JPH08131002A - Cup mounting control device for automatic milking equipment - Google Patents

Abstract

(57) [Summary] [Structure] The teat position update storage means 86 is provided for updating the whole teat position detection information by the scanner 56 for each cow when the teat cup 50 is successfully attached to the teat, and the rough sensor 55 is provided. After the detection operation of the teat position update storage means 86, the skip control for raising and moving the teat cup 50 is performed based only on the previous all teat position detection information stored in the teat position update storage means 86, and the teat cup 50 is attached to the teat by this skip control. If it is not possible, the linking means 81 is configured so that the linking operation state in which the teat cup 50 is moved up after the new teat position detection operation by the scanner 56 is newly performed appears. [Effect] Knowing the operation of attaching the teat cup to the teat, and reviewing and examining its function, instead of adding a new mechanism / device, simply omitting a part of the operation process. By economical means, it was possible to provide a rational automatic milking device in which the wearing efficiency of the teat cup, that is, the operating efficiency of the entire milking is improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic milking apparatus capable of automatically milking a milking animal such as a cow and a pig.

[0002]

2. Description of the Related Art For example, an automatic milking apparatus disclosed in Japanese Patent Laid-Open No. 2-38232 is known. That is, it is equipped with a breast pump that moves in and out from the side of the milking room to the lower abdomen of the dairy cow, approaches the lower abdomen of the cow in the milking room from the side, attaches a teat cup to the teat, and then starts milking. That is, the series of operations is automatically performed.

[0003]

According to the above-mentioned prior art, the teat cup is guided to a position directly below the teat by sensing, and the teat cup is relatively lifted so that the teat cup is relatively inserted. Although it is a means, the general principle of how to detect the nipple position and how to position the teat cup is as follows.

First, the teat (4
Pretreatment is performed to measure the relative position of each piece) and store the information. Then, when the cow comes to the milking room and comes into a predetermined milking posture, first, by detecting the predetermined teat (the fourth teat located on the front right side) with the rough sensor, the entire four teat cups are positioned in the vicinity of the teat. Perform a rough alignment operation to bring the teat cup closer to the position of the teat, and then measure the positions of the four teats with a fine sensor to perform a precise alignment operation of the teat cups, and place the corresponding teat cups directly below each teat. Position it. At the time of this precise alignment, the previous success information, that is, the relative positional relationship data of the four teats obtained by the precision sensing at the time of the previous successful milking of this cow was retrieved from the storage device, and the previous success data and this time obtained. The position of the teat cup is adjusted by comprehensively judging the obtained new precise sensing data.

However, from the viewpoint of further improving the milking work efficiency by automation, it has become a problem to further speed up the above teat cup mounting operation. Therefore, an object of the present invention is to shorten the time for attaching the teat cup to the teat while reducing the economical disadvantage.

[0006]

In order to achieve the above object, the present invention provides a teat cup, which can be attached to the teat of a milking animal, protruding to the lower abdomen of the milking animal in a predetermined milking position in the milking chamber. The teat cup at the milking position that has moved and the retracted position that has moved to the side of the milking chamber can be changed, and the teat cup that is at the milking position is moved upward to attach it to the teat for automatic milking. With a possible mounting means, a rough sensor for detecting a predetermined teat position among a plurality of teats, and a fine sensor for measuring all teat positions, and a predetermined teat cup based on predetermined teat detection information by the rough sensor. The teat cup in the vicinity of the teat can be guided and moved to the area near the teat, and the teat cup located in the area near the teat can be positioned directly under the teat based on the measurement information of all teat positions by the fine sensor. The teat cup can be moved up and down after this positioning movement, and in a state where the teat cup can be moved up and down, an automatic milking device is configured by providing a linking means capable of linking the mounting means and both sensors to the teat of the teat cup. When the wearing is successful, the nipple position update storage means for storing the whole nipple position measurement information by the fine sensor while updating it for each milking animal is provided, and after the detection operation of the rough sensor, the nipple position update storage means previously stored Performs skip control to move the teat cup upward based only on the total teat position measurement information, and if the teat cup cannot be attached to the teat by this skip control, the new teat position measurement operation by the fine sensor is newly performed. The linking means is configured so that the linking operation state in which the teat cup is moved upward after being exposed appears. It is an.

[0007]

In view of the sensing operation of the teat, the relative position of the teat in each cow does not change,
If the position of the initial relationship between the teat cup and the teat can be detected by the rough sensor, the amount of lateral movement and the moving direction and the vertical movement necessary for accurately aligning the teat cup with the teat from the positioning state by the rough sensor based on the previous success information. It is possible to determine the amount. Therefore, the teat position update storage means 8 which stores the whole teat position measurement information by the fine sensor while updating it for each milking animal.
By providing 6 (see FIG. 41), if the teat cup is operated based on the most successful previous success information among the previous success information, theoretically, each time the teat is not sensed, the teat is not detected. Since it can be attached to the tea cup, the sensing operation by the fine sensor can be omitted if there is the previous success information as in the configuration of claim 1, and the operation process is reduced by that amount to install the teat cup. The time required can be shortened.

However, since the movement operation of the teat cup by the mounting means is performed mechanically, in reality, a control error based on the accumulation of backlash in the drive unit or the accuracy of movement / stop, or the expectation of the milking animal. The teat cup may not be able to completely move to the position just below the teat theoretically due to the movement of the teat. Therefore, if it is not possible to attach the teat cup based on the previous success information only, the precise nipple position measurement is newly performed with the fine sensor, and at the time of, the latest information necessary for the attachment is obtained and the attachment is retried. Of.

The time required to perform the predetermined nipple detection operation by the rough sensor and the total nipple position measurement operation by the fine sensor once respectively is the predetermined nipple detection operation by the rough sensor and the trial operation for mounting the teat cup based on the previous success information. It is clearly shorter than the total time required to redo the measurement of the total nipple position using the fine sensor, but as a result of the experiment, it was found that the frequency of having to redo the measurement of the entire nipple position using the fine sensor is low, and the previous success It was confirmed that the means of the present application, which first performs the omission control for mounting the teat cup based on the information, results in an improvement in efficiency as compared with the means for performing the total teat position measurement operation by the fine sensor each time milking.

