Patent ID: 7992519

Claim:
An arrangement in a milking system for simultaneous milking of a plurality of milking animals, said milking system comprising a plurality of milking positions and an arrangement provided for establishing identities of and expected milking times for said milking animals, wherein each of the milking positions is provided with teat cups, which are attached to the teats of a milking animal and are connected to a source of vacuum to milk the milking animal, wherein: a processing and control device to determine a milking position, at which the milking animal having the longest expected milking time is present, based on said established identities and expected milking times; and a device provided for performing an action with respect to said milking system in response to said determination, wherein said device for performing an action with respect to said milking system is a robot arm arrangement provided for attaching teat cups to the teats of said milking animal or animals having the longest expected milking time or times first, to thereby enable for the milking system to start milking the milking animal or animals having the longest expected milking time or times first, and said processing and control device to calculate an order, in which the milking animals present at the milking positions should have teat cups attached to their teats, based on the established identities and expected milking times; and said device for performing an action is provided for performing an action with respect to said milking system in response to said calculated order.