EP2910695A1 - Bathroom stall device with automated cleaning and maintenance - Google Patents

Bathroom stall device with automated cleaning and maintenance Download PDF

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Publication number
EP2910695A1
EP2910695A1 EP15305251.9A EP15305251A EP2910695A1 EP 2910695 A1 EP2910695 A1 EP 2910695A1 EP 15305251 A EP15305251 A EP 15305251A EP 2910695 A1 EP2910695 A1 EP 2910695A1
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EP
European Patent Office
Prior art keywords
compartment
robotic arm
accessible
cleaning
bowl
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Application number
EP15305251.9A
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German (de)
French (fr)
Inventor
Eric Maillard
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Industrie de Thermoformage et Mecano Soudure SA
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Industrie de Thermoformage et Mecano Soudure SA
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Publication of EP2910695A1 publication Critical patent/EP2910695A1/en
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    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
    • E03D9/00—Sanitary or other accessories for lavatories ; Devices for cleaning or disinfecting the toilet room or the toilet bowl; Devices for eliminating smells
    • E03D9/002—Automatic cleaning devices

Definitions

  • the present invention relates to the field of automated sanitary equipment, fixed or not, and relates to a sanitary cabin device cleaning and automated maintenance.
  • toilet bowl cleaning devices in the form of articulated arms mounted near the bowl, and therefore in the case of public toilet device, located inside the compartment accessible to the public.
  • 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.
  • the subject of the invention is a sanitary compartment device for cleaning and automated 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 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 robot arm with at least five motorized degrees of freedom, of which the base is mounted in the technical compartment, comprising a multifunctional working head or able to receive various tools and / or instruments, equipped with fluid flow conduits up to the level of the head and having a sufficient extension to bring said working head at least around, above and in 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 s at least partially extends into the compartment accessible to the public, a programmable management and control unit being furthermore provided for controlling the movements of the robotic arm, and the means
  • the device according to the invention comprises a cabin 1 with a first compartment 2 accessible to users and having at least one toilet bowl 3 and with at least a second technical compartment 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'.
  • 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 apt receiving various tools and / or instruments 9, equipped with conduits 10 for conveying fluids 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 working position in which it extends at least partially in the accessible compartment 2 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 shut-off means 5 "(for example e in the form of a door with sliding panels) of the passage opening 5 'and the supply of fluids, in particular according to signals delivered by sensors and detectors mounted in the cabin 1 (in particular presence detectors or contact, especially at the level of the door 1 ').
  • 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.
  • the cleaning means 4 have 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 can, for example and as shown by the Figures 1 to 6 and 8 , comprising 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.
  • 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.
  • 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 and connectable to the supply ducts 10.
  • the tools 9 may be of the brush type (of different types), scraper, sponge, cloth or the like.
  • 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.
  • the robotic arm 6 has a sufficient extension 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 of the compartment 2, and the surface of the partition 5 located on this side of the compartment).
  • the base 7 of the robotic arm 6 is movably mounted in the technical compartment 2 ', with faculty moving relative to or on a support structure 11, possibly into the compartment 2 accessible to users.
  • 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 5.
  • 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. separation 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 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.
  • 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. separation 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 or retracted position in which it is located in the technical compartment 2 and at least one deployed position in which it is located
  • said working head 8 can 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 '.
  • this mounting site may include 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.
  • 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.
  • 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.
  • cabin 1 In urban areas, cabin 1 is normally permanently installed at a fixed location.
  • 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.
  • 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.
  • 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.