[0010]

As a result, by familiarizing the operation of attaching the teat cup to the teat, and reviewing and examining the function thereof, rather than adding a new mechanism / device,
By economical means that only part of the working process is omitted,
It was possible to provide a rational automatic milking device in which the mounting efficiency of the teat cup, that is, the operating efficiency of the entire milking is improved.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Below, the case where the embodiment of the present invention is applied to a cowshed will be explained based on the drawings. Figure 1 shows the overall layout of a barn. 1 is a large feeding area, 2 is a free stall (rest area), 3 is a milking station, a feeding box 1a is arranged on one side of the feeding station 1, and a large number of stalls separated by pipes on both sides of the free stall 2. A (bed) 2a is arranged. The feeding station 1 and the free stall 2 are separated by two gates 4 and 5, and these gates 4 and 5 are
It is configured to be freely switchable between a free open / close state in which the feeding station 1 and the free stall 2 are opened in either direction and a one-way state in which only passage from the feeding station 1 to the free stall 2 is allowed.

The milking system in this cowshed will be briefly described. First, the cows are left in the feeding area 1 and, a few hours before the milking time, the gates 4 and 5, which are in the open / closed state, are switched to the one-way state. Let's collect the cows in Freestall 2. Then, from the cows that became hungry, head toward the milking station 3 in sequence, and the distribution gate G6 described later.
The rocking of the cows opens the milked cows to the feeding area 1,
The dairy cows that could not be milked are guided to the separation area 3S and wait for the retry of milking. Dairy cows that know this (educated) naturally milk when they are hungry, because free stall 2 has no food, but milking station 3 has delicious food that caters to the tastes of cows. You will be heading to field 3.

Next, the milking station 3 will be described. As shown in FIG. 1, the milking plant 3 is provided with an automatic milking device A that can milk without manual work.
And the control room 6 for monitoring, the two milking rooms 7, 7 arranged in series, the moving passage 8 arranged beside these milking rooms, the waiting room 28, and the start end of the moving passage 8. A substantially U-shaped separation area 3S or the like that communicates with the end is arranged.

As shown in FIG. 2, a first gate G1 which can be freely opened and closed is arranged on the inlet side of the moving passage 8, and a sixth gate G6 which can be switched between an end position and a retry position is arranged on the outlet side. It has been done. On the other hand, each milking room 7, 7 has a second (fourth) gate G2, G4 which is an inlet of a dairy cow and a third gate which is an outlet.
(Fifth) Gates G3 and G5 are equipped.

The first gate G1 is usually called a Texas gate, and is provided with a pair of left and right gate pieces 9 and 9 which can swing around the vertical axis, and a pair of gate pieces 9 and 9 are simultaneously opened and closed by an air cylinder or the like. It is structured in a possible double door structure. The second gate G2 is configured as a door that can swing about the vertical axis, and is set so as to close the moving passage 8 almost at the open position so that cows can enter from the first milking chamber 7 first. I am doing it. The fourth gate G4 of the second milking chamber 7 has the same structure.

The third gate G3 is supported by the side wall of the milking chamber 7 so as to be swingable about the vertical axis, and the first door 10 is swingably supported on the first door 10 about the vertical axis. It is configured as a folding door having a double folding structure with the second door 11.
The third gate G3 is configured to push the buttocks of the cow out of the milking chamber 7 to promote the forward movement by the movement of the second door associated with the closing operation thereof (see FIG. 5 (f)). The fifth gate G5 of the second milking room 7 has the same structure.

The sixth gate G6 is a distribution gate (separation gate) 1 which can be swung around a vertically oriented axis P6.
2 and one-way gates 13 and 14 to the feeding area 1 side and the separation area 3S side, respectively. The distribution gate 12 feeds the end position (solid line in FIG. 2) that is swung to the separation area 3S side so as to connect the moving passage 8 and the feeding area 1 and the feed position for connecting the moving passage 8 and the separation area 3S. It can be switched to the retry position (the state of the phantom line in FIG. 2) that swings to the side of the field 1. The one-way gates 13 and 14 are configured to urge the return to the end position of the distribution gate 12 or a position along the retry position.

Further, in order to operate the gates in association with each other, a large number of sensors S1 to S8 for detecting the passage and the presence of cattle are provided. All the sensors are configured as an optical sensor composed of a pair of a light emitter and a light receiver, and detect and operate by interrupting the optical axis or restarting the optical axis. In the drawing representation, assuming that S1 to S8 are marked on the optical axes of the respective sensors, the respective sensors are arranged as follows.

As shown in FIG. 2, a pair of upper and lower first and second pairs
The sensors S1 and S2 are arranged so as to be orthogonal to the moving passage 8 at a point 60 cm away from the first gate G1, and the first sensor S1 detects the leg portion of the cow and the second sensor S2 detects the body portion, respectively. To do. Third sensor S3
Is obliquely arranged so as to extend over the start end side portion of the first milking chamber 7 and the end portion of the first milking chamber 7 opposite to the moving passage. The fourth sensor S4 is obliquely arranged so as to extend across a portion of the first milking chamber 7 opposite to the moving passage on the start end side and a portion of the first milking chamber 7 on the end side. The fifth sensor S5 is obliquely arranged so as to extend from the start end side portion of the second milking chamber 7 to the end portion of the second milking chamber 7 opposite to the moving passage. Sixth
The sensor S6 is obliquely arranged so as to extend across the portion of the second milking chamber 7 opposite to the moving passage on the starting end side and the end portion of the second milking chamber 7. A pair of upper and lower seventh and eighth sensors S7, S8
Are arranged in a state where the moving passages 8 near the terminal side of the second milking chamber 7 are orthogonal to each other, and the first and second sensors S1, S
Similar to 2, the 7th sensor S7 has a leg portion and the 8th sensor S8
Detects the body parts respectively.

Next, referring to FIGS. 2 to 7, the linking operation between each sensor and each gate will be described. First, in the initial state, as shown in FIG. 3A, the second gate G2 is opened, the sixth gate G6 (distribution gate 12) is operated to the end position, and the other gates G1, G3, G4, G5
Are all closed. As shown in FIG. 3B, the first gate G1 is opened, and the cow enters the moving passage 8 and the first and second
Upon completion of passing the sensors S1 and S2, the first gate G1 is closed. Then, when the cow enters the first milking room 7 through the third sensor S3 and the tag (reception device) T detects the solid (cow) by the responder (not shown) which is a transmission device attached to the neck, The second gate G2 is closed and the fourth
The gate G4 opens [see Fig. 4 (c)].

