GRIPPING DEVICE, MILKING ROBOT AND MILKING EQUIPMENT Russian patent published in 2015 - IPC A01J5/17 

FIELD: agriculture.

SUBSTANCE: group of inventions relates to dairy farming. The milking equipment comprises a milking robot with a gripping device (10). The robot comprises a base, a connecting mechanism attached to the base and rotatable about the axis of the base by means of the base articulation. The gripping device (10) has a proximal end and a distal end and is attached to the connecting mechanism at the proximal end. The gripping device has a plane of extension and a longitudinal central axis (x₄), extending in the plane of extension through the proximal end and the distal end. The longitudinal central axis divides the gripping device to the main side (10a) and the additional side (10b). The gripping device has a plurality of separate gripping recesses (11-14), each of which is arranged with the possibility to capture the respective teat cup. The gripping recesses are arranged asymmetrically relative to the longitudinal central axis, at least three gripping recesses are arranged mainly on the main side (10a). The invention also discloses the milking robot, which comprises a manipulator and a described gripping device, and the milking equipment comprising such a milking robot.

EFFECT: invention provides improvement of the gripping device due to possible simultaneous gripping of all the teat cups from the storage and reduction of the size of the device.

17 cl, 6 dwg