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  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Epidemiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Hydrology & Water Resources (AREA)
  • Water Supply & Treatment (AREA)
  • Manipulator (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

La présente invention a pour objet un dispositif de cabine sanitaire à nettoyage et entretien automatisés, comprenant une cabine (1) avec un premier compartiment (2) accessible aux usagers et avec au moins un second compartiment (2') technique renfermant des moyens de nettoyage (4), les deux compartiments étant séparés par une cloison (5) présentant une ouverture (5') de passage obturable. Les moyens de nettoyage comprennent au moins un bras robotisé (6) à au moins cinq degrés de liberté motorisés, dont l'embase (7) est montée dans le compartiment technique (2'), comprenant une tête de travail (8) apte à recevoir divers outils et/ou instruments (9), équipé de conduits d'acheminement de fluides jusqu'au niveau de la tête (8) et présentant une extension suffisante pour amener ladite tête de travail (8) au moins autour, au-dessus et dans la cuvette (3), ledit au moins un bras robotisé (6) étant mobile entre une position de non-utilisation dans laquelle il est entièrement situé dans le compartiment technique (2') et une position active de travail dans laquelle il s'étend au moins partiellement dans le compartiment (2) accessible au public.The present invention relates to an automated cleaning and maintenance cabin device, comprising a cabin (1) with a first compartment (2) accessible to users and with at least a second compartment (2 ') containing technical means of cleaning (4), the two compartments being separated by a partition (5) having a closure opening (5 '). The cleaning means 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) adapted to receiving various tools and / or instruments (9), equipped with fluid delivery conduits 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 cuvette (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 s extends at least partially into the compartment (2) accessible to the public.

Description

La présente invention concerne le domaine des équipements sanitaires automatisés, fixes ou non, et a pour objet un dispositif de cabine sanitaire à nettoyage et entretien automatisés.The present invention relates to the field of automated sanitary equipment, fixed or not, and relates to a sanitary cabin device cleaning and automated maintenance.

De nombreuses réalisations de dispositifs du type précité sont déjà connues, notamment sous la désignation "sanisette" (marque déposée), et en particulier commercialisées et exploitées par la société JC Decaux.Many embodiments of devices of the aforementioned type are already known, especially under the designation "sanisette" (trademark), and in particular marketed and operated by the company JC Decaux.

Ces dispositifs connus comportent des moyens de nettoyage et d'entretien mécaniques, dont la structure limite les opérations pouvant être effectuées, qui sont spécifiquement adaptés à un type d'aménagement intérieur, nécessitent une maintenance régulière et qui font état d'équipements demeurant dans le compartiment accessible au public.These known devices include means for cleaning and mechanical maintenance, the structure of which limits the operations that can be performed, which are specifically adapted to a type of interior, require regular maintenance and which report equipment remaining in the compartment accessible to the public.

En outre, on connaît également, par exemple par les documents KR-A-20010073433 et JP-A-2003125979 , des dispositifs de nettoyage de cuvette de WC, sous la forme de bras articulés montés à proximité de la cuvette, et donc dans le cas de dispositif de toilettes publiques, situés à l'intérieur du compartiment accessible au public.In addition, it is also known, for example from the documents KR-A-20010073433 and JP-A-2003125979 , toilet bowl cleaning devices, in the form of articulated arms mounted near the bowl, and therefore in the case of public toilet device, located inside the compartment accessible to the public.

De plus, les actions réalisées par ces dispositifs de nettoyage connus se limitent généralement à la partie supérieure de la cuvette (lunette) et éventuellement à sa paroi intérieure. Aucune action au niveau de surfaces situées autour de la cuvette n'est prévue, ni même possible constructivement.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 the surfaces around the bowl is provided, or even possible constructively.

La présente invention a pour but de pallier les limitations des dispositifs connus précités et de proposer, dans le contexte défini précédemment, un dispositif plus sûr, plus flexible d'utilisation et avec un champ d'action plus étendu.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.

