A gripping device for a robotic manipulation device that grips and attaches teat cups to an animal. The gripping device for each teat cup to be gripped and attached includes a holding member configured to releasably hold a teat cup, and a power member configured to move the holding member from a base position (p1) to a raised position (p2) in which the teat cup can be attached to a teat. The gripping device for each teat cup to be gripped and attached includes a movable cover portion movably arranged between a covering position, in which it covers the opening of the teat cup, and a non-covering position, in which the opening of the teat cup is exposed. When power member lifts the holding member from the base position to the raised position, the movable cover portion moves from the covering position to the non-covering position.
