METHOD FOR MILKING DAIRY ANIMALS AND FOR MANUFACTURING OF CHEESE OR RENNET FREE DAIRY PRODUCT OUT OF THE OBTAINED MILK AND MILKING MACHINE FOR MILKING OF DAIRY ANIMALS COUPLED TO A PRODUCTION LINE FOR MANUFACTURING CHEESE OR RENNET FREE DAIRY PRODUCT

Abstract

A method and automated machine for milking dairy animals and manufacturing cheese from the milk obtained, including the steps of: milking a well-defined, measured amount of base milk which satisfies certain quality standards and which is not mixed with other milk; and manufacturing cheese directly from the base milk obtained, by means of a fully automatic production line, where the production line contains a number of separate processing locations where intermediate products from the base milk are generated and/or treated, and transportation between the processing location and the handling of the base milk is done by a fully automatic robot vehicle (robotised automatic guided vehicle).

Claims

1: A method for milking dairy animals and manufacturing a cheese or a rennet-free dairy product, comprising: milking a well-defined, measured amount of a base milk which satisfies certain quality standards and which is not mixed with other milk; and manufacturing the cheese or the rennet-free dairy product by means of a fully automatic production line directly from the base milk.

2: The method according to claim 1, wherein the base milk is obtained from a single dairy animal or a predetermined group of dairy animals.

3. (canceled)

4. (canceled)

5: The method according to claim 1, wherein the production line comprises a number of separate processing locations where a number of intermediate products are generated and/or treated, and wherein transportation of the intermediate products between the processing locations and mechanical handling of the base milk, the intermediate products and the cheese or rennet-free milk product in the processing locations is performed by means of a fully automatic robot vehicle (robotised automatic guided vehicle).

6-20. (canceled)

21: A milking machine for milking dairy animals coupled to a production line for manufacturing a cheese or a rennet-free dairy product, wherein the cheese or rennet-free dairy product is produced from a well-defined, measured amount of a base milk which has been obtained beforehand by means of the milking machine and which meets certain quality standards and is not mixed with other milk, wherein the production line is fully automatic and comprises a number of separate processing locations where a number of intermediate products from the base milk are generated and/or treated, and wherein the transportation of the intermediate products between the processing locations and mechanical handling of the base milk, the intermediate products and the cheese or rennet-free dairy product in the processing locations takes place by means of a fully automatic robot vehicle (robotised automatic guided vehicle).

22. (canceled)

23. (canceled)

24. (canceled)

25: The milking machine according to claim 21, wherein the production line further comprises a selection location with a number of transport vessels for the base milk and a separation vessel for separating off any unsuitable milk which does not meet certain quality standards.

26: The milking machine according to claim 25, wherein the fully automatic robot vehicle is configured to transport the transport vessels containing the base milk to a mixing location which is provided in the production line.

27: The milking machine according to claim 26, wherein the mixing location comprises a means for adding lactic ferment and/or calcium chloride and/or rennet to the base milk, wherein a drivable stirring means is provided for stirring the base milk, and wherein the base milk is converted into a curd with whey.

28: The milking machine according to claim 27, wherein the fully automatic robot vehicle is configured to transport the transport vessels containing the base milk converted into the curd with whey to a cutting location provided in the production line, and wherein the cutting location comprises an automatic cutting means for cutting the curd into cubes, and an automatic pumping means for pumping off the whey.

29. (canceled)

30: The milking machine according to claim 28, wherein the fully automatic robot vehicle is configured to transfer the entire contents of the transport vessels to a filtration location which is provided in the production line and comprises a number of filter trays to allow the whey to drain from the curd.

31: The milking machine according to claim 30, wherein an automatic pressing means is provided for subsequently expressing the whey from the curd.

32: The milking machine according to claim 31, wherein the fully automatic robot vehicle is configured to transfer the entire contents of the filter trays to an individual brining location which is provided in the production line, and comprises a number of individual brine trays for soaking the curd in a brine, so that this is converted into the cheese.

33: The milking machine according to claim 31, wherein the fully automatic robot vehicle is configured to transfer the entire contents of the filter trays to a resting location which is provided in the production line and comprises a number of resting trays for the intermediate products, and the fully automatic robot vehicle further is configured to transfer the entire contents of the resting trays to an individual brining location which is provided in the production line comprises a number of individual brine trays for soaking the curd in a brine, so that this is converted into the cheese.