A cet effet, l'invention a pour objet un dispositif de cabine sanitaire à nettoyage et entretien automatisés, comprenant une cabine avec un premier compartiment accessible aux usagers et comportant au moins une cuvette de WC et avec au moins un second compartiment technique renfermant des moyens de nettoyage au moins de la cuvette et de son environnement immédiat, les deux compartiments précités étant séparés par une cloison ou paroi présentant une ouverture de passage obturable, dispositif caractérisé en ce que les moyens de nettoyage comprennent au moins un bras robotisé à au moins cinq degrés de liberté motorisés, dont l'embase est montée dans le compartiment technique, comprenant une tête de travail multifonctionnelle ou apte à recevoir divers outils et/ou instruments, équipé de conduits d'acheminement de fluides jusqu'au niveau de la tête et présentant une extension suffisante pour amener ladite tête de travail au moins autour, au-dessus et dans la cuvette, ledit au moins un bras robotisé étant mobile entre une position de non-utilisation dans laquelle il est entièrement situé dans le compartiment technique et une position active de travail dans laquelle il s'étend au moins partiellement dans le compartiment accessible au public, une unité de gestion et de contrôle programmable étant, en outre, prévue pour commander les mouvements du bras robotisé, et du moyen d'obturation de l'ouverture de passage et l'alimentation en fluides, en fonction notamment de signaux délivrés par des capteurs et des détecteurs montés dans la cabine.For this purpose, the subject of the invention is a sanitary compartment device for cleaning and automated 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 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 robot arm with at least five motorized degrees of freedom, of which the base is mounted in the technical compartment, comprising a multifunctional working head or able to receive various tools and / or instruments, equipped with fluid flow conduits up to the level of the head and having a sufficient extension to bring said working head at least around, above and in 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 s at least partially extends into the compartment accessible to the public, 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 the feeding in fluids, in particular according to signals delivered by sensors and detectors mounted in the cabin.

L'invention sera mieux comprise, grâce à la description ci-après, qui se rapporte à des modes de réalisations préférés, donnés à titre d'exemples non limitatifs, et expliqués avec référence aux dessins schématiques annexés, dans lesquels :

  • La figure 1 est une vue en perspective d'un dispositif de cabine sanitaire selon l'invention, avec une cabine de forme parallélépipédique ;
  • La figure 2 est une vue en perspective et partiellement écorchée du dispositif de la figure 1 selon un premier mode de réalisation de l'invention, la cabine étant accessible aux usagers et les moyens de nettoyage étant en position escamotée de non-utilisation dans le compartiment technique fermé, isolé du compartiment accessible au public ;
  • Les figures 3 à 6 sont des vues écorchées similaires à celle de la figure 2, illustrant différentes tâches et opérations pouvant être effectuées par les moyens de nettoyage comprenant un bras robotisé, à savoir le déploiement du bras équipé d'une brosse prélevée dans le magasin de stockage (figure 3), le nettoyage de l'intérieur de la cuvette avec la brosse précitée (figure 4), le séchage à l'air chaud (ou non) de la cuvette (figure 5) et le nettoyage des parois internes du compartiment accessible aux usagers (figure 6) ;
  • Les figures 7A à 7C sont des vues partielles du bras robotisé faisant partie des moyens de nettoyage selon l'invention, dans différentes phases et configurations d'équipement, à savoir équipé d'une buse multiple ou d'un moyen similaire de pulvérisation/soufflage (figure 7A), en cours de changement d'outil ou d'accessoire au niveau du magasin de stockage (figure 7B) et en cours de manipulation du couvercle de la cuvette par l'intermédiaire d'une pince équipant sa tête de travail (figure 7C), et,
  • Les figures 8A et 8B sont des vues partielles illustrant un second mode de réalisation de l'invention, avec les moyens de nettoyage en position escamotée de non-utilisation (figure 8A) et en position déployée avant intervention au niveau de la cuvette (figure 8B).
The invention will be better understood, thanks to the following description, which refers to preferred embodiments, given by way of non-limiting examples, and explained with reference to the appended diagrammatic drawings, in which:
  • The figure 1 is a perspective view of a sanitary booth device according to the invention, with a parallelepiped shaped cabin;
  • The figure 2 is a perspective view and partially broken of the device of the figure 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 closed technical compartment, isolated from the compartment accessible to the public;
  • The Figures 3 to 6 are broken-up views similar to that of the figure 2 , illustrating various 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 storage magazine ( figure 3 ), cleaning the inside of the bowl with the aforementioned brush ( figure 4 ), drying with hot air (or not) of the bowl ( figure 5 ) and the cleaning of the inner walls of the compartment accessible to users ( figure 6 );
  • The Figures 7A to 7C are partial views of the robotic arm forming part of the cleaning means according to the invention, in different phases and configurations of equipment, namely equipped with a multiple nozzle or a similar means of spraying / blowing ( Figure 7A ), while changing the tool or accessory at the storage magazine ( Figure 7B ) and during manipulation of the lid of the bowl by means of a clamp fitted to its working head ( Figure 7C ), and,
  • The Figures 8A and 8B are partial views illustrating a second embodiment of the invention, with the cleaning means in the retracted position of non-use ( figure 8A ) and in the deployed position before intervention at the level of the bowl ( Figure 8B ).

