JP4844412B2 - Washing machine - Google Patents

Description

  The present invention relates to a washing machine having a motor for generating a rotational driving force for rotating a washing tub in order to perform washing, rinsing, dehydration and drying.

  In general, a washing machine is roughly classified into a pulsator type that uses a flowing water stream to wash laundry and a drum type that uses the falling of the laundry to wash (tap). In the pulsator type, the laundry is put in and out from above, and the direction of the washing tub is vertical and is called the vertical type. On the other hand, the drum type is called a horizontal type in which the direction of the washing tub is horizontal. In general, the dryer is also of a horizontal type.

  On the other hand, in the recent drum type washing machine, from the viewpoint of universal design, the washing tub which is a drum is arranged at the bottom, the washing performance is improved by tapping and the ease of taking out the laundry, and the vertical type In comparison, the drying time is shortened.

  In addition, there are drum-type drums that tend to generate vibration noise due to unbalanced laundry in the dehydration process, and are designed to reduce vibration with a damper or the like (see, for example, Patent Document 1). FIG. 12 is a configuration diagram of a tanning drum type washing machine that smoothly supports the washing tub of the washing machine of the first conventional example disclosed in Patent Document 1.

  The washing tub 3 is supported by a spring damper 70 and its posture is defined by a spring 71 and a spring 72. Moreover, the vibration of the washing tub 3 is reduced by the spring damper 70.

  As another washing machine, there is a machine that estimates an unbalanced state of the laundry during the dehydration operation, increases the rotation speed in a state where vibration is small, and reduces vibration in an actual use state (for example, , See Patent Document 2). FIG. 13 is a block diagram of unbalance estimation and motor acceleration of the drum type washing machine of the second conventional example disclosed in Patent Document 2.

  When the dehydrating operation is started, the control microcomputer controls the motor rotation at 40r / min to 80r / min as in step 2, and vector-controls the fluctuation value H indicating the rotation fluctuation level of the motor as in step 3. Is detected based on the q-axis current obtained by. When the fluctuation value H is equal to or less than the threshold value Hk, the rotational speed is increased as in step 8. The rotational speed fluctuation of the motor is reduced, that is, the vibration causing the fluctuation is reduced to increase the rotational speed.

  In addition, as another washing machine, there is one in which vibration due to laundry unbalance is detected using an acceleration sensor to start high-speed rotation of a motor (for example, see Patent Document 3). FIG. 14 is a configuration diagram of a vibration detection device for a washing machine of a third conventional example disclosed in Patent Literature 3.

  The acceleration sensor 20 for detecting the vibration of the receiving cylinder is a piezoelectric sensor including a unimorph type piezoelectric element, a weight having a protrusion for applying pressure to the piezoelectric element, and a spring for restraining the weight from the piezoelectric element. In the initial dehydration state, the vibration state is detected based on the sensor output, and when the vibration due to unbalance is minimized, the high-speed rotation is started to reduce the vibration during dehydration.

  In addition, as another washing machine, a buffer member (cushion) for fixing a shock absorber to a mounting plate in order to reduce vibration and noise generated when the buffer member is vibrated greatly when dewatering. There are some which increase the elasticity of (see, for example, Patent Document 4). FIG. 15 is a configuration diagram of a shock absorber of a drum type washing machine of a fourth conventional example disclosed in Patent Document 4.

  The cushions 61 and 64 for suppressing vibration are in a flat portion that is in close contact with the upper mounting plate 40 attached to the receiving cylinder, and four hemispherical protrusions are formed at equal angular intervals around the through-hole through which the mounting shaft 54 is inserted. 73 and 83 are formed. Usually, the protrusions 73 and 83 are completely crushed and the flat surface portion is in close contact with the mounting plate 40. When the receiving cylinder swings greatly and the shock absorber 13 is tilted with respect to the mounting plate 40, the cushions 61 and 64 are separated at the place where the pressing force is weakened, but the protrusions 73 and 83 remain in contact with each other. In this state, the tapping sound and vibration are reduced.

  Moreover, as another washing machine, there exists a thing which comprises the dynamic vibration absorber in the receptacle and reduced the vibration (for example, refer patent document 5). FIG. 16 is a configuration diagram of a drum type washing machine of the fifth conventional example disclosed in Patent Document 5.

A washing water tank 5 is connected to the receiving cylinder 2 via a leaf spring 8 and a damper 7 to constitute a dynamic vibration absorber system. The leaf spring 8 can be variably set by the reciprocating movement of the spring constant adjusting slider 61. Further, the auxiliary mass can be adjusted by injecting a necessary amount of washing water into the washing water tank 5. With this configuration, the resonance vibration is reduced by adjusting the spring and the auxiliary mass according to the rotation speed and the mass of the laundry.
JP 2006-136602 A JP-A-2005-204968 Japanese Patent Laid-Open No. 11-14445 JP 2006-110238 A JP-A-8-309083

  However, the conventional vertical pulsator type washing machine requires inconvenient work such as lifting or pulling heavy laundry from the upper side of the laundry.

