• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to an automated cleaning and maintenance cabin device, comprising a cabin with a first compartment accessible to users and with at least a second technical compartment containing cleaning means, the two compartments being separated by a partition having an opening passage closable. Device characterized in that the cleaning means comprise at least one robotic arm (6) with at least five motorized degrees of freedom, the base (7) of which is mounted in the technical compartment (2 '), comprising a working head (8) adapted to receive various tools and / or instruments (9), provided with conduits for conveying fluids up to the level of the head (8) and having an extension sufficient to bring said working head (8) at least around, above and in the bowl (3), said at least one robotic arm (6) being movable between a non-use position in which it is entirely located in the technical compartment (2 ') and an active position of work in which it extends at least partially in the compartment (2) accessible to the public.
    公开号:FR3017887A1
    申请号:FR1451406
    申请日:2014-02-21
    公开日:2015-08-28
    发明作者:Eric Maillard
    申请人:IND DE THERMOFORMAGE ET MECANO SOUDURE；
    IPC主号:
    专利说明:

    [0001] The present invention relates to the field of automated sanitary equipment, fixed or not, and relates to a sanitary booth device for cleaning and automated maintenance. Numerous embodiments of devices of the aforementioned type are already known, in particular under the designation "sanisette" (registered trademark), and in particular marketed and operated by JC Decaux. These known devices include mechanical cleaning and maintenance means, the structure of which limits the operations that can be carried out, which are specifically adapted to a type of interior layout, require regular maintenance and which mention equipment remaining in the compartment accessible to the public. In addition, there are also known, for example from KR-A-20010073433 and JP-A-2003125979, toilet bowl cleaning devices, in the form of articulated arms mounted near the bowl, and thus in the case of public toilet facilities, located inside the compartment accessible to the public. In addition, the actions performed by these known cleaning devices are generally limited to the upper part of the bowl (bezel) and possibly to its inner wall. No action at surfaces 20 around the bowl is provided, or even possible constructively. The present invention aims to overcome the limitations of the aforementioned known devices and to provide, in the context defined above, a safer device, more flexible to use and with a wider field of action. To this end, the subject of the invention is a sanitary compartment device with automated cleaning and maintenance, comprising a cabin with a first compartment accessible to users and comprising at least one toilet bowl and with at least a second technical compartment containing 30 means for cleaning at least the bowl and its immediate environment, the two aforementioned compartments being separated by a partition or wall having a closable passage opening, characterized in that the cleaning means comprise at least one robotic arm to at least five motorized degrees of freedom, of which - 2 - the base is mounted in the technical compartment, comprising a multifunctional working head or able to receive various tools and / or instruments, equipped with conduits for conveying fluids up to the level of the head and having sufficient extension to bring said working head at least around, above and into the bowl, said at least one robotic arm being movable between a non-use position in which it is entirely located in the technical compartment and an active working position in which it extends at least partially in the compartment accessible to the public, a a programmable management and control unit being furthermore provided for controlling the movements of the robotic arm, and the means for closing the passage opening and supplying fluids, in particular as a function of signals delivered by sensors and detectors mounted in the cabin. The invention will be better understood, thanks to the following description, which relates to preferred embodiments, given by way of non-limiting examples, and explained with reference to the appended diagrammatic drawings, in which: FIG. a perspective view of a sanitary booth device according to the invention, with a parallelepiped shaped cabin; FIG. 2 is a perspective and partially cutaway view of the device of FIG. 1 according to a first embodiment of the invention, the cabin being accessible to users and the cleaning means being in the retracted position of non-use in the compartment closed technique, isolated from the compartment accessible to the public; Figures 3 to 6 are broken views similar to that of Figure 2, illustrating different tasks and operations that can be performed by the cleaning means comprising a robotic arm, namely the deployment of the arm equipped with a brush taken from the store (Figure 3), cleaning the inside of the bowl with the aforementioned brush (Figure 4), drying with hot air (or not) from the bowl (Figure 5) and cleaning the inner walls of the bowl. compartment accessible to users (Figure 6); FIGS. 7A to 7C are partial views of the robotic arm forming part of the cleaning means according to the invention, in different phases and equipment configurations, namely equipped with a multiple nozzle or a similar means of