 2us side or the lower end 2ds side of the vertical support part 2 so that the upper end position Cu of the dairy cow C Alternatively, the teat cup setting device 1 is characterized by comprising: a height direction position detection unit 4 for detecting the lower end position Cd; a teat cup support mechanism unit 7 having a support arm unit 5 with one end 5s provided at the lower part of the vertical support unit 2 and the other end 5t being displaceable in the horizontal direction Fh, and a teat cup setting unit 6 for supporting teat cups Tc... on the other end 5t side of the support arm unit 5; and an operating mechanism unit 8 that allows the vertical support unit 2 to move to a predetermined height in accordance with the detection result of the height direction position detection unit 4, and displaces the other end 5t of the support arm unit 5 provided on the teat cup setting unit 6.

[0012] In this case, according to a preferred embodiment of the invention, the vertical support portion 2 is configured as a connecting structure in which an upper shaft portion 2u and a lower shaft portion 2d are connected via a connecting support portion 11 in the axial direction Fs, and it is desirable that the upper shaft portion 2u and the lower shaft portion 2d are configured such that relative displacement in the vertical direction is restricted, while relative displacement in the rotational direction is permitted. Furthermore, the height direction position detection portion 4 can be configured as a detection horizontal bar 12 of a predetermined length, with one end 12s provided on the upper part of the vertical support portion 2 and the other end 12t extending in the horizontal direction Fh so as to contact the upper end position Cu of the dairy cow C. This detection horizontal bar 12 can be provided with a pair of left and right contact portions 12tp, 12tp on the other end 12t that contact the upper end position of the dairy cow C.

[0013] In this case, the contact portions 12tp, 12tp can be formed from an elastic material having a predetermined elasticity, and preferably, a pair of curved portions protruding downward from the contact unit portion 73, which is formed from a rod material or tube material P in a horizontal figure-eight shape, can be used. Furthermore, one or more contact unit portions 73 can be used and arranged in the front-rear direction relative to the dairy cow C. The contact unit portion 73 can be supported by a restricting portion 74 that restricts rotational displacement in the horizontal direction.

[0014] On the other hand, a hook-shaped portion 12tf may be provided on a part of the other end 12t side, which is curved or bent along the extension side from the upper end position Cu of the dairy cow C. The height direction position detection unit 4 can also be configured by providing a detection vertical bar 13 which extends downward over a predetermined length from the lower end of the vertical support unit 2. On the other hand, the teat cup set unit 6 can be provided with a holding function unit 14 capable of holding four teat cups Tc... which have their receiving openings Tco... for the teats Cb... facing upward. On the other hand, the operating mechanism unit 8 may be configured with a power driving means 15 which includes at least a shaft lifting drive unit 15v that can raise and lower the vertical support unit 2 and a teat cup swivel drive unit 15f that can swivel the teat cup set unit 6, or it may be configured with a manual operating means 16 which allows the vertical support unit 2 to be raised and lowered by manual operation and allows the teat cup set unit 6 to swivel by manual operation. [Effects of the Invention]

[0015] The milking system M according to the present invention, having such a configuration, produces the following remarkable effects.

[0016] (1) The teat cup setting device 1 is provided, which has a teat cup support mechanism 7 having a support arm 5 with one end 5s provided at the lower part of a vertical support 2 and the other end 5t being displaceable in the horizontal direction Fh, and a teat cup set section 6 that supports teat cups Tc... on the other end 5t side of the support arm 5, and an operating mechanism 8 that allows the vertical support 2 to move to a predetermined height in accordance with the detection result of the height direction position detection unit 4 and displaces the other end 5t of the support arm 5 provided on the teat cup set section 6. As a result, even after the milking unit Ua... has been moved to the milking position Pc, the 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 also contributes to a significant reduction in the labor of the worker, including the work of attaching the teat cups Tc.... Furthermore, while the cow stall surface is normally structured so that its height gradually changes towards the downstream side of the milk line 51, the height direction position detection unit 4 ensures that the relative height of the teat cup set unit 6 always matches not only the dairy cow C but also the milking operator's (eye level), thus contributing to smooth and efficient milking operations.

[0017] (2) Since it eliminates the need to construct a large-scale automated system, it contributes to significant cost reductions. Furthermore, even if the position and height of the teats Cb... differ and become unstable due to the body shape and movement of each dairy cow C..., the teat cups Tc... can be set reliably and efficiently. Therefore, it can be provided as an optimal milking system that balances both cost reduction and labor reduction.