Then, milking by the automatic milking device A is started in the first milking chamber 7, and the first gate G1 is opened again so that the next cow can enter the moving passage 8. The first gate G1 is connected to the first gate G1 by an existence sensor (not shown) arranged in front of the gate.
1 It is convenient that the cow is set to be openable only when the cow is in the standby position immediately before and one of the first and second milking rooms 7 and 7 is vacant (No. 1). There is also a means to manually operate only the opening operation of 1 gate G1).

When the next cow enters the moving passage 8 and passes through the first and second sensors, the first gate G1 is closed and the fourth gate G4 which is the entrance of the second milking chamber 7 is opened (second The fourth gate G4 may be opened when the gate G2 is closed or when the first gate G1 is opened.)
Preparations for the milking room 7 are complete (see Fig. 4 (d)). And the third, fourth and fifth sensors S3, S4, S
When 5 detects and the cow enters the second milking chamber 7 and the tag T is detected as a solid, the fourth gate G4 is closed and the milking states in the two milking chambers 7, 7 are set.

Next, after the milking in the first milking chamber 7 is completed,
When the automatic milking device A is reset, the third gate G3 which is the outlet of the first milking chamber 7 is opened in association with the reset, and the cow advances to the moving passage 8 (see FIG. 5 (e)). At this time, the fourth sensor S4 blocked by the passage of the cow returns to the initial state again (or the fifth and sixth sensors S5 and S6 both detect and operate), etc. The opened third gate G3 is closed and the second door 11 is opened as shown in FIG.
As shown in (f), the function of promoting the forward movement by pushing the buttocks of the cow is exerted. When the cow leaving the first milking room 7 passes through the fifth and sixth sensors S5 and S6 and then approaches the seventh and eighth sensors S7 and S8, the third gate G3
And the first gate G1 is opened [Fig. 6
(See (G)), the first gate G1 can be opened by the passage detection of the seventh and eighth sensors S7, S8. When the milking is completed, the sixth gate G6 is maintained at the end position, and the cow passes through the one-way gate 13 on the feeding ground side to feed the feeding ground 1
Is released to.

When the milking in the second milking chamber 7 is finished, the operation is almost the same as in the case of the first milking chamber 7 (see FIG. 6C). However, the difference is that the fifth gate G5 is closed. The operation and the openable state of the first gate G1 are achieved by the passage completion detection of the seventh and eighth sensors S7 and S8 (see FIG. 7), and the fourth gate G4 is still maintained in the closed state. This is the point (when the fourth gate G4 is opened and operated at this time, there is a cow in the first milking room 7). Then, the cows in the second milking room 7 move through the passage 8
If there is no cow in the first milking room 7 when leaving, the gates G1 to G6 return to the initial state in which only the second gate is opened.

In this system, when both milking chambers 7, 7 are empty, the first milking chamber 7 is preferentially filled with cows. The advantages of the cross arrangement of the third to sixth sensors S3 to S6 in the moving passages 8 in front of the milking chambers 7 and 7 are as follows. That is, due to the structure in which the movement passage 8 to and from the milking chamber 7 arranged in series is performed on the lateral side wall portion of the milking chamber 7, it can be sensed at a position close to the entrance / exit of the milking chamber 7 due to the diagonal arrangement of the sensor. Function and, for example, if a cow exiting the second milking room 7 backs up while passing the seventh and eighth sensors S7, S8, the fifth and sixth sensors S5, S6 are activated to Since it is possible to exhibit both the function of detecting inconvenience and the function of arranging the sensor orthogonal to the moving passage 8 in front of and behind each gate, it is superior in terms of the detection points and the required number of sensors.

The above-mentioned opening / closing operation of each gate is an example when the system is operating smoothly, and various operating conditions are conceivable on a case-by-case basis. For example, when the milking in the second milking chamber 7 is completed earlier than in the first milking chamber 7, the cows in the second milking chamber 7 are The gate G1 becomes openable. At that time, if the next cow comes before the first gate G1, the first gate G1 will open and the cow will overtake the first milking chamber 7 and directly enter the second milking chamber 7.
And so on.

Each of the sensors S1 to S8 uses the same sensor. The structure of the first sensor S1 will be described below. As shown in FIG. 8, the first sensor S1 includes a light projector 15 and a light receiver. The projector 15 is an optical system composed of a pair of 16 and a tube for blocking the entry of other objects from the surroundings to the starting end of the projecting path (shown by S1 in FIGS. 2 and 3) by the light emitter 17. A cover 18 is provided, and a transparent wall 19 arranged in front of the light-emitting body 17 with a space is provided inside the cylindrical cover 18. More specifically, the light emitting body 17 is fixed to a first cover 20 having a partition wall 20a having a plurality of heat dissipation holes 20b formed therein, and a transparent glass transmission wall 19 is fixedly attached to the tip of the first cover 20. There is. Cylinder cover 18
Is a round cylinder whose both ends are open, and is integrated by screwing the base end to the outer periphery of the front end of the first cover 20.

That is, it is known that the light-emitting body 17 emits heat and also emits heat, and the flies approach in response to the heat, and the light-transmitting wall 19 and the cylindrical cover 18 allow the light-emitting body 1 to move.
The heat is not dissipated around the optical axis side of 7.
As a result, the optical axis of the projector 15 is blocked by the flies,
It prevents the sensor S1 from malfunctioning. Further, as shown in the figure, the light receiver 16 is also equipped with a cylindrical cover 22 for preventing other objects from entering the light receiving path starting end portion of the light receiver 21 from the periphery. There is no inconvenience that the optical axis is blocked by the insects.

As shown in FIG. 1, a unidirectional gate 23 is provided at the end of the separation area 3S, and a second distribution gate 24 is provided in front of it. The one-way gate 23 extends from the separation area 3S to the first gate G1.
It is a one-way gate that allows only forward rocking and is blocked from moving in the opposite direction, and the second distribution gate 24 is in its normal position (to the right in FIG. 1) towards the first gate portion for milking retries. It is possible to switch between a swinging position) and a return position (a position swinging leftward in FIG. 1) so as to return to the free stall 2. Second distribution gate 24
Is set to the return position not when the milking is failed but when the technical separation is performed (a condition where milking cannot be performed due to an illness or the like). When re-introducing the cows in the separation area 3S into the milking room 7, the gate 4 beside the first gate G1
Is maintained at the position shown by the broken line in the upper part of FIG.

