Abstract: A milking parlor having a plurality of translatable shuttle stalls allows for presentation of animals to be milked and corresponding release of the animals, independent of the milking status of additional animals. The shuttle stalls can be disposed in a herringbone or perpendicular orientation with respect to a corresponding operator pit, wherein the operator pit can accommodate human or robotic devices for implementing the milking process.

Abstract: A method for milking animals, particularly domesticated dairy animals, and most particularly dairy cattle, that improves milk/food sanitation, labor and cost efficiency, environmental friendliness, and throughput, that uses a wet prep and minimizes both interactions with the animal being milked and delays between steps during which recontamination of teats can happen. The best method comprises the steps of preparing the milker's hands, priming the animal's teats, attaching a feeder tube to a milking machine to each teat, and completing the milking. (Therefore through the method we sanitize the milker's hands, cows teats and feeder tube all in one step.) By preparing the milker rather than the udder and teats, the method eliminates steps and delays, and reduces chances for infection, material usages, and complexity, that were extant in the prior art.

Abstract: A method for milking animals, particularly domesticated dairy animals, and most particularly dairy cattle, that improves milk/food sanitation, labor and cost efficiency, environmental friendliness, and throughput, that uses a wet prep, reduces both interactions with the animal being milked and delays between steps during which recontamination of teats can happen. The best method comprises the steps of sanitizing the animal's teats, then without drying or removing the sanitizing composition priming the animal's teats, followed by attaching a feeder tube to a milking machine to each teat, and completing the milking.

Abstract: A milking system comprising a milking stall (1, 51), which an animal may visit to be milked automatically, said milking stall including an animal identifier (9, 53); a gate controller (7, 55) for opening an entry and exit gates (3, 5); a milking machine (11, 57), wherein the teat cups, during milking of a milking animal in said milking stall, are applied to the teats of the milking animal and are connected to vacuum (19, 63) such that milk can be drawn from the milking animal and be collected in the vessel; and a robot (13, 65) provided with a robot arm (21) and a gripper (23) for automatic application of the teat cups to the teats of the animal.

Abstract: Method of somatic cell count in milk from animals, and an apparatus therefore enabling individual somatic cell count for milk from each teat, i.e. udder quarter, by connecting a teatcup to a first teat, taking a sample of the total milk for the first teat when the flow of milk from the first teat exceeds a predefined value, connecting a the to at least one further teat, taking a sample of the total milk for said first and at least one further teat when the flow of milk from the first and further teats exceeds a predefined value, and calculating the estimated somatic cell count (SCC2, SCC3, SCC4) for the milk from the further teats.

Abstract: A robot arm construction is provided with a robot arm for carrying a teat cup, which robot arm can be pivoted under the udder of the animal. The robot arm construction is provided with a first robot arm construction portion, a second robot arm construction portion, a first horizontal axis for enabling a pivoting movement of the first robot arm construction portion, and a second horizontal axis by means of which the second robot arm construction portion is pivotably connected to the first robot arm construction portion. The robot arm is connected to the second robot arm construction portion.

Abstract: A milk metering apparatus having a metering chamber 7 which is repeatedly filled and emptied many times in the course of milking an animal is provided with a probe 15 which extends down into the metering chamber 7 and which includes a sampling tube as well as conductivity and light absorption sensors. Milk samples can be taken and conductivity and light absorption measurements can be made during each filling and emptying cycle so that data from the sample analysis and the measurements over the whole period of milking can be compared with corresponding data from previous milkings of the same animal thereby providing valuable information for herd management purposes.

Abstract: There is provided an apparatus and method for monitoring pulsation of a milking system in a dairy facility. The milking system includes vacuum hoses that extend from a vacuum source to a milking claw. The pressure in each vacuum hose is changed by a pulsator, with the vacuum hoses being out of phase with one another. The pressure sensors are coupled to the respective vacuum hoses, which sensors monitor the pressure pulsations to ensure that the pulsator is operating satisfactorily. The pressure sensors are coupled to the vacuum hoses by way of passageways or hoses. A bypass is provided between the passageways so as to provide air circulation in the otherwise dead air space in these passageways. The bypass is small so as to not interfere with the pressure measurements by the sensors and is located in close proximity to the pressure sensors so as to minimize the amount of dead air space.