34: The milking machine according to claim 32, wherein the fully automatic robot vehicle is configured to transfer the entire contents of the brine trays to a storage location which is provided in the production line in order for the cheese to mature further.

35: The milking machine according to claim 34, wherein the fully automatic robot vehicle is configured to regularly turn the cheeses in the storage location and provides the cheeses in the storage location with a label containing information about the composition of the cheese and/or the dairy animal or the dairy animals from which the base milk stems.

36. (canceled)

37. (canceled)

38: The milking machine according to claim 32, wherein a salt sensor is provided in the brine trays for monitoring a salt content of the brine, and wherein a means for controlling the residence time of the intermediate product in the brine trays by means of the salt content is provided near the brine trays.

39. (canceled)

40: The milking machine according to claim 38, wherein the salt sensor is a conductivity sensor.

41: The milking machine according to claim 33, wherein the fully automatic robot vehicle is configured to transfer the entire contents of the brine trays to a storage location which is provided in the production line in order for the cheese to mature further.

42: The milking machine according to claim 41, wherein the fully automatic robot vehicle is configured to regularly turn the cheeses in the storage location and provides the cheeses in the storage location with a label containing information about the composition of the cheese and/or the dairy animal or the dairy animals from which the base milk stems.

43: The milking machine according to claim 21, wherein the fully automatic robot vehicle further comprises at least one gripper means.

Description

[0049] The invention (both the method and the milking machine with the automatic production line for cheese) will be explained below by means of one or more exemplary embodiments and drawings, in which:

[0050] FIG. 1 diagrammatically shows a milking robot with a selection location of the production line;

[0051] FIG. 2 diagrammatically shows a mixing location of the production line;

[0052] FIG. 3 diagrammatically shows a cutting location of the production line;

[0053] FIG. 4 diagrammatically shows a transport vessel from which whey is pumped out;

[0054] FIG. 5 diagrammatically shows a microfilter tray above a drip tray of the production line;

[0055] FIG. 6 diagrammatically shows two microfilter trays above a drip tray, each containing a whole cheese and a press;

[0056] FIG. 7 diagrammatically shows two resting trays of the production line, each containing a whole cheese;

[0057] FIG. 8 diagrammatically shows a brine tray of the production line containing a whole cheese;

[0058] FIG. 9 diagrammatically shows a fully automatic robot vehicle of the production line which is suitable for turning maturing cheeses on shelves by means of a gripping arm;

[0059] FIG. 10 diagrammatically shows a cleaning location of the production line for transport vessels or other trays.

[0060] With the method for the milking of dairy animals and the manufacturing of cheese or rennet-free milk product from the milk obtained according to the invention, a well-defined, measured amount of base milk which meets certain quality standards and which is not mixed with other milk is obtained. Subsequently, cheese or rennet-free milk product is manufactured directly by means of a fully automatic production line from the base milk obtained.

[0061] The well-defined and measured amount of base milk, the origin of which is identified, may be obtained from one dairy animal or from a predetermined group of dairy animals. In this way, the origin of the end product, cheese or rennet-free milk product, is traceable in an optimum manner: the cheese or rennet-free milk product can directly be associated with the dairy animal or with the dairy animals from which the milk obtained originates.

[0062] In the manufacturing process according to the invention, every process step (such as will be explained: transportation from the milking robot, producing the curd, microfiltration, pressing, soaking in brine) is carried out with the same milk batch which stems from one single milking. Transportation to the various processing locations and processing takes place by means of a fully automatic robot vehicle with gripping arms. In this way, a unique cheese or rennet-free dairy product may be produced from each batch.

[0063] It is advantageous if the base milk is obtained using a fully automatic milking machine (milking robot). This is capable of supplying base milk throughout the day which can then be processed immediately in the automatic production line while still fresh to produce cheese or rennet-free milk product.

[0064] As will be explained below, the production line comprises a number of separate processing locations where intermediate products are generated and/or treated, where the transportation between the processing locations and the mechanical handling of the base milk, the intermediate products and the cheese or rennet-free milk product in the processing locations takes place by means of a fully automatic robot vehicle (robotised automatic guided vehicle) provided for the purpose.