Next, the milking chamber 7 and the moving passage 8 will be described in detail. As shown in FIGS. 13 and 14, the second gate G2 has a simple door structure that can be freely opened and closed by swinging around the vertical axis P2 at the tip of the gate.
It can be freely opened and closed by driving by a second cylinder C2 installed over a and 7b. The third gate G3 is constructed by supporting the base end of the first door 10 at the vertical axis P3 and erected and connecting the guide rod 29 across the tip of the second door 11 and the right side wall 7b of the milking chamber 7. It can be driven and opened / closed by a third cylinder C3 extending over the first door 10 and the right side wall 7b.

Further, the second gate G2 has an eviction mechanism E.
Is installed. That is, the ejecting member 30, which is swingable around the vertical fulcrum Y, the four links 31, and the ejecting cylinder Co are attached to the second gate G2 to form the ejecting mechanism E, and when the third gate G3 is opened. The expelling cylinder Co extends, and the expelling member 30 acts just around the buttocks of the cow to rotate about 180 degrees and push out. The above structure is similarly configured in the second milking chamber 7.

As shown in FIGS. 9 and 10, the first gate G
1, an opening / closing mechanism F composed of a first cylinder C1 and a link mechanism 32 can simultaneously open and close the left and right gate pieces 9 and 9 having a vertical axis P1. or,
As shown in FIGS. 11 and 12, the one-way gate 13,
The swing fulcrums X1 and X2 of 14 are set on the opposite side of the axis P6 of the distribution gate G6 and inclined, and the one-way gates 13 and 14 are set in a tilted posture which is higher toward the axis. Then, rocking fulcrums X1 and X2 are set on the surfaces along the end position and the retry position of the distribution gate 12, and as a result, the one-way gates 13 and 14 return to the closed posture due to the weight of the gate. It is a biased structure.

As shown in FIGS. 13, 31 and 32, the front kick preventive device I for preventing the forward movement of the rear leg so that the cow in the milking room 7 does not step on the automatic milking device A with the rear leg.
Is provided. That is, the front kick prevention device I has an action posture capable of restricting the forward movement of the rear leg by projecting to the position immediately before the rear leg of the cow (corresponding to a milking animal) in a predetermined milking posture,
A restraining member 33 whose posture is freely changeable is provided in a retracted posture that allows the milking animal in a predetermined milking posture to move forward, and the restraint member 33 is moved from the retracted posture to the working posture based on the detection operation of the posture detection unit 35. The movement operation means 34 and the attitude detection means 3 are capable of switching the attitude of the restraint member 33 so as to be switched.
5 and 5 are linked together.

More specifically, the milking room 7 is made to feed delicious food in order to keep the cow calm during milking. When the tag T is detected, the bait box 36 in the front position is moved backward by moving the bait box 36 after the tag T is detected, as shown in FIG. Then, the cow is set back in a predetermined milking posture by retracting the cow. That is, bait box 3
When the tag T detects and the detection switch 35 is activated thereafter, the restraint cylinder Ck moves in the longitudinal direction of the milking chamber 7. The detection switch 35 and the control valve 3 of the restraint cylinder Ck are configured to rotate the restraint member 33 in the retracted posture along 90 degrees to switch the posture to the working posture.
8 and 8 are linked by the second control device 39. A check member 33 made of a pipe around which a cushion material is wound is supported by the vertical axis Q on the right side wall on the right side and on the second gate G2 on the left side, and a check cylinder Ck.
It is configured such that a shortening motion of the device causes the working position, and an extension motion causes the retracting position.

When the feeding box 36 is moved forward and the detection switch 35 is deactivated after the milking is completed, the check cylinder Ck is extended to switch the check member 33 to the retracted posture, thereby restricting the forward movement of the rear legs. It is released to allow the cow to move out of the milking room 7. This series of operations is shown in FIG.
This is executed between (C) and FIG. 5 (E). By the way, as shown in FIG. 22, in the automatic milking device A, the control chamber 6 on the lateral side of the milking chamber 7 is normally in a position retracted to the crocodile,
When the detection switch 35 is actuated, the milking position is formed so as to project and move to the lower abdomen of the cow. It should be noted that a means for switching the posture of the restraint member 33 based on only the detection operation of the detection switch 35 may be used, but the feeding box 3 can be used even when there is no cow.
As an operation restraint in the abnormal state in which the 6 moves toward the rear, it is preferable to use means for setting the tag T detection as an operating condition.

As shown in FIGS. 15 and 16, in the moving passage 8 in the portion that has exited from the first milking chamber 7 through the third gate G3, the forward movement promotion for advancing the cow without stopping on the spot is promoted. Means H are provided. On the side wall portion of the moving passage 8 on the bait field 1 side, a striking mechanism a provided with a pusher 40 that can be swingably switched between a storage posture along the passage side wall 8a and a pushing posture protruding into the passage, and the pusher 4 are provided.
There is provided a slide mechanism b for driving and sliding 0 along the longitudinal direction of the passage. That is, a moving body 44 having a substantially H-shaped side view is slidably fitted in a pair of upper and lower guide rails 42 and 43 provided on the side wall 8a, and the moving body 44 is substantially vertically centered at X3. While supporting the U-shaped pipe pusher 40 which is laid down sideways,
A retreat cylinder Ct, which is the movement operation means 34, is provided between 0 and the moving body 44. In addition, the moving body 44 and the side wall 8
a a rodless cylinder C extending over the fixing member 41
The r is installed to support the moving body 44 so as to be slidable in parallel along the side wall 8a, thereby forming a forward movement promoting means H.

The operation will be described. When a cow comes out of the first milking room 7 into the moving passage 8, first, the withdrawal cylinder Ct is extended and the pusher 40 is switched to the evacuating posture to prevent the cow from further backing. To do. Then, by continuing the shortening and extension movements of the exit cylinder Ct, the pusher 40 strikes the buttocks two or three times to promote the forward movement, and then the rodless cylinder Cr is shortened to force the cow through the moving body 44. It moves forward, drives the exit cylinder Ct again at that position, hits the buttocks with the pusher 40 a few times, and finally returns to the initial position. The above series of operations is detected by the fifth or sixth sensor S5, S6 from the state detected by the fourth sensor S4 shown in FIG. 5 (F) (that is, movement between the first and second milking chambers). It is convenient to perform control such that when the time during which cows are present in the passage 8) exceeds a predetermined time, it is determined that the cows have stopped moving and the advancement promotion means H is activated. In addition, cow is milking room 7
It is also possible to operate the forward movement promotion means H without fail.