Abstract: The invention relates to the actuation of a carrying and withdrawing device for milking units, a process is proposed in which for the attachment of the milking unit a downwardly directed additional force acts on the counterweight during a primary milking phase no additional force acts on the counterweight, and, during at least one secondary milking phase, an upwardly directed additional force acts on the counterweight.

Abstract: The object of this invention is to provide a simple, safe, convenient and economical means of securing catheters to or at the outside of a human or other animal body by suturing, tying or taping to a tubular depression-shaped anchor member that is integrally formed during manufacture with the forming of the catheter resulting in a one-piece multipurpose combination construction unit.

Abstract: The invention relates to an apparatus for milking animals, having at least one teat cup for arranging on a teat of an udder of the animal a conduit connected to the teat cup for throughfeed of the milk milked with the teat cups to a storage and having a testing device for testing the milk, further having a pretreatment system which subjects the teats to a pretreatment, such as cleaning, and provides milk released herein or during the foremilking with the teat cup to the testing device.

Abstract: The invention relates to a method for machine milking an animal, particularly a cow, according to which a stir phase precedes a main milking phase, whereby during the entire stimulation phase, essentially no milk is withdrawn, and the of the stimulation phase is determined according to the amount of expected cisternal milk and/or alveolar milk.

Abstract: A device for expressing milk from one or more breasts has at least one, and preferably two expressers and a pump. The expressers each have a cup for fitting on the breasts and a cup outlet to which a vacuum created by the pump can be connected. The cups have a flexible liner which collapses around the breast to establish the vacuum. Pulsating pressure is applied to the outside of the liner to increase the vacuum and stimulate milk production. The pressure is applied through lines which are vented to maintain adequate, consistent pressure pulses without stalling the pump.

Abstract: A method for testing of animals being milked, the system including a plurality of milk meters. A portable remote control device is provided to input data to the milk meters, receive and store data from the milk meters and display at least selected data. The remote control device is pre-loaded with animal related data and information relative to animals being milked is transmitted from the remote control device to the milk meters. Transmission of information from the milk meter as a consequence of an animal being milked is transmitted to the remote control device to enable updating of a record relevant to the animal being or having been milked. The remote control device thus provides a single interface with all milk meters for the inputting and receiving of data.

Abstract: A more effective method of automatically milking animals in an automatic milking facility is disclosed. The method includes the steps of (i) assigning a respective threshold value (t.v.) to each of the udder quarters (1st u.q.; 2nd u.q.; 3rd u.q.; 4th u.q.) of an animal to be milked indicating when the milking of the corresponding udder quarter is to be ended; (ii) measuring the milk flow from each udder quarter of said animal during milking; and (iv) ending the milking of an udder quarter of the animal (end1; end2; end3; end4) in dependence on the measured milk flow from that udder quarter reaches the corresponding threshold value. According to the invention at least the threshold value for the udder quarter (4th u.q.) of said animal, for which the ending of milking very last remains, is raised (t.v.115%; t.v.inf; t.v.(t); t.v.

Abstract: A milking parlor has a holding gate and a parallel spaced individually loaded-occupied-unloaded milking stall with an operator pit located intermediate the holding gate and the milking stall. The operator pit can be recessed from the holding gate and the milking stall, wherein a bridge or a bridge cart selectively connects a holding gate to an unoccupied milking stall A robotic or human operator can function from the operator pit to implement the milking process.

Abstract: A method for serving animals, such as milking dairy animals, allowed to go loose in an enclosed area, with animal stalls with a robot. The stalls have entrance and exit gates that are controlled. A service area includes at least three stationary animals stalls around a robot to form a central robot inner area. The robot is associated with the controller for the gates and is capable of moving to and serving each one of the animal stalls. A strolling area is arranged between the outer border of the enclosed area and the central robot area with animal stalls that is divided into subareas in various ways by the use of separators that may include controlled one-way passing gates for the animals.

Abstract: A device for automatically milking an animal, which device is provided with a milking robot, a computer for controlling the operation of the device, a measuring device for performing measurements on milk obtained from an animal, at least two teat cups, and a common milk line for discharging milk coming from the at least two teat cups, each teat cup being connected via a teat cup line to the common milk line. The device is provided with a milk-determining element for determining the teat cup from which comes the milk present in the common milk line and for emitting a determination signal. The measuring device comprises a common sensor for performing measurements on milk obtained from an animal and for emitting a measurement signal. The common sensor is disposed in the common milk line. The computer is suitable for combining the measurement signal and the determination signal.