  In the first conventional configuration, as shown in FIG. 12, the drum is licked to lower the laundry input port. However, since the drum is licked, the laundry tends to be unbalanced during dehydration, and the laundry tub vibrates greatly.

  Further, in the second conventional configuration, as shown in the sequence of FIG. 13, the rotational speed fluctuation, and hence the unbalance amount, is estimated from the fluctuation of the vector control q-axis current to control the increase in the rotational speed of the motor. Yes. However, the vibration amount cannot be estimated with high accuracy because the position (front and rear) in the unbalanced washing tub is not known only by the speed fluctuation. Therefore, there is a problem that balance control and vibration control cannot be performed with high accuracy. Further, when the motor characteristics and control system characteristics change, there is a problem that the speed fluctuation and unbalance fluctuation from the q-axis current need to be readjusted.

  Further, in the third conventional configuration, as shown in FIG. 14, an acceleration sensor is arranged at the upper portion of the cylinder, the vibration amount is detected, and motor control is performed in accordance with the vibration amount to reduce vibration. ing. However, since only one sensor is arranged on the upper front portion of the receiving cylinder, the vibration amount of the sensor section can be accurately detected, but the vibration state and vibration mode of the receiving cylinder are estimated and detected. In other words, the balance control and vibration control suitable for the vibration state cannot be performed with high accuracy.

  Further, in the fourth conventional configuration, as shown in FIG. 15, by changing the partial elastic characteristics of the shock absorber mounting shock absorbing member, the shock absorbing member and the receiving tube side and housing side mounting plates are prevented from being separated. This reduces vibration and noise. However, with respect to large swinging of the receiving tube, there has been a problem that a sufficient thickness is required to keep the shock-absorbing material elastically deformed, and the mounting portion becomes large. That is, there has been a problem that the vibration in the lateral direction of the receiving cylinder cannot be reduced by increasing the inclination and inclination of the shock absorber due to the rotation of the unbalance.

  In the fifth conventional configuration, as shown in FIG. 16, the auxiliary mass can be adjusted by the drainage tank, and the spring characteristics of the dynamic vibration absorber can be adjusted by the slider mechanism. However, there is a problem in that the position of the auxiliary mass cannot be adjusted at one place in front of the drain tank receiving cylinder depending on the vibration state and vibration mode of the receiving cylinder.

  The present invention solves the above-mentioned conventional problems, detects the vibration state of the receiving cylinder including the washing tub, the vibration mode, estimates the position and size of the unbalance, and based on the estimated value, An object of the present invention is to provide a washing machine that can control vibration and noise during dehydration in a controlled manner by performing balance control and toll and vibration control including cloth loosening.

  In order to solve the conventional problems, a washing machine of the present invention contains a washing tub for rotating laundry, a motor for rotating the laundry tub, control means for controlling the motor, and the washing tub. A receiving cylinder supported with respect to the housing, a supporting means for supporting the receiving cylinder while maintaining a posture thereof, a plurality of vibration detecting means for detecting vibration of the receiving cylinder, and the laundry from the vibration detecting means An unbalance amount estimating means for estimating the position and magnitude of the unbalance and the vibration state of the receiving cylinder, and a vibration control means for controlling and driving the support means based on the output of the unbalance amount estimating means. It is a thing.

  As a result, in the washing and dewatering process, it is possible to detect the vibration state and vibration mode of the receiving cylinder including the washing tub, so it is possible to estimate the position and size of the unbalance at the time of dehydration. Vibration can be reduced by performing balance control and vibration control.

  The washing machine of the present invention estimates the position and size of the unbalance due to the laundry during dehydration by detecting the vibration state of the receiving cylinder by a plurality of vibration detecting means, and based on the estimated value, the receiving cylinder Thus, it is possible to reduce the unbalance vibration in the dehydration process, thereby improving the dehydration speed and shortening the dehydration time.

  According to a first aspect of the present invention, there is provided a washing tub for rotating the laundry, a motor for rotating the laundry tub, a control means for controlling the motor, and a receptacle that is supported by the housing and that contains the washing tub. A tube, a support unit that supports the receiving tube while maintaining a posture thereof, a plurality of vibration detecting units that detect vibrations of the receiving tube, a position and a size of laundry unbalance from the vibration detecting unit, and the An unbalance amount estimating means for estimating the vibration state of the receiving cylinder, and a vibration control means for controlling and driving the support means based on the output of the unbalance amount estimating means, thereby providing unbalance due to the laundry during dehydration. It is possible to estimate the position and size of the cylinder, and to control the vibration of the receiving cylinder based on the estimated value, so that it is possible to reduce vibration due to imbalance during dehydration and shorten dehydration time. .