[0065] FIG. 1 shows a first part of a production line for cheese according to the invention, namely the selection location. A milking robot 1 comprising a milk-collecting vessel 2 for the obtained base milk is illustrated diagrammatically. From the latter, the milk is passed selectively to a first transport vessel 3, to a second transport vessel 4 or to a central separation vessel 5. This last vessel 5 is intended for discharging unsuitable milk which does not meet certain quality standards, as may be measured in or near the milk-collecting vessel 2 using measuring means (not shown) which are known per se.

[0066] Preferably, the batch milk in every transport vessel 3, 4 originates from one cow or from a predetermined, well-identified group of cows: the end product (a small cheese) can then be traced back to that separate cow or that well-defined group of cows.

[0067] Of course, if there is too little milk for a batch, this milk may be returned to the central milk-collecting vessel 2, as may a possible excess of milk after a batch has been filled.

[0068] When the milk has reached the correct temperature (approx. 28° C.), the milk may be converted to curdle. In this case, lactic ferment and rennet are added to the milk. Rennet is an enzyme which causes the proteins in the milk to coagulate. Lactic ferment is a concentrate from lactic ferment bacteria which turns milk sugar (lactose) into lactic acid, as a result of which the cheese is able to mature well. In addition, the type of lactic ferment partly determines the flavour and the aroma of the cheese and the formation of holes. In addition, the acidification of the milk also stimulates the curdling.

[0069] FIG. 2 diagrammatically shows a mixing location of the production line. The transport vessels 3, 4 containing the base milk are transported to this mixing location by means of the fully automatic robot vehicle (shown later). At the mixing location, lactic ferment, rennet and/or water are added to a transport vessel 3 containing base milk. To this end, the illustrated embodiment is provided with a lactic ferment metering device 6, a rennet metering device 7 and an adjustable water supply 8. Furthermore, the mixture is then stirred by means of a drivable stirring means in the form of a fork 9 using a drive means 10. In this case, the base milk is converted into curd with whey. This takes place during a time period of one hour.

[0070] In addition, it is also possible for calcium chloride and/or colourants and/or herbs to be added according to a specific recipe. Furthermore, cooling or heating may be carried out in order to achieve an ideal temperature, for example by means of a cooling or heating spiral (not shown) which is known per se.

[0071] With the production of a rennet-free milk product, additives such as colourants and bacteria may also be added at the mixing location. FIG. 3 diagrammatically shows a cutting location of the production line. The transport vessels 3, 4 containing the base milk converted into curd with whey are transported to this cutting location by means of the fully automatic robot vehicle. There, the curd is slowly and carefully cut into cubes or other pieces by means of automatic cutting means 11. The cutting means 11 comprise for example a vertical cutting blade which is fitted so as to be foldable or vertically displaceable.

[0072] FIG. 4 diagrammatically illustrates a transport vessel from which whey is pumped out. After cutting at the cutting location, the whey is pumped off by means of automatic pumping means. The pumping means may comprise a pump 12, if desired in combination with pressing means 13.

[0073] FIG. 5 diagrammatically shows a microfilter tray above a drip tray in the production line. The entire contents of every transport vessel 3 (the mixture of curd and whey) are transferred to a filter tray 14 in a filtration location by means of the fully automatic robot vehicle in order to allow the whey to drain from the curd. In this case, the drained-off whey is collected in the drip tray 15 and may be used as a base material for soft drinks or in animal feed. What remains behind in the microfilter tray 14 is a moist lump of curd.

[0074] Subsequently, the last remainder of whey is expressed from the curd by means of automatic pressing means. FIG. 6 diagrammatically shows two cheese trays above a drip tray, each comprising a whole cheese and a press. The contents of every filter tray 14 are transferred to a so-called cheese tray 16 by means of the fully automatic robot vehicle, for example a plastic tray with holes at the bottom. The fully automatic robot vehicle also takes the cheese trays 16 to a pressing location, where the curd is pressed further and the drained-off whey is again collected in a drip tray 17, following which it can then be processed further. Pressing is performed by means of pressing means 18. What remains is a whole cheese 19.

[0075] Alternatively, pressing the curd further may be performed directly on the curd in the microfilter trays 14. In this case, fewer operations are required.

[0076] FIG. 7 diagrammatically shows two so-called resting trays in the production line, each containing a whole cheese. The entire contents of every cheese tray 16 (whole cheese 19) shown in FIG. 6 are transferred to a resting tray 20 in this resting location by means of the fully automatic robot vehicle. The resting trays 20 (in another embodiment, the cheese trays 16 themselves may also be used for this purpose, thus reducing the number of operations) serve as a resting location for the whole cheeses 19 which may remain there for a few days, for example.

