The present invention relates to a kind of cleaning device, the animal for cleaning and pre-processing nipple (4) is milked, and milking machine (2) is provided therewith and its method. Cleaning device according to the present invention includes: that frame (52) is provided with arm (6) Cleaning head is set to arm and has rotatable support frame (12), has one or more rotatable cleaning elements (14) to provide thereon Be connected to the cleaning head that the frame moves with mobile device (48,50,56) makes nipple be use cleaning element capable of washing relative to nipple.
