Milking robot with kick detection

A milking robot for completely automatically performing a teat-related action on a dairy animal, comprising:

• a frame with an arm structure which is movable with respect thereto and comprising a robot arm,
• a teat cup,
• a retracting device for pulling the teat cup back onto the arm structure,
• a vacuum device for applying a milking vacuum to the teat cup,
• a control unit for controlling the milking robot, and
• an arm structure acceleration-determining device for determining a measured value relating to an arm structure acceleration,
• wherein the control unit is configured to control the retracting device for pulling back the teat cup onto the arm structure and/or to control the vacuum device for closing off the milking vacuum from the teat cup, if the determined measured value satisfies a predetermined measured value acceleration criterion.

A milking robot for completely automatically performing a teat-related action on a dairy animal, comprising:

• a frame with an arm structure which is movable with respect thereto and comprising a robot arm,
• a teat cup,
• a retracting device for pulling the teat cup back onto the arm structure,
• a vacuum device for applying a milking vacuum to the teat cup,
• a control unit for controlling the milking robot, and
• an arm structure position-determining device for determining a measured value relating to an arm structure position,
• wherein the control unit is configured to control the retracting device for pulling back the teat cup onto the arm structure and/or to control the vacuum device for closing off the milking vacuum from the teat cup, if the determined measured value satisfies a predetermined measured value position criterion.