The structure of the automatic milking device A will be described.
As shown in FIGS. 17 to 20, a breast pump (cluster) Aa configured by including a waist bending arm 51 having four teat cups 50 that can be attached to the teat at the tip on the right side of the milking chamber 7, and The teat cup 50 is sensed by sensing the teats at four positions of the cow in a predetermined milking posture in the milking room 7.
An automatic milking device A is constituted by a sensor robot Ab for aligning each of the robots with each other immediately below the corresponding teat.

As shown in FIGS. 17 and 18, the breast pump Aa
Is a tip arm 51a having a teat cup 50,
The waist breaking link 51 is composed of the tip arm 51a and a base end arm 51b which is provided on a support 54 fixed to the right side of the milking chamber 7, and two return cylinders 52 and 53. The outside of the teat cup 50 is covered with a rubber material, and the upper link 6 is attached to the protruding portions above and below the rubber material.
3a and a lower link 63b having a length shorter than that of the lower arm 63 are supported by the tip arm 51a via an isosceles side link mechanism 63, and an elevating cylinder 64 is installed between the tip arm 51a and the bottom link 63b. Base arm 51b
Is a lifting mechanism (rodless cylinder, electric cylinder, etc.)
It is supported by a support body 54 so as to be capable of moving up and down in parallel via 66, so that the base end cylinder 53 can also be moved up and down in conjunction therewith.
A bar 67 provided upright on the support 54 is fitted so as to be vertically slidable.

The four teat cups 50 are arranged in a trapezoidal shape whose front side is wide laterally in accordance with the arrangement state of the cow's teats, and this arrangement state is basically fixed. However, the upper and lower links 63a, 63b and the tip arm 51a
Due to the elasticity of the rubber bush (not shown) interposed in the connection portion with and the rubber member covering the teat cup 50,
Since the position and posture of the teat cup 50 are flexible and the opening at the upper end of the teat cup 50 has an upwardly widening shape (see FIG. 17), the relative positions of the four teats are different from the standard state. The teat cup 50 can be fitted even if it is slightly displaced. This structure is possible because the relative positions of the teats are basically not very different from cow to cow.

Further, when the teat cup 50 is mounted on the teat, it serves as a support reference body for mounting the next teat cup 50, and the mounted teat cup 50 should not move much when the teat cup 50 is mounted next. It is convenient because it can improve the success rate. Therefore, when the teat cup 50 is attached to the teat, a mechanism for canceling the accommodation by the rubber bush (for example, an electromagnetic magnet is embedded in the connecting portion and the upper and lower links 63a and 63b and the distal end arm 51a are energized). And are in a rigid state, etc.),
The certainty of wearing the cup is strengthened. This milking machine Aa
The teat extends from the retracted position retracted to the right side of the milking chamber 7 to the milking position (the lower abdomen of the cow) projecting to the left and right center of the milking chamber 7 by the expansion and contraction drive of the distal end cylinder 52 and the proximal end cylinder 53. The cup 50 can be moved without changing its posture. Reference numeral 65 is a mounted portion for sensor robot Ab combination.

As shown in FIGS. 19 and 20, the sensor robot Ab has a front end parallel quadruple link 57 having two rough sensors 55, 55 and one scanner (corresponding to a fine sensor) 56, and this. And a base end parallel quadruple link 58 extending over the upper and lower protruding plates 69a and 69b at the bottom of the frame cylinder 69, and first and second cylinders 60 and 61.
The frame cylinder 69 is fitted to the support column 59 so as to be able to move up and down by the vertical movement mechanism 70 composed of the motor 70a and the screw shaft 70b, and the support column 59 has two support chambers 7 and 7 for milking.
A pair of left and right moving rails 6 laid across the right side of the
It is supported by a dolly 68 which can roll on the upper part. still,
The extension of the lower projecting plate 69b is slidably fitted on a support bar 68a provided upright on the carriage 68 to prevent the frame cylinder 69 from rotating.

The base end parallel quadruple link 58 can be moved left and right with respect to the frame 69 by the expansion and contraction movement of the first cylinder 60, and the tip end parallel quadruple link 57 is connected by the extension and contraction movement of the second cylinder 61 to the base end parallel. It is movable left and right with respect to the four-link 58, and as shown in FIG.
It is possible to move laterally from the retracted position retracted to the right side of the milking chamber 7 to the milking position (the lower abdomen of the cow) projecting to the left and right center of the milking chamber 7 without changing the posture of the 56 with respect to the carriage 68. Although the rough sensors 55, 55 are fixed in position, the scanner 56 has a quadruple link consisting of an upper arm 56a and a lower arm 56b, and a motor mechanism 71 acting on the lower arm 56b so that the scanner 56 can move up and down in parallel. Link 57
Is supported by the pedestal 56 by an electric motor or the like.
It is configured to be rotatable about the vertical axis with respect to c.
In addition, 72 is a mounting part for a breast pump Aa combination.

Here, the breast pump Aa and the sensor robot Ab
As shown in FIG. 21, the mounted portion 65 is configured to include a pair of hook portions 65a and 65a and a pair of protrusion guides 65b and 65b, and the mounting portion 7 will be described.
2, a pair of engaging pieces 72a, 72a, which are relatively connected to each other by a hip breaking link 73, are vertically provided so as to be pivotally supported, and a lower end of a rod 75 which can be operated by a solenoid 74 is attached to a central link piece 73a of the hip breaking link 73. It is configured by connecting to. To release the engagement, the solenoid 74 may be extended. Therefore, as shown in FIG. 21A, when the entire sensor robot Ab is moved downward with the mounting portion 72 and the mounted portion 65 aligned laterally, the engaging piece 72a moves to the protrusion guide 65b. As shown in FIG. 21B, the tip of the engaging piece 72a and the hooking portion 65a are engaged with each other, and the breast pump Aa and the sensor robot Ab are guided.
And are united.

As shown in FIG. 33, there is provided an entire washing device J for washing the entire breast pump Aa with water and a cup washing device K for washing the inside of the teat cup 50. The whole cleaning device J includes a nozzle 76 attached to a side wall portion outside the milking chamber 7, and teat mounting holes 50 of the four teat cups 50.
and a lid means 77 capable of closing a (see FIG. 18). The lid means 77 includes a lid frame 79 having four lids 78 and a lid lifting mechanism 80 capable of driving and lifting the lid frame 79.
And is moved up and down between a standby position above the breast pump Aa in the retreat position and a working position which descends from the standby position and serves as a lid for each teat cup 50. That is, the tag (corresponding to the head number detection means: see FIG. 31) T, the lid lifting mechanism 80, and the pump device (not shown) are controlled by the first control device 81 (see FIG. 41) that controls the operation of the automatic milking device A. By coordinating with each other, water is discharged from the nozzle 76 at regular intervals (for example, every 10 milking) with the lid 78 set on the breast pump Aa in the retracted position, and the mud and feces attached to the breast pump Aa, It is designed to remove such things as straw debris.

