| 摘要 |
PURPOSE: To rapidly detect the position of a teat in high accuracy, to miniaturize the whole device and to extremely reduce a cost. CONSTITUTION: This device for detecting the position of a teat of an automatic milking machine is equipped with a pair of rotary shaft parts 3p and 3q arranged at different positions of a cup supporting part H in the vertical direction, a pair of detecting rod parts 4p and 4q each having one end fixed to each of the rotary shaft parts 3p and 3q and positioned at the upper part of a teat cup T held on the cup supporting part H, driving parts p... which revolve the rotary shaft parts 3p and 3q from home positions Ph or return to the home positions Ph and a position detecting function part 6 which discovers angles Rp and Rq when the detecting rod parts 4p and 4q revolved from the home positions Ph, are hit against a teat Ch and are stopped to obtain the position of the teat Ch. |
