A system for controlling the position of a robot carriage includes a linear carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track, and a controller. The controller determines a rotational movement of a milking stall of the rotary milking platform, and determines a linear movement of the robot carriage on the carriage track corresponding to the rotational movement of the milking stall of the rotary milking platform. The controller further communicates a signal to a carriage actuator coupled to the robot carriage and the carriage track. The signal causes the carriage actuator to move the robot carriage along the carriage track according to the determined linear movement as the rotary milking platform rotates.

A system for controlling the position of a robot carriage includes a linear carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track, and a controller. The controller determines a rotational movement of a milking stall of the rotary milking platform, and determines a linear movement of the robot carriage on the carriage track corresponding to the rotational movement of the milking stall of the rotary milking platform. The controller further communicates a signal to a carriage actuator coupled to the robot carriage and the carriage track. The signal causes the carriage actuator to move the robot carriage along the carriage track according to the determined linear movement as the rotary milking platform rotates.

A dipping device for a mechanical milking system comprises at least one liner defining an accommodation space for a teat. The liner has a milk evacuation opening and a collecting claw. For each liner, a connector connects the liner to the collecting claw. The dipping device further includes a source of a dipping product, an injunction interface mounted on the collecting claw, and an injection tube for each liner. The injection tube extends from the interface and substantially to the teat accommodation space, running inside of the connector and through the evacuation opening.

A dipping device for a mechanical milking system comprises at least one liner defining an accommodation space for a teat. The liner has a milk evacuation opening and a collecting claw. For each liner, a connector connects the liner to the collecting claw. The dipping device further includes a source of a dipping product, an injunction interface mounted on the collecting claw, and an injection tube for each liner. The injection tube extends from the interface and substantially to the teat accommodation space, running inside of the connector and through the evacuation opening.

A teat cleaning cup (130) for cleaning a teat (120) includes a teat cleaner (300) having an inner body (270) forming a central cavity (280) for enclosing the teat (120), the inner body (270) including an inner surface (271), an outer surface (272), and a set of apertures (275) extending from the outer surface (272) to the inner surface (271); an exterior part (220) enclosing the inner body (270); a set of channels (291, 292), which set of channels (291, 292) connects to the set of apertures (275); a lower part (230) removably attached to the teat cleaner (300), which lower part (230) includes at least one cleaning liquid valve (240, 260), and a drain (250); and a seal (235) configured to distribute liquid from the cleaning liquid valve (240, 260) into the set of channels (291, 292).

A teat cleaning cup (130) for cleaning a teat (120) includes a teat cleaner (300) having an inner body (270) forming a central cavity (280) for enclosing the teat (120), the inner body (270) including an inner surface (271), an outer surface (272), and a set of apertures (275) extending from the outer surface (272) to the inner surface (271); an exterior part (220) enclosing the inner body (270); a set of channels (291, 292), which set of channels (291, 292) connects to the set of apertures (275); a lower part (230) removably attached to the teat cleaner (300), which lower part (230) includes at least one cleaning liquid valve (240, 260), and a drain (250); and a seal (235) configured to distribute liquid from the cleaning liquid valve (240, 260) into the set of channels (291, 292).

A system comprising a robotic arm, a plurality of grabbers, a sensor, and a preparation cup. The robotic arm has a first end and a recessed portion. The grabbers are coupled to the robotic arm at the first end. The sensor is positioned inside the recessed portion of the robotic arm at a first distance from the first end and at a first angle. The preparation cup is coupled to wings having a body portion, a first extended portion, and a second extended portion. The body portion is coupled to a portion of the preparation cup, the first extended portion extends in a first direction and the second extended portion extends in a second direction. The wings are operable to be magnetically coupled to the plurality of grabbers via the first and second extended portions.

A system comprising a robotic arm, a plurality of grabbers, a sensor, and a preparation cup. The robotic arm has a first end and a recessed portion. The grabbers are coupled to the robotic arm at the first end. The sensor is positioned inside the recessed portion of the robotic arm at a first distance from the first end and at a first angle. The preparation cup is coupled to wings having a body portion, a first extended portion, and a second extended portion. The body portion is coupled to a portion of the preparation cup, the first extended portion extends in a first direction and the second extended portion extends in a second direction. The wings are operable to be magnetically coupled to the plurality of grabbers via the first and second extended portions.

A method and teat cleaner for producing, by injection moulding, a teat cleaner of a teat cleaning cup that includes an inner body forming a central cavity for enclosing a teat, an exterior part, and channels therebetween for injection moulding the inner body in a first tool having a core, sliders that each include a protrusion for forming an aperture in the inner body, and channel walls, and an outer casting mould; separating the inner body from the first tool; placing the inner body in a second tool that includes a casting mould and rods; inserting the rods for forming the channels; fixating the rods; and injection moulding the exterior part in the second tool; separating the second tool from the fused teat cleaner; and removing the rods.

A method and teat cleaner for producing, by injection moulding, a teat cleaner of a teat cleaning cup that includes an inner body forming a central cavity for enclosing a teat, an exterior part, and channels therebetween for injection moulding the inner body in a first tool having a core, sliders that each include a protrusion for forming an aperture in the inner body, and channel walls, and an outer casting mould; separating the inner body from the first tool; placing the inner body in a second tool that includes a casting mould and rods; inserting the rods for forming the channels; fixating the rods; and injection moulding the exterior part in the second tool; separating the second tool from the fused teat cleaner; and removing the rods.