WO2023153977A1

WO2023153977A1 - A support device for a milking cluster in a rotary milking parlour

Info

Publication number: WO2023153977A1
Application number: PCT/SE2023/050063
Authority: WO
Inventors: Jacek TRZNADEL
Original assignee: Delaval Holding Ab
Priority date: 2022-02-10
Filing date: 2023-01-25
Publication date: 2023-08-17

Abstract

A support device (100) for a milking cluster (2), the support device (100) comprising a frame (1), a cluster removal device (3) for the milking cluster (2), a retraction line (4) connected with the milk cluster and the cluster removal device (3), a support arm (5) pivotally connected to the frame (1) and comprising a first guide (6) configured to guide the retraction line (4) along its path from the milking cluster to the cluster removal device (3). The support arm (5) comprises a first sub-arm (5a) connected to the frame (1) through a first rotational joint (7), a second sub-arm (5b) connected to the first sub-arm (5a) through a second rotational joint (8). The first guide (6) is arranged at an opposite second end (12) of the second sub-arm (5b), and a second guide (13) is arranged at the first end (11) of the second sub-arm (5b).

Description

A SUPPORT DEVICE FOR A MILKING CLUSTER IN A ROTARY MILKING PARLOUR

TECHNICAL FIELD

The present invention relates to a support device for a milking cluster in a rotary milking parlour, the support device comprising: a frame, a cluster removal device for the milking cluster, a retraction line configured to be connected at one end with the milking cluster and at another end with the cluster removal device, a support arm pivotally connected to the frame and comprising a first guide configured to guide the retraction line along its path from the milking cluster to the cluster removal device.

BACKGROUND

Rotary milking parlours that use a milking cluster to be attached to the teats of an animal and a cluster removal device for automatic removal of the milking cluster from the teats of the animal after milking is completed comprises a retraction line (e.g. cord or chain) connected to the milking cluster at one end and to the cluster removal device at another end. An actuator - typically a pneumatic cylinder - is provided in the cluster removal device to pull on the retraction line and thereby remove the milking cluster from the animal, while pivoting a support arm from a first active (milking) position to a second inactive (take-off) position. The retraction line is thereby held and guided by the support arm that is pivotable between the first active (milking) position in which it is pivoted into a position adjacent the animal and the second inactive (take-off) position in which it is pivoted away from the animal. EP1265478 discloses the described support device for a milking cluster in a rotary milking parlour. Such rotary milking parlours comprises a platform on which the animal is standing in a milking bail while being milked, wherein an attachment area for the staff is arranged outside the platform at an external rear end of the milking bails on the rotary milking parlour. The support arm is thereby typically connected to a frame, which is either mounted to or integrated with a cabinet or a bail divider on the platform. The rotary milking parlour with the support arm may further be configured to enable a cluster drop, whereby the milking cluster in the second inactive position is further lowered from an upper position above the platform to a lower position below the platform. A rotary milking parlour comprising a support arm configured to facilitate cluster drop is disclosed in WO200423866.

The support arm may thereby be configured with a length and shape adapted for an optimal support of the milking cluster and the long milk tube in relation to the animal being milked in the first active (milking) position. The support arm should hereby neither be too short nor too long, but rather extend to an optimal central position at the rear end of the animal and its milking bail in said first active (milking) position. Furthermore, the support arm should neither be shaped nor made excessively long and swung into the milking bail, so that it extends into a region of the hind legs of the animal while being in its first active (milking) position, since contact with the hind legs and hindrance of the motion of the animal should be avoided.

A length and shape on the support arm adapted for an optimal position and support in the first active (milking) position may however provide a non-optimal length and shape on the support arm in the second inactive (take-off) position. More precisely, the size of the milking cluster and the location of the frame (mounted to a cabinet/bail divider) in combination with the rear extension on the platform of the rotary milking parlour may result in a support arm being too short to achieve a reliable cluster drop. The milking cluster may thereby get stuck on the platform instead of being lowered to the lower position below the platform.

It is an object of the present invention to provide a support device for a milking cluster in a rotary milking parlour that solves the above mentioned problems and which does so without any need of further actuators than the one used in the cluster removal device.