[0018] (3) In a preferred embodiment, when configuring the vertical support section 2, if the upper shaft section 2u and the lower shaft section 2d are configured to be connected via a connecting support section 11 in the axial direction Fs, and the upper shaft section 2u and the lower shaft section 2d are configured such that relative displacement in the vertical direction is restricted and relative displacement in the rotational direction is permitted, then the upper shaft section 2u or the lower shaft section 2d can be rotated independently, and the displacement of the upper shaft section 2u can be directly transmitted to the lower shaft section 2d, so that a height-direction position detection section 4 can be provided on the upper shaft section 2u, or a teat cup set section 6 can be provided on the lower shaft section 2d, the configuration can be simplified, and multifunctionality can be enhanced.

[0019] (4) In a preferred embodiment, when configuring the height-direction position detection unit 4, if one end 12s is provided on the upper part of the vertical support unit 2, and the other end 12t extends horizontally in the direction Fh and is configured as a detection horizontal bar 12 of a predetermined length that can contact the upper end position Cu of the dairy cow C, then it can be implemented by simply adding a detection horizontal bar 12 that can be formed into a simple shape, and is therefore excellent in terms of low cost and ease of implementation when detecting the height-direction position of the dairy cow C.

[0020] (5) In a preferred embodiment, when configuring the detection horizontal bar 12, if a pair of left and right contact portions 12tp, 12tp that contact the upper end of the dairy cow C are provided at the other end 12t, two-point positions can be detected, and since the bar can contact the upper end on both sides, it can follow the movement of the dairy cow C, thereby enabling more accurate and stable detection of the upper end position Cu (indirect detection).

[0021] (6) In a preferred embodiment, if the contact portions 12tp, 12tp are formed from an elastic material having a predetermined elasticity, the impact on the dairy cow C during contact can be mitigated, thereby avoiding unnecessary adverse effects on the dairy cow C during use.

[0022] (7) In a preferred embodiment, when forming the contact portions 12tp, 12tp, if the pair of left and right curved portions protruding downward in the contact unit portion 73 formed by shaping the bar material or tube material P into a figure-eight shape horizontally are used, it can be easily configured with a single general-purpose bar material or tube material P, so that the contact unit portion 73 can be manufactured at a low cost.

[0023] (8) In a preferred embodiment, if the contact unit portion 73 is used singly or in two or more and arranged in the front-rear direction with respect to the dairy cow C, the total number of contact points by the contact portions 12tp, 12tp... can be increased. Therefore, the contact unit portion 73 can be stably contacted with the dairy cow C, stable detection can be performed, and the followability with respect to the dairy cow C can be enhanced.

[0024] (9) In a preferred embodiment, if the contact unit portion 73 is supported by a regulating portion 74 that regulates the rotational displacement in the horizontal direction, the positional deviation of the contact unit portion 73 in the horizontal direction with respect to the dairy cow C can be prevented, so that more accurate and stable detection can be performed.

[0025] (10) In a preferred embodiment, when forming the horizontal bar 12 for detection, if a hook-shaped portion 12tf that is curved or bent along the extending side from the upper end position Cu of the dairy cow C is provided at a part on the other end 12t side, the displacement of the dairy cow C in at least one of the left or right directions can be suppressed by the hook-shaped portion 12tf. Therefore, accurate and stable detection can be performed within this suppression range.

[0026] (11) In a preferred embodiment, when forming the height-direction position detector 4, if a vertical bar 13 for detection is provided by extending the lower end 2ds of the vertical support portion 2 downward for a predetermined length, the height-direction position detector 4 can detect the target height without directly contacting the dairy cow C. Therefore, accurate and stable detection can be performed without being interfered by the movement of the dairy cow C or the like. In particular, if it is provided on the lower end 2ds side, a suppression mechanism for suppressing the movement of the dairy cow C by abutting the upper end 2us side against the upper end position Cu of the dairy cow C can be provided, etc., and the diversity and multi-functionality can be further enhanced.

