Method of milking animals

Abstract

A milking robot has articulated arms extensible into a milking compartment to place teat cups onto each of the animal's teats. Also extended from outside into the compartment is a further articulated arm that carries a detector for ascertaining the location of the animal's teats, such information being used to connect the teat cups automatically. An electromagnetic gripper at the end of each robot arm has a seat to match the corresponding teat cup's shell. Each teat cup is loosely connected to two cables. A generally vertical cable connects it to an upper part of the milking compartment. A generally horizontal cable extends from a corresponding teat cup carrier located outside the parlor. The teat cups are moved to be received by the animal's teats by the robot arms and grippers which are then withdrawn from the milking compartment. Teat cups dislodged from teats are supported in approximately an upright position by their vertical cables and are pulled to teat cup carriers outside the compartment by their horizontal cables. Flexible milk and vacuum conduits for the teat cups extend therefrom out of the milking compartment on each side, curving upwardly to be received by a connector block. Because the flexible milk and vacuum conduits are curved and the teat cups are connected only loosely by the upper and lower cables, the animal cam move within limits while being milked.