The cup cleaning device K comprises a lid means 77 and a hose 82 connected to the lid frame 79. That is, an injection nozzle (not shown) is formed at the tip of the drooping protrusion 83 in the center of the lid 78, and a hose is provided via a water conduit (not shown) formed inside the lid frame 79 and the drooping protrusion 83, respectively. 82 and the spray nozzle of the drooping protrusion 83 are in communication with each other. In other words, teat cup 5
With the lid 78 set to 0, the inside of the cup can be washed by discharging high-pressure water from the pump (not shown) from the tip of the drooping protrusion 83, and the lid lifting mechanism 80 is moved every time the breast pump Aa returns to the retracted position. By operating, the inside of the cup is washed for each milking. In addition to high-pressure water, first pre-rinse with warm water of 40 degrees Celsius, then wash with hot water of 90 degrees Celsius (may be mixed with detergent), finally rinse with water and send compressed air. It is convenient to set a washing step for drying.

Next, the operation of the automatic milking device A will be described with reference to FIGS.
This will be described with reference to FIG. First, at the right lateral position of the first milking chamber 7, the breast pump Aa and the sensor robot Ab at a position higher than this are waiting in a side-by-side state (FIG. 2).
2). Next, the bait box 36 is moved backward by an amount suitable for the cow to operate in a predetermined milking posture, and the left and right restraining members 33, 33 are switched to the working posture (FIG. 23). At this time,
With the completion of the backward movement of the bait box 36, the sensor robot Ab
By moving leftward and downward (FIG. 26), the sensor robot Ab is united with the breast pump Aa.

The combined automatic milking device A moves the teat cup 50 to the lower abdomen of the cow by the approximate lateral movement of the sensor robot Ab by driving the first and second cylinders 60 and 61 (FIG. 24). , Then, the fourth teat (reference teat) is detected by using the rough sensors 55, 55, and the first and second cylinders 60, 61 are driven and controlled so that each teat cup 50 is located below the corresponding teat. (Two cylinders 52 and 53 of the breast pump Aa follow and move)
Rough alignment is performed (see FIGS. 27 and 28). next,
The motor mechanism 71 is driven to lift the scanner 56, position it between the teats in the vertical direction, and perform teat position sensing at four locations while driving and rotating (FIGS. 27 and 2).
8).

When the precision sensing (nipple position measurement) by the scanner is completed and the teat cups 50 are positioned right under each teat, first, the teat cup of the first teat Te1 (see FIG. 28 for the positional relationship of the teats). The mounting trial of 50 is started (FIG. 29), and then the mounting of the second, third and fourth teats Te2, Te3, Te4 is performed. When the mounting of the four teat cups 50 on the teat is completed, the mounting portion 72 is disengaged from the mounted portion 65, the sensor robot Ab is lifted up slightly, and then moved to the right side to return to the retracted position. (FIG. 25). After that, the sensor robot Ab uses the rail 62 to move to the adjacent second milking room 7.

When the sensor robot Ab returns to the retracted position,
The elevating mechanism 66 is driven upward, and the elevating cylinder (corresponding to the mounting mechanism) 64 is driven to be shortened, and the breast pump Aa is lifted up around the teat cup 50, and the posture of the teat cup 50 is corrected to a state suitable for a teat. Yes (Fig. 3
0). Then milking begins.

That is, as shown in FIG. 29, the teat cup 50 is in a substantially upright posture in the lower position, giving priority to the ease of fitting to the teat, but in the unequal side link mechanism 63. Since the ascending movement is in a state similar to the swinging ascending movement, the posture becomes slightly backward and the teat is slightly twisted. Therefore, the teat cup 5 is lifted by lifting the main body of the breast pump Aa.
A posture correction mechanism M that returns 0 from the backward tilted posture to a substantially vertical standing posture is configured. Further, the posture at the lower position of the teat cup 50 is set in accordance with the backward tilted posture of the teat whose tip is slightly forward, and the remarkable backward tilted posture due to the ascent is set back to the original slight backward tilted posture. It is more convenient. Lifting and moving the breast pump Aa body afterward is also meaningful in that it secures an upper and lower space necessary for allowing the combined sensor robot Ab to move sideways with the completion of the attachment of the teat cup 50. is there.

Sensing (nipple position measurement) by the scanner 56 will be described. The scanner 56 has both a transmission function and a reception function, and receives the reflected wave of the transmitted ultrasonic wave to measure the existence, size and position of the object. As shown in FIG. Four
By rotating the teat at approximately the center position, 4
The position of each teat is measured. Specifically, as shown in FIG. 38, the rear leg Le of the cow, the straw scrap St, the teat Te, and the breast U
It is assumed that d exists in the measurement target area. And FIG.
As shown in 0, the distance Di between the scanner 56 and the object due to the reception of the reflected wave and the angle An from the reference position are sequentially recorded, but when the reflected wave does not come (when there is no data). Is supposed to detect 0 (zero).

As shown in FIG. 40, the rotation of the scanner 56 begins, and the existence of the rear leg Le and its distance l _{L1 to} l _{L1 are first} detected.
_Ln and the angles θ _{L1 to} θ _Ln are detected. Next, the presence of straw debris and its distance l _{S1 to} l _Sn and the angles θ _{S1 to} θ _Sn are detected, and then the presence of teat Te and its distance l _{T1 to} l _Tn are detected.
And the angles θ _{T1 to} θ _Tn , the presence of the breast Ud and the distance l _U1 to
l _Un and the angles θ _{U1 to} θ _Un are sequentially detected. In addition, a quadrangle window Wi surrounded by x0, x1, y0, y1 which is an approximate teat existence area is determined from the teat position data measured for each cow in advance, and an object exists in this window Wi. Whether or not the thickness of the teat and the distance from the scanner are appropriate is a comprehensive judgment.