[0027] (12) In a preferred embodiment, when configuring the teat cup set section 6, if a holding function section 14 capable of holding four teat cups Tc... with their receiving openings Tco... facing upward toward the nipple Cb... is provided, then at the target position when the teat cup set section 6 is moved, each teat cup Tc... can be attached to the nipple Cb... simply by displacing it upward, thereby reducing the complicated work of the operator and making the teat cup attachment work easier and faster.

[0028] (13) In a preferred embodiment, if the operating mechanism 8 is configured with a power drive means 15 that includes at least a shaft lifting drive unit 15v capable of raising and lowering the vertical support unit 2 and a teat cup swivel drive unit 15f capable of swiveling the teat cup set unit 6, sequence control can be easily performed by a controller or the like, thereby further reducing labor and improving work efficiency, and can be realized with a relatively simple control system.

[0029] (14) In a preferred embodiment, if the operating mechanism 8 is configured such that the vertical support section 2 can be raised and lowered by manual operation and the teat cup set section 6 can be rotated by manual operation using a manual operating means 16, then a power means is not required, which can contribute to further simplification of the configuration and reduction of costs, as well as to energy reduction. [Brief explanation of the drawing]

[0030] [Figure 1] Rear view of a teat cup setting device using a power drive means for a milking system according to a preferred embodiment of the present invention. [Figure 2] Plan view of the teat cup setting device. [Figure 3] Side view of the milking unit when in use, including the teat cup setting device. [Figure 4] A plan view diagram showing the entire milking system. [Figure 5]A flowchart explaining the operation of the tea cup setting device during setup. [Figure 6] A flowchart explaining the operation of the teat cup setting device at the end of milking. [Figure 7] A schematic diagram of the milking position of the teat cup setting device. [Figure 8] A schematic diagram of the setting operation using the teat cup setting device. [Figure 9] A schematic diagram of other setting operations using the same teat cup setting device. [Figure 10] A schematic diagram of other setting operations using the same teat cup setting device. [Figure 11] Rear view of the teat cup setting device according to the first modified example using the manual operation means of the milking system. [Figure 12] Rear view diagram of the height direction position detection unit related to the second modified example of the teat cup setting device. [Figure 13] Rear view diagram of the height direction position detection unit related to the third modified example of the teat cup setting device. [Figure 14] Front view of the height direction position detection unit related to the fourth modified example of the teat cup setting device. [Figure 15] A partial plan view including a cross-section of the regulating part in the height direction position detection unit related to the fourth modification example, [Figure 16] Side view of the height direction position detection unit relating to the fourth modification example. [Figure 17] Diagram illustrating the operation of the teat cup setting device related to the fourth modification example. [Figure 18] A rear view diagram showing an example of a modified height direction position detection unit in relation to the fourth modification example. [Figure 19] A rear view diagram showing an example in which another part of the height direction position detection unit related to the fourth modification example is modified. [Modes for carrying out the invention]

[0031] Next, preferred embodiments of the present invention will be described in detail with reference to the drawings.

[0032] First, the general configuration of the milking system M according to this embodiment will be described with reference to Figures 2-4.

[0033] Figure 4 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 this 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 middle of the main rail Rm 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 such as a milking position Pc.

[0034] Therefore, these devices constitute the moving means Fm in this embodiment, which moves the milking unit Ua... to a set milking position Pc located to the side of the dairy cow C to be milked.

[0035] 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.

[0036] Furthermore, the milk line 51 and vacuum line 52 shown in Figure 3 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.

[0037] 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 tip of the moving part 21 is equipped with the aforementioned distributor 22. 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 1). Therefore, at least some of the control data is transferred from the controller E to the control box 21c in each milking unit Ua....

[0038] 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 2. One milking unit 23a (and the other milking unit 23b) includes, as shown in Figure 3, 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.

[0039] Furthermore, 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.

[0040] Next, the configuration of one teat cup setting device 1, which is a key part of the milking system M according to this embodiment, will be described with reference to Figures 1-3.

[0041] As shown in Figure 1, the teat cup setting device 1 has the following basic configuration: a support mechanism 3 supported by the milking unit Ua and supporting the vertical support 2 so that it can move up and down; a height direction position detection unit 4 provided on the upper end 2us side of the vertical support 2 to detect the upper end position Cu of the dairy cow C; a teat cup support mechanism 7 located at the lower part of the vertical support 2, with one end 5s of the support arm 5 rotatably positioned and the other end 5t extending in the horizontal direction Fh having a teat cup set unit 6 equipped with four teat cups Tc...; and an operating mechanism 8 that allows the vertical support 2 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.