Comme le montrent les figures 1 à 6 et partiellement les figures 8, le dispositif selon l'invention comprend une cabine 1 avec un premier compartiment 2 accessible aux usagers et comportant au moins une cuvette de WC 3 et avec au moins un second compartiment technique 2' renfermant des moyens de nettoyage 4 au moins de la cuvette 3 et de son environnement immédiat, les deux compartiments précités 2 et 2' étant séparés par une cloison 5 ou paroi présentant une ouverture de passage obturable 5'.As shown by Figures 1 to 6 and partially 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 toilet bowl 3 and with at least a second technical compartment 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'.

Conformément à l'invention, les moyens de nettoyage 4 comprennent au moins un bras robotisé 6 à au moins cinq degrés de liberté motorisés, dont l'embase 7 est montée dans le compartiment technique 2', comprenant une tête de travail 8 multifonctionnelle ou apte à recevoir divers outils et/ou instruments 9, équipé de conduits 10 d'acheminement de fluides jusqu'au niveau de la tête 8 et présentant une extension suffisante pour amener ladite tête de travail 8 au moins autour, au-dessus et dans la cuvette 3, ledit au moins un bras robotisé 6 étant mobile entre une position de non-utilisation dans laquelle il est entièrement situé dans le compartiment technique 2' et une position active de travail dans laquelle il s'étend au moins partiellement dans le compartiment 2 accessible au public, une unité de gestion et de contrôle programmable (non représentée) étant, en outre, prévue pour commander les mouvements du bras robotisé 6 et du moyen d'obturation 5" (par exemple sous forme d'une porte à panneaux coulissants) de l'ouverture de passage 5' et l'alimentation en fluides, en fonction notamment de signaux délivrés par des capteurs et des détecteurs montés dans la cabine 1 (en particulier des détecteurs de présence ou de contact, notamment au niveau de la porte 1').According to the invention, 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 apt receiving various tools and / or instruments 9, equipped with conduits 10 for conveying fluids 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 working position in which it extends at least partially in the accessible compartment 2 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 shut-off means 5 "(for example e in the form of a door with sliding panels) of the passage opening 5 'and the supply of fluids, in particular according to signals delivered by sensors and detectors mounted in the cabin 1 (in particular presence detectors or contact, especially at the level of the door 1 ').

Ainsi, en termes de sécurité, l'invention fournit des moyens de nettoyage 4 situés en totalité en dehors du premier compartiment 2 lorsque ce dernier est utilisable par le public, en étant inaccessibles pour ce dernier.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.

De plus, grâce à la mise en oeuvre d'un bras robotisé 6 équipé d'une tête de travail 8 polyvalente et commandé par une unité de gestion et de contrôle programmable (non représentée), les moyens de nettoyage 4 présentent une grande flexibilité de mise en oeuvre, une grande adaptabilité (éventuellement à des premiers compartiments 2 équipés d'éléments sanitaires différents ou arrangés différemment) et une gamme d'actions possibles très variée et très large.In addition, thanks to the implementation of a robotic arm 6 equipped with a versatile working head 8 and controlled by a management unit and programmable control (not shown), the cleaning means 4 have 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.

Le bras robotisé peut, par exemple et comme le montrent les figures 1 à 6 et 8, comprendre deux portions ou segments de bras relié(e)s en série et portant, à l'extrémité libre du second segment, la tête de travail 8, par exemple reliée audit segment par une liaison du type rotule ou poignet.The robotic arm can, for example and as shown by the Figures 1 to 6 and 8 , comprising 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.

