| 主权项 |
1. A milking parlour (1), comprising:
a rotatable platform (3) comprised of plural milking stalls (5), each milking stall having a set of teat cups (23), each set of teat cups (23) comprised of at least a first sub-set of the teat cups (21d) and a second sub-set of the teat cups (21c), the first and second sub-sets being mutually exclusive; a first robotic manipulation device (100); a second robotic manipulation device (200); and a plurality of milking stalls (5) provided on the platform (3) moveable relative to the first and second robotic manipulation devices (100,200), wherein, the first and second robotic manipulation devices (100,200) are positioned and controlled so that the first and second robotic manipulation devices (100,200) simultaneously service neighbouring milking stalls (5) on the platform (3) where the first robotic manipulation device (100) attaches the first sub-set of the teat cups (21d) to a first animal in a first milking stall (5) simultaneously while the second robotic manipulation device (200) attaches the second sub-set of the teat cups (21c) to a second animal (7) in a neighbouring second milking stall (5), and the first and second robotic manipulation devices (100,200) are positioned and controlled so that the first and second robotic manipulation devices (100,200) service neighbouring milking stalls (5) on the platform (3) where the first robotic manipulation device (100) attaches only the first sub-set of the teat cups (21d) to the first animal in the first milking stall (5), and the second robotic manipulation device (200) attaches the second sub-set of the teat cups (21c) to the first animal (7) in the first milking stall (5), wherein both the first and second robotic manipulation devices (100,200) attach teat cups to teats of the first animal. |
