CN107636222B - Vibration damping device for washing machine or dryer equipped with drum - Google Patents

Abstract

A rotary damper (1) for a machine, in particular a washing machine (100) or a drying machine, wherein the washing machine (100) or the drying machine has a housing (102) and a drum (101) accommodated on the housing, a drum suspension (103), a drum drive (104) and a control device (105). A damper (1) is provided between the drum (101) and the casing (102) to damp vibrations of the drum (101) and/or the drum casing. The damper (1) comprises two parts (2,3) which are movable relative to each other, the relative movement of which can be damped. A damping gap (6) filled with a magnetorheological medium (5) is arranged between the two components (2,3), and a magnetic field generating device (7) having an electrical coil (8) is associated with the damping gap (6). The two parts (2,3) of the rotary damper (2) are arranged rotatably relative to each other, one of the two parts (2,3) comprising an inner part (12) and the other part (4) comprising an outer part (13), the outer part (13) at least partially surrounding the inner part (12) in the radial direction, and a damping gap (6) being formed radially between the inner part (12) and the outer part (13), so that the damper (1) is designed in the form of a rotary damper for damping rotational movements between the two parts (2, 3).

Description

Vibration damping device for washing machine or dryer equipped with drum

Technical Field

The present invention relates to a vibration damping device for machines equipped with a drum, in particular for washing machines or dryers and the like. The vibration damping device serves here to damp drum vibrations occurring during operation.

Background

In the washing machine, a drum housing, in which a drum is mounted and rotated, is generally suspended on a spring and damped by a plurality of dampers. In operation, when passing through the resonance speed, i.e. when the washing machine is accelerated from a low speed (e.g. washing) to a high speed (e.g. spin-drying), the drum passes through the resonance point, at which the drum starts to oscillate, and without damping effect a significant drum movement may occur. This effect is also enhanced depending on the amount and location of the load and the type of load (e.g. large (e.g. comforter) or small) in the drum. Without a corresponding damping mechanism, the drum may hit the washing machine housing or significant vibration/movement of the entire washing machine may occur. To avoid this, the drum movement is damped. A damping force of 100 newtons or even 200 newtons or more on the individual dampers may be required here. The range between the minimum force (e.g., 5 newtons) and the required maximum force (e.g., 150 newtons) is the desired operating range.

At low rotational speeds, the prior art washing machine damper is adjusted to be flexible or suitably lightly damped so that the machine works as quietly/smoothly as possible with little transmission of vibrations. This is critical because many washing machines are placed in the living room or close to the living room/bedroom because of the small living room (e.g., during the night wash). As the rotational speed increases, the washing machine drum passes through a resonance point without a suitable change in damping. In order that the entire system (washing machine) does not start vibrating, the damper is stiff before reaching the resonance point or when passing through critical areas, and thus the vibration is properly damped. At high rotational speeds after the resonance point, the damping force can again be reduced as a function of the conditions (load quantity, imbalance, etc.) in order to achieve as smooth an operation as possible. Therefore, the use of a washer damper with two damping stages is meaningful to provide an optimal machine.

A transmission is known from WO2014/037105a2, where in one embodiment a washing machine is disclosed, the drum movement of which is damped by means of a damper. In this case, the translational movement of the two parts which can be moved longitudinally relative to one another is damped, wherein an engagement gap, for example, cylindrical, filled with a magnetorheological medium is provided between the two parts. The engagement gap is sealed off from the outside at its axial ends, so that the magnetorheological medium remains in the engagement gap as a controllable friction disk, independently of the engagement between the two engageable parts. Depending on the strength of the applied magnetic field, corresponding shear forces act in the joint gap. The known prior art is reliable in principle in this respect. In particular, only a small amount of relatively expensive magnetorheological medium is required, since only the volume of the shear gap has to be filled. However, a disadvantage of the known transmission is that there is a relatively large basic force which must be overcome before the transmission recognizes a load.

