Patent ID: 8505483

Claim:
A gripper ( 10 ) configured for a milking robot, the gripper comprising: a proximal end ( 10 ′) configured to be attached to the milking robot ( 5 ); a distal end ( 10 ″); an extension plane (p) extending through the proximal end and the distal end; a longitudinal center axis (x 4 ) extending in the extension plane (p) through the proximal end and the distal end, the longitudinal center axis (x 4 ) dividing the extension plane (p) into a primary side ( 10 a ) and a secondary side ( 10 b ) with a primary border line ( 21 ) on the primary side ( 10 a ) and a secondary border line ( 22 ) on the secondary side ( 10 b ); a body ( 30 ) connected to the proximal end, a longitudinal length of the body extending with the longitudinal center axis (x 4 ); a plurality of separate gripping elements ( 31 - 34 ) mounted to the body, the gripping elements located one adjacent another along the length of body, wherein the gripping elements each have a respective separate gripping recess ( 11 - 14 ), each gripping recess configured to grip a different respective teatcup ( 3 ), each gripping recess having an opening to accept the respective teatcup, the openings of at least two adjacent gripping recesses facing the primary border line ( 21 ), wherein each gripping recess has a respective center line ( 15 - 18 ), each center line having a respective projection extending from the gripping element, through the opening, and intersecting the longitudinal center axis (x 4 ), and wherein the gripping recesses are asymmetrically positioned with respect to the longitudinal center axis (x 4 ).