Research and Development of Milking Robot System for Stanchion Barns. (Part 3). Algorithm for teat cup attachment and field trails of a milking robot.

DOI Web Site 20 References
  • HACHIYA Mitsuru
    The Japanese Society of Agricultural Machinery Institute of Agricultural Machinery-BRAIN Present address: National Hokkaido Agricultural Research Center for Hokkaido Region-NARO
  • HIRATA Akira
    The Japanese Society of Agricultural Machinery Institute of Agricultural Machinery-BRAIN
  • KUWANA Takashi
    The Japanese Society of Agricultural Machinery Institute of Agricultural Machinery-BRAIN
  • IBARAKI Yoshitaka
    Orion Machinery Co., Ltd.
  • HISA Yoshio
    Core Co., Ltd.

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Other Title
  • 繋ぎ飼い用搾乳ロボットシステムの開発研究　（第３報）　　ティートカップ装着アルゴリズムと開発システムの適応性試験
  • ツナギ カイ ヨウ サクニュウ ロボット システム ノ カイハツ ケンキュウ ダイ3ポウ ティートカップ ソウチャク アルゴリズム ト カイハツ システム ノ テキオウセイ シケン
  • Algorithm for teat cup attachment and field trails of a milking robot
  • ティートカップ装着アルゴリズムと開発システムの適応性試験

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Abstract

An algorithm to attach and release teat cups using, an articulated robot manipulator with a 4 degrees of freedom, has been developed. For successful teat cup attachment the articulated robot manipulator must be able to adjust to subtle angles and various movements. The cups follow a Lissajous figure on the XY horizontal plane. A local sensor determines the center of the teat, and the end effector raises the cup to the teat. A vacuum holds the cup in place. Field trials for the milking robot system were done with two milking cows. The “Global Positioning Arm” (GPA) was not sufficiently accurate to allow only recorded teat positions related to body to be used for attachment but are generally good enough for the initial approach to the teat. Local sensor could then detect error and allow for centering the cup on the teat. The GPA always maintains contact with the body of the cow, enables the automatic milking unit to maintain a relative position and smoothly follow teat movements for easy automatic milking. The automatic attachment of the teat cups was achieved in approximately 60 [sec]. Teat cup vacuum decreased from 48 [kPa] to 20 [kPa] in less than 0.2 [sec] after attachment, which means that attachment required minimal air inflow. These results showed that the milking robot is a practical milking system.

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