spraying / blowing. (Figure 7A), during the change of tool or accessory at the storage magazine - 3 - (Figure 7B) and during manipulation of the lid of the bowl via a clamp on his head 7A), and FIGS. 8A and 8B are partial views illustrating a second embodiment of the invention, with the cleaning means in the retracted non-use position (FIG. 8A) and in the deployed position. before intervention at the bowl (Figure 8B). As shown in Figures 1 to 6 and partially in Figures 8, the device according to the invention comprises a cabin 1 with a first compartment 2 accessible to users and having at least one bowl 10 WC 3 and with at least a second compartment technical 2 'containing cleaning means 4 at least of the bowl 3 and its immediate environment, the two aforementioned compartments 2 and 2' being separated by a partition 5 or wall having a closable passage opening 5 '. According to the invention, the cleaning means 4 comprise at least one robotic arm 6 with at least five motorized degrees of freedom, the base 7 of which is mounted in the technical compartment 2 ', comprising a multifunctional working head 8 or adapted to receive various tools and / or instruments 9, equipped with conduits 10 for conveying fluids up to the level of the head 8 and having a sufficient extension to bring said working head 8 at least around, above and in the bowl 3, said at least one robotic arm 6 being movable between a non-use position in which it is entirely located in the technical compartment 2 'and an active working position in which it extends at least partially in the compartment 2 accessible to the public, a programmable management and control unit (not shown) being furthermore provided for controlling the movements of the robotic arm 6 and the shutter means 5 "(p for example in the form of a door with sliding panels) of the passage opening 5 'and the supply of fluids, in particular as a function of signals delivered by sensors and detectors mounted in the cabin 1 (in particular detectors presence or contact, especially at the door 1 '). Thus, in terms of security, the invention provides cleaning means 4 located entirely outside the first compartment 2 when the latter is usable by the public, being inaccessible to the latter. Moreover, thanks to the implementation of a robotic arm 6 equipped with a versatile working head 8 and controlled by a programmable management and control unit (not shown), the cleaning means 4 have a great flexibility of implementation, great adaptability (possibly to first compartments 2 equipped with different health elements or arranged differently) and a range of possible actions very varied and very wide. The robotic arm may, for example and as shown in Figures 1 to 6 and 8, comprise two portions or segments of arms connected in series and carrying, at the free end of the second segment, the working head 8 , for example connected to said segment by a connection of the ball or wrist type.
    [0002] Such robotic manipulator arms 6 and their associated programmable control unit are already known to those skilled in the art, for example under the designation KR16 by KUKA, under the designation M-10i A by FANUC or under the designation MPL80 by the company YASKAWA.
    [0003] The fluids conveyed to the working head 8 may be gaseous (drying air, deodorant, ...) or liquid (water, detergent, ...) and will be ejected by a suitable nozzle, possibly multichannel, interchangeable The tools 9 may be of the brush type (of different types), squeegee, sponge, cloth or the like. In accordance with a preferred interior arrangement of the cabin 1, the at least one trough 3 is installed against the partition wall 5 and the closable opening 5 'extends above said trough 3. This leads to a proximity optimized between the cleaning means 4 and the bowl 3 at least present. Advantageously, the robotic arm 6 has an extension sufficient to reach at least some of, preferably all visible internal surfaces of the compartment 2 accessible to users (including side walls 13, 13 'floor and possibly ceiling 30 of compartment 2, and the surface of the partition 5 located on this side of the compartment). In order to be able to limit the size of the robotic arm 6 while allowing it to access all the desired zones, it may be provided that the base 7 of the robotic arm 6 is mounted in the technical compartment 2 ', with ability to move relative to or on a support structure 11, possibly into the compartment 2 accessible to users. According to a first embodiment of the invention shown in FIGS. 8A and 8B, the base 7 of the robotic arm 6 is slidably mounted, with a motorized movement controlled by the management and control unit, on a rail or a similar displacement support 11, installed in the technical compartment 2 'and extending parallel to the plane of the closable opening 5' and / or the partition wall 5. According to a second preferred embodiment of the invention represented in FIGS. 2 to 6, the base 7 of the articulated arm 6 is mounted on a support structure 11 with a telescopic constitution, such as for example a rail or slide arrangement disposed substantially perpendicular to the plane of the closable opening 5 'and / or the partition wall 5, the movements of deployment and folding of said arm 6, controlled by the management and control unit, for moving the base 7 between at least one retracted position o u retracted in which it is located in the technical compartment 2 'and at least one deployed position in which it is located