  In the second invention, in particular, the control means of the first invention is an unbalance correction means for performing cloth unwinding control to change the position of unbalance based on the output of the vibration detection means or the unbalance amount estimation means. Since the unbalance can be reduced by the cloth unwinding control according to the unbalance position, it is possible to reduce vibration due to unbalance during dehydration and shorten the dehydration time.

  In the third invention, in particular, the vibration control means of the first invention has a vibration characteristic adjusting means for adjusting the viscosity and rigidity of the support means based on the output of the vibration detecting means or the unbalance amount estimating means. Therefore, it is possible to adjust the viscosity and rigidity that determine the vibration characteristics of the support means according to the position and size of the unbalance, so the vibration due to unbalance during dehydration can be controlled with optimal vibration control according to the unbalance. Reduction and shortening of dehydration time can be realized.

  In the fourth invention, in particular, the vibration detecting means of any one of the first to third inventions are arranged at two or more locations on the clothing inlet side and the motor side of the receiving tube, and each of the three directions is orthogonal. By detecting the vibration, it is possible to detect the vibration state and vibration mode of the receiving cylinder, so that vibration control according to the detected vibration state reduces vibration due to imbalance during dehydration and shortens the dehydration time. Can be realized.

  In the fifth aspect of the invention, in particular, the unbalance amount estimation means of any one of the first to fourth aspects of the invention is based on the outputs in the three directions of the plurality of vibration detection means, and the position of the unbalance in the washing tub. In order to estimate the unbalance position and the output of each vibration detection means, it has an unbalance position determination means that stores the relationship between the unbalance position and the output of each vibration detection means. It is possible to reduce vibration due to imbalance during dehydration and shorten dehydration time by vibration control according to unbalance.

  In the sixth aspect of the invention, in particular, the support means of the first aspect of the invention has a spring element, a damper element, and a joint mechanism that allows the spring element and the damper element to swing freely with respect to vibration of the receiving tube due to unbalance. As a result, the vibration isolation by the support means can always function effectively against the swing vibration of the receiving cylinder due to unbalance, so the vibration due to unbalance at the time of dehydration can be reduced and the dehydration time can be shortened. can do.

  In the seventh aspect of the invention, in particular, the joint mechanism of the sixth aspect of the invention is a ball joint mechanism, and is attached to the housing via an elastic body, thereby preventing vibration generated by the ball joint mechanism. Since vibration is possible, it is possible to reduce vibration due to imbalance during dehydration and shorten dehydration time.

  In the eighth aspect of the invention, in particular, the joint mechanism of the sixth aspect of the invention is arranged so as to reduce vibrations in both the vertical and horizontal directions due to the unbalanced centrifugal force caused by the laundry. Since vibration isolation by the support means can always function effectively with respect to the vibration of the cylinder, it is possible to reduce vibration due to unbalance during dehydration and shorten dehydration time.

  In the ninth aspect of the invention, in particular, the supporting means of the first aspect of the invention has a vibration absorbing means that absorbs vibration by contacting the receiving cylinder only when the vibration is large. Since vibration energy can be absorbed by changing the vibration energy to thermal energy when contacting the casing or other elements, it is possible to reduce vibration due to imbalance during dehydration and shorten dehydration time.

  In the tenth aspect of the invention, in particular, the vibration absorbing means of the ninth aspect of the invention is arranged on the side of the receiving cylinder that comes into contact with other elements for the washing and drying function, so that the receiving cylinder is caused by a large vibration due to unbalance. Because vibration can be absorbed by changing vibration energy to thermal energy when contacting the case or other elements, vibration reduction due to imbalance during dehydration and shortening of dehydration time can be realized. .

  In the eleventh aspect of the invention, in particular, the vibration absorbing means of the ninth aspect or the tenth aspect of the invention is a gel material, so that it is possible to obtain a large viscosity characteristic, reducing vibration due to imbalance during dehydration, Shortening the dehydration time can be realized.

  In a twelfth aspect of the invention, in particular, the receptacle of the first aspect of the invention has a drainage tank that temporarily stores washing drainage, and the amount of water to the drainage tank is determined based on the output of the unbalance amount estimation means. By having the wastewater amount control means to control, it is possible to control the amount of water in the drainage tank according to the position and size of the unbalance estimated from the vibration state, so the vibration due to unbalance during dehydration can be reduced, Reduction of dehydration time can be realized.