SUMMARY

According to a first aspect, this object is achieved by a support device for a milking cluster, the support device comprising a frame, a cluster removal device for the milking cluster, a retraction line configured to be connected at one end with the milk cluster and at another end with the cluster removal device, a support arm pivotally connected to the frame and comprising a first guide configured to guide the retraction line along its path from the milking cluster to the cluster removal device. The support arm hereby comprises a first sub-arm connected to the frame through a first rotational joint and a second sub-arm connected to the first sub-arm through a second rotational joint, wherein the first guide is arranged on the second sub-arm, and wherein the second rotational joint is arranged at a first end of the second sub-arm and the first guide is arranged at an opposite second end of the second sub-arm. A second guide is further arranged at the first end of the second sub-arm, so that a line of extension of the retraction line in relation to the second rotational joint is such that, when the cluster removal device is pulling the retraction line, the support arm is swung from a first inwardly directed milking position to a second outwardly directed extended position, wherein an angle between the first sub-arm and the second sub-arm is increased such that a distance from the first rotational joint to the first guide is extended.

The first and second guides on the second sub-arm thereby provides a line of extension on the retraction line that produces a moment of force around the second and first rotational joints giving an outwardly extending movement on the support arm when the cluster removal device is activated for removal of the milking cluster (take-off). In this way, the orientation and length of the support arm, i.e. the distance from the first rotational joint to the first guide, increases when the cluster removal device is pulling the retraction line on a rotary milking parlour. The support arm hereby pivots and extends from an inwardly (angled) milking position to an outwardly extended (straight) position during said cluster removal in order to achieve a more reliable cluster drop. Hence, the orientation and length/shape of the support arm is in this way changing between the first inwardly (angled) milking position and the second outwardly extended (straight) position. The frame of the support device may hereby be connected to or forming a portion of a cabinet or bail divider located on the platform of the rotary milking parlour. Thus, during said milking cluster removal, the support arm will pivot and extend outwardly past an outer edge of the platform, whereby the milking cluster can be lowered to a level below the platform in a more reliable manner.

The first and second guides may be formed by separate components or a common component, such as a tube through which the retraction line extends, which common component/tube then extends from the first end of the second sub-arm to the second end of the second sub-arm. According to an embodiment, the line of extension of the retraction line, between the cluster removal device and the second guide, is located outwards in relation to the first sub-arm and the second rotational joint. The term "outwards" is a side of the first sub-arm and the second rotational joint which is remote (facing away) from the bail into which the support arm is intended to extend in the first inwardly directed milking position.

According to a further embodiment, the support arm comprises a third sub-arm connected to the frame through a third rotational joint, and connected to the second sub-arm through a fourth rotational joint, wherein a first rotational axis defined by the first rotational joint is arranged adjacent to a third rotational axis defined by the third rotational joint, and a second rotational axis defined by the second rotational joint is arranged adjacent to a fourth rotational axis defined by the fourth rotational joint. The term "adjacent" hereby designates a location next to each other, yet at a certain (small) distance from each other (i.e. typically not immediately adjacent to each other). This embodiment allows the support arm to swing along a predetermined trajectory. In other words, the support arm is configured as a four-bar linkage mechanism. The support arm can thereby be configured with a desired spacing between the rotational joints (rotational axes) and lengths on the sub-arms to give a desired predetermined first and second positions along the predetermined trajectory. In this way, the operator/staff responsible for attaching the milking clusters to the teats of the animals can easily and quickly swing the support arm inwards into a proper predetermined first milking position without having to adjust its position or shape for optimal support in said first milking position.

The third rotational joint is thereby preferably arranged at a first end of the third sub-arm and the fourth rotational joint is preferably arranged at a second end of the third sub-arm.

According to a further embodiment, the second guide is positioned between the second rotational joint and the fourth rotational joint.

According to an embodiment, the second guide comprises a second guide ring through which the retraction line extends. The second guide ring on the second sub-arm is preferably arranged in a protruding flange portion at the first end of the second sub-arm, wherein the protruding flange portion with the second guide ring is configured to form a stop member acting against the first sub-arm in the second outwardly extended position. In this way the protruding flange portion may lock the support arm in a predetermined second outwardly extended (straight) position.