[0042] 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 1, 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.

[0043] The vertical support section 2 is composed of a vertical support shaft section 2s that contacts the side surface of the dairy cow C and can detect the side surface position Cf. As shown in Figure 1, 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 in the axial direction Fs via a connecting support section 11, and 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. In addition, an upper rotation drive section 34 is built into the upper half of the inside of the connecting support section 11, and the upper shaft section 2u is configured to be rotatably displaceable, while a teat cup swivel drive section 15f is built into the lower half of the inside of the connecting support section 11, and the lower shaft section 2d is configured to be rotatably displaceable.

[0044] This configuration allows the upper shaft portion 2u or the lower shaft portion 2d to rotate independently, and the displacement of the upper shaft portion 2u to be directly transmitted to the lower shaft portion 2d. This makes it possible to provide a height-direction position detection unit 4 (described later) on the upper shaft portion 2u, or a teat cup set portion 6 (described later) on the lower shaft portion 2d, thereby simplifying the configuration while increasing multifunctionality.

[0045] Furthermore, the height-direction position detection unit 4 is provided at the upper end 2us of the vertical support shaft 2s, and has the function of detecting the upper end position Cu of the dairy cow C. As shown in Figure 1, the example height-direction position detection unit 4 is composed of a detection horizontal bar 12 provided at the upper part of the vertical support shaft 2s, i.e., at the upper end of the upper shaft 2u. The detection horizontal bar 12 has one end 12s provided at the upper end of the upper shaft 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. With this configuration, it can be implemented by simply adding a detection horizontal bar 12 that can be formed into a simple shape, which has the advantage of being low cost and easy to implement. In Figure 1, Xp is the pad portion that contacts the dairy cow C provided on the bottom surface of the detection horizontal bar 12, and Xq is the pad portion that contacts the dairy cow C provided on the circumferential surface of the connecting support 11.

[0046] 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 1. The teat cup support mechanism 7 has a support arm portion 5 with one end 5s attached to the lower end of the lower shaft portion 2d and the other end 5t extending horizontally in the direction Fh, and a teat cup set portion 6 provided at the other end 5t of the support arm portion 5. As a result, by rotating and displacing the lower shaft portion 2d with the teat cup swivel drive unit 15f, one end 5s of the support arm portion 5 can be rotated and displacing, and the other end 5t of the support arm portion 5, that is, the teat cup set portion 6, can be swiveled and displacing.

[0047] In this case, the teat cup set section 6 is provided with a holding function section 14 capable of holding four teat cups Tc..., each with a receiving opening Tco... for the nipple Cb... facing upward. Specifically, as shown in Figure 1, a support post 36 is provided at the other end 5t of the support arm section 5, which stands upright. The four teat cups Tc... are suspended from the upper end of this support post 36 using a chain (not shown) or the like. A holding ring 37 is provided at an intermediate position on the support post 36, forming four openings that restrict the lateral displacement of the four suspended teat cups Tc....

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

[0049] Furthermore, one teat cup Tc (and the same applies to other teat cups Tc), in particular, the milk tube connected to the lower end of the teat cup Tc, is connected to the milk collection unit 39 via a buffer 38 that suppresses fluctuations in vacuum during milking, as shown in Figure 1. The raw milk collected in this milk collection unit 39 is then sent to the milk volume meter 25 via a milk collection tube 40, as shown in Figure 3.

[0050] The teat cup setting device 1, having the basic configuration described above, includes an operating mechanism 8 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 also allows the teat cup setting unit 6 to rotate to a predetermined angle. Specifically, the operating mechanism 8 is configured to include a power drive means 15 that raises and lowers the vertical support shaft 2s by the operation of the shaft lifting drive unit 15v, allowing it to move to a predetermined height, and rotates the teat cup setting unit 6 by the operation of the teat cup rotation drive unit 15f. With this configuration, sequence control can be easily performed by a controller or the like, further reducing labor and improving work efficiency, and it can be realized with a relatively simple control system.

