CoboShell Robot for Automatic Scallop Shelling Process: Concepts and Applications

Shelling scallops can be a labor-intensive and repetitive task that can lead to musculoskeletal disorders for the operators. The repetitive nature of the task and the force required to open the scallop shells can significant strain the hands, wrists, and arms of the operators. In this study, we explored the automation of the shelling process in the seafood industry. We introduced a new mechatronic system called CoboShell, which automates the opening of scallops and the cutting of the nut muscle using a collaborative robot (cobot). CoboShell ensures the preservation of the quality of the fresh sea product. Initially, we addressed a technological challenge by proposing an integrated solution based on the Venturi effect. We used appropriately sized suction cups to handle the non-uniform surfaces of the shells. Subsequently, we focused on a scientific inquiry involving the control of the knife blade’s trajectory using a cobot. The goal was to guide a flexible knife blade along the inner flat part of the scallop shell. This process aimed to cut the nut muscle and separate the two parts of the scallop. For that, the entry point of the knife is determined automatically in the centre of the scallop opening using an Artificial Intelligence (AI) based technique. Finally, experimental results as well as the repetitive tests have shown that the cobot provided better quality on the muscle cutting with high accuracy and cadence, comparing to conventional industrial arm in the automation of the scallop shelling process.