According to an embodiment, the first guide also comprises a first guide ring through which the retraction line extends. The first guide ring on the second sub-arm is also preferably arranged in a protruding flange portion at the second end of the second sub-arm. The first and second guide rings are hereby arranged at the opposite ends of the second sub-arm, wherein the retraction line extends in well-defined and parallel extension along the second sub-arm. The first guide ring is hereby acting as a stop member against the milking cluster when the cluster removal device is activated, while the second guide is guiding the retraction line around/outwardly of the second rotational joint, so that support arm is swung from a first inwardly directed milking position to a second outwardly directed extended position. The first and second guide rings of the first and second guides may also comprise a common tube extending from the first end of the second sub-arm to the second end of the second sub-arm.

The use of a guide ring allows the retraction line, which may be for example a cord, to stay in place in the guide. Also, the milking cluster carried by the other end of the retraction line may move in whatever direction, up or down or sideward, and the guide ring will still guarantee that the retraction line is guided accordingly.

According to a further embodiment, the support arm comprises a crossed four-bar linkage mechanism defined by the first rotational axis, the second rotational axis, the third rotational axis and the fourth rotational axis, wherein the first sub-arm and the third sub-arm are crossing each other in their extensions between the frame and the second sub-arm. As a result, the first rotational axis on the frame is on the opposite side of the second rotational axis on the second sub-arm, and the third rotational axis on the frame is on the opposite side of the fourth rotational axis on the second sub-arm in said crossed four-bar linkage mechanism.

This crossed four-bar linkage mechanism allows the first sub-arm and the third sub-arm to determine the trajectory of the second sub-arm, and thereby also the extension of the second sub-arm. The embodiment further ensures that the second sub-arm is oriented towards the milking bail in the first milking position. Hence, the second (free) end of the second sub-arm is pointing inwards toward the attached milking cluster during milking. When the cluster removal device is pulling the retraction line, the milking cluster is removed from the teats and further pulled away from the animal until it abuts the first guide at the second (free) end of the second sub-arm, wherein the support arm will extend as it swings outwardly along the predetermined trajectory to the second outwardly extended position. The reverse will happen when the cluster removal device releases the tension in the retraction line and an operator swings the support arm in the opposite direction, wherein the support arm having the crossed four-bar linkage mechanism, moves in accordance with the predetermined trajectory such that the length of the support arm is decreased, while the second sub-arm is oriented inwards for an even more optimal support of the milking cluster and the long milk tube.

According to an embodiment, the second rotational joint and the fourth rotational joint are arranged at a first end of the second sub-arm and the first guide is arranged at the opposite second end of the second sub-arm. Put differently, the second rotational joint and the fourth rotational joint are both located in the same region, i.e. at the same end of the elongated second sub-arm.

According to an embodiment, the first rotational joint is arranged at a first end of the first subarm and the second rotational joint is arranged at an opposite second end of the first sub-arm.

According to a second aspect, the object is achieved by a rotary milking parlour comprising a platform having a plurality of bail dividers defining milking bails for housing animals during milking thereof, wherein the rotary milking parlour is characterized in that the bail divider comprises a support device according to the first aspect.

According to an embodiment, the support arm is pivotable by means of rotation of each subarm around their respective rotational joints between the first inwardly directed milking position, in which the first guide is located above the platform and the second outwardly directed extended position, in which the first guide is located outside the platform. This allows the support device to remove an attached milking cluster from a region above the platform into a region outside an outer edge of the platform when moving from said first active milking position to said second inactive position, i.e. the second outwardly directed extended position. In other words, when the support arm moves from the first position to the second position, the shape and length of the support arm is extended so that the support arm becomes long enough to enable a more reliable cluster drop after take-off.

According to an embodiment, when the support arm is in the second outwardly directed extended position, a distance in a horizontal direction between an edge of the platform and the first guide is sufficient to allow the milking cluster to be lowered vertically from the first guide to a level below the platform without being interfered by the rotatable platform.

According to some embodiments, the frame of the support device is connected to or forming a portion of the bail divider and is arranged in a position adjacent an attachment area outside the platform and the milking bail, wherein the third rotational joint is located closer to a longitudinal centre axis of the milking bail defined by the bail dividers than is the first rotational joint.

Effects and features of the second aspect are to a large extent analogous to those described above in connection with the first aspect. Embodiments mentioned in relation to the first aspect are largely compatible with the second aspect.

