Abstract: A method and device for milking an animal by using at least one milking machine (5) including at least one teatcup (3) having a teatcup liner (11) forming a space defined by a wall surface. The teatcup (3) is arranged to be applied to a teat in such a manner that the wall surface extends around and abuts the teat. The device includes a control unit arranged to control the application of the teatcup (3) in such a manner that an arbitrary portion of the wall surface abuts different teat portions during a first milking occasion with respect to an animal and during a later milking occasion with respect to this animal, respectively.

Abstract: An apparatus for milking or other animal-related operation includes a support means and a robot arm connected to a robot arm suspension means. The robot arm suspension means is hingedly connected to the support means about a horizontal axis, and the robot arm is arranged lower than the support means for allowing the robot arm suspension means to perform a substantially pendulum movement about the horizontal axis.

Abstract: A construction for automatically milking animals is provided with a milking robot having at least one teat cup (2) and means (3 to 8) for connecting the teat cup(s) (2) to the teats of an animal to be milked. The construction comprises at least one milk collecting unit and at least one milking unit (1) which is movable relative to the milk collecting unit, said milking unit (1) being provided with own propulsion means (10, 11, 14, 15). The mobile milking units (1) may be disigned as light and compact ones. The own propulsion means of the milking units (1) result in a multifunctional construction.

Abstract: A teatcup supplying and retrieving device (4) has a teatcup supplying member (5) and at least one teatcup (10) connected to a tubing (11). The teatcup is provided with a teat entry end (19) having a surface defining an inlet opening (20) for a teat. The teatcup (10) is displaceable from a first position to a second position, in which the teat entry end (19) is directed differently from that of the first position, wherein the teatcup (10) is freely displaceable in relation to the teatcup supplying member (5) during displacement between the first and second positions. The displacement is at least initiated by a displacement device (8) controlled by a controller. Furthermore, there is provided an automatic milking apparatus having a milking robot provided with a robot arm (3) to be used in conjunction with such a teatcup supplying and retrieving device (4).

Abstract: A milking equipment comprises a milking member (1) having teatcups (3) and a milk hose (4) connected to the milking member. A balancing device (6, 10, 11), which carries the milking member and at least a portion of the milk hose, is adjustable to an application position (FIG. 1), at which the balancing device is arranged to balance essentially the weight of the milking member and the weight of said portion of the milk hose in order to permit a milker to apply the teatcups to the teats of an animal without the need for the milker to carry the whole weight of the milking member. Furthermore, the balancing device is adjustable to a milking position, at which essentially the whole weight of the milking member acts on the teats of an animal when the teatcups are attached to the teats.

Abstract: A milking arrangement comprising a milking apparatus, having at least one teatcup (2) and a teatcup magazine (5) for holding the teatcup. The teatcup (2) has an opening through which a teat of an animal is introduced during the attachment of the teatcup to the teat. The teatcup magazine (5) comprises at least one first member (6) provided to receive the teatcup and a second member (7) provided to support the first member (6). The first member (6) is movably connected to the second member (7) between a first position, in which the teatcup (2) received by the first member has its opening turned substantially downwards, and a second position in which the teatcup (2) is received by the first member has its opening turned in direction substantially deviating from the downward direction.