Abstract: A method of automatically milking an animal having at least two udder quarters. The milking of the at least two udder quarters is performed at least partially simultaneously. The method includes the step of controlling the milking intensity during at least a part of the milking of each udder quarter in such a way that all udder quarters will be milked-out according to a predetermined chronological order. The method also includes the step of determining, during milking, for each udder quarter a value of a milking parameter of the milk obtained from the relevant udder quarter, the milking intensity during at least a part of the milking of each udder quarter being controlled with the aid of the determined value of the milking parameter in such a way that all udder quarters will be milked-out according to a predetermined chronological order.

Abstract: A device for automatically milking an animal, which device is provided with a milking robot, a computer for controlling the operation of the device, a measuring device for performing measurements on milk obtained from an animal, at least two teat cups, and a common milk line for discharging milk coming from the at least two teat cups, each teat cup being connected via a teat cup line to the common milk line. The device is provided with a milk-determining element for determining the teat cup from which comes the milk present in the common milk line and for emitting a determination signal. The measuring device comprises a common sensor for performing measurements on milk obtained from an animal and for emitting a measurement signal. The common sensor is disposed in the common milk line. The computer is suitable for combining the measurement signal and the determination signal.

Abstract: A method of and a device for automatically milking one animal selected from a group of animals, a milking criterion being established for a milking-related action, and a desired cumulative amount of milk to be produced by the group of animals being established. The milking criterion is adapted with the aid of the cumulative amount produced and the cumulative amount desired.

Abstract: A device for milking animals is provided with at least two milking robots, each for automatically connecting at least one teat cup to a teat of an animal. Each milking robot is provided with a milking vacuum unit for generating a milking vacuum for milking an animal. The device is provided with a common ring line and with a controllable, central vacuum system for generating a vacuum with a first pressure on the common ring line. Each milking vacuum unit is connected to the ring line via a passage, control means being provided for controlling the size of the passage.

Abstract: The invention refers to a method and a device for milking an animal. The device comprises a milking machine arranged to permit milking of the animal according to a milking process being determined by a number of adjustable parameters defining the intensity of the milking process. The value of a variable related to the time period from at least one first milking operation to a following second milking operation is determined for the animal by determining means (31, 32). The animal is milked during the second milking operation by means of the milking machine, wherein at least one of said parameters is adjusted in response to said determined value by control means (30, 31).

Abstract: A method of automatically milking animals, such as cows, which are allowed to move freely in an area (1) intended therefore and to visit individually a milking parlor (9) comprising a fully automatic milking machine or milking robot (14) and an animal identification system (20), comprises the steps of dynamically assigning a milking qualification parameter to each of the animals that are allowed to move freely in said area, the respective milking qualification parameter indicating the degree of suitability that the respective animal, to which the milking qualification parameter is assigned, shall be milked; dynamically ranking the animals in accordance with their respective milking qualification parameters; and milking an animal during a visit to the milking parlor only if said animal is identified as belonging to the X highest ranked animals, i.e. the X animals that are best suited to be milked from a milk production optimization viewpoint, X being a positive integer.

Abstract: A device provided with measuring means for measuring a characteristic of at least a part of the body of a preferably living animal and for issuing a measurement signal, the device being provided with determining means for determining the fat content of at least a part of the body from the measurement signal.

Abstract: An assembly and method for feeding and milking animals is disclosed. The assembly is provided with an area where the animals are allowed to move freely, with a number of juxtaposed feeding stations for the animals, and with a retaining device for retaining an animal at a feeding station. The retaining device can be activated for retaining an animal and can be deactivated for releasing an animal. A mobile milking robot connects at least one teat cup to a teat of an animal, a computer system controlling the operation and movement of the milking robot. The mobile milking robot is a self-propelled mobile milking robot, and the retaining device is fixedly disposed at the feeding station.

Abstract: For sensing presence of foremilk, in the separation of foremilk or for detecting incorrect premilking, the transparency of the milk to transmission of light therethrough is sensed by a sensor (4), and a control unit (12) which receives signals from the sensor operates a valve (7) so that foremilk is diverted to a waste container (10) whereas good quality milk passes to a storage container (3). The inverted peak in the transparency curve which is indicative of foremilk is detected and the control unit actuates the valve (7) to minimise loss of good quality milk with the foremilk.

