Device for opening a bivalve mollusc of the scallop type

Abstract

The opening device comprises a first jaw (3), which is rigid and fixed and which is suitable for aligning a bivalve mollusc with respect to the cutting blade (20) and for holding it by suction, a separator system (4) which, on the one hand, comprises a second gripping jaw (40) suitable for gripping one of the valves of the bivalve mollusc, the other valve of which is positioned and held by suction against the first jaw (3), and which, on the other hand, is actuatable so as to part-open the bivalve mollusc by separating the valve of the bivalve mollusc that is gripped by the second gripping jaw (40). The device comprises an actuator (23) suitable for moving a cutting blade (20) so as to sever the one or more adductor muscles of the mollusc positioned and held by suction against the first jaw (3) and part-opened by means of the separator system.

Description

[0001] DEVICE FOR OPENING A BIVALVE MOLLUSC OF THE SCALLOP TYPE

[0002] Technical field

[0003] The present invention relates to the opening of a bivalve mollusc comprising two valves which are articulated together by a hinge and whose internal faces are connected together by one or more adductor muscles, with a sectioning of the adductor muscle(s) by at least one cutting blade. It preferably finds its application in the opening of scallops. It can also be applied to the opening of other types of bivalve molluscs such as in particular clams or scallops, the opening of which requires a sectioning of their adductor muscles.

[0004] Prior art

[0005] A scallop is a bivalve mollusk with two valves that are hinged together and whose inner faces are connected by an adductor muscle. The two valves of a scallop are not identical, the lower valve being substantially flat, while the upper valve has a rounded shape. This adductor muscle, also called a "nut" in the case of a scallop, allows the opening and closing of the two valves when the scallop is alive.

[0006] When the scallop is alive, the adductor muscle tightly connects the two valves together, and the force required to spread and separate the two valves is significantly greater than for a dead scallop. Opening a scallop, especially a live one, therefore requires cutting this adductor muscle.

[0007] Bivalve molluscs that require the sectioning of their adductor muscles to open include clams and scallops. Clams have two adductor muscles located near the anterior and posterior edges of the valves. Scallops have a hypertrophied adductor muscle.

[0008] To date, various devices have been proposed for opening a bivalve mollusc such as a scallop by cutting the mollusc's adductor muscle.

[0009] Among the known technical solutions, for example, a variant of a device comprising two movable suction cups has already been proposed in US patent US 4,663,805, between which the mollusc can be positioned and can be half-opened by being gripped by suction by each suction cup. In another variant, the opening device also comprises a cutting blade, which is movable and operable so as to be able to sever the adductor muscle of the half-open mollusc by means of a wedge-type spreader system. Once severed, the adductor muscle remains attached to only one of the two valves of the mollusc and the other valve is no longer held by this adductor muscle, which allows the mollusc to be opened. In this publication, the molluscs can be conveyed one behind the other by a conveyor whose endless transport belt is provided with slots.The hinge part of each mollusk is inserted into a slot in the endless conveyor belt, which is then used to convey and position each mollusk between the two suction cups.

[0010] It has also been proposed in international patent application WO 92 / 22212 to improve the device described in the aforementioned US patent US 4,663,805, by using two cutting blades, which are insertable between the two valves of the mollusc held half-open by two movable suction cups, and which make it possible to cut the adductor muscle in order to completely separate it from the two valves of the mollusc. The two cutting blades are also used to trim the mollusc, by grasping and removing the adductor muscle and the organs of the mollusc attached to this adductor muscle. The aforementioned solutions do not allow reliable and precise positioning of the mollusc relative to the cutting blade or relative to the two cutting blades.In practice, this means that the sectioning of the adductor muscle cannot be carried out reliably and reproducibly as close as possible to the internal face of the mollusc's valve, which, economically detrimental, can lead to the loss of a more or less significant quantity of adductor muscle.

[0011] It has also been proposed, for example in European patent EP 2 493 323, a solution in which the tip of the scallop is cut in the region opposite the hinge between the two valves, so as to create an opening through which a cutting blade or a water jet can be passed to sever the adductor muscle. With this type of solution, the losses in adductor muscle can be significant and, above all, cutting the tip of the mollusc's valves harmfully generates valve debris, which debris can end up inside the mollusc and are then difficult to remove.

[0012] Objective of the invention

[0013] The present invention aims to propose a new technical solution for opening a bivalve mollusc of the scallop type, before trimming the mollusc, by cutting the adductor muscle(s) of the bivalve mollusc, which technical solution makes it possible to minimize losses of adductor muscle, avoids the risk of finding debris from the mollusc valve inside the mollusc, and can preferably be implemented on a living bivalve mollusc.

[0014] Summary of the invention

[0015] The invention thus relates to a device for opening a bivalve mollusc, in particular a scallop, comprising two valves which are articulated together by a hinge and the internal faces of which are connected together by one or more adductor muscles.