more or less deeply in the compartment 2 accessible to users, the support structure 11 then extending through the closable opening 5. In order to be able to perform a large number of varied tasks, without complicating the constitution of the working head 8 and allowing adaptation to changes in the type of cleaning and maintenance operations to be performed, said work head 8 may be provided with a mounting site for tools and / or instruments 9 interchangeable, stored in case of non-use in a storage magazine 12 located in the technical compartment 2 ', one or more site (s) cleaning and / or maintenance of said tools and / or instruments 9 being optionally provided in said technical compartment 2 '. In particular, this mounting site may comprise a quick coupling mechanism for interchangeable tools of the type known to those skilled in the art. The different tools can be replaced according to their particular wear. Preferably, the first compartment 2 may also include at least one other sanitary equipment, including personal hygiene, such as a sink, a shower or the like, which can be reached by the working head 8 of the robotic arm 6. In the middle Cabin 1 is normally permanently installed at a fixed location. However, the cabin 1 can also advantageously be in the form of a transportable module, in particular provided with hooking means 14 (with a view to its lifting and / or traction) and or a rolling chassis.
    [0004] Finally, the device according to the invention may comprise autonomous power supply means, in particular of sustainable or renewable type (solar panels, wind turbine, ...), as well as possibly fluid tanks and at least one wastewater collection container.
    [0005] Of course, the invention is not limited to the embodiments described and shown in the accompanying drawings. Modifications are possible, particularly from the point of view of the constitution of the various elements or by substitution of technical equivalents, without departing from the scope of protection of the invention.
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. Sanitary device with automated cleaning and maintenance, comprising a cabin with a first compartment accessible to users and comprising at least one toilet bowl and with at least a second technical compartment containing means for cleaning at least the bowl and its environment immediate, the two aforementioned compartments being separated by a partition or wall having a closable passage opening, characterized in that the cleaning means (4) comprise at least one robotic arm (6) with at least five motorized degrees of freedom, whose base (7) is mounted in the technical compartment (2 '), comprising a working head (8) multifunctional or able to receive various tools and / or instruments (9), equipped with conduits (10) for routing of fluids up to the level of the head (8) and having a sufficient extension to bring said working head (8) at least around, above and into the bowl (3) said at least one robotic arm (6) being movable between a non-use position in which it is entirely located in the technical compartment (2 ') and an active working position in which it extends at least partially in the compartment (2) accessible to the public, a programmable management and control unit being furthermore provided for controlling the movements of the robotic arm (6) and the shutter means (5 ") of the passage aperture (5 ') and the supply of fluids, in particular according to signals delivered by sensors and detectors mounted in the cabin (1).
    [0002]
    2. Device according to claim 1, characterized in that the bowl (3) at least present is installed against the partition wall (5) and in that the closable opening (5 ') extends above said bowl (3).
    [0003]
    3. Device according to any one of claims 1 and 2, characterized in that the robotic arm (6) has a sufficient extension 30 to reach at least some of, preferably all visible internal surfaces of the compartment (2) accessible to uses .
    [0004]
    4. Device according to any one of claims 1 to 3, characterized in that the base (7) of the robotic arm (6) is movably mounted in the technical compartment (2 '), with the ability to move freely. report or on a support structure (11), possibly into the compartment (2) accessible to users.
    [0005]
    5. Device according to any one of claims 1 to 4, characterized in that the base (7) of the robotic arm (6) is slidably mounted, with a motorized movement controlled by the management unit and control, on a rail or a similar displacement support (11) installed in the technical compartment (2 ') and extending parallel to the plane of the closable opening (5') and / or the partition (5).
    [0006]
    6. Device according to any one of claims 1 to 4, characterized in that the base (7) of the articulated arm (6) is mounted on a support structure (11) with a telescopic constitution, such as for example an arrangement of rails or slides arranged substantially perpendicularly to the plane of the closable opening (5 ') and / or the partition (5), the movements of deployment and folding of said arm (6), controlled by the management unit and control, for moving the base (7) between at least one retracted or retracted position in which it is located in the technical compartment (2 ') and at least one deployed position in which it is located more or less deeply in the compartment (2) accessible to users, the support structure (11) then extending through the closable opening (5).