Further objects and advantages may be found in the detailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

Figure 1-3 schematically shows the principle of a support device for a milking cluster according to some embodiments of the disclosed invention,

Figure 4-5 schematically shows the support device according to some embodiments of the disclosed invention, and

Figure 6-7 schematically illustrates a rotary milking parlour according to some embodiments of the disclosed invention. DETAILED DESCRIPTION

Figs. 1-3 schematically illustrates a support device 100 configured for supporting a milking cluster in a rotary milking parlour according to some embodiments of the invention. The support device 100 comprises a frame 1, a cluster removal device 3 for the milking cluster 2, a retraction line 4 configured to be connected at one end with the milking cluster 2 and at another end with the cluster removal device 3. A support arm 5 is pivotally connected to the frame 1 and comprises a first guide 6 configured to guide the retraction line 4 along its path from the milking cluster 2 to the cluster removal device 3. The support arm 5 comprises a first sub-arm 5a and a second sub-arm 5b. The first sub-arm 5a is connected to the frame 1 through a first rotational joint 7. The second sub-arm 5b is connected to the first sub-arm 5a through a second rotational joint 8. The first guide 6 is arranged on the second sub-arm 5b. The second rotational joint 8 is arranged at a first end 11 of the second sub-arm 5b. The first guide 6 is arranged at an opposite second end 12 of the second sub-arm 5b. A second guide 13 is arranged at the first end 11 of the second sub-arm 5b, so that a line of extension of the retraction line 4 in relation to the second rotational joint 8 is such that, when the cluster removal device 3 is pulling the retraction line 4, the support arm 5 is swung from a first inwardly directed milking position Pl to a second outwardly directed extended position P2. An angle a between the first sub-arm 5a and the second sub-arm 5b will thereby increase such that a distance from the first rotational joint 7 to the first guide 6 is extended. As seen in Figs.1-3, the angle a is in the right hand side of the second rotational joint 8 and the line of extension of the retraction line 4 is on the other, left hand side of the second rotational joint 8, i.e. outwards of the second rotational joint 8.

The first inwardly directed milking position Pl is designating the position in which the support arm 5 is swung inwards in an angled position, i.e. when the angle a decreases and the distance between the first rotational joint 7 to the first guide 6 is relatively small (shown in Figs. 3, 5 and 7). In other words, in the first position Pl the first guide 6 is located above a platform (shown in Fig. 7) and the support arm 5 is oriented in the first active milking position for optimum support of the milking cluster and a long milking tube (not shown) during a milking of the animal. The second outwardly directed extended position P2 is respectively designating the position in which the support arm 5 is extended, i.e. when the angle a increases and the distance between the first rotational joint 7 to the first guide 6 is at its maximum (shown in Fig. 1 and Fig. 6). In other words, when milking is completed and the cluster removal device is activated, the support arm 5 is caused to move into the second outwardly directed extended position P2, wherein the first guide 6 is located outside an outer edge of the platform (shown in Fig. 6).

The line of extension of the retraction line 4, between the cluster removal device 3 and the second guide 13, is located outwards in relation to the first sub-arm 5a and the second rotational joint 8. Hence, the line of extension of the retraction line 4, between the cluster removal device 3 and the second guide 13, is located on the opposite side of the second rotational joint 8 in relation to the angle a (shown in Figs. 1-3).

The support arm 5 according to the shown embodiment further comprises a third sub-arm 5c connected to the frame 1 through a third rotational joint 9 and connected to the second subarm 5b through a fourth rotational joint 10. A first rotational axis xl defined by the first rotational joint 7 is hereby arranged adjacent to a third rotational axis x3 defined by the third rotational joint 9, and a second rotational axis x2 defined by the second rotational joint 8 is arranged adjacent to a fourth rotational axis x4 defined by the fourth rotational joint 10.

The third rotational joint 9 is arranged at a first end 16 of the third sub-arm 5c and the fourth rotational joint 10 is arranged at a second end 17 of the third sub-arm 5c.

The second guide 13 is positioned between the second rotational joint 8 and the fourth rotational joint 10.

The shown support arm 5 hereby comprises a crossed four-bar linkage mechanism defined by the first rotational axis xl, the second rotational axis x2, the third rotational axis x3 and the fourth rotational axis x4, wherein the first sub-arm 5a and the third sub-arm 5c are crossing each other in their extensions between the frame 1 and the second sub-arm 5b. As a result the support arm 5 with the first guide 6 on the second sub-arm 5b will follow a predetermined trajectory. The crossed four-bar linkage mechanism is also shown in Figs. 1-3 and another illustration is shown in Figs. 4-5.