[0016] This opening device of the invention has the following technical characteristics.It comprises a cutting blade, a first jaw which is rigid and fixed and which is adapted to reference the bivalve mollusc relative to the cutting blade and to hold it by suction, a spreader system which on the one hand comprises a second gripping jaw, which is able to be moved into a gripping position and which is adapted in this gripping position to grip one of the valves of the bivalve mollusc, the other valve of which is positioned and held by suction against the first jaw, and which on the other hand is actuable so as to half-open the bivalve mollusc by spreading the valve of the bivalve mollusc gripped by the second gripping jaw; the device further comprises an actuator which is adapted to move and guide the cutting blade, so as to sever the adductor muscle(s) of the bivalve mollusc positioned and held by suction against the first jaw and half-open by means of the spreader system.

[0017] Referencing the mollusc relative to the cutting blade by means of the first referencing and suction holding jaw advantageously makes it possible to obtain precise and reproducible sectioning of the adductor muscle(s) of the mollusc as close as possible to the internal face of the mollusc valve, which is held by suction against said first referencing and holding jaw.

[0018] More particularly, the opening device of the invention may comprise the following additional and optional features, each additional and optional feature being able to be combined with any of the other additional and optional features:

[0019] - the first jaw is adapted to reference the bivalve mollusc relative to the cutting blade and to hold it by suction in a fixed reference plane (P).

[0020] - The reference plane (P) forms with the cutting blade at rest a non-zero acute cutting angle (a).

[0021] - Said cutting angle (a) is between 14° and 24°, and preferably is of the order of 20°. - The first jaw has a front wall which defines the fixed reference plane (P).

[0022] - The front wall of the first jaw is inclined relative to the vertical and is oriented downwards.

[0023] - The first jaw has a suction cavity which opens into the front wall through a front opening; the suction cavity is suitable for connection to a suction system by venturi, turbine or vacuum pump.

[0024] - The front opening of the suction cavity is in the reference plane (P).

[0025] - The front wall has a groove surrounding the front opening and adapted to receive at least one sealing gasket.

[0026] - Said groove forms a spiral comprising at least two hollow turns and is adapted to receive a spiral-shaped sealing gasket comprising at least two contiguous and concentric turns.

[0027] - The first jaw is provided with at least one seal adapted to be in contact with a mollusc held by suction against the first jaw.

[0028] - The seal has at least two contiguous and concentric turns.

[0029] - The seal is flush with the reference plane P or projects slightly outside the suction cavity relative to this reference plane P.

[0030] - The cutting blade is unique

[0031] - The second jaw has a gripping member adapted to grip by suction the valve of the bivalve mollusc whose other valve is positioned and held by suction against the first jaw.

[0032] - The gripping member comprises a suction cup. - The device comprises an actuator adapted to move the second jaw between a retracted position and said mollusc gripping position.

[0033] - The actuator associated with the second jaw comprises at least one cylinder.

[0034] - The second jaw is articulated in rotation preferably around a horizontal axis of rotation.

[0035] - The second jaw is positioned below the first jaw.

[0036] - The actuator for actuating the cutting blade is adapted to move the cutting blade relative to the first jaw by imparting a reciprocating movement to it.

[0037] - The cutting blade is capable of oscillating during its movement in contact with the internal face of the valve (VINF) of the mollusc, so as to automatically adjust its cutting angle (a) relative to the reference wall (P) in contact with the internal face of the valve (VINF) of the mollusc.

[0038] - the spreader system comprises a spreader, which is operable to be brought into contact with the second jaw in its gripping position and to exert a force, preferably a thrust, on the second jaw, so as to spread the second jaw from the first jaw.

[0039] - The spreader has at least one cylinder for its operation.

[0040] - The device comprises a control unit which is configured to control the spreader system so as to automatically half-open a bivalve mollusc, one of the valves of which has been positioned against the first jaw, and which is held by suction against the first jaw and to control the actuator associated with the cutting blade, so as to automatically sever, by means of the cutting blade, the adductor muscle(s) of the mollusc near the internal face of said valve.

[0041] Another object of the invention is a use of the above-mentioned opening device for opening a bivalve mollusc, in particular a scallop, comprising two valves which are articulated together by a hinge and the internal faces of which are connected together by one or more adductor muscles.

[0042] Another subject of the invention is a method for opening a bivalve mollusc, in particular a scallop, by means of an above-mentioned opening device, an opening method during which (a) one of the valves of the mollusc is positioned against the first jaw and the mollusc is held by suction against said first jaw, and then said bivalve mollusc is opened by implementing, preferably in an automated manner, the following succession of steps:

[0043] (b) moving the second jaw into a gripping position against the other valve of the mollusk and gripping that other valve by means of the second jaw;

[0044] (c) moving the second jaw away from the first jaw, so as to partially open the bivalve mollusc;

[0045] (d) moving the cutting blade so as to sever the adductor muscle(s) of the half-open bivalve mollusc;

[0046] (e) grasping and removing the bivalve mollusc from the first jaw.

[0047] In a particular variant, a robotic manipulator arm comprising a gripper, preferably a suction gripper, is used to automatically carry out the above-mentioned step (a) of positioning the bivalve mollusc against the first jaw and / or the above-mentioned step (e) of gripping and removing the bivalve mollusc from the first jaw.

