Robot milking arm and a method of attaching milking cups

A robotic milking system comprising:

• a milking cluster having a plurality of cups connected to a bowl;
• means to withdraw the cluster so that the cups hang down below the bowl;
• and
• a robotic arm that is not permanently attached to the milking cluster including holding means arranged to acquire and hold the plurality of cups of the cluster as they hang below the bowl. and actuators for moving the arm to facilitate the attachment of the cups to an animal.

A milking parlor comprising:

• a plurality of bales;
• and
• a robotic milking system comprising:
• a milking cluster having a plurality of cups connected to a bowl,
• means to withdraw the cluster so that the cups hang down below the bowl, and
• a robotic arm that is not permanently attached to the milking cluster including holding means arranged to acquire and hold the plurality of cups of the cluster as they hang below the bowl. and actuators for moving the arm to facilitate the attachment of the cups to an animal;
• and
• wherein the robotic milking system is designed to apply cups of conventional. milking clusters in each bale.

A robotic milking system comprising:

• a robotic arm including actuators for moving the robotic arm to facilitate the attachment of cups to a cow;
• a milking cluster comprising a bowl. having a plurality of feed lines connected to a plurality of cups, wherein each feed line includes a valve which closes the feed line when the feed line is curved beyond a certain extent and opens when the feed line is not so curved;
• and
• grippers associated with the robotic arm which, prior to connecting a cup to a teat, holds the cup so that the feed line is curved such that the feed line is closed and, prior to attaching a cup, moves the cup so as to open the feed line.