Modern washing machines have a load recognition function, i.e. to avoid overloading, and the washing machine program is adapted to the amount (weight) of washing and the type of laundry. Thereby improving energy efficiency and saving detergent and water. The load recognition function generally functions according to the stroke of the drum during loading. For example, the drum suspended on one or more springs is lowered accordingly depending on the amount of laundry. This drop or stroke is detected and the drum load mass is derived from the spring stiffness of the suspension spring. In order to also recognize small load quantities, i.e. weights in the range of less than 2 kg, preferably less than 1 kg, the dampers used to support the drum or drum shell must achieve low friction. In this case, a basic force of less than 10 newtons, if applicable less than 5 newtons, is to be achieved, so that, with three dampers, a total basic force of 15 newtons is obtained as the supporting or counter force with a basic force of 5 newtons per damper. That is, a mass of less than 15 newtons (1.5 kilograms) can no longer be identified. However, washing machines are usually loaded with weights in this range or less, i.e. with such dampers, automatic program control cannot always function optimally, because the basic forces are too great.

Now, it has been shown that with a damper according to WO2014/037105a2, the friction of the only damper may have reached 20 newton or more. More than half of the basic friction is then due to the seal-induced friction, the rest being, for example, from the basic friction of the magnetorheological medium in the shear gap. In the case of three dampers, the basic friction can then reach or exceed the forces which occur only at typical or maximum load amounts. To cope with the control one can reduce the damper diameter and thus the seal length, but this in turn reduces the shear area and thus the maximum total force.

Furthermore, it has been shown that tubes having a diameter of less than about 30 mm and the required inner surface quality are not sufficiently inexpensive to be available. However, a high surface quality of the inner surface of the tube is necessary in order for the seal or relative tightness used to function within a defined service life, for example thirty million strokes. This can only be ensured if the friction surfaces have a high quality.

There is also the difficult situation in which the tube must be constructed of a ferromagnetic material in such a damper so that the magnetic field passes through the tube. Therefore, it is preferable to use a low alloy steel such as S235(ST 37). In order to obtain a sufficiently long service life with the seal, the surface should be hard or hardened. If one now uses high-carbon steels for this purpose, a conflict with the desired ferromagnetic properties arises.

Now to reduce friction at the seal, thinner tubes must be used, but the required inner surface quality cannot be obtained inexpensively at this time, since the machining tools also require space (diameter). If a larger diameter is chosen, the seal length and thus the basic friction increases.

In order to also use such a damper, a free stroke is proposed in WO2014/037105a2, but this has the disadvantage that the product becomes expensive again because of the play and additional costs associated with the additional parts, guides, cable leadthroughs, etc. Apart from these miscalculations, the force path from the free stroke to the maximum force is difficult to control, and thus interruptions and vibrations occur in the washing machine.

Another damper is disclosed by US2002/0084157a1 in which a magnetorheological fluid flows through an annular flow passage between the piston and the housing from a first chamber on one side of the piston to a second chamber on the other side of the piston. Thus requiring a considerable amount of expensive magnetorheological fluid, such dampers cannot be economically applied to washing machines. In addition, significant hydraulic damping occurs in the flow channel in this configuration, which is dependent on the flow velocity.

Disclosure of Invention

It is therefore an object of the present invention to provide a vibration damping device for machines equipped with a drum, such as drums for stone sanding, concrete mixers, bulk material mixers, centrifugal drums, etc., washing machines or clothes dryers, whereby a small basic force and a low-cost construction are achieved. Preferably, the lowest possible production costs, in particular in the single-digit euro range, should be allowed for the highest possible coefficient between the basic force (basic moment) and the maximum force (maximum moment) that can be achieved. Only then can industrial applications be realized with profitable piece numbers.

This object is achieved by a vibration damping device as claimed in the present application. The machine according to the invention, and in particular the washing machine, is the subject of the present patent application. Further developments and advantageous embodiments are the subject matter of the further claims of the present application. Further advantages and features result from the summary and the description of the embodiments.