[0048] Another subject of the invention is a station for the automated opening of bivalve molluscs, in particular scallops. This station comprises an above-mentioned opening device and a robotic manipulator arm, which is configured to automatically grasp a bivalve mollusc and to automatically position it against the first jaw by orienting it relative to the cutting blade and / or to automatically grasp and remove from the first jaw the bivalve mollusc, the adductor muscle(s) of which have been severed.

[0049] More specifically, the station may include the following additional and optional features:

[0050] - The robotic manipulator arm is an articulated arm with six motorized rotation axes.

[0051] - The articulated robotic manipulator arm includes a suction gripper, preferably a suction cup.

[0052] - The station has a conveyor adapted to transport each scallop to a position for gripping by the robotic manipulator arm.

[0053] Another subject of the invention is a computer program product comprising program code instructions and making it possible, when executed by a control unit controlling an above-mentioned opening device, to carry out at least the above-mentioned steps (b), (c) and (d) of the opening method.

[0054] In a particular embodiment variant, the program product makes it possible, when executed by a control unit controlling an above-mentioned opening device associated with a robotic manipulator arm, to also carry out step (a) and / or step (e) of the above-mentioned opening method by means of the robotic manipulator arm.

[0055] Brief description of the drawings

[0056] The characteristics and advantages of the invention will appear more clearly on reading the detailed description below of a preferred variant embodiment of a scallop opening device and of an automated scallop opening station comprising this opening device, with reference to the appended drawings in which:

[0057] - Figure 1 is an isometric perspective of a preferred embodiment of an opening device according to the invention and comprising a cutting blade with reciprocating movement, a first upper jaw for referencing and holding a scallop by suction, and a spreader system comprising a second movable lower jaw.

[0058] - Figure 2 is a side view of the opening device of Figure 1.

[0059] - Figure 3 is an isometric perspective of the opening device of Figure 1 and a closed scallop shell, positioned and held by suction against the first upper jaw of this opening device, and the second lower jaw being in the low retracted position.

[0060] - Figure 4 is a side view of the opening device and the closed scallop shell of Figure 3.

[0061] - Figure 5 is a side view of the opening device and the scallop of Figure 4, after the second lower jaw has been pivoted into a high gripping position against one of the valves of the closed scallop and allows said valve to be gripped.

[0062] - Figure 6 is a side view of the opening device and scallop of Figure 5, after the second lower jaw has been pushed slightly downwards into an intermediate position, so as to half-open the scallop, and the cutting blade being in its extended position outside the scallop.

[0063] - Figure 7 is a side view of the opening device and the half-open scallop of Figure 6, when the cutting blade has been moved and inserted between the two valves of the half-open scallop to sever the adductor muscle.

[0064] - Figures 8 and 9 are isometric perspective views of a preferred embodiment of the first upper jaw of the opening device of Figures 1 and 2, without its seal.

[0065] - Figure 10 a partial cross-sectional view of the device of Figures 1 and 2 showing the first upper jaw provided with its seal.

[0066] - Figure 11 is an isometric perspective view of a scallop positioned and held by suction against the first upper jaw.

[0067] - Figure 12 a partial cross-sectional view of the opening device and the closed scallop of Figures 3 and 4. showing the scallop held by suction against the first upper jaw.

[0068] - Figures 13 and 14 are partial isometric perspective views of the actuator of the cutting module for making the cutting blade compliant, the cutting blade being in these figures respectively in its two extreme compliance positions.

[0069] - Figure 15 shows an automated scallop opening station comprising the opening device of Figures 1 to 14 and a robotic manipulator arm.

[0070] Detailed description

[0071] Figures 1 to 7 show a preferred embodiment, in accordance with the invention, of a device 1 for opening a scallop C, by cutting the adductor muscle of the scallop.

[0072] Figures 4, 11 and 12 show schematically a scallop C positioned on the opening device 1. The scallop usually comprises two valves VSUP and VINF, which are articulated together by a hinge CH in the posterior part of the shell. The internal faces of the two valves VSUP and VINF are connected together by an adductor muscle. The lower valve VINF of the scallop C is substantially flat while the upper valve VSUP of the scallop C is curved.

[0073] For the sake of simplification, the remainder of the description focuses on the opening of scallops, it being recalled, however, that the device of the invention can also be adapted and used for the opening of a bivalve mollusc comprising two valves which are articulated together by a hinge and whose internal faces are connected together by one or more adductor muscles, and requiring for its opening a sectioning of the adductor muscle(s), such as for example, and in a non-exhaustive manner, a clam or a scallop.

[0074] This device 1 of figures 1 and 2 comprises:

[0075] - a cutting module 2 comprising a single cutting blade 20 and an actuator 23, which makes it possible to move and guide the cutting blade 20,

[0076] - a first fixed and rigid jaw 3, and

[0077] - a spreader system 4 comprising a second gripping jaw 40, which is movable, and a spreader 41.

[0078] More particularly, in this particular variant, the opening device 1 comprises a rigid bracket 5 comprising a post 50 whose base is adapted to be placed on a horizontal surface, such as the ground, and a support plate 51, which is fixed in a cantilevered manner to the upper part of the post 50, and which is preferably inclined at approximately 45°. The cutting module 2, the first jaw 3 for referencing and holding by suction, and the spreader system 4 are mounted on this support plate 51 of the bracket 5.