De tels bras manipulateurs robotisés 6 et leur unité de commande programmable associée sont déjà connus de l'homme du métier, par exemple sous la désignation KR16 par la société KUKA, sous la désignation M-10i A par la société FANUC ou sous la désignation MPL80 par la société YASKAWA.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.

Les fluides acheminés vers la tête de travail 8 peuvent être de nature gazeuse (air de séchage, désodorisant, ...) ou de nature liquide (eaux, détergent, ...) et seront éjectés par une buse adaptée, éventuellement multivoies, interchangeable et raccordable aux conduits d'acheminent 10.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 and connectable to the supply ducts 10.

Les outils 9 peuvent être du type brosse (de différents types), racle, éponge, chiffon ou analogue.The tools 9 may be of the brush type (of different types), scraper, sponge, cloth or the like.

En accord avec un aménagement intérieur préféré de la cabine 1, la cuvette 3 au moins présente est installée contre la cloison de séparation 5 et l'ouverture obturable 5' s'étend au-dessus de ladite cuvette 3. On aboutit ainsi à une proximité optimisée entre les moyens de nettoyage 4 et la cuvette 3 au moins présente.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.

De manière avantageuse, le bras robotisé 6 présente une extension suffisante pour atteindre au moins certaine des, préférentiellement toutes les surfaces internes visibles du compartiment 2 accessible aux usagers (notamment parois latérales 13, sol 13' et éventuellement plafond du compartiment 2, ainsi que la surface de la cloison 5 située de ce côté du compartiment).Advantageously, the robotic arm 6 has a sufficient extension 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 of the compartment 2, and the surface of the partition 5 located on this side of the compartment).

Afin de pouvoir limiter la taille du bras robotisé 6 tout en lui permettant d'accéder à l'ensemble des zones souhaitées, il peut être prévu que l'embase 7 du bras robotisé 6 soit montée mobile dans le compartiment technique 2', avec faculté de déplacement par rapport ou sur une structure support 11, éventuellement jusque dans le compartiment 2 accessible aux usagers.In order to be able to limit the size of the robotic arm 6 while allowing it to access all the desired areas, it can be provided that the base 7 of the robotic arm 6 is movably mounted in the technical compartment 2 ', with faculty moving relative to or on a support structure 11, possibly into the compartment 2 accessible to users.

Selon un premier mode de réalisation de l'invention représenté aux figures 8A et 8B, l'embase 7 du bras robotisé 6 est montée coulissante, avec un mouvement motorisé commandé par l'unité de gestion et de contrôle, sur un rail ou un support de déplacement analogue 11, installé dans le compartiment technique 2' et s'étendant parallèlement au plan de l'ouverture obturable 5' et/ou de la cloison de séparation 5.According to a first embodiment of the invention shown in Figures 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 5.

Selon un second mode de réalisation préféré de l'invention représenté aux figures 2 à 6, l'embase 7 du bras articulé 6 est monté sur une structure support 11 à constitution télescopique, telle que par exemple un arrangement de rails ou de glissières disposé sensiblement perpendiculairement au plan de l'ouverture obturable 5' et/ou de la cloison de séparation 5, les mouvements de déploiement et de repliement dudit bras 6, commandés par l'unité de gestion et de contrôle, permettant de déplacer l'embase 7 entre au moins une position rétractée ou escamotée dans laquelle elle est située dans le compartiment technique 2' et au moins une position déployée dans laquelle elle est située plus ou moins profondément dans le compartiment 2 accessible aux usagers, la structure support 11 s'étendant alors à travers l'ouverture obturable 5.According to a second preferred embodiment of the invention shown in Figures 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. separation 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 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.