[0051] The exemplary embodiment shows an example in which one end 5s of the teat cup set section 6 is rotatably positioned at the lower part of the vertical support shaft section 2s, and the other end 5t is configured with a support arm section 5 extending in the horizontal direction Fh. However, basically, it is sufficient to provide one end 5s at the lower part of the vertical support shaft section 2s supported by the milking unit Ua, and a support arm section 5 with the other end 5t displaceable in the horizontal direction Fh. Other examples include a bellows arm that extends and retracts in the horizontal direction Fh.

[0052] 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 mainly with reference to Figures 7-10, following the flowcharts shown in Figures 5 and 6.

[0053] Figure 5 is a flowchart illustrating the operation of the teat cup setting device 1 during setting, and Figure 6 is a flowchart illustrating the operation of the teat cup setting device 1 at the end of milking.

[0054] 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).

[0055] Once the target milking position Pc is reached, the teat cup setting device 1 performs its setting operation. Figure 7 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 2s and the support block 32 are moved to their closest positions, releasing them into a compact state that does not obstruct movement. The setting operation is performed by a control program, for example, a series of operations, i.e., sequence control, which is set in the control box 21c.

[0056] In the milking position Pc, first, as shown in Figure 8, the horizontal movement mechanism 33 of the support block 32 is driven and controlled to move the vertical support shaft 2s toward the dairy cow C (step S1). As a result, when the connecting support portion 11 of the vertical support shaft 2s comes into contact with the side of the dairy cow C, the movement is stopped (step S2). 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 dashed lines in Figure 9. Note that the 90° rotation range is just an example and can be set to any range.

[0057] 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 9, 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 as a predetermined distance Ls (see Figure 10) 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.

[0058] Next, the teat cup rotation drive unit 15f is driven and controlled to rotate the support arm unit 5 by 90° (step S6). This 90° rotation range is just an example, and can be set to any range corresponding to the position of the milking position Pc, etc. As a result, the state shown in Figure 10 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.

[0059] 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 1 and 3 show the state with all the teat cups Tc... attached.

[0060] 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 1. 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 holding ring 37, returning it to the state before attachment as shown in Figure 10. With the above, the main milking process (routine step SA) is completed, and the milking termination process (routine step SB) is then performed.

[0061] Figure 6 shows a flowchart illustrating the operations involved in the milking completion process (routine step SB).

[0062] Since the operation of this routine step SB can be basically automated, the routine step SB can be executed automatically once it is detected that the milking process has finished. Alternatively, once the milking process is finished, the operator can check the condition of the dairy cow C, for example, by turning on (flashing) the milking completion lamp, and then turn on the release switch of the milking unit 23a to automatically perform the subsequent release process.

[0063] In routine step SB, first, the teat cup rotation drive unit 15f is driven and controlled to rotate the support arm unit 5 90° back. This returns the teat cup set unit 6 to the solid line position shown in Figure 9 (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. This returns the vertical support shaft unit 2s to the state before setting shown in Figure 7 (steps S22, S23, S24).

[0064] 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).

[0065] 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 5 can be executed.

[0066] The above describes the case in which the teat cup setting device 1 is configured with a power drive means 15. However, as shown in the fourth modified example described later, the teat cup setting device 1 can also be configured with a manual operation means 16.

[0067] Next, various examples of modifications to the teat cup setting device 1 will be explained with reference to Figures 11-19.

[0068] Figure 11 shows a teat cup setting device 1 according to a first modified example using a manual operating means 16. The manual operating means 16 according to the first modified example 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.

[0069] 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.

[0070] Furthermore, at the upper end of the third frame 67, one end 12s is provided, and the other end 12t extends horizontally in the direction Fh, integrally providing 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 Cu of the dairy cow C. As a result, the detection horizontal bar 12 shown in Figure 11, when provided on the upper end 2us side of the vertical support shaft 2s, functions as a height-direction position detection unit 4 that detects the upper end position Cu of the dairy cow C. With this configuration, two positions can be detected, and because it can contact the upper end on both 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.

[0071] 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.

[0072] Figure 11 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.

[0073] 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. In this way, when configuring the operating mechanism 8, if the vertical support shaft 2s is made movable up and down by manual operation, and the teat cup set unit 6 is made movable by manual operation, a power means is not required, which can contribute to further simplification of the configuration and reduction of costs, as well as energy reduction.

[0074] Figure 12 shows a second modified example relating to the height direction position detection unit 4 in the teat cup setting device 1.