[0079] First jaw 3 for referencing and holding by suction

[0080] The rigid jaw 3 is fixed to the support plate 51 of the jib 5, in the operational position of figures 1 to 7, by any suitable fixing means.

[0081] This fixed and rigid jaw 3 has the function of referencing and holding by suction the scallop C to be opened relative to the cutting blade 20 of the cutting module 2. It advantageously makes it possible to improve the positioning of the scallop C relative to the cutting blade 20 and to obtain a more precise cut of the adductor muscle by means of the cutting blade 20. This jaw 3 can be made of a single piece, such as that shown in the figures, or can be made of a rigid assembly of several pieces.

[0082] More particularly, with reference to figures 8 and 9, this jaw 3 comprises a false shell 30 and a fixing sole 31 for its mounting and fixing on the support plate 51 of the jib 5, for example by means of bolts and / or by welding.

[0083] The jaw 3 also comprises an assembly arm 32, which is positioned under the false shell 30, and which is adapted to be assembled with the pivoting jaw 40 of the spreader system 4.

[0084] More particularly, this assembly arm 32 comprises an assembly part 320 offset forwards relative to the false shell 30. This assembly part 320 has a “comb” shape and comprises a through shaft passage 320a.

[0085] The false shell 30 is hollow. It comprises a front wall 300 and a suction cavity 301.

[0086] The front wall 300 defines a reference plane P, which is parallel to the plane (Y, Z) of figures 8 and 9 and which is fixed (Fig. 10), once the jaw 3 has been fixed in its operational position on the jib 5.

[0087] The suction cavity 301 opens into said front wall 300, through a front opening 301a of large section in the reference plane P. More particularly, but optionally according to the invention, once the jaw 3 has been positioned and fixed on the bracket 5, this reference plane P (Fig. 1) is inclined relative to the vertical, preferably at an angle of approximately 45°.

[0088] The front wall 300 of the false shell 30 is intended to be in contact with one of the two valves of a scallop C, preferably the substantially flat lower valve VINF of the scallop C, and allows the positioning of the scallop C in the reference plane P (Fig. 12).

[0089] For the implementation of a suction, the jaw 3 comprises (Fig. 9) a through passage 33 which opens at one end into the rear face 310 of the fixing sole 31 and which opens at its opposite end into the bottom of the suction cavity 301 of the false shell 30. This through passage 33 makes it possible to connect the suction cavity 30, (Fig. 10) through an opening 51 a formed in the support plate 51, to a suction system (not shown), such as for example a suction system by venturi, turbine, or vacuum pump, so as to be able to create a depression in the suction cavity 301.

[0090] The front wall 300 of the false shell 30 further comprises (Fig. 8) at least one groove 302 which surrounds said front opening 301 a.

[0091] Preferably, this groove 302 forms a spiral comprising at least two hollow turns 302a, 302b (Fig. 8), which are in the extension of one another and which are concentric and contiguous.

[0092] With reference to figures 10 and 12, this annular groove 302 is adapted to receive a sealing joint J, in the form of a spiral, the turns of which are substantially in the same plane and are contiguous and concentric.

[0093] This joint J is flush with the reference plane P of the false shell 30 or is slightly projecting outside the false shell 30 relative to this reference plane P.

[0094] 4 / 40 jaw spreader system

[0095] The jaw 40 of the spreader system 4 is positioned below the aforementioned jaw 3 and comprises a movable arm 400 on which a gripping member 401 is fixed.

[0096] The gripping member 401 is preferably a suction gripping member 401.

[0097] More particularly, the suction gripping member 401 is a suction cup adapted to be connected, for example by means of a flexible conduit, to a suction system by venturi, turbine or vacuum pump (not shown in the figures).

[0098] Preferably, this suction cup 401 comprises an accordion bellows 401a allowing its deformation and improving suction grip.

[0099] The invention is not limited to the implementation of a suction cup. The suction gripping member 401 may for example comprise a rigid suction part with a seal, in a similar manner to the first jaw 3.

[0100] The arm 400 is movable relative to the jaw 3 between two extreme positions:

[0101] - a first retracted position (illustrated in figures 1 to 4) and

[0102] - a second gripping position, which is illustrated in Figure 5, and in which the gripping member 401 is applied against and grips the VSUP valve of a scallop C, which has been referenced and held by suction against the jaw 3.

[0103] Preferably, this arm 400 pivots around a horizontal axis 400a, the first retracted position (Figures 1 to 4) corresponding to the low position of the pivoting arm 400 and the second gripping position (Figure 5) corresponding to the high position of the pivoting arm 400.

[0104] In the context of the invention, the movable arm 400 is not necessarily pivotable, but can be designed to be moved relative to the fixed jaw 3 by implementing another type of movement or a combination of movements, and for example a translational movement.

[0105] More particularly, but not necessarily, the arm 400 is assembled with the arm 32 of the jaw 3.