The vibration damping device according to the invention for machines equipped with a drum, in particular washing machines or drum-equipped dryers and the like, serves to damp vibrations caused by the movement of the drum and/or drum housing during operation. The vibration damping device comprises a damper having two parts which are movable relative to each other, the relative movement of the two parts being damped. A damping gap which is at least partially filled with a magnetorheological medium is arranged between the two components. At least one magnetic field generating device with an electric coil is associated with the damping gap. The vibration damping device is designed and adapted to convert a drum movement into a rotary movement, so that the damper is designed as a rotary damper for damping the rotary movement between the two components.

The vibration damping device according to the invention for machines equipped with a drum, in particular for washing machines or drum-equipped dryers and the like, serves to damp vibrations caused by the movement of the drum and/or the drum housing during operation. The vibration damping device comprises a damper having two parts which are movable relative to each other, the relative movement of the two parts being damped. A damping gap which is at least partially filled with a magnetorheological medium is arranged between the two components. At least one magnetic field generating device with an electric coil is associated with the damping gap. The two parts are arranged so as to be rotatable relative to one another, and one of the two parts comprises the inner part and the other of the two parts comprises the outer part. The outer part surrounds the inner part at least in sections in the radial direction. The damping gap is formed between the outer part and the inner part. The damper is designed as a rotary damper for damping a rotational movement between the two components.

The vibration damping device according to the invention for a washing machine or other machine equipped with a drum has numerous advantages. A significant advantage of the vibration damping device according to the invention is that the damper is constructed in the form of a rotary damper and damps rotational movements between two components. In this way, it is not necessary to move the elongate seal axially along the axis, so that the friction values caused by the seal are significantly lower in the present invention than in the prior art transmissions comprising relatively translationally movable parts (+ stick-slip effect). In this way, a very low basic torque occurs in the vibration damping device according to the invention, which generates a damping force via the connecting part or the movement lever and thus damps an approximately linear movement or a wobble of the drum shell. Thus, a damping force of less than 2 newtons can be generated, converted to linear motion as in the prior art.

In addition, only a small amount of magnetorheological medium is required in the vibration damping device for a washing machine according to the invention, since in principle only a relatively narrow damping gap has to be filled with magnetorheological medium. Since there is only a rotational movement between the two parts, the risk of loss of the magnetorheological medium is also significantly lower than in the prior art, in which case the seal must reliably retain the medium present in the damping gap during the translational movement during each stroke. The drag pressure before the seal caused by the linear motion in the prior art also makes sealing difficult. In the case of service lives of several million strokes, this places a high requirement on the sealing, which is significantly reduced in the present invention, since only a rotary movement takes place between the two components and no relative translational movement of the two components takes place. In this case, the seal can be moved over a shaft or shaft section with a higher hardness and surface quality, since the shaft does not have to be an integral part of the magnetic circuit, which allows a suitable material to be selected. In addition, the sealing diameter (sealing length) can also be significantly reduced in the present invention, since the sealing does not necessarily have to be carried out on the surfaces assigned to the damping gap, but can be carried out, for example, on a much thinner shaft.

In the present invention, the washing machine or the dryer has a drum, respectively. Such a drum can be designed in particular in the form of a tank. Conventional and unconventional cartridges and other shapes are also possible.

The damper has a damping gap on at least a part of the circumferential surface, which is filled with a magnetorheological medium, in particular a magnetorheological fluid (MRF).

The two relatively rotatable parts are preferably rotated by at most a predetermined angle during operation. In principle, it is also possible that the two parts can be rotated relative to one another and, while the vibrations are damped, perform one or more or a plurality of rotations.

The invention relates in particular to a washer damper for damping vibrations, in particular of a washing machine or perhaps of a drum of a dryer, wherein the damping is performed by means of a rotary damper. The rotational movement is preferably carried out about a central axis in particular. The damping gap preferably extends axially between the first end and the second end.