Abstract: The invention relates to a method of milking animals which uses an implement having a moveable floor on which the animals are milked in milking spaces. The animals enter and exit the floor via automatic gates. The invention involves automatic adjustment of the speed to the moveable floor first, on an estimated milking time of the animals presently in a milk flow mode, i.e. attached to a milking unit and second whether milking units have been attached to the animals before leaving an attachment zone, where the milking units are attached to the animals, either manually or automatically by a robot. The speed of the movable floor is primarily adjusted with the aim at optimizing the occupancy rate of the implement for milking animals with respect to the first condition. The second condition places constraint on when a speed increase is permitted.

Abstract: The present invention relates to a method for detection of a deviating behaviour of a milking animal (101) during milking procedure comprising a sequence in an automatic milking system (100), comprising a robot (105) having a process for positioning teat cups (106). The method comprising the steps of: obtaining an identity of said animal (101), retrieving information related to said animal 101 from a memory (111), said information comprising a reference value derived from a previous milking procedure sequence, registering a value, related to said robot (105), from the present milking procedure sequence, comparing each reference value with the registered value in an analyser (112), and issuing of a warning signal if any of said registered values deviates from the corresponding reference value more than a predetermined deviation value, whereby the process for positioning the teat cups (106) is used for determining if the milking animal (101) deviates from a normal behaviour.

Abstract: The invention refers to a method and a device for performing an animal related action on an animal. The device comprises a machine arranged to permit milking of the animal according to a process being determined by a number of adjustable parameters defining the nature of the process. The value of a variable related to one or more animals is determined for said animal by determining means. The animal related action is performed on the animal during a current animal related action by means of the machine, wherein at least one of said parameters is adjusted in response to said determined value by control means.

Abstract: A method and an apparatus for examining at least a first animal, milked in a milking machine, comprising an identification device for identifying said animal, a storing device for storing said identification in a data base, a locating device for finding the position of the teats of said animal, a cleaning device for cleaning the teats of the animal, an applying device for applying teat cups to the teats of said animal, and a capturing device for capturing at least one image of at least a part of said animal. The image captured in relation to identification of the animal is stored in the data base, and the captured image is presented for a user through a viewing device coupled to the data base.

Abstract: The present invention refers to a method and apparatus (1) for detecting liner slips in a milking machine which involves, for each milking unit, a clawpiece and a cluster of teat cups connected to the clawpiece, wherein each teat cup has a rigid shell body and an internal flexible liner, the liner comprising a mouthpiece and a body part, whereby the liner extends through the bottom of the shell body as a short milk tube and is connected to the clawpiece and further, by way of a long milk tube, to a source of steady vacuum, while the annular space, between the teat cup shell body and the teat cup liner, is connected to the clawpiece by a pulse tube and further to a source of pulsating vacuum. Alternatively, each liner in the system is connected to the vacuum source by way of a respective individual long milk tube, wherein the clawpiece is omitted.

Abstract: A milking parlor for presenting an animal to be milked rearwardly loads the animal into a milking stall through an ingress/egress gate and forwardly unloads the animal from the milking stall through the same ingress/egress gate to pass along a unique exit path to a released area.

Abstract: A milking method in which at least one teat cup is connected to a teat of the animal to be milked and milked milk is discharged from the teat cup, and in which upon cessation of the flow of milked milk a cleaning medium is passed via a supply line into the teat cup. Furthermore, the present invention relates to an apparatus which is suited for carrying out the method and comprises at least one teat cup which communicates with a milk line conducting milked milk and in the interior of which a supply line ends via which cleaning medium which has been discharged from a source can be introduced into the teat cup. The present invention provides a method and an apparatus for preventing dirt and germs from penetrating into the milked milk with more reliability. According to the invention the cleaning medium as well as air introduced for discharging the milked milk are introduced via the supply line into the teat cup.

Abstract: A system and method for controlling and monitoring the operation of an automatic milking system (1), wherein a central processing unit (8) is arranged to receive signals from peripheral hardware units (3, 4, 5, 6, 7, R) and to process the signals for obtaining hardware status related information or milking animal status related information. An interface (9, 10, 11, 12, 13) is arranged for communication between the central processing unit and an operator. The interface includes a device for understanding and interpreting vocal instructions from an operator and translating them into machine understandable instructions. The central processing unit includes a device for controlling or regulating at least one of the peripheral hardware units, or to provide status related information in vocal form as a response to said vocal instructions.