[0106] More particularly, an upper portion of this arm 400 is fitted into the comb-shaped assembly portion 320 of the jaw 3 and is rotatable on a fixed shaft 402, which is positioned in the shaft passage 320a of the jaw 3.

[0107] In another variant, the arm 400 could be assembled with the bracket 5. The spreader 41 also comprises an actuator 403 which makes it possible to control the pivoting of the arm 400 between the retracted low position and the aforementioned high gripping position.

[0108] This actuator 403 comprises for example a cylinder (hydraulic or pneumatic) whose body 403a is fixed by any suitable rigid connection means to the post 50 (This fixing is not shown in the figures) and whose rod 403b is connected to the arm 400 by being articulated in rotation, such that the retraction of the rod 403b of the cylinder makes it possible to pivot the arm 400 upwards.

[0109] This cylinder 403 can be single-acting and allows the arm 400 to be actuated to pivot it into the high gripping position (Fig. 5). In this case, the pivoting of the arm 400 towards the low retracted position can be obtained by simple gravity, when the suction of the suction cup 401 is temporarily deactivated.

[0110] This cylinder 403 can also be double-acting and allow the arm 400 to be actuated to pivot it from its lower retracted position to its upper gripping position and vice versa.

[0111] Spreader system 4 / spreader 41

[0112] The spreader 41 comprises an actuator 410, the function of which is to exert a thrust on the pivoting arm 401 in the high position, when the gripping member 401 (suction cup) is applied against and has gripped the VSUP valve of the scallop C, so as to slightly push this pivoting arm 400 downwards into an intermediate position (Fig. 6 and Fig. 7) and to half-open the scallop by slightly moving the VSUP valve away from the scallop, the other valve VINF remaining in place and being held by suction against the jaw 3.

[0113] With reference to figures 1 to 7, this actuator 410 comprises two cylinders 410A and 410B (hydraulic or pneumatic), double-acting, which are parallel, and whose bodies 410a are fixed on the support plate 51 of the bracket 5. The rod 410b of each cylinder 410A, 410B is equipped with a pusher member 410c, which is adapted to be brought into contact with a bar 404 fixed on the pivoting arm 400, in order to slightly push the pivoting arm 400 downwards into the aforementioned intermediate position (Fig. 6 and Fig. 7), when the gripping member 401 has gripped the VSUP valve of the scallop. Cutting module 2

[0114] Referring to Figures 1 and 2, the cutting blade 20 of the cutting module 2 is flat and has a sharp, thin or tapered front edge 20a and a rear portion 20b which is securely fixed in a blade holder 21 by means of a clamping wheel 22.

[0115] In Figures 1 to 6, the cutting blade 20 is in its rest position. In Figure 6, the cutting blade 20 is in its final cutting position.

[0116] The actuator 23 of the cutting module 2 is adapted to move and guide the blade support assembly 21 / cutting blade 20, in a back-and-forth movement forward (arrow AV) towards the jaw 3 from the rest position of figures 1 to 6 to the final cutting position of figure 7, and conversely backward (Arrow AR) to move the cutting blade 20 away from the jaw 3 and bring it to its rest position (Fig. 1).

[0117] The width of the front edge 20a (measured perpendicular to the plane of Figure 2) is small enough to be able to penetrate the half-open shell of a bivalve mollusc and preferably large enough to be able to completely sever in a single pass the adductor muscle(s) of the bivalve mollusc. In the case of scallops, the width of the cutting blade 20 is adapted to the size of the muscle and is for example of the order of 6 cm.

[0118] In the rest position of Figures 1 to 6, the front cutting edge 20a of the cutting blade 20 is positioned close to the jaw 3 and its reference plane P.

[0119] More particularly, the cutting blade 20 is positioned and oriented relative to the jaw 3, such that during its forward movement (AV) inside the half-open scallop C (Fig. 7) its front cutting edge 20a can come into contact with and scrape the internal face of the VINF valve of the half-open scallop C, so as to sever the adductor muscle as close as possible to the internal face of this VINF valve.

[0120] Preferably, to obtain this scraping, in its rest position, the cutting blade 20 is oriented so as to form with the reference plane P of the jaw 3 (Fig. 1) an acute, non-zero cutting angle a.

[0121] Preferably, this acute angle α is between 14° and 24°.

[0122] In an alternative embodiment, a cutting blade 20 may be used which is sufficiently flexible to, when moving inside the half-open scallop C, scrape the internal face of the valve of the scallop while deforming sufficiently so as not to create a hard point.

[0123] It is nevertheless preferable to be able to use a cutting blade 20 which has low flexibility or a rigid cutting blade to better transmit the cutting forces and improve the cutting efficiency. For this reason, in a preferred embodiment, the actuator 23 is preferably designed to make the cutting blade 20 compiling, so that it can scrape the internal (non-planar) face of the valve VINF of the half-open scallop C by automatically adapting its orientation (adjustment of the cutting angle a relative to the reference plane P) in contact with the internal face of the valve VINF, so as to follow the curved profile of this internal face.

[0124] In the particular embodiment of the appended figures, this actuator 23 comprises a double-acting cylinder 230, preferably a pneumatic cylinder, in order to obtain a sufficient cutting speed.