[0075] This second modification involves constructing the detection horizontal bar 12, as shown in Figure 12, by providing a hook-shaped portion 12tf on a part of the other end 12t side, which is bent (or curved) along the extension from the upper end position Cu of the dairy cow C. With this configuration, in the example, the displacement of the dairy cow C to the right (or to the left in the case of an adjacent dairy cow C) can be suppressed by the hook-shaped portion 12tf, allowing for accurate and stable detection within this suppression range.

[0076] Figure 13 shows a third modified example relating to the height direction position detection unit 4 in the teat cup setting device 1.

[0077] This third modification involves configuring the height-direction position detection unit 4 by providing a detection vertical bar 13, which extends downward over a predetermined length from the lower end 2ds of the vertical support shaft 2s, as shown in Figure 13. 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.

[0078] In particular, if the detection vertical bar 13 is used, as shown in Figure 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 11, 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 portion 2s. This allows the contact portions 12tp, 12tp to have the function of gripping the upper end of the dairy cow C, thereby suppressing 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 can be configured to be vertically displaceable relative to the detection horizontal bar 12, as shown by dashed lines in Figure 11, and a spring 12b can be interposed between the detection horizontal bar 12 and the contact portions 12tp, 12tp to allow vertical displacement of the dairy cow C to escape.

[0079] On the other hand, Figures 14-19 show a fourth modification example relating to the height direction position detection unit 4 of the teat cup setting device 1.

[0080] As shown in Figure 14, the height-direction position detection unit 4 has a vertical support cylinder portion 71 attached to the other end 12t of the detection horizontal bar 12, perpendicular to the detection horizontal bar 12, and a shaft 72 that can slide up and down is inserted through this support cylinder portion 71. The lower end of the shaft 72 supports the intermediate portion of a contact function unit 75 which has a contact unit portion 73.

[0081] In this case, a stopper 72s for preventing the shaft 72 from falling is attached to the upper end of the shaft 72, and as shown in Figure 15, a restricting portion 74 is formed by making the cross-sectional shape of the support cylinder portion 71 and the shaft 72 rectangular. This restricts the horizontal displacement of the contact unit portion 73. By supporting the contact unit portion 73 with a restricting portion 74 that restricts rotational displacement in the horizontal direction, it is possible to prevent the horizontal positional displacement of the contact unit portion 73 relative to the dairy cow C, thereby enabling more accurate and stable detection.

[0082] The contact function section 75 comprises a support plate 76 and a contact unit section 73 attached to the lower surface of the support plate 76. The support plate 76 is formed by integrally bending a horizontal support surface section 76c and a locking surface section 76s integrally formed in the center of the support plate 76 using a metal plate or the like. Two contact unit sections 73, 73 are arranged side by side on the lower surface of the support surface section 76c.

[0083] The contact unit portion 73 is made of a tube material P formed from an elastic material having a predetermined elasticity, specifically two flexible polyvinyl chloride tubes Tu,Tu with an outer diameter of approximately 13 mm and an inner diameter of approximately 7 mm. Then, as shown in Figures 15 and 16, one end Tu,Tu is positioned at an intermediate position below the support surface portion 76c and fixed with a mounting pin portion N attached to the locking surface portion 76s. Then, as shown in Figure 14, a first curved portion is formed on the other end Tu,Tu, passing over the locking surface portion 76s, and then a second curved portion is formed, so that the other end Tu,Tu faces the first end Tu,Tu and is fixed with a mounting pin portion N attached to the locking surface portion 76s.

[0084] As a result, the contact unit 73 is formed in a horizontal figure-eight shape using the tube material P, and a pair of curved portions that protrude downward function as contact portions 12tp, 12tp. That is, it is formed as a contact unit 73 that integrally includes the contact portions 12tp, 12tp. Furthermore, the contact portions 12tp, 12tp are formed from an elastic material having a predetermined elasticity. By forming the contact portions 12tp, 12tp from an elastic material in this way, the impact on the dairy cow C during contact can be mitigated, thus avoiding unnecessary adverse effects on the dairy cow C during use. Moreover, when forming the contact unit 73, if the pair of curved portions on the left and right that protrude downward in the contact unit 73 formed in a horizontal figure-eight shape using the tube material P are used, it can be easily constructed using a single general-purpose tube material P, thus enabling the production of the contact unit 73 at low cost. It should be noted that the same can be achieved by using a rod material instead of the tube material P.