That is, as in the algorithm shown in FIG. 39, the arithmetic mean of the detected distance and angle data is obtained for each object (step #a), and the arithmetic mean: l _Av = l ₁ + ... l _n / n, θ _AV = θ ₁ + ... θ _n / n Then, is the obtained value within a predetermined range? ,
And whether the object is within a given window Wi? Are compared (step #b), and if both conditions are satisfied, the teat Te is considered, and if either of them is not satisfied, it is controlled to be a teat other than Te. As shown in FIG. 28, the rear right one in the plan view is the first teat Te1, and the second to fourth teats Te2 to Te4 are sequentially set in the clockwise direction from there. The rough sensor 55 detects the fourth teat Te4 at the front right.

Next, the algorithm of the whole operation of the automatic milking apparatus A from the time when the cow enters the milking room 7 to the time when the cow goes out will be described with reference to FIGS.
This will be described with reference to FIG. First, the entrance gate G2 or G4
Is opened (step # 1) and whether or not the cow has entered the milking chamber 7 is determined by whether or not the cow is completely passed by the third or fifth sensor S3 or S5 (step # 2). The gate G2 or G4 is closed (step # 3). When the tag T is detected in the milking room 7 (step # 4), the physique data and the like out of the previously input information of the cow are output (step # 5), and the feeding box 36 matches the cow. A backward operation is performed at a distance (step # 6). In this case, by using a collar-shaped responder (not shown) wound around the cow's neck as a large ring so that the heavy transmitter unit is always at the bottom, the situation in which the tag T cannot be detected can be avoided. Will be

When the feeding box 36 is retracted and the cow is in the milking posture, the sensor robot Ab moves so as to be combined with the breast pump Aa (step # 7), and when the combination is completed (step # 8), it is input in advance. The teat position data of the information of the cow being output is output (step # 9), and the automatic milking device A combined based on the preliminary data is moved to the lower abdomen of the cow (step # 10). Then, the mounting operation of the teat cup 50 starts, where R: the number of trials of a series of mounting operations (up to 5 times) N: the number of the teat (1 to 4) Sc: the number of sensing trials of the scanner (up to 5 times) Two
Tc: Tc: Defined as the number of tries (up to 2 times) to move up the catch cup (catch up).

First, R = 0 and N = 1 are set (step # 11), and Sc = 0 is set at the initial measurement position of the scanner 56 (step # 1).
In 2), the rough sensor 55 detects the fourth teat (reference teat) (step # 13).
When the fourth teat is detected (step # 14), if there is data on the teat position at the time of previous successful mounting (step # 1).
5) Based on only that data, the precise adjustment movement of the teat cup 50 is performed (step # 16), then the catch-up operation is performed (step # 17), and the sensor accompanying the teat mounting of the teat cup 50 (Fig. Based on the nipple detection operation of the sensor 85) shown at 41, it is determined whether or not the mounting is successful (step # 18).

If the mounting is successful (sensor operation), a catch-up try of the next teat (second to fourth teats) (step #
19), and when the mounting is unsuccessful, the process proceeds to the teat detection operation by the scanner 56 (step # 20). When the teat mounting of the four teat cups 50 is completed (step # 21), the union of the sensor robot Ab and the breast pump Aa is released (step # 22), and the breast pump A is released.
Milking by a is started (step # 23).

As the milking progresses, the milking amount per minute (
When the amount of tar is less than 0.2 l / min (step # 24),
The attachment of the teat cup 50 is released, and the breast pump Aa is retracted and moved (step # 25), at which point the total milk yield of the cow is predicted (preliminarily predicted based on past data, etc.). 80% or more or less than that (step # 26), and if 80% or more, keep the sixth gate G6 as it is (end position) (step # 27) and return the cow to the feeding station 1, If not satisfied, the sixth gate G6 is switched to the retry position (step # 28), and the cow is returned to the separation area 3S to perform milking again.

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

When it is stationary, the front-rear spacing L1 between the second teat Te2 and the third teat Te3 and the first teat Te
The diagonal distance L2 between 1 and the third teat Te3 was calculated (Fig. 2
8), and compare these values with the preset (minimum value in the standard range) front-rear spacing L10 and diagonal spacing L20 (step # 33). If the measured value is small, the normal mounting sequence ( If step # 34) is large, a different mounting order [start from the third teat Te3 having a high degree of freedom in mounting the teat cup 50 corresponding to the third teat Te3] (step # 34)
35) are performed respectively.

Then, the teat cup 50 performs a catch-up operation based on the selected order (step # 3).
6) Then, it is judged whether or not the mounting is successful (step # 37), and if successful, the process proceeds to a catch-up try (step # 38) for the next teat (second to fourth teats). It is determined whether or not all four places have been attached (step # 39), and if the attachment is successful, the sensor robot Ab and the breast pump Aa are joined to step # 22.

If the answer is NO in step # 37, the catch-up try is performed again (step # 40), and the number of tries is judged (step # 41). If the cow is still not attached, the rough sensor 55 determines whether or not the cow is moving at that time (step # 42). As a result, if the cow is moving, it is detected whether or not one minute or more is spent for catch-up operation twice or less in that state (step # 43), and when it reaches 1 minute, the cow moves too much and it is impossible as it is. Then, the number of sensing times by the scanner 56 is increased by one (step # 44),
It is determined whether the number of times is two or less (step # 4
5) If it is two times or less, the process returns to step # 20 and the sensing of the scanner 56 is performed again.

If the number of times of sensing is the third time, the number of trials of the whole sensing starting from the detection of the fourth teat Te4 by the rough sensor 55 is increased by one (step # 4).
6), it is judged whether or not the number of times is 5 times or less (step # 47), and if it is 5 times or less, the process returns to step # 13 to restart from the sensing operation of the rough sensor 55, and if it is the sixth time, it is considered that the mounting has failed, It joins at step # 28 for switching the sixth gate G6 to the retry position.

As shown in FIG. 41, an automatic mounting mode in which a series of mounting operations of the teat cup 50 is automatically performed by the automatic milking device A and an artificial operation mode in which the series of mounting operations are performed manually are switched. Possible changeover switch 8
4 is connected to the first control device 81. When the changeover switch 84 is switched to the manual operation mode, the movement of the breast pump Aa and the lifting movement of the teat cup 50 to the teats Te1 to Te4 are all performed manually. However, the lifting of the breast pump Aa main body (see FIG. 30) accompanying the end of mounting the teat cups 50 is heavy, so that when the four teat cups 50 are mounted, only the lifting of the breast pump Aa main body is driven.