The second rotational joint 8 and the fourth rotational joint 10 are arranged at a first end 11 of the second sub-arm 5b and the first guide 6 is arranged at an opposite second end 12 of the second sub-arm 5b.

The first rotational joint 7 is arranged at a first end 14 of the first sub-arm 5a and the second rotational joint 8 is arranged at an opposite second end 15 of the first sub-arm 5a.

Figures 4-5 shows the support device 100 according to an embodiment of the invention. Figs. 4 and 5 show a more detailed illustration of the support device 100 shown in Figs. 1-3. For example, it is illustrated that each of the first guide 6 and the second guide 13 is formed by a protruding flange portion comprising a first and second guide ring through which the retraction line 4 extends. Figs. 4 and 5 illustrate the support device 100 when the support arm 5 is extended outwardly in the second position P2 and angled inwardly in the first position Pl respectively.

Figures 6 and 7, schematically illustrates a portion of a rotary milking parlour according to an embodiment of the disclosed invention.

Fig. 6 shows a rotary milking parlour 1000 comprising a rotatable platform 18 having a plurality of bail dividers 19 defining milking bails 20 for milking animals on the platform, wherein an attachment area 21 for staff is arranged outside the platform 18. The bail divider 19 hereby comprises a cabinet 19a with the frame 1 and the support device 100 for the milking cluster 2 as defined hereinabove and hereinafter.

The support arm 5 is pivotable by means of rotation of the sub-arms 5a, 5b, 5c around their respective rotational joints 7, 8, 9, 10 between the first inwardly directed milking position Pl, as can be seen in Fig. 7, in which the first guide ring 6 is located above the platform 18 and the second outwardly directed extended position P2, as can be seen in Fig. 6, in which the first guide ring 6 is located outside an outer edge 22 of the platform (above the attachment area 21). When the support arm 5 is in the second outwardly directed extended position P2, a distance in a horizontal direction between an edge 22 of the platform 18 and the first guide ring 6 is sufficient to allow the milking cluster 2 to be lowered vertically from the first guide ring 6 to a level below the platform 18 without being interfered by the platform 18.

The frame 1 is, in the shown embodiment, mounted to the cabinet 19a of the bail divider 19 and is arranged in a position adjacent the attachment area 21 and the milking bail 20. The third rotational joint 9 is located closer to a longitudinal centre axis x5 (see Figs. 1 - 3) of the milking bail 20 defined by the bail dividers 19 than is the first rotational joint 7. When the cluster removal device 3 is pulling the retraction line 4, the milking cluster 2 is removed from the teats and further pulled away from the animal until it abuts the first guide ring 6 at the second (free) end 12 of the second sub-arm 5b, wherein the support arm 5 will extend as it swings outwardly along the predetermined trajectory to the second outwardly extended position P2. The reverse will happen when the cluster removal device 3 releases the tension in the retraction line 4 and an operator swings the support arm 5 in the opposite direction toward the first milking position Pl. The support arm 5 having the crossed four-bar linkage mechanism, moves in accordance with the predetermined trajectory such that the length of the support arm 5 is decreased, while the second sub-arm 5b is angled/oriented inwards for an optimal support of the milking cluster 2 and the long milk tube in the first milking position Pl. Hence, when the support arm 5 is pulled from the first milking position Pl to the second outwardly extended position P2, the shape and length of the support arm 5 is extended so that the support arm 5 becomes long enough to enable a more reliable cluster drop after take-off.

Claims

1. A support device (100) for a milking cluster (2), the support device (100) comprising:

- a frame (1),

- a cluster removal device (3) for the milking cluster (2),

- a retraction line (4) configured to be connected at one end with the milking cluster (2) and at another end with the cluster removal device (3),

- a support arm (5) pivotally connected to the frame (1) and comprising a first guide (6) configured to guide the retraction line (4) along its path from the milking cluster (2) to the cluster removal device (3), the support device (100) being characterized in that the support arm (5) comprises:

- a first sub-arm (5a) connected to the frame (1) through a first rotational joint (7),

- a second sub-arm (5b) connected to the first sub-arm (5a) through a second rotational joint (8), wherein the first guide (6) is arranged on the second sub-arm (5b), wherein

- the second rotational joint (8) is arranged at a first end (11) of the second subarm (5b) and the first guide (6) is arranged at an opposite second end (12) of the second sub-arm (5b), and

- a second guide (13) is arranged at the first end (11) of the second sub-arm (5b), so that a line of extension of the retraction line in relation to the second rotational joint (8) is such that, when the cluster removal device (3) is pulling the retraction line (4), the support arm (5) is swung from a first inwardly directed milking position (Pl) to a second outwardly directed extended position (P2), wherein an angle (a) between the first sub-arm (5a) and the second sub-arm (5b) is increased such that a distance from the first rotational joint (7) to the first guide (6) is extended.