[0085] The example shows a case where two contact unit parts 73, 73 are installed, but one may be used, and this does not preclude the use of three or more. In this way, by using one or more contact unit parts 73 and arranging them in the front-rear direction relative to the dairy cow C, the total number of contact points by the contact parts 12tp, 12tp... can be increased, thereby enabling stable contact of the contact unit parts 73 with the dairy cow C and stable detection.

[0086] In this configuration, the contact unit 73..., when in use, contact portions 12tp, 12tp contact the left and right rear surfaces of the dairy cow C, as shown in Figure 17. If necessary, the contact unit 73... can follow the rear surface of the dairy cow C, as shown by dashed lines in Figure 16, to improve its followability. Note that in Figures 14-17, the contact unit 73... is designed to displace downward due to its own weight, thus accommodating vertical displacement of the dairy cow C. However, if necessary, as shown in Figure 11, a spring 12b may be attached to the shaft 72 to reliably displace the contact unit 73... downward, ensuring stable operation.

[0087] Figures 18 and 19 show an example in which part of the height direction position detection unit 4 has been modified. Figure 18 shows the contact unit 73... attached to the locking surface 76s of the support plate 76, rotatably mounted via the rotating part 77. In this case, the rotation range is restricted to a certain range. This makes it possible to detect the average of the left and right heights even if they differ on the left and right sides when contacting the dairy cow C.

[0088] Furthermore, Figure 19 shows a configuration in which the width of the support surface portion 76c of the support plate 76 is widened, and the position of each contact unit portion 73, 73 on the mounting pin portion N is adjustable. As shown in Figure 16, some degree of followability can be ensured, but in the case of Figure 19, the followability can be set in advance. In the example, the support plate 76 is composed of a combination of a main support surface portion 78c and sub-support surface portions 79... that support the tube material P. Therefore, the position of each sub-support surface portion 79... that supports the tube material P... on the mounting pin portion N can be moved. The dotted line shows the state in which the position of the tube material P shown by the solid line has been changed. Note that 78s indicates the sub-locking surface portion 76s.

[0089] Therefore, according to the milking system M of this embodiment, the basic configuration includes 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, a support mechanism 3 supported by the milking unit Ua and supporting the vertical support 2 so that it can move up and down, a height direction position detection unit 4 provided on the upper end 2us side or the lower end 2ds side of the vertical support 2 to detect the upper end position Cu or lower end position Cd of the dairy cow C, and a support arm 5 with one end 5s provided at the lower part of the vertical support 2 and the other end 5t being displaceable in the horizontal direction Fh. The teat cup setting device 1 includes a teat cup support mechanism 7 having a teat cup support mechanism 7 that supports teat cups Tc... on the other end 5t of the support arm 5, and an operating mechanism 8 that allows the vertical support 2 to move to a predetermined height in accordance with the detection result of the height direction position detection unit 4, and also displaces the other end 5t of the support arm 5 provided on the teat cup setting unit 6. As a result, even after moving to the milking position Pc, the 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 also contributes to a significant reduction in the labor of the worker, including the work of attaching the teat cups Tc.... Moreover, since it eliminates the need to construct a large-scale automated system, it contributes to significant cost reduction. Furthermore, even if the position and height of the teats Cb... differ and become unstable due to the body shape and movement of each dairy cow C..., the teat cups Tc... can be set reliably and efficiently, thus providing an optimal milking system that balances both cost reduction and labor reduction. In addition, normally, the distance between the cow stall and the milk line 51 changes (increases) little by little as it moves away from the milking device (not shown) from which milk is collected from the milk line 51. However, with the height direction position detection unit 4, the relative height of the teat cup setting unit 6 always matches not only with respect to the dairy cow C but also with respect to the milking operator (eye level), enabling smooth and efficient milking.

[0090] Although preferred embodiments, including various modifications, 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.