  In the thirteenth aspect of the invention, in particular, the drainage amount control means of the twelfth aspect of the invention has a switching valve that separates the wastewater into drainage to the tank and drainage to the outside, so that the position and size of the unbalance estimated from the vibration state Accordingly, since it is possible to put the washing wastewater into the drainage tank, it is possible to reduce vibration due to imbalance during dehydration and shorten the dehydration time.

  In the fourteenth aspect of the invention, in particular, the drainage tanks of the twelfth and thirteenth aspects are composed of a plurality of drainage tanks, and the drainage amount control means supplies the drainage tanks to the drainage tanks based on the output of the unbalance amount estimation means. By controlling the amount of drainage, the amount of drainage control means can control the amount of drainage to each drainage tank based on the output of the unbalance amount estimation means. Since it is possible to put a predetermined amount of washing wastewater into each drainage tank according to the size, it is possible to reduce vibration due to imbalance during dehydration and shorten dehydration time.

  In the fifteenth aspect of the invention, in particular, the supporting means of the first aspect of the invention has vibration damping means for damping only the compressive force due to the receiving barrel vibration, so that it is always supported against oscillation vibration of the receiving barrel due to unbalance. Since the vibration-proof function can be increased when the means receives a compressive force, it is possible to reduce vibration due to imbalance during dehydration and shorten dehydration time.

  In the sixteenth aspect of the invention, in particular, the vibration damping means of the fifteenth aspect of the invention is a gel material, so that it is possible to obtain a large viscosity characteristic, reducing vibration due to imbalance during dehydration, and shortening the dehydration time. Can be realized.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the present embodiment.

(Embodiment 1)
FIG. 1 is a block diagram of a vibration control device for a washing machine according to the first embodiment of the present invention. In FIG. 1, 10 is a washing machine mechanism, 11 is a rotating drum as a washing tub for storing and rotating laundry, and 12 is a motor that rotates the rotating drum while controlling the speed, and is constituted by a brushless motor. Reference numeral 13 denotes a receiving cylinder into which the laundry and water enter, 18 a cover having a laundry insertion opening, 14 a seal packing for connecting the receiving cylinder and the cover 18 having the laundry insertion opening without gaps, and 15 a washing A support spring 16 for supporting the posture of the tub is composed of a spring element and a damper element for reducing vibration generated during washing (motor rotation) and reducing vibration transmission to the cover 18 and the floor. A damper mechanism 19 is an anti-vibration rubber for installing the washing machine on the floor, and 17 is a three-axis acceleration sensor for detecting the vibration state of the receiving cylinder 14.

  Reference numeral 24 denotes a control means for the motor 12, reference numeral 25 denotes a Hall IC speed detection means for detecting the rotation speed of the motor, and reference numeral 26 denotes an error from the target rotation speed based on the motor rotation speed output from the speed detection means 25. The control amount calculation means of the control microcomputer for calculating the control amount by calculating the control amount, 27 is a drive means of the inverter circuit for applying a drive current to the motor 12.

  Furthermore, 21 is a vibration detection means for calculating the vibration amount (displacement) from the outputs of the acceleration sensors 17a and 17b, and 22 is the position and size of the unbalance due to the laundry based on the outputs of the two acceleration sensors 17a and 17b. The estimated unbalance amount estimating means 23 is a vibration control means for adjusting the viscosity and rigidity of the damper mechanism in accordance with the estimated unbalance. Here, the damper mechanism 16 comprises a pneumatic cylinder, a control valve, a pressure sensor, and a pressure source. Pneumatic actuator.

  First, vibration control will be described. The vibration control means 23 receives a washing mode signal from a washing machine controller (not shown), detects washing, dehydration, and drying operation modes, and outputs a control band corresponding to the operation mode to the vibration control means as a command. ing.

  In the case of the washing step, the rotational speed is 40 r / min to 120 r / min, and the control band is set to 2 Hz or more. In the case of the dehydration step, the control band is set to 30 Hz or higher in order to increase the rotational speed to 1800 r / min. Similarly, in the drying process, the control band is adjusted according to the rotation speed of the washing tub.

  The vibration control system detects vibration based on the acceleration signals of the triaxial acceleration sensors 17a and 17b, and performs feedback control so that the vibration becomes zero. Furthermore, in this embodiment, in order to reduce vibration by pressure control of the pneumatic actuator, state feedback control is performed based on the pressure sensor so as to achieve an equilibrium state when the motor is stopped.

  Next, unbalance estimation will be described. The unbalance amount estimation means 22 estimates the unbalance position using the vibration amounts by the two triaxial acceleration sensors 17a and 17b, which are the outputs of the vibration detection means, as input signals.