Afin de pouvoir accomplir un nombre important de tâches variées, sans complexifier la constitution de la tête de travail 8 et en permettant une adaptation à des modifications du type d'opérations de nettoyage et d'entretien à effectuer, ladite tête de travail 8 peut être pourvue d'un site de montage pour des outils et/ou des instruments 9 interchangeables, rangés en cas de non-utilisation dans un magasin de stockage 12 situé dans le compartiment technique 2', un ou plusieurs site(s) de nettoyage et/ou d'entretien desdits outils et/ou instruments 9 étant éventuellement prévu(s) dans ledit compartiment technique 2'.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 modifications of the type of cleaning and maintenance operations to be performed, said working head 8 can 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 '.

En particulier, ce site de montage peut comprendre un mécanisme de raccord rapide pour outils interchangeables du type connu de l'homme du métier. Les différents outils pourront être remplacés en fonction de leur usure particulière.In particular, this mounting site may include 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.

Préférentiellement, le premier compartiment 2 peut comprendre également au moins un autre équipement sanitaire, notamment d'hygiène corporelle, tel qu'un évier, une douche ou analogue, pouvant être atteint par la tête de travail 8 du bras robotisé 6.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.

En milieu urbain, la cabine 1 est normalement installée à demeure à un emplacement fixe.In urban areas, cabin 1 is normally permanently installed at a fixed location.

Toutefois, la cabine 1 peut aussi, de manière avantageuse, se présenter sous la forme d'un module transportable, en particulier muni de moyens d'accrochage 14 (en vue de son soulèvement et/ou de sa traction) et/ou d'un châssis roulant.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.

Enfin, le dispositif selon l'invention peut comprendre des moyens autonomes d'alimentation en énergie électrique, en particulier de type durable ou renouvelable (panneaux solaires, éolienne, ...), ainsi qu'éventuellement des réservoirs de fluides et au moins un contenant de récupération des eaux usées.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.

Bien entendu, l'invention n'est pas limitée aux modes de réalisations décrits et représentés aux dessins annexés. Des modifications restent possibles, notamment du point de vue de la constitution des divers éléments ou par substitution d'équivalents techniques, sans sortir pour autant du domaine de protection de l'invention.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.

Claims (10)