[0091] For example, the milking unit Ua... is shown as an automatically moving type, but this does not exclude the type that moves manually. That is, the means of movement Fm can be automatic electric, manual electric, or manual. Also, the milking unit Ua... is shown as two milking units Ua and Ub, but it can be one unit or any number of two or more units. The vertical support shaft section 2s (vertical support section 2) 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 is shown as a contact detection method, 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]

[0092] 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]

[0093] M: Milking system, 1: Teat cup setting device, 2: Vertical support section, 2u: Upper shaft section, 2d: Lower shaft section, 2us: Upper end of vertical support section, 2ds: Lower end of vertical support section, 3: Support mechanism section, 4: Height direction position detection section, 5: Support arm section, 5s: One end of support arm section, 5t: Other end of support arm section, 6: Teat cup setting section, 7: Teat cup support mechanism section, 8: Operating mechanism section, 11: Connecting support section, 12: Detection horizontal bar, 12s: One end of detection horizontal bar, 12t: Other end of detection horizontal bar, 12tp: Contact Part, 12tf: Hook-shaped part, 13: Vertical bar for detection, 14: Holding function part, 15: Power drive means, 15v: Shaft lifting drive unit, 15f: Teat cup rotation drive unit, 16: Manual operation means, 73: Contact unit part, 74: Regulating part, 100: Mooring barn, C: Dairy cow, Cb: Teat, Cu: Upper end position of dairy cow, Cd: Lower end position of dairy cow, Tc: Teat cup, Tco: Inlet, St: Stall, R: Guide rail, Ua: Milking unit, Pc: Milking position, Fm: Movement means, Fh: Horizontal direction, P: Tube material

Claims

1. A milking system comprising at least one milking unit that is movable along guide rails installed for multiple stalls in a mooring barn, wherein the milking unit is provided with a means for moving the milking unit to a set milking position located to the side of the dairy cow to be milked, and the milking system is characterized by comprising a support mechanism supported by the milking unit and supporting a vertical support so that it can be raised and lowered, a height direction position detection unit provided on the upper or lower end side of the vertical support to detect the upper or lower end position of the dairy cow, a teat cup support mechanism having one end provided at the lower part of the vertical support and the other end being a support arm that is displaceable in the horizontal direction, and having a teat cup set part that supports a teat cup on the other end of the support arm, and an operating mechanism that allows the vertical support to move to a predetermined height in accordance with the detection result of the height direction position detection unit and displaces the other end of the support arm provided on the teat cup set part.

2. The milking system according to claim 1, characterized in that the vertical support portion is configured as a connecting structure in which an upper shaft portion and a lower shaft portion are connected in the axial direction via a connecting support portion, and the upper shaft portion and the lower shaft portion are configured such that relative displacement in the vertical direction is restricted and relative displacement in the rotational direction is permitted.

3. The milking system according to claim 1, characterized in that the height-direction position detection unit has one end provided on the upper part of the vertical support unit and the other end extends horizontally to a detection horizontal bar of a predetermined length that can contact the upper end position of the dairy cow.

4. The milking system according to claim 3, characterized in that the detection horizontal bar has a pair of left and right contact portions at its other end that contact the upper end position of the dairy cow.

5. The milking system according to claim 4, characterized in that the contact portion is formed of an elastic material having a predetermined elasticity.

6. The milking system according to claim 4 or 5, characterized in that the contact portion uses a pair of left and right curved portions that protrude downward in a contact unit portion formed by shaping a rod material or tube material into a horizontal figure eight shape.

7. The milking system according to claim 6, characterized in that one or more contact units are used and arranged in the front-to-back direction with respect to the dairy cow.

8. The milking system according to claim 6, characterized in that the contact unit is supported by a restricting portion that restricts rotational displacement in the horizontal direction.

9. The milking system according to claim 3, characterized in that the detection horizontal bar has a hook-shaped portion on a part of its other end that is curved or bent in the direction extending from the upper end position of the dairy cow.

10. The milking system according to claim 1, characterized in that the height direction position detection unit includes a detection vertical bar which extends downward over a predetermined length from the lower end of the vertical support unit.

11. The milking system according to claim 1, characterized in that the teat cup set section comprises a holding function section capable of holding four teat cups, each having an opening for receiving the teat facing upward.

12. The milking system according to claim 1, characterized in that the operating mechanism is composed of a power driving means including at least a shaft lifting drive unit capable of raising and lowering the vertical support unit and a teat cup swivel drive unit capable of swiveling the teat cup set unit.

13. The milking system according to claim 1, characterized in that the operating mechanism is configured with a manual operating means that allows the vertical support to be raised and lowered by manual operation and the teat cup set section to be rotated by manual operation.

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