Here, the XYZ directions are as shown in FIG. 1, and the vibration amounts in the X, Y, and Z directions are displayed as follows.
X1: X direction vibration amount of sensor 17a Y1: Y direction vibration amount of sensor 17a Z1: Z direction vibration amount of sensor 17a X2: X direction vibration amount of sensor 17b Y2: Y direction vibration amount of sensor 17b Z2: of sensor 17b The Z direction vibration amount estimation method is shown below.
As a first step, the rotational speed is set to be equal to or lower than the first support system resonance, and the vibration amount in the three axial directions of the sensor 17a is compared at 140 r / min, for example.
As a second step, the vibration amounts of the sensors 17a and 17b are compared.
As a third step, the vibration phases of the sensors 17a and 17b are compared.
As a fourth step, an unbalance position is estimated using unbalance position determination means stored in advance in a memory.

FIG. 2 shows a table of the unbalance amount estimation means. Here, it estimates using the result of a 1st and 2nd step. In condition 2, the symbol> indicates 1.2 times or more, and the symbol ≈ means ± 1.1 times.
Assuming that the measurement results are X1 = 0.7 mm, Y1 = 2.8 mm, Z1 = 1.1 mm, Y2 = 2.1 mm, Z2 = 0.7 mm, both the condition 1 and the condition 2 are determined to be front unbalance from the table. The

  Further, regarding the magnitude of unbalance, the vibration amount and the unbalance amount are in a proportional relationship as shown in FIG. 3, and the inclination is stored in the memory. In this example, Z1 = 1.1 mm corresponds to about 300 g of unbalance, and the unbalance amount estimation means 22 outputs the previous unbalance: 300 g.

  The vibration control means 23 increases the control band of the front pneumatic actuator to 1.5 times higher than the rear side and sets the damping ratio to 0.7 or more in the case of front unbalance. The basic control band was set at 3 times or more of the motor rotation speed, and here it was set at 3 times. That is, at 300 r / min, the basic control band is 5 Hz, the rear pneumatic actuator is controlled at 15 Hz, and the front pneumatic actuator is controlled at 22.5 Hz.

  By configuring the control system as described above, it is possible to effectively reduce large vibrations on the front side of the receiving tube due to the front unbalance.

In such a vibration control system, simulation is performed with the following specifications. FIG. 4 shows the simulation results. The case where the control band is changed according to the unbalance is (1), and the case where the control band is constant is (2), and the vibration is reduced by changing the control band.
<Specifications>
Pressure source: 5 MPa (air pressure)
Initial pressure: 0.05 MPa
Control band: 2Hz-30Hz
Sampling frequency: 1 kHz
Motor torque constant: 0.83 Nm / A
Motor rotation speed: 0 to 900r / min (15Hz)
Carrier frequency: 16kHz
From the above, the washing machine is equipped with two 3-axis acceleration sensors and pneumatic actuators, and the vibration control and pressure control are performed by sensing the acceleration and internal pressure of the washing tub, thereby realizing the vibration control of the washing tub by the actuator. In addition, it is possible to improve the washing performance in the washing, dehydrating and drying processes of the washing machine and shorten the dehydrating time, and the resonance vibration of the support mechanism at the start-up and the vibration of the support mechanism due to the resonance vibration of the washing tub during steady rotation. This can reduce and prevent noise.

(Embodiment 2)
FIG. 5 is a block diagram of a vibration control device for a washing machine according to the second embodiment of the present invention. Since the basic configuration of the vibration control device is the same as that of the first embodiment, the basic description is omitted here. Further, the same components as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  The difference from FIG. 1 is that the control means 24 has an unbalance correction means 29. The unbalance correction unit 29 instructs the control amount calculation unit 26 to perform cloth unwinding control based on the position and magnitude of the unbalance output from the unbalance amount estimation unit.

  FIG. 6 shows a table of unbalance positions and their threshold values. Since the threshold value varies depending on the unbalance position, balance control can be performed under fine conditions. In the current support means, when the unbalance position is at the center, the amount of vibration is the smallest, and balance control can be performed until the unbalance position is at the center.

  As described above, two 3-axis acceleration sensors and pneumatic actuators are installed in the washing machine, and the vibration is controlled by sensing the acceleration of the washing tub, and the cloth is determined based on the unbalance position and size estimated from the acceleration. By performing loosening control and balance control, vibration control of the washing tub and high-precision cloth unraveling control by the actuator are realized, and it is possible to improve the washing performance in the washing, dewatering and drying processes of the washing machine and shorten the dewatering time. At the same time, it is possible to reduce or prevent the resonance vibration of the support mechanism at the time of startup, the vibration of the support mechanism due to the resonance vibration of the washing tub during steady rotation, and the noise caused thereby.