Dispositif de cabine sanitaire à nettoyage et entretien automatisés, comprenant une cabine avec un premier compartiment accessible aux usagers et comportant au moins une cuvette de WC et avec au moins un second compartiment technique renfermant des moyens de nettoyage au moins de la cuvette et de son environnement immédiat, les deux compartiments précités étant séparés par une cloison ou paroi présentant une ouverture de passage obturable, dispositif caractérisé en ce que les moyens de nettoyage (4) comprennent au moins un bras robotisé (6) à au moins cinq degrés de liberté motorisés, dont l'embase (7) est montée dans le compartiment technique (2'), comprenant une tête de travail (8) multifonctionnelle ou apte à recevoir divers outils et/ou instruments (9), équipé de conduits (10) d'acheminement de fluides jusqu'au niveau de la tête (8) et présentant une extension suffisante pour amener ladite tête de travail (8) au moins autour, au-dessus et dans la cuvette (3), ledit au moins un bras robotisé (6) étant mobile entre une position de non-utilisation dans laquelle il est entièrement situé dans le compartiment technique (2') et une position active de travail dans laquelle il s'étend au moins partiellement dans le compartiment (2) accessible au public, une unité de gestion et de contrôle programmable étant, en outre, prévue pour commander les mouvements du bras robotisé (6) et du moyen d'obturation (5") de l'ouverture de passage (5') et l'alimentation en fluides, en fonction notamment de signaux délivrés par des capteurs et des détecteurs montés dans la cabine (1).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). Dispositif selon la revendication 1, caractérisé en ce que la cuvette (3) au moins présente est installée contre la cloison de séparation (5) et en ce que l'ouverture obturable (5') s'étend au-dessus de ladite cuvette (3).Device according to claim 1, characterized in that the at least one bowl (3) is installed against the partition wall (5) and in that the closable opening (5 ') extends above said bowl ( 3). Dispositif selon l'une quelconque des revendications 1 et 2, caractérisé en ce que le bras robotisé (6) présente une extension suffisante pour atteindre au moins certaines des, préférentiellement toutes les surfaces internes visibles du compartiment (2) accessible aux usages.Device according to any one of claims 1 and 2, characterized in that the robotic arm (6) has sufficient extension to reach at least some of, preferably all visible internal surfaces of the compartment (2) accessible to uses. Dispositif selon l'une quelconque des revendications 1 à 3, caractérisé en ce que l'embase (7) du bras robotisé (6) est montée mobile dans le compartiment technique (2'), avec faculté de déplacement par rapport ou sur une structure support (11), éventuellement jusque dans le compartiment (2) accessible aux usagers.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 by report or on a support structure (11), possibly into the compartment (2) accessible to users. Dispositif selon l'une quelconque des revendications 1 à 4, caractérisé en ce que l'embase (7) du bras robotisé (6) est montée coulissante, avec un mouvement motorisé commandé par l'unité de gestion et de contrôle, sur un rail ou un support de déplacement analogue (11), installé dans le compartiment technique (2') et s'étendant parallèlement au plan de l'ouverture obturable (5') et/ou de la cloison de séparation (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 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 (5). Dispositif selon l'une quelconque des revendications 1 à 4, caractérisé en ce que l'embase (7) du bras articulé (6) est monté sur une structure support (11) à constitution télescopique, telle que par exemple un arrangement de rails ou de glissières disposé sensiblement perpendiculairement au plan de l'ouverture obturable (5') et/ou de la cloison de séparation (5), les mouvements de déploiement et de repliement dudit bras (6), commandés par l'unité de gestion et de contrôle, permettant de déplacer l'embase (7) entre au moins une position rétractée ou escamotée dans laquelle elle est située dans le compartiment technique (2') et au moins une position déployée dans laquelle elle est située plus ou moins profondément dans le compartiment (2) accessible aux usagers, la structure support (11) s'étendant alors à travers l'ouverture obturable (5).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 a rail arrangement or slideways 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 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). Dispositif selon l'une quelconque des revendications 1 à 6, caractérisé en ce que la tête de travail (8) du bras robotisé (6) est pourvue d'un site de montage pour des outils et/ou des instruments (9) interchangeables, rangés en cas de non-utilisation dans un magasin de stockage (12) situé dans le compartiment technique (2'), un ou plusieurs site(s) de nettoyage et/ou d'entretien desdits outils et/ou instruments (9) étant éventuellement prévu(s) dans ledit compartiment technique (2').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 interchangeable tools and / or instruments (9), 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 possibly provided in said technical compartment (2 '). Dispositif selon l'une quelconque des revendications 1 à 7, caractérisé en ce que le compartiment (2) accessible aux usagers comprend également au moins un autre équipement sanitaire, notamment d'hygiène corporelle, tel qu'un évier, une douche ou analogue, pouvant être atteint par la tête de travail (8) du bras robotisé (6).Device according to any one of claims 1 to 7, characterized in that the compartment (2) accessible to users also comprises at least one other sanitary equipment, including personal hygiene, such as a sink, a shower or the like, can be reached by the working head (8) of the robotic arm (6). Dispositif selon l'une quelconque des revendications 1 à 8, caractérisé en ce que la cabine (1) se présente sous la forme d'un module transportable, en particulier muni de moyens d'accrochage (14) et/ou d'un châssis roulant.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 chassis rolling. Dispositif selon l'une quelconque des revendications 1 à 9, caractérisé en ce qu'il comprend des moyens autonomes d'alimentation en énergie électrique, en particulier de type durable ou renouvelable, ainsi qu'éventuellement des réservoirs de fluides et au moins un contenant de récupération des eaux usées.Device according to any one of Claims 1 to 9, characterized in that it comprises autonomous means for supplying electrical energy, in particular of durable or renewable type, as well as possibly fluid reservoirs and at least one container wastewater recovery.
EP15305251.9A 2014-02-21 2015-02-19 Bathroom stall device with automated cleaning and maintenance Withdrawn EP2910695A1 (en)

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USD861266S1 (en) 2017-08-17 2019-09-24 Altan Robotech Inc. Cleaning robot

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