2. The support device (100) according to claim 1, wherein the line of extension of the retraction line (4), between the cluster removal device (3) and the second guide (13), is located outwards in relation to the first sub-arm (5a) and the second rotational joint (8).

3. The support device (100) according to any one of claims 1-2, wherein the support arm (5) comprises:

- a third sub-arm (5c) connected to the frame (1) through a third rotational joint

(9), and connected to the second sub-arm (5b) through a fourth rotational joint

(10), and

- wherein a first rotational axis (xl) defined by the first rotational joint (7) is arranged adjacent to a third rotational axis (x3) defined by the third rotational joint (9), and

- a second rotational axis (x2) defined by the second rotational joint (8) is arranged adjacent to a fourth rotational axis (x4) defined by the fourth rotational joint (10).

4. The support device (100) according to claim 3, wherein the third rotational joint (9) is arranged at a first end (16) of the third sub-arm (5c) and the fourth rotational joint (10) is arranged at a second end (17) of the third sub-arm (5c).

5. The support device (100) according to claim 3 or 4, wherein the second guide (13) is positioned between the second rotational joint (8) and the fourth rotational joint (10).

6. The support device (100) according to any one of the previous claims, wherein the second guide (13) comprises a second guide ring through which the retraction line (4) extends, wherein the second guide ring (13) is arranged in a protruding flange portion at the first end (11) of the second sub-arm (5b), wherein the protruding flange portion with the second guide ring (13) is configured to form a stop member acting against the first sub-arm (5a) in the second outwardly extended position (P2).

7. The support device (100) according to any one of claims 1-6, wherein the first guide (6) comprises a first guide ring through which the retraction line (4) extends.

8. The support device (100) according to any one of claim 3-7, wherein the support arm (5) comprises a crossed four-bar linkage mechanism defined by the first rotational axis (xl), the second rotational axis (x2), the third rotational axis (x3) and the fourth rotational axis (x4), wherein the first sub-arm (5a) and the third sub-arm (5c) are crossing each other in their extensions between the frame (1) and the second sub-arm (5b). The support device (100) according to any of the claims 3-8, wherein the second rotational joint (8) and the fourth rotational joint (10) are arranged at a first end (11) of the second sub-arm (5b) and the first guide (6) is arranged at an opposite second end (12) of the second sub-arm (5b). The support device (100) according to any one of the proceeding claims, wherein the first rotational joint (7) is arranged at a first end (14) of the first sub-arm (5a) and the second rotational joint (8) is arranged at an opposite second end (15) of the first sub-arm (5a). A rotary milking parlour (1000) comprising a platform (18) having a plurality of bail dividers (19) defining milking bails (20) for housing animals during milking characterised in that the bail divider comprises a support device (100) according to any one of claims 1-10. The rotary milking parlour (1000) according to claim 11, wherein the support arm (5) is pivotable by means of rotation of each sub-arm (5a, 5b, 5c) around their respective rotational joints (7, 8, 9, 10) between the first inwardly directed milking position (Pl), in which the first guide (6) is located above the platform and the second outwardly directed extended position (P2), in which the first guide (6) is located outside the platform. The rotary milking parlour (1000) according to claim 11 or 12, wherein, when the support arm (5) is in the second outwardly directed extended position (P2), a distance in a horizontal direction between an edge (22) of the platform (18) and the first guide (6) is sufficient to allow the milking cluster (2) to be lowered vertically from the first guide (6) to a level below the platform (18) without being interfered by the platform (18). The rotary milking parlour (1000) according to any one of claims 11-13, wherein the frame (1) of the support device (100) according to any one of claims 3-10 is connected to or forming a portion of the bail divider and is arranged in a position adjacent an attachment area (21) outside the platform (18) and the milking bail (20), wherein the third rotational joint (9) is located closer to a longitudinal centre axis (x5) of the milking bail (20) defined by the bail dividers (19) than the first rotational joint (7).