(Embodiment 3)
FIG. 7 is a block diagram of a vibration control device for a washing machine according to the third embodiment of the present invention. Since the basic configuration of the vibration control device is the same as that of the first embodiment, the basic description is omitted here. Further, the same components as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  The difference from FIG. 1 is that the vibration characteristic adjusting means 28 is provided and that there is no pneumatic actuator, and the damper element of the damper mechanism of the support means is composed of a magnetic fluid and a coil. The vibration characteristic adjusting unit 28 applies a current to the coil of the support unit according to the estimated value of the position and magnitude of the unbalance that is the output of the unbalance amount estimation unit 22. A magnetic field is generated by the application of electric current, and the viscosity of the magnetic fluid changes. For example, if there is an imbalance on the front side, a current is passed through the front coil to increase the viscosity of the front support means.

  As described above, it is possible to reduce the vibration by adjusting the viscosity of the support means according to the imbalance by the vibration characteristic adjusting means 28.

  As described above, the washing machine is equipped with two three-axis acceleration sensors, vibration characteristic adjusting means, and support means having a damper mechanism composed of magnetic fluid and a coil, and the acceleration characteristics of the washing tub are sensed and the viscosity characteristics of the support means By doing so, it is possible to reduce or prevent the resonance vibration of the support mechanism at the time of startup, the vibration of the support mechanism due to the resonance vibration of the washing tub during steady rotation, and the noise caused thereby.

(Embodiment 4)
FIG. 8 is a configuration diagram of the support means of the washing machine according to the fourth embodiment of the present invention. Since the basic configuration of the support means is the same as that of the first embodiment, the basic description is omitted here. Further, the same components as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  A difference from FIG. 1 is that a ball joint mechanism is provided. In FIG. 8, 131 is a receiving cylinder side mounting plate, 161 is a damper mechanism, 162 is a spring, 163 and 164 are buffer members, 101 is a housing side mounting plate, and 165 is a ball joint mechanism.

  The support means swings due to the vibration of the receiving tube generated by the unbalance. In the configuration of FIG. 8, since the support means and the housing are attached by the ball joint mechanism 165, it is possible to perform a swinging motion following the movement of the receiving tube. Therefore, vibration due to unbalance can always be received by the damper mechanism 16 that is the support means, and vibration can be reduced.

  As described above, by providing the ball joint mechanism in the washing machine support means, the support means can follow the vibration of the receiving cylinder and can always reduce the vibration. The vibration of the support mechanism due to the resonance vibration of the washing tub and the noise caused thereby can be reduced or prevented.

(Embodiment 5)
FIG. 9 is a configuration diagram of a washing machine according to the fifth embodiment of the present invention. Since the basic configuration of the washing machine is the same as that of the first embodiment, the basic description is omitted here. Further, the same components as those in the first embodiment are denoted by the same reference numerals as those in FIG.

  The difference from FIG. 1 is that the vibration absorbing means 41 is arranged in the receiving tube. The vibration absorbing means 41 absorbs and reduces vibration by changing vibration energy into thermal energy with a gel material.

  The vibration of the receiving cylinder generated by the unbalance becomes a large vibration at the rotational speed at which the motor rotational speed matches the resonance frequency of the support means. The vibration is proportional to the magnitude of the unbalance. For this reason, even if unbalance correction control is performed by cloth unwinding control or balance control, there may be large vibrations when dehydration is started. In such a case, the receiving tube may collide with the housing or with other mechanical elements of the washing machine.

  However, if the vibration absorbing means is arranged as shown in FIG. 9, the vibration absorbing means of the gel material can absorb the force and vibration at the time of collision by converting them into thermal energy, and the vibration of the housing due to the collision. Can be reduced.

  As described above, the vibration absorbing material made of the gel material is arranged in the receiving cylinder of the washing machine, so that the resonance generated at the unbalance is large, and even if the receiving cylinder collides with other washing machine elements, the vibration is reduced. Therefore, it is possible to reduce and prevent the resonance vibration of the support mechanism at the time of startup and the vibration of the support mechanism due to the resonance vibration of the washing tub during steady rotation and the noise caused thereby.

(Embodiment 6)
FIG. 10 is a block diagram of a vibration control device for a washing machine according to the sixth embodiment of the present invention. Since the basic configuration of the vibration control device is the same as that of the first embodiment, the basic description is omitted here. Further, the same components as those in the first embodiment are denoted by the same reference numerals as those in FIG. 1 is different from FIG. 1 in that it has a drainage control means 31, a drainage switching valve 32, and a plurality of drainage tanks 33. The drainage tank 33 is provided at three locations on the lower side of the receiving tube, the front side, the center, and the rear side.

