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.

The present disclosure provides a method of milking a mammal which includes, applying a vacuum to the lower end of a milking cup liner; and modulating the pressure in the pulsation volume to cause a milking operation on a teat of an animal that is inserted into the top end of the bore. The modulation includes an on phase in which the vacuum applied to the liner bore is less than a vacuum applied to the pulsation volume to thereby enable milk flow from the teat, and an off phase in which the pulsation volume is at an increased pressure relative to the on phase to close the liner bore to thereby stop milk flow from the teat. The modulation includes applying positive pressure to the pulsation volume to apply compressive load to the teat.

A milking cup comprising a body having a top portion and a bottom portion. The top portion has a first lip formed thereon and the bottom portion has a second lip formed thereon. The first lip and the second lip are separated by a distance. The milking cup further comprises a rotating shell positioned between and secured by the first lip and the second lip, wherein the rotating shell encircles the body and is operable to rotate around the body independently of the movement of the other portions of the body. The rotating shell has a length that corresponds to the distance between the first lip and the second lip.

A milking cup comprising a body having a top portion and a bottom portion. The top portion has a first lip formed thereon and the bottom portion has a second lip formed thereon. The first lip and the second lip are separated by a distance. The milking cup further comprises a rotating shell positioned between and secured by the first lip and the second lip, wherein the rotating shell encircles the body and is operable to rotate around the body independently of the movement of the other portions of the body. The rotating shell has a length that corresponds to the distance between the first lip and the second lip.

A teatcup and a cartridge insertable into a connector of the teatcup to be attached to the teat of an animal to be milked are disclosed. The cartridge includes an elongated sleeve, having an upper end section and a lower end section, and a teatcup liner pre-mounted in the elongated sleeve. The teatcup liner includes an upper end portion located at the upper end section, a lower end portion located at the lower end section, and a barrel portion extending between the upper end portion and the lower end portion. The elongated sleeve includes three separate primary hook members provided circumferentially after each other on an outer surface of the elongated sleeve. Each primary hook member has a lower slide surface sloping upwardly and outwardly, and an upper hook surface extending inwardly.

A teatcup and a cartridge insertable into a connector of the teatcup to be attached to the teat of an animal to be milked are disclosed. The cartridge includes an elongated sleeve, having an upper end section and a lower end section, and a teatcup liner pre-mounted in the elongated sleeve. The teatcup liner includes an upper end portion located at the upper end section, a lower end portion located at the lower end section, and a barrel portion extending between the upper end portion and the lower end portion. The elongated sleeve includes three separate primary hook members provided circumferentially after each other on an outer surface of the elongated sleeve. Each primary hook member has a lower slide surface sloping upwardly and outwardly, and an upper hook surface extending inwardly.

A cartridge and a teatcup to be attached to the teat of an animal to be milked are disclosed. The cartridge includes an elongated sleeve, having an upper end section and a lower end section, and a teatcup liner pre-mounted in the elongated sleeve. The teatcup liner includes an upper end portion located at the upper end section, a lower end portion located at the lower end section, and a barrel portion extending between the upper and lower end portions. The barrel portion has a polygonal cross-sectional shape defining a plurality of corner portions and a plurality of side portions. The elongated sleeve includes a primary locking member. The teatcup liner includes a primary complementary locking member. The two locking members engage each other to prevent rotation of the teatcup liner in relation to the elongated sleeve.

A cartridge and a teatcup to be attached to the teat of an animal to be milked are disclosed. The cartridge includes an elongated sleeve, having an upper end section and a lower end section, and a teatcup liner pre-mounted in the elongated sleeve. The teatcup liner includes an upper end portion located at the upper end section, a lower end portion located at the lower end section, and a barrel portion extending between the upper and lower end portions. The barrel portion has a polygonal cross-sectional shape defining a plurality of corner portions and a plurality of side portions. The elongated sleeve includes a primary locking member. The teatcup liner includes a primary complementary locking member. The two locking members engage each other to prevent rotation of the teatcup liner in relation to the elongated sleeve.

A teat cup shell (2) includes a substantially tubular body having a center axis (4). A plane (6) extending along the center axis (4) defines a first shell portion (8) and a second shell portion (10) on opposite sides of the plane (6). The first shell portion (8) includes a magnetic material, and an outer surface (12) adapted to abut against at least one surface of an electromagnetic device. The first shell portion (8) and the second shell portion (10) differ from each other with respect to material composition and/or material thickness. The amount of magnetic material in the first shell portion (8) is higher than in the second shell portion (10). Further, a teat cup and an arrangement for automatically milking animals includes at least one robot arm (32) adapted to attach the teat cup (16) to a teat of an animal.