Abstract: The present invention pertains to a mechanical milking procedure for animals, especially cows. In particular, the present invention is a method for milking animals that includes the step of sequentially stimulating the teats of the animal before milking the stimulated teats. This method results in a quick and uninterrupted milking of the animal.

Abstract: The present invention refers to teat cup cleaning in an automated milking system comprising a plurality of teat cups, each connected to a first end of a respective milk line (5), and the second end of each milk line being individually and automatically connectable to a first (7) or a second container (9), respectively, wherein, during milking of the teats of a milking animal, the plurality of teat cups are attached to the teats of the animal, the second ends of the milk lines are connected to said first container and vacuum is supplied to said first container in order to draw milk through the milk lines into said first container.

Abstract: A pulsator provides alternating vacuum pressure and atmospheric pressure to an elastomeric liner in a sleeve of a milking claw in a dairy barn. The purpose of pulsation is to alternate the cow teat between a milking phase and a rest phase. The invention monitors the operation of the pulsator to determine if the pulsator is operating satisfactorily. The invention records data during a calibration mode from the pulsator in normal operation. The data that is recorded is the duration of the milking phase and the rest phase and the associated pressures. During pulsator operation, the invention measures the pulsation between atmospheric and vacuum pressures provided to the milking claw and compares this measured data to the recorded calibration data. If the pulsator is not found to be operating within predetermined tolerances, then an indication of a pulsator malfunction is provided, typically in the form of a light located in the milking pen.

Abstract: A highly automated hog housing, feeding and sorting system and method comprising a finishing barn partitioned into two separate pens each capable of holding at least 400 hogs in a large open area, with each room having a living area and central shared but divided feeding area, such that through the adjustment of a gating and fencing system enclosing the feeding area, two pens of hogs can be sorted using a single electronic sorting scale, and wherein hogs are made to sort themselves by weight upon passing through the electronic sorting scale, which designates the animals as either light or heavy, and whereafter a diversion gate ushers them either into the regular feeding area with access back to the living area if they are designated as “light,” or into a separate holding pen if they are designated as “heavy. A sick pen area at each end of the building, having its own feed and water supply, is also provided.

Abstract: A system to be employed in a automated method and apparatus for milking animals such as cows wherein the milking apparatus is computer controlled to apply and remove teat cups from the teats of the animals being milked. The apparatus includes an animal recognition system which is communication with the computer whereby it is determined whether or not an animal that approaches or enters a milking compartment will be milked. This determination depended on the number of animals that have been milked after the latest milking turn of an animal that has reported to a milking compartment to be milked. Unless the number of interim milkings exceeds a predetermined numerical value, that animal would not again be milked. The herd of animals to be milked are divided into groups based on their currently expected milk yields as stored in the computer.

Abstract: A method of cleaning the teats and/or the udder of a dairy animal. The method comprises a cleaning step of applying a cleaning fluid on the teats and/or the udder. The method comprises prior to the cleaning step a soaking step of applying a soaking fluid on the teats and/or the udder. A device for cleaning the teats and/or the udder of a dairy animal. The device comprises a cleaning device for applying a cleaning fluid on the teats and/or the udder. The device is provided with a soaking device for applying a soaking fluid on the teats and/or the udder. The device preferably comprises a mobile device. A method of milking a dairy animal, the method comprising a step of stimulating the teats and/or the udder of the dairy animal. The method comprises an application step of applying a fluid on the teats and/or the udder. A device for milking a dairy animal, the device being provided with a stimulation device for stimulating the teats and/or the udder of the dairy animal.

Abstract: A method and an arrangement for keeping lactating animals in a loose-housing system. A milking stall is provided between a resting and a feeding section. First to third identification gates respectively are arranged between the resting and feeding sections and fourth identification gate is arranged at an entrance gate to the milking stall. By means of a transponder carried by each animal and a transponder reader located at each identification gate a control device is activated. The control device is associated with operating equipment related to each gate to maneuver the gates dependent on the transponder-related status of the animal.

