| 摘要 |
PROBLEM TO BE SOLVED: To provide papilla position detector for milkers highly reliable because of constantly, surely and accurately detecting papilla positions and highly safe by reason of solving such a trouble that a papilla position sensor tends to injure cows. SOLUTION: This papilla position detector 1 for milkers each provided with a papilla position sensor 3 which is disposed above an end effector 2 supporting a teat up Ta and detects papilla positions, comprises: an effector arm section 4 projected from the end effector 2 and provided with a receiving part 5 for receiving the papilla position sensor 3 and a transfer mechanism part 6 for transferring the sensor 3 to the receiving part 5 when the sensor 3 is unused. |