  The drainage amount control unit 31 controls the drainage switching valve 32 based on the position and magnitude of the unbalance output from the unbalance amount estimation unit 22 to control the drainage amount to the plurality of drainage tanks 33. For example, when it is estimated by the unbalance amount estimation means that the unbalance is on the front side, drainage is poured into the front drain tank, and a weight due to drainage is added to the front side. The weight reduces the amount of vibration on the front side during steady vibration. Here, piping from the water supply and piping to the outside of the drainage are omitted.

  As described above, two 3-axis acceleration sensors are installed in the washing machine, the acceleration of the washing tub is sensed, and the amount of drainage to the drainage tank is determined by the drainage control means based on the position and size of the imbalance estimated from the acceleration. Since the weight can be provided at an arbitrary position by controlling, it is possible to reduce the steady vibration amount due to the weight, and it is possible to reduce and prevent the noise caused thereby.

(Embodiment 7)
FIG. 11 is a block diagram of the supporting means of the washing machine according to the seventh embodiment of the present invention. Since the basic configuration of the support means is the same as that of the first embodiment, the basic description is omitted here. Further, the same components as those in the first embodiment are denoted by the same reference numerals as those in FIG. 1 differs from FIG. 1 in that it has a ball joint mechanism and a vibration damping means.

  In FIG. 11, 131 is a receiving cylinder side mounting plate, 161 is a damper mechanism, 162 is a spring, 163 and 164 are shock absorbing members, 101 is a housing side mounting plate, 165 is a ball joint mechanism, and 166 is a gel material for vibration damping means. is there. The support means swings due to the vibration of the receiving tube generated by the unbalance.

  In the configuration of FIG. 11, since the support means and the housing are attached by the ball joint mechanism, it is possible to perform a swinging motion following the movement of the receiving tube. Therefore, vibration due to unbalance can always be received by the support means, and the vibration absorbing means 166 is compressed by shortening the damper mechanism due to vibration, so that vibration can be reduced.

  As described above, by providing the ball joint mechanism and the vibration absorbing means in the washing machine support means, the support means can follow the vibration of the receiving cylinder and can always reduce the vibration. In addition, it is possible to reduce or prevent the support mechanism vibration caused by the resonance vibration of the washing tub during steady rotation and the noise caused thereby.

  Although the pneumatic actuator is used in the present embodiment, the same effect can be obtained even with a McKibben type rubber actuator, a hydraulic cylinder, and a motor mechanism.

  In this embodiment, the acceleration sensor is arranged in front and rear of the upper side of the cylinder. However, if the vibration state of the cylinder can be detected in plural, such as the lower side and the lateral side, the same applies to other configurations. An effect is obtained.

  In this embodiment, the number of pneumatic actuators and damper mechanisms is four, but the same effect can be obtained with other numbers such as two or three.

  Further, in the present embodiment, the conditions 1 and 2 in FIG. 2 are used for the estimation of the unbalance position, but the same effect can be obtained if the unbalance position can be determined under the condition 3 and other conditions.

  In the present embodiment, the threshold value for each unbalanced position is determined as shown in FIG. 3, but the same effect can be obtained even if other threshold values are used.

  In the present embodiment, the magnetic fluid and the electromagnetic coil are used for adjusting the viscosity of the damper mechanism. However, the size of the moving flow path diameter is controlled so as to control the amount of time the fluid moves. It may be configured.

  In the present embodiment, the ball joint mechanism is disposed between the damper mechanism and the housing mounting plate, but may be disposed between the damper mechanism and the receiving tube mounting plate.

  In the present embodiment, the vibration absorbing means is arranged at equal intervals on the upper part of the receiving cylinder. However, the same effect can be obtained anywhere as long as the receiving cylinder collides with other mechanism elements.

  In the present embodiment, a total of six drainage tanks used as weights are disposed on the lower side of the receiving cylinder, two on the left and three sides, and three on the front and rear. However, other arrangement methods may be used.

  Further, in this embodiment, the gel material of the vibration damping means is arranged in the spring element of the damper mechanism, but it may be anywhere as long as it receives a compressive force.

  In the present embodiment, there are spring mechanisms for maintaining the posture on the upper side and the rear side.

  In the present embodiment, the acceleration sensor is arranged in the receiving cylinder. However, the same effect can be obtained as long as it is another vibrating element such as a housing, a motor, or a washing tub.

  As described above, the washing machine according to the present invention is equipped with a plurality of 3D sensors (acceleration sensor, inclination sensor) and pneumatic actuators in the washing machine, and senses the acceleration of the washing tub, thereby vibrating the receiving cylinder. Detection and unbalance position and size can be estimated, and the vibration control of the washing tub can be controlled by the actuator according to the estimated value, and the dehydration time of the washing machine can be shortened, and the support mechanism at startup Therefore, it is possible to reduce and prevent the vibration of the support mechanism and the noise caused by the resonance vibration of the washing tub during steady rotation, and this is useful for reducing the vibration and noise at the start of dehydration in the washing machine.

