Patent ID: 8205573

Claim:
A rotary parlour for milking of animals, comprising: an annular rotary platform ( 20 ) adapted to form a support surface ( 18 ) for the animals ( 22 ); a drive mechanism ( 30 ) adapted to supply a rotational motion to the platform ( 20 ); teat cup storing devices ( 11 ) for holding parked teat cups ( 2 , 2 ′) in predetermined storing positions, each teat cup storing device ( 11 ) mounted such that, in their storing positions, all the teat cups ( 2 , 2 ′) are located vertically above the platform ( 20 ) and outside an area occupied by an animal in a milking position on the platform; and a milking robot arm ( 24 ) movable between the teat cup storing device and teats of the animal in a milking position on the platform, the milking robot arm comprising a gripping device ( 1 ) for gripping the teat cups in their storing positions, wherein the storing positions are always outside the area occupied by the animal when in the milking position of the platform, moving the teat cups to the teats of the animal, and attaching the teat cups ( 2 , 2 ′) to the teats of an animal ( 22 ), wherein the teat cup storing devices ( 11 ) are arranged in storing positions such that the teat cups ( 2 , 2 ′), which are to be attached to an animal standing in a milking position, are located in a storing position in front of a rear leg ( 22 b ) and behind a front leg ( 22 a ) of said animal ( 22 ), and wherein the teat cup storing devices ( 11 ) are arranged in positions such that an animal ( 22 ) standing in a milking position has teat cup storing devices ( 11 ) on each side, each teat cup storing device servicing two adjacent milking positions.