[0125] The body 230a of the jack 230 is mounted oscillating on the bracket 5 (Fig.13 vs. Fig.14). The rod 230b of the jack is connected to the blade support 21 by a movement transmission mechanism 231.

[0126] More particularly, this movement transmission mechanism 231 comprises a rigid rod 231a whose upper end is rigidly fixed to the rod 230b of the cylinder 230 and whose lower part is rigidly fixed to the blade holder 21 such that the extension movement of the rod 230b of the cylinder 230 makes it possible to pull the blade holder 21 / cutting blade 20 assembly towards the rear (AR) and the retraction of the rod 230b of the cylinder 230 makes it possible to push the blade holder 21 / cutting blade 20 assembly towards the front (AV).

[0127] More particularly, the actuator 23 comprises a fixed guide plate 233 (Fig. 13) and a movable plate 234, which comprises a pivot point around an axis (Fig. 13 vs. Fig. 14). The body 230a of the cylinder 230 of the actuator 23 is mounted on the movable plate 234. The movable plate 234 is guided by the fixed guide plate 233, by means of an oblong guide light 233a in the fixed guide plate 233 and a guide pin 234a of the plate 234 passed through the guide light 233a.

[0128] The movable plate 234 further comprises an axis 234b, which can slide with play through the bracket 5 and on which is mounted a return spring 232 or equivalent. This return spring 232 can be compressed during the oscillating movement of the cylinder 230 / movable plate 234 assembly and allows a return into position (Fig. 13) of the cylinder 230 / movable plate 234 assembly relative to the bracket 5.

[0129] The blade holder 21 comprises a part 210 forming a carriage equipped with rollers 211 (Fig. 14), which cooperate with a guide rail 235 fixed to the movable guide plate 234, so as to guide, relative to the movable plate 234, the blade holder 21 / cutting blade 20 assembly during its back-and-forth movement.

[0130] Scallop opening cycle

[0131] The opening device 1 is controlled by a control unit UC (Fig. 15), for example of the programmable logic controller type, which is configured to automatically execute a cycle for opening a scallop C.

[0132] At the start of the cycle, the opening device 1 is in the state of figures 1 and 2 (cutting blade 20 at rest / gripping jaw 40 in low position / rods of the cylinders 410A and 410B of the spreader 41 in retracted position / suction jaw 3 connected to a suction system) and the suction of the jaw 3 is activated.

[0133] As illustrated in Figures 3, 4, 11 and 12, a closed scallop C is positioned against jaw 3:

[0134] - the lower valve VINF is applied against the front wall 300 of the jaw 3 and in contact with the seal J, so as to close the front opening 301a of the suction jaw 3, and

[0135] - the scallop is oriented in such a way that the anterior edges of the valves VINF and VSUP (opposite the posterior hinge CH) are directed towards the cutting blade 20.

[0136] Under the effect of the suction, the scallop C is pressed and held against the front wall 300 of the jaw 3, the sealing gasket J being compressed in the groove 302.

[0137] The suction must be powerful enough to create a depression in the cavity allowing the scallop to be pressed and held by suction against the jaw 3.

[0138] The J seal advantageously improves the efficiency of the suction and thus reduces the suction power required, and thereby reduces the energy consumption and costs associated with the implementation of this suction.

[0139] The spiral shape of the J-joint makes it convenient to adapt to different sizes of scallops.

[0140] In another variation, the spiral-shaped groove 302 and the seal J may have three or more turns.

[0141] In another less sophisticated variant, the front wall 300 of the false shell 30 may comprise several distinct concentric and contiguous annular grooves, each annular groove receiving one or more flat or annular seals.

[0142] In another less sophisticated variant, the front wall 300 of the false shell 30 may comprise a single annular groove receiving an annular seal.

[0143] This positioning of the scallop in the opening device 1, by means of the suction jaw 3, makes it possible to reference (reference plane P above) the lower valve VINF relative to the cutting blade 20 and thus to be able to make a more precise cut of the adductor muscle.

[0144] This initial positioning of the scallop C against the suction jaw 3 can be carried out manually by an operator or can be carried out automatically, for example by a robotic manipulator arm, as described later in more detail in connection with Figure 15 (Automated scallop opening station).

[0145] Once the scallop C is positioned in the opening device 1 by means of the jaw 3 (Fig. 3 and Fig. 4), the control unit UC executes the opening cycle by automatically controlling the opening device in the following manner.

[0146] Fig. 5:

[0147] The control unit UC controls the cylinder 403, so as to pivot the arm 400 of the lower jaw 4 upwards and bring the suction cup 401 against the VSUP valve of the scallop C, and activates the suction of the suction cup 401 so as to grip said VSUP valve by means of this suction cup 401.

[0148] Fig.6:

[0149] The control unit UC controls the output of the cylinders 410A and 410B of the spreader 41 so as to bring the pusher members 410c against the bar 404 of the lower jaw 4 and to push the articulated arm 400 slightly downwards, which makes it possible to open the scallop by a few millimeters and makes it possible to provide a passage for the cutting blade 20.