The block diagram of the vibration control apparatus of the washing machine in the 1st Embodiment of this invention The figure which shows the estimation conditions of the imbalance amount estimation means of the washing machine Relationship between vibration amount and unbalance of the washing machine The figure which shows the simulation result of the vibration amount of the washing machine The block diagram of the vibration control apparatus of the washing machine in 2nd Embodiment The figure which shows the judgment conditions in the unbalance position of the washing machine The block diagram of the vibration control apparatus of the washing machine in 3rd Embodiment The support means block diagram of the washing machine in 4th Embodiment The block diagram of the washing machine in 5th Embodiment The block diagram of the vibration control apparatus of the washing machine which is 6th Embodiment The block diagram of the support means of the washing machine in 7th Embodiment Configuration diagram of a conventional drum-type washing machine Block diagram of conventional washing machine motor acceleration Configuration diagram of conventional washing machine vibration detection device Configuration diagram of a conventional shock absorber for a washing machine Other configuration diagram of conventional washing machine

Explanation of symbols

11 Rotating drum (washing tub)
DESCRIPTION OF SYMBOLS 12 Motor 13 Receptacle 14 Seal packing 15 Support spring 16 Damper mechanism 17 Acceleration sensor 18 Cover 21 Vibration detection means 22 Unbalance amount estimation means 23 Vibration control means 24 Control means 25 Speed detection means 26 Control amount calculation means 27 Drive means

Claims (16)

A washing tub for rotating laundry, a motor for rotating the washing tub, a control means for controlling the motor, a receiving cylinder that accommodates the washing tub and is supported by a housing, and the receiving cylinder A supporting means for supporting the position of the container, a plurality of vibration detecting means for detecting the vibration of the receiving cylinder, the position and size of the unbalance of the laundry from the vibration detecting means, and the vibration state of the receiving cylinder. A washing machine comprising: an unbalance amount estimating means for estimating; and a vibration control means for controlling and driving the support means based on the output of the unbalance amount estimating means. 2. The laundry according to claim 1, wherein the control means includes unbalance correction means for performing cloth unwinding control to change the position of unbalance based on the output of the vibration detection means or the unbalance amount estimation means. Machine. 2. The washing machine according to claim 1, wherein the vibration control means includes vibration characteristic adjusting means for adjusting the viscosity and rigidity of the support means based on the output of the vibration detecting means or the unbalance amount estimating means. The vibration detection means is arranged at two or more locations on the clothing inlet side and the motor side of the receiving tube, and detects vibrations in three directions, each of which is orthogonal to each other. The washing machine described. The unbalance amount estimation means stores the relationship between the unbalance position and the output of each vibration detection means in order to estimate the unbalance position in the washing tub based on the outputs in the three directions of the plurality of vibration detection means. The washing machine according to any one of claims 1 to 4, further comprising an unbalanced position determination means. 2. The washing machine according to claim 1, wherein the supporting means includes a spring element, a damper element, and a joint mechanism that allows the spring element and the damper element to swing freely with respect to vibration of the receiving cylinder due to unbalance. The washing machine according to claim 6, wherein the joint mechanism is a ball joint mechanism, and is attached to the housing via an elastic body. The washing machine according to claim 6, wherein the joint mechanism is arranged so that vibrations in both vertical and horizontal directions of vibration of the receiving tube due to unbalanced centrifugal force caused by the laundry can be reduced. 2. The washing machine according to claim 1, wherein the supporting means includes vibration absorbing means that contacts the receiving tube and absorbs vibration only when vibration is large. 10. The washing machine according to claim 9, wherein the vibration absorbing means is disposed on a receiving cylinder side that comes into contact with another element for a washing and drying function. The washing machine according to claim 9 or 10, wherein the vibration absorbing means is a gel material. The receiving cylinder has a drainage tank that temporarily stores washing wastewater, and has drainage amount control means for controlling the amount of water to the drainage tank based on the output of the unbalance amount estimation means. Item 1. A washing machine according to Item 1. The washing machine according to claim 12, wherein the waste water amount control means has a switching valve for separating the waste water into waste water to the tank and waste water to the outside. The washing machine according to claim 12 or 13, wherein a plurality of drainage tanks are provided, and the drainage amount control means controls the drainage amount to each drainage tank based on the output of the unbalance amount estimation means. . 2. The washing machine according to claim 1, wherein the supporting means has vibration damping means for damping only the compressive force due to the receiving cylinder vibration. The washing machine according to claim 15, wherein the vibration damping means is a gel material.