    [0007]
    7. Device according to any one of claims 1 to 6, characterized in that the working head (8) of the robotic arm (6) is provided with a mounting site for tools and / or instruments (9) interchangeable, stored in case of non-use in a storage magazine (12) located in the technical compartment (2 '), one or more site (s) cleaning and / or maintenance of said tools and / or instruments (9) ) possibly being provided in said technical compartment (2 ').
    [0008]
    8. Device according to any one of claims 1 to 7, characterized in that the compartment (2) accessible to users also includes at least one other sanitary equipment, including personal hygiene, such as a sink, a shower or analogous, which can be reached by the working head (8) of the robotic arm (6).
    [0009]
    9. Device according to any one of claims 1 to 8, characterized in that the cabin (1) is in the form of a transportable module, in particular provided with hooking means (14) and / or a rolling chassis.-9-
    [0010]
    10. Device according to any one of claims 1 to 9, characterized in that it comprises autonomous means for supplying electrical energy, in particular of sustainable or renewable type, and possibly fluid tanks and at least a wastewater collection container.
    类似技术:
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    同族专利:
    公开号 | 公开日
    FR3017887B1|2016-03-04|
    EP2910695A1|2015-08-26|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    FR2776907A1|1998-04-06|1999-10-08|Michel Plante Systemes|W.C. with automatic cleaning and drying system|
    US20090007328A1|2007-07-06|2009-01-08|Paolo Feltri|Self-cleaning public toilet and corresponding safety equipment|
    DE202012002839U1|2012-03-21|2013-06-25|Viega Gmbh & Co. Kg|Device for cleaning a toilet bowl|
    KR20010073433A|2000-01-14|2001-08-01|권현옥|Toilet stool with automatic feces cleaner|
    JP2003125979A|2001-10-29|2003-05-07|Shoji Anzai|Toilet seat washing equipment in western-style toilet|CN106368275B|2016-08-31|2018-11-06|光大置业有限公司|Automatic cleaning apparatus|
    CN106308666B|2016-09-23|2019-06-18|湖北华杰智能环卫设备有限公司|A kind of squatting pan clean robot|
    CN106272470B|2016-09-23|2019-02-15|众宏（上海）自动化股份有限公司|A kind of squatting pan clean robot|
    CN106337480B|2016-09-23|2018-10-02|泉州台商投资区钰宝商贸有限公司|A kind of squatting pan clean robot|
    CN106400917B|2016-09-23|2018-10-16|泉州台商投资区钰宝商贸有限公司|A kind of toilet seat clean robot|
    US10941555B2|2017-06-16|2021-03-09|Altan Robotech Inc.|Robotic cleaning apparatus and related methods|
    EP3415064A1|2017-06-16|2018-12-19|Altan Robotech Inc.|Robotic cleaning apparatus and related methods|
    US10941553B2|2017-06-16|2021-03-09|Altan Robotech Inc.|Robotic cleaning apparatus and related methods|
    USD838069S1|2017-08-17|2019-01-08|Altan Robotech Inc.|Cleaning robot|
    法律状态:
    2015-02-17| PLFP| Fee payment|Year of fee payment: 2 |
    2016-02-11| PLFP| Fee payment|Year of fee payment: 3 |
    2017-02-21| PLFP| Fee payment|Year of fee payment: 4 |
    2018-02-16| PLFP| Fee payment|Year of fee payment: 5 |
    2020-02-13| PLFP| Fee payment|Year of fee payment: 7 |
    2021-02-26| PLFP| Fee payment|Year of fee payment: 8 |
    2022-02-16| PLFP| Fee payment|Year of fee payment: 9 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1451406A|FR3017887B1|2014-02-21|2014-02-21|SANITARY CABIN DEVICE WITH AUTOMATED CLEANING AND MAINTENANCE|FR1451406A| FR3017887B1|2014-02-21|2014-02-21|SANITARY CABIN DEVICE WITH AUTOMATED CLEANING AND MAINTENANCE|
    EP15305251.9A| EP2910695A1|2014-02-21|2015-02-19|Bathroom stall device with automated cleaning and maintenance|
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