[0150] Fig.7:

[0151] The control unit UC controls the actuator 23 of the cutting module 2, so as to make the cutting blade 20 perform a back and forth movement: - forwards so as to introduce and move the cutting blade 20 into the scallop, in contact with the internal face of the VINF valve, and to cut the adductor muscle as close as possible to said internal face, then

[0152] - backwards so as to fully remove the cutting blade 20 from the scallop and return it to its initial rest position.

[0153] Then, the control unit UC commands the retraction of the cylinders 410A and 410B of the spreader.

[0154] Under the effect of its own weight, the jaw 4 returns by gravity to its low retracted position of figure 1 by causing the rod of the jack 403 to come out.

[0155] Alternatively, when the cylinder 403 is a double-acting cylinder, the control unit UC controls the extension of the rod 403b of this cylinder 403, so as to actuate the jaw 4 by pivoting it into its retracted low position in FIG. 1.

[0156] At the end of this opening cycle, the scallop is open and the VSUP valve, which is no longer connected to the VINF valve by the adductor muscle, moves further away from it under the natural mechanical action of the CH hinge.

[0157] This opened scallop can be removed from the device manually by an operator or automatically, for example, by a robotic manipulator arm as described later in more detail in connection with Figure 15 (Automated scallop opening station).

[0158] Automated scallop opening station

[0159] Referring to Figure 15, the scallop opening station S comprises:

[0160] - the opening device 1 previously described;

[0161] - an articulated robotic manipulator arm 6,

[0162] - a conveyor 7 for transporting the scallops to be opened, one behind the other, to a position for gripping by the arm 6. The articulated robotic arm 6 is preferably an arm with six motorized rotation axes.

[0163] This arm 6 is equipped with a suction cup gripper 60 allowing a scallop to be grasped by one of its valves.

[0164] The control unit UC is programmed to automatically control the opening device 1, the arm 6 and the conveyor 7 so as to automatically implement the following operations:

[0165] - positioning of a closed scallop C in relation to the manipulator arm 6;

[0166] - gripping the scallop C by its valve VSUP by means of the manipulator arm 6 and its gripping member 60, and positioning the scallop against the first jaw 3, orienting it relative to the cutting blade 20, preferably by turning the scallop over, and applying the lower valve VINF against the first jaw 3, said scallop being held by suction against the first jaw 3;

[0167] - opening of the scallop shell by the device 1, as previously described, by sectioning the adductor muscle of the scallop shell C;

[0168] - grasping the VSUP valve of the open scallop C by means of the arm 6 and its gripping member 60 and removing the open scallop C from the first jaw 3;

[0169] - preferably, by means of the manipulator arm 6, gravity unloading of the open scallop C into a discharge chute 8 inclined downwards, temporarily cutting off the suction of the suction cup 60.

[0170] In another variant, the station may comprise several opening devices operating in parallel and associated with a robotic manipulator arm 6.

[0171] The invention is not limited to the opening of scallops but can be applied to the opening of a bivalve mollusc requiring for its opening a sectioning of the adductor muscle(s) connecting the two articulated valves of the mollusc, such as for example, and in a non-exhaustive manner, a clam or a scallop. The person skilled in the art will adapt the dimensioning of the cutting blade 20 and of the two jaws if necessary.

[0172] 3 and 4. to the type of bivalve mollusc to be opened.

Claims

CLAIMS 1. Device (1) for opening a bivalve mollusc (C), in particular a scallop, comprising two valves (VINF; VSUP) which are articulated together by a hinge (CH) and whose internal faces are connected together by one or more adductor muscles, which opening device comprises a cutting blade (20), a first jaw (3) which is rigid and fixed and which is adapted to reference the bivalve mollusc (C) relative to the cutting blade (20) and to hold it by suction, a spreader system (4) which on the one hand comprises a second gripping jaw (40), which is able to be moved into a gripping position and which is adapted in this gripping position to grip one (VSUP) of the valves of the bivalve mollusc, the other valve (VINF) of which is positioned and held by suction against the first jaw (3),and which on the other hand can be actuated so as to half-open the bivalve mollusc by moving the valve (VSUP) of the bivalve mollusc gripped by the second gripping jaw (40), and the device comprising an actuator (23) which is adapted to move and guide the cutting blade (20), so as to sever the adductor muscle(s) of the bivalve mollusc positioned and held by suction against the first jaw (3) and half-open by means of the spreader system (4)., 2. Device according to claim 1, in which the first jaw (3) is adapted to reference the bivalve mollusc (C) relative to the cutting blade (20) and to hold it by suction in a fixed referencing plane (P).

3. Device according to claim 2, in which the reference plane (P) forms with the cutting blade (20) at rest a non-zero acute cutting angle (a).

4. Device according to claim 3, wherein said cutting angle (a) is between 14° and 24°, and preferably is of the order of 20°.

5. Device according to any one of claims 2 to 4, in which the first jaw (3) comprises a front wall (300) which defines the fixed referencing plane (P).

6. Device according to claim 5, in which the first jaw (3) comprises a suction cavity (301) which opens into the front wall (300) via a front opening (301a).

7. Device according to any one of claims 5 or 6, in which the front wall (300) comprises a groove (302) surrounding the front opening (301 a) and adapted to receive at least one sealing gasket (J).

