Patent ID: 8281744

Claim:
An autonomous mobile milking implement comprising a frame, a sub-frame, at least one teat cup holder, and a tilting mechanism for tilting the at least one teat cup holder; wherein the teat cup holder is connected to the sub-frame by the tilting mechanism which comprises an intermediate arm, the intermediate arm being connected to the sub-frame at a first joint and pivotable with respect to the sub-frame about the first joint, and the teat cup holder being connected to the intermediate arm at a second joint and pivotable with respect to the intermediate arm about the second joint; wherein the intermediate arm and first and second joints are arranged to tilt the teat cup holder between a first position in which a teat cup placed on the teat cup holder is substantially vertical and has an upward oriented aperture, and a second position, which is at an angle H to the first position, wherein the angle H is measured in a vertical direction and is at least 135°; and wherein the sub-frame is connected to the frame by a mechanism arranged to adjust the height of the sub-frame and the intermediate arm being connected to the sub-frame upwards and downwards with respect to the frame.