[0077] It is also possible to skip this resting location and to process the whole cheeses 19 further directly from the cheese trays 16 (or even directly from the filter trays 14, after pressing them there).

[0078] FIG. 8 diagrammatically illustrates a brine tray in the production line containing a whole cheese. The entire contents of every resting tray 20 (or cheese tray 16 or filter tray 14, as explained above) are transferred to an individual brine tray 21 in a brining location by means of the fully automatic robot vehicle in order to soak the curd in brine, so that it is converted into cheese. The whole cheese 19 (the moist lump of cheese) is thus turned into an individual cheese in its own brine tray 21. It is already raw cheese, still without rind, by soaking in brine, still more moisture is extracted from the cheese and salt is absorbed by the cheese. In this case, every cheese may be treated according to an individual recipe, for example having its own salt concentration, its own residence time in the brine, etc. Obviously, parameters such as pressure value, pressure duration, initial value of the protein and fat content of the milk also play an important part in the resulting flavour.

[0079] FIG. 9 diagrammatically shows a fully automatic robot vehicle of the production line which is suitable for turning maturing cheeses on shelves by means of a gripping arm. The fully automatic robot vehicle 22 is a freely movable robot on wheels 23 and is provided with at least one robot arm 24 comprising a gripper 25. The entire contents of every brine tray 21 are transferred to a storage location by means of the fully automatic robot vehicle 22 in order to allow the cheese 26 to mature further. In this storage location, the cheeses 26 which are situated on shelves 27 in order to mature, are regularly turned by means of the fully automatic robot vehicle 22. The cheeses 26 remain in said storage location for example for a few weeks up to a few months. The residence time is partly determined by the recipe for the respective cheese.

[0080] In addition, the cheeses 26 in the storage location may be provided, by means of the fully automatic robot vehicle 22, with a label containing information about the composition of the cheese and/or the dairy animal or the dairy animals from which the base milk was obtained. This results in an individual, perfectly traceable cheese. Not only can the label be used to indicate which individual cow or group or family of cows the cheese stems, but it may also contain data about the specific composition or further particulars, such as specifically the feed for the respective cow, or whether the cow is a cow that has recently calved or is in late lactation, etc.

[0081] It is also possible to apply a layer of wax or another coating to the cheeses 26 in the storage location by means of the fully automatic robot vehicle 22.

[0082] As has been described, the production line is fully automatic and comprises a number of separate processing locations where intermediate products from the base milk are generated and/or treated, wherein the transportation between the processing locations and the mechanical handling of the base milk, the intermediate products and the cheese in the processing locations is performed by means of the fully automatic robot vehicle 22 (robotised automatic guided vehicle) which is provided for the purpose. Preferably, the fully automatic robot vehicle 22 is provided with a navigation system. By means thereof, the vehicle is able to perform all the necessary movements and displacements in an efficient manner.

[0083] Finally, FIG. 10 diagrammatically shows a cleaning location of the production line for transport vessels or other trays. The transport vessels 3,4 and/or the filter trays 14 and/or the cheese trays 16 and/or the resting trays 20 and/or the brine trays 21 are taken to a cleaning location by means of the fully automatic robot vehicle 22 and cleaned there. To this end, an automatically controllable cleaning arm 28 with a spray head is provided. The cleaning liquid may be discharged via a drainage channel 29.

[0084] Preferably, a salt sensor is provided in the individual brine trays 21 for monitoring the salt content of the brine. In addition, means are provided near the individual brine trays 21 for controlling the residence time of the intermediate product in the brine tray 21 by means of the measured salt content. The salt sensor is, for example, a conductivity sensor (not shown) which is known per se. In this way, it is possible partly to determine the final desired flavour of the cheese exactly in accordance with the recipe.

[0085] Thus, the fully automatic production line has been described, including the selection location, the mixing location, the cutting location, the filtration location, the pressing location, the resting location, the brining location, the storage location and the cleaning location. The various vessels and trays pass through these locations in order to produce the end product cheese. Typically, the system may comprise two transport vessels 3, 4, four filter trays 14, eight cheese trays 16, eight resting trays 20, and approximately 75 brine trays 21.

[0086] As has already been described above, the resting locations may be omitted or be combined with the brining locations for the sake of clarity.