That is, the waist bending arm (milking frame)
The posture correction mechanism M that relatively lowers the unequal side link mechanism (arm) 63 in conjunction with the lifting movement of the 51, and a teat detection sensor (mounting detection means) 85 equipped inside the teat cup 50 are provided, and the fourth The first control device 81 links the four teat detection sensors 85 and the posture correcting mechanism M so that the posture correcting mechanism M operates when the teat cup 50 is mounted.

The posture correcting mechanism M comprises an elevating mechanism 66 and an elevating cylinder 64. A state in which the height position of the teat cup 50 is maintained by raising and lowering the elevating mechanism 66 and shortening the elevating cylinder 64. Then, it acts so that the inclination is corrected. Further, reference numeral V shown in FIG. 41 is a mounting means for lifting and moving the teat cup 50 so as to fit it into the teat, and is specifically composed of a lifting cylinder 64. It does not matter if the mechanism 66 is also a part of the mounting means V.

In FIG. 41, 8 in the first controller 18
Reference numeral 6 denotes a teat position update storage unit that stores the teat position measurement information by the scanner 56 while updating the information. The “success data at the previous time” in step # 16 in FIG.
It is stored in the teat position update storage means 86. That is, the determination in step # 15 is made based on the presence or absence of the success data in the teat position update storage means 86, and the latest teat position measurement is performed by the scanner 56 when the teat cup 50 is successfully mounted. Only success data is stored. Changeover switch 84
Is the "manual mode", and the teat cup 5 is operated manually.
Even if 0 is fitted into the teat, it is convenient if it is considered as successful mounting and the success data is taken into the teat position update storage means 86.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the configuration of the accompanying drawings by the entry.

[Brief description of drawings]

[Fig. 1] Overall plan view showing the layout of a barn

FIG. 2 is a plan view showing a milking plant and a layout of gates and sensors.

FIG. 3 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 4 is an operation diagram showing a linked operation state of a sensor and a gate.

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

FIG. 6 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 7 is an operation diagram showing a linked operation state of the sensor and the gate.

FIG. 8 is a sectional side view showing the structure of the sensor.

FIG. 9 is a front view of the first gate.

FIG. 10 is a plan view showing an opening / closing drive structure for the first gate.

FIG. 11 is a side view of the sixth gate.

FIG. 12 is a plan view showing the structure of a sixth gate.

FIG. 13 is a side view of the first milking chamber showing the second and third gates.

FIG. 14 is a plan view of the first milking room showing the opening / closing structure of the second and third gates.

FIG. 15 is a side view showing the structure of the ejection device.

FIG. 16 is a plan view showing the structure of the ejection device.

FIG. 17: Side view showing a breast pump

FIG. 18 is a plan view showing a breast pump.

FIG. 19 is a side view showing the sensor robot.

FIG. 20 is a plan view showing a sensor robot.

FIG. 21 is a side view of partially cutouts showing structures of a mounting portion and a non-mounting portion.

FIG. 22 is a plan view showing a side-by-side arrangement of the breast pump and the sensor robot at the retracted position.

FIG. 23 is a plan view showing a combined state of the breast pump and the sensor robot at the retracted position.

FIG. 24 is a plan view showing the automatic milking apparatus in a projecting position and in a working posture.

FIG. 25 is a plan view showing a milking state by a breast pump.

FIG. 26 is a side view of a main part showing a uniting operation by lowering the sensor robot.

FIG. 27 is a side view of the main part showing the sensing state of the scanner.

FIG. 28 is a plan view of an essential part showing a sensing state by a rough sensor and a scanner.

FIG. 29 is a side view showing a catch-up try of the teat cup.

FIG. 30 is a side view showing a state where the breast pump is lifted after the teat cup is attached.

FIG. 31 is a plan view of the milking room showing the front kick prevention device.

FIG. 32 is a side view showing the position of the restraint member.

FIG. 33 is a side view showing the cleaning means.

FIG. 34 is a diagram showing an algorithm 1 of the operation sequence of the automatic milking device.

FIG. 35 is a diagram showing an algorithm 2 of the operation sequence of the automatic milking device.

FIG. 36 is a view showing an algorithm 3 of the operation sequence of the automatic milking device.

FIG. 37 is a view showing an algorithm 4 of the operation sequence of the automatic milking device.

FIG. 38 is a plan view showing the principle of measurement by a scanner.

FIG. 39 is a diagram showing an algorithm for nipple detection by a scanner.

FIG. 40 is a diagram showing the principle of analysis of nipple detection data by a scanner.

FIG. 41 is a control system diagram for mounting the teat cup.

[Explanation of symbols]

 7 Milking Room 50 Teat Cup 55 Rough Sensor 56 Fine Sensor 81 Coupling Means 86 Teat Position Update Storage Means A Automatic Milking Device V Mounting Means

Claims (1)

[Claims] 1. A milking position at which a teat cup (50) attachable to a teat of a milking animal protrudes and moves to a lower abdomen of a milking animal in a predetermined milking posture in a milking chamber (7), and the milking. The teat cup (50), which is provided so as to be able to change its position to a retracted position retracted laterally of the chamber (7) and is located at the milking position, is moved upward so as to perform automatic milking thereby, and attached to the teat. The rough sensor (55) includes a possible mounting means (V), a rough sensor (55) for detecting a predetermined teat position among a plurality of teats, and a fine sensor (56) for measuring all teat positions. ) The teat cup (50) based on the predetermined teat detection information by
Can be guided and moved to a predetermined vicinity of the teat, and the teat cup (50) in the vicinity of the teat can be positioned and moved directly below the teat based on the whole teat position measurement information by the fine sensor (56). Yes, and after this positioning movement, the teat cup (50) can be moved up, and the mounting means (V) and the both sensors (55) and (56) can be linked to each other. While configuring the automatic milking device (A), and updating the total teat position measurement information by the fine sensor (56) for each milked animal when the teat cup (50) is successfully attached to the teat A teat position update storage means (86) for storing is provided, and the previous whole teat position stored in the teat position update storage means (86) after the detection operation of the rough sensor (55). If the omission control for raising and moving the teat cup (50) is performed based only on the measurement information, and if the omission control cannot attach the teat cup (50) to the teat, the fine sensor (56) detects The cup mounting of the automatic milking device having the linking means (81) so that the linking operation state in which the teat cup (50) is moved upward after the new teat position measurement operation is performed appears. Control device.