Abstract: A combined teat position and breeding rating determining arrangement for a milking system having a milking stall, a movable robot arm for automatically attaching teat cups to the teats of the milking animal, and a control device for controlling the movement of the robot arm based on determined positions of the teats of the milking animal. The arrangement includes a three-dimensional camera directed towards the udder of the milking animal that repeatedly records three-dimensional images of the udder, and a processing unit that repeatedly detects the udder or teats of the milking animal, determines their positions based on the recorded three-dimensional images, automatically determines the shapes of the udder or teats based on the repeatedly recorded three-dimensional images, and automatically calculates a breeding rating based on the determined shapes of the udder or teats of the milking animal.

Abstract: A teat cup magazine (1), arranged to store at least two teat cups (3), includes a removing device for each teat cup (3), which is arranged to retract the teat cup (3) into the teat cup magazine when a milking process has finished. Each removing device includes a cylinder (8) and a piston (9). The cylinders (8) of the removing devices are formed by at least one cylinder profile (35, 38, 39), manufactured in one piece, which constitutes the sole load-bearing structure of the teat cup magazine. The at least one cylinder profile (35, 38, 39) includes on one side, integrated attachment zones (37) for attaching milking components, and on an opposite side, a guiding track (13) for each cylinder (8), adapted for a movable guiding element (6) supporting a milk tube (4) and a pulse tube (5) connected to the teat cup.

Abstract: A combined teat position and breeding rating determining arrangement for a milking system having a milking stall, a movable robot arm for automatically attaching teat cups to the teats of the milking animal, and a control device for controlling the movement of the robot arm based on determined positions of the teats of the milking animal. The arrangement includes a three-dimensional camera directed towards the udder of the milking animal that repeatedly records three-dimensional images of the udder, and a processing unit that repeatedly detects the udder or teats of the milking animal, determines their positions based on the recorded three-dimensional images, automatically determines the shapes of the udder or teats based on the repeatedly recorded three-dimensional images, and automatically calculates a breeding rating based on the determined shapes of the udder or teats of the milking animal.

Abstract: A teat cup magazine (1), arranged to store at least two teat cups (3), includes a removing device for each teat cup (3), which is arranged to retract the teat cup (3) into the teat cup magazine when a milking process has finished. Each removing device includes a cylinder (8) and a piston (9). The cylinders (8) of the removing devices are formed by at least one cylinder profile (35, 38, 39), manufactured in one piece, which constitutes the sole load-bearing structure of the teat cup magazine. The at least one cylinder profile (35, 38, 39) includes on one side, integrated attachment zones (37) for attaching milking components, and on an opposite side, a guiding track (13) for each cylinder (8), adapted for a movable guiding element (6) supporting a milk tube (4) and a pulse tube (5) connected to the teat cup.