8. Device according to claim 7, in which said groove (302) forms a spiral comprising at least two hollow turns (302a; 302b) and is adapted to receive a sealing gasket (J) in the form of a spiral and comprising at least two contiguous and concentric turns.

9. Device according to any one of claims 1 to 8, wherein the first jaw (3) is provided with at least one seal (J) adapted to be in contact with a mollusc held by suction against the first jaw (3).

10. Device according to claim 9, in which the sealing gasket (J) comprises at least two contiguous and concentric turns.

11. Device according to any one of claims 1 to 10, in which the second jaw (40) comprises a gripping member (401) adapted to grip by suction the valve (VSUP) of the bivalve mollusc whose other valve (VINF) is positioned and held by suction against the first jaw (3).

12. Device according to claim 11, in which the gripping member (401) comprises a suction cup.

13. Device according to any one of claims 1 to 12, comprising an actuator (403) adapted to move the second jaw (40) between a retracted position and said position for gripping the mollusc.

14. Device according to any one of claims 1 to 13, in which the second jaw (40) is articulated in rotation preferably around a horizontal axis of rotation (400a).

15. Device according to any one of claims 1 to 14, in which the cutting blade (20) is compliant by being able to oscillate during its movement in contact with the internal face of the valve (VINF) of the mollusc, so as to automatically adjust its cutting angle (a) relative to the reference wall (P) in contact with the internal face of the valve (VINF) of the mollusc.

16. Device according to any one of claims 1 to 15, in which the spreader system (4) comprises a spreader (41), which is operable to be brought into contact with the second jaw (40) in its gripping position and to exert a force, preferably a push, on the second jaw (40), so as to move the second jaw (4) away from the first jaw (3).

17. Device according to any one of claims 1 to 16, comprising a control unit (UC) which is configured to control the spreader system (4) so ​​as to automatically half-open a bivalve mollusc, one (VINF) of the valves of which has been positioned against the first jaw (3), and which is held by suction against the first jaw (3) and to control the actuator (23) associated with the cutting blade, so as to automatically sever, by means of the cutting blade (20), the adductor muscle(s) of the mollusc near the internal face of said valve (VINF).

18. Use of the device according to any one of claims 1 to 17 for opening a bivalve mollusc (C), in particular a scallop, comprising two valves (VINF; VSUP) which are articulated together by a hinge (CH) and the internal faces of which are connected together by one or more adductor muscles.

19. Method for opening a bivalve mollusc (C), in particular a scallop, by means of a device according to any one of claims 1 to 17, said mollusc comprising two valves (VINF; VSUP) which are articulated together by a hinge (CH) and the internal faces of which are connected together by one or more adductor muscles, opening method during which (a) one (VINF) of the valves of the mollusc is positioned against the first jaw (3) and the mollusc is held by suction against said first jaw (3), and then said bivalve mollusc is opened by implementing, preferably in an automated manner, the following succession of steps: (b) moving the second jaw (40) into a gripping position against the other valve (VSUP) of the mollusk and gripping this other valve (VSUP) by means of the second jaw (40); (c) moving the second jaw (40) away from the first jaw (3), so as to partially open the bivalve mollusc; (d) moving the cutting blade (20) so as to sever the adductor muscle(s) of the half-open bivalve mollusc; (e) grasping and removing the bivalve mollusc from the first jaw (3).

20. Method according to claim 19, in which a robotic manipulator arm (6) comprising a gripper (60), preferably a suction gripper, is used to automatically carry out step (a) of positioning the bivalve mollusc against the first jaw (3) and / or step (e) of gripping and removing the bivalve mollusc from the first jaw (3).

21. Station for the automated opening of bivalve molluscs, in particular scallops, comprising two valves (VINF; VSUP) which are articulated together by a hinge (CH) and whose internal faces are connected together by one or more adductor muscles, said station comprising an opening device (1) according to any one of claims 1 to 17 and a robotic manipulator arm (6), which is configured to automatically grasp a bivalve mollusc and to automatically position it against the first jaw (3) by orienting it relative to the cutting blade (20) and / or to automatically grasp and remove from the first jaw (3) the bivalve mollusc, the adductor muscle(s) of which have been severed.

22. Station according to claim 21 in which the robotic manipulator arm is an articulated arm with six motorized rotation axes.

23. Station according to claim 21 or 22, in which the robotic manipulator arm (6) comprises a suction gripper (60), preferably a suction cup.

24. Station according to any one of claims 21 to 23, comprising a conveyor (7) adapted to transport each scallop to a position for gripping by the robotic manipulator arm (6).

25. Computer program product comprising program code instructions and allowing, when executed by a control unit (UC) controlling an opening device (1) according to any one of claims 1 to 17, to carry out at least steps (b), (c) and (d), of the opening method of claim 19.

26. Computer program product according to claim 25 allowing, when executed by a control unit (UC) controlling an opening device (1) according to any one of claims 1 to 17 associated with a robotic manipulator arm (6), to also carry out step (a) and / or step (e) of the method of claim 19 by means of the robotic manipulator arm (6).

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