Abstract: A method of automatically milking a dairy animal, in particular a cow. The method comprises: a) the step of activating the teat cup for milking the teat; b) the step of measuring a milking parameter during milking the teat during step a) for obtaining a value of the milking parameter, and c) the step of deactivating the teat cup when a deactivation threshold has been reached. The deactivation threshold is determined at least partially with the aid of the value of the milking parameter. A device for automatically milking a dairy animal, in particular a cow. Said device is provided with means for activating the teat cup for milking a teat of the dairy animal, means comprising a milking parameter for measuring a milking parameter during milking the teat for obtaining a value of the milking parameter, means for deactivating the teat cup, and means for generating a threshold signal indicating that a deactivation threshold has been reached.

Abstract: A device for milking an animal, such as a cow. The device is provided with a milking machine with a teat cup to be connected to a teat of an animal, said teat cup being provided with at least one temperature sensor. The device is provided with an activating device for activating the temperature sensor. A device for cleaning a teat of an animal, such as a cow, the device being provided with at least one temperature sensor. A method of milking an animal, such as a cow. The method comprises a control step for controlling the milking process and/or the physical condition of the animal by means of a temperature measurement. The control step comprises the measurement of the temperature over at least the length of a part of the teat and/or over a length of the udder quarter belonging to the teat, in particular of the whole teat and/or the whole quarter.

Abstract: The invention relates to a method and a device for milking an animal, which includes at least a pair of teatcups (2). A pulsator (12) is arranged, via a pulsation chamber (4) of each teatcup (2), to subject its liners (3) for a cyclically pulsating pressure from the outside, which pressure has a cycle with a time period T. The cycle includes a first opening phase (a), a second open phase (b), a third closing phase (c) and a fourth closed phase (d). When both the time periods of the second open phase (b) and the fourth closed phase (d) are less than the half time period for the total cycle, T the cyclically pulsating pressures of the respective pulsation chambers are controlled by a control (15) in such a way that a flow of milk between the two teatcups of the respective pair is prevented.

Abstract: The invention relates to a sensor device for use, for example, in an automatic milking device and, in particular, for detecting the positions of the teats of an animal which is to be milked. The sensor device comprises a number of radiation sources which generate non-divergent radiation beams which have different positions and/or directions which are known in the control unit. The reflections from the irradiated object are detected using detectors, and there are means for distinguishing between the reflections from the various radiation sources, so that the control unit is able to establish the position of the object.

Abstract: The present invention refers to teat cup cleaning in an automated milking system comprising a plurality of teat cups, each connected to a first end of a respective milk line (5), and the second end of each milk line being individually and automatically connectable to a first (7) or a second container (9), respectively, wherein, during milking of the teats of a milking animal, the plurality of teat cups are attached to the teats of the animal, the second ends of the milk lines are connected to said first container and vacuum is supplied to said first container in order to draw milk through the milk lines into said first container.

Abstract: An inline sampling device adapted to remove a representative sample drop-wise from a fluid flowing through a fluid line through a sampling probe disposed in the fluid line wherein the sampling probe has at least one fluid receiving, volume relief port adapted for receiving a multiplicity of drop-wise samples of fluid flowing through the fluid line and for discharging a portion of the volume of a sampling container. The device is particularly suitable for testing for mastitis in milking animals.

Abstract: A milk flow device which includes a conduit for transporting a substantially continuous milk flow varying in height up to a maximum height wherein the maximum height is less than a fluid height which would occlude the conduit and interrupt the vacuum level is shown. A first sensor determines the height of a selected section of the substantially continuous milk flow. The first sensor has a predetermined cross-sectional area and defines an opening for passing a milk flow therethrough. The first sensor is located at a predetermined location in the conduit. A second sensor having a cross-sectional area substantially equal to the cross sectional area of the first sensor is spaced within the conduit in a selected direction and a known distance from the first sensor. The second sensor determines that the selected section of the continuous milk flow has traversed the known distance. A conductivity sensor measures the conductivity of the milk.

Abstract: An apparatus for automated milking of animals which comprises a milking compartment and a milking robot that is provided with teat cups and a mechanism for connecting the teat cups to the animals being milking in milking compartment. A carrier element for the teat cups is disclosed which is movable in three dimensions while being supported and moved by three sets of controlled piston and cylinder elements, each set of said elements having one end on ends thereof connected to the milking compartment and the other end thereof connected to the carrier element, the connections to the carrier element (as seen in plan) not being aligned. Each set of controlled piston and cylinder elements consists of two controlled piston and elements which are in “V” configurations so that there are three non-aligned connections of each set to the carrier element and six non-aligned connections to the milking compartment.