The damping may be by shear forces or shear stresses within the magnetorheological medium. The magnetorheological medium here remains as a controllable friction disk in the damping gap. The damping gap is formed in particular in the form of a circumferential narrow damping gap. The magnetic field preferably acts on at least 25% of the area of the annularly encircling damping gap. The proportion of the area affected by the magnetic field over the entire circumference of the annularly encircling damping gap is in particular more than 30%, preferably more than 40%, more preferably more than 50%, 60%, 70% or 80% of the circumference of the annularly encircling damping gap. In the sense of the present application, the area unit is taken as the proportion of the area affected by the magnetic field when the magnetic field strength there is greater than 5% and preferably greater than 10% of the magnetic field strength acting on average on the circumferential surface (of the annularly encircling damping gap).

The rotary damper generates a controllable damping torque. The damping torque may be converted by other mechanisms into a damping force that contributes to the damping of the washing machine drum shell. In this regard, the rotational damper provides a damping torque that is converted into a damping force acting on the drum shell. The damping torque and the (effective) damping force are in particular proportional and in many cases linearly or approximately linearly dependent and can be used synonymously in the present application in the sense of technical significance. A damping torque is positively provided to allow a corresponding damping force to act on the roller housing. This effectively acting damping force can also be referred to as damping force.

The damping gap is preferably formed annularly around the rotor. In a preferred development, the damping gap is part of a chamber. The chamber is sealed by the two components and by a sealing mechanism provided between the two components or by two sealing mechanisms provided between the two components. In particular, the chamber is completely sealed off from the outside by the two components and by one or two seals.

The chamber and/or damping gap is preferably bounded radially inwardly by the inner member and radially outwardly by the outer member between the members. The damping gap preferably extends over an axial length, wherein the damping gap is particularly preferably delimited in the radial direction completely by the first part and the second part.

The chamber may include a reservoir of magnetorheological medium. The storage container for the magnetorheological medium can, for example, be filled with a sufficient amount of magnetorheological medium to compensate for losses occurring during operation over the service life. It is also possible to provide a spring or an air volume or the like in the storage container to place the magnetorheological medium at a slight overpressure. In this way, the gas volume is compressed and the outflow of magnetorheological medium is prevented or at least reduced in the event of an increase in the operating temperature. Storage containers connected by pipelines, external storage containers with or without springs or air volumes, etc., are also possible.

In a preferred development, a plurality of at least partially radially extending arms are provided on at least one of the parts. In this case, in particular at least a part of the limbs is equipped with at least one electrical coil, each having at least one winding.

The windings of the electrical coils and in particular of substantially all of the electrical coils or of one of the electrical coils extend in particular completely near the axis and at a distance from the axis. The axis may be a centered geometric axis or a rotational axis.

Preferably, the different poles of the magnetic field generating means are provided on adjacent ends of adjacent arms of at least one of the parts. It is particularly preferred that there is an even number of arms, which are particularly preferably symmetrically or orderly distributed around the respective part. Thus, in the case of 4 arms, the arms are each arranged offset by 90 °, whereas in the case of 6 arms, the angle is 60 °, and in the case of 8 arms, the angle is 45 °. There may also be 10, 12, 14 or 16 arms.

The inner part particularly preferably has radially projecting or extending arms on which the coils are arranged. However, it is also possible for the radially extending arm or other radially extending arms to be arranged on the outer part.

In all embodiments, the two parts are preferably only rotatable relative to each other through a limited angle of rotation. The limited angle of rotation can be obtained, for example, by means of a mechanical stop. It is also possible that the angle of rotation is defined by the electrical cable following rotation. It is also possible that the maximum angle of rotation is obtained by the installation situation or kinematics, so that no stop has to be provided in the case of a cable follow-up.

It is possible and preferred that the damper is associated with at least one rotation sensor for determining the angle of rotation of the two components. The rotation sensor can be designed optically, magnetically or otherwise and is provided for absolute determination of the angle of rotation of the two parts or for relative determination of their relative angle of rotation. An angle sensor may be provided to determine the relative angular position of the two components. The angle is preferably determined as an absolute position in the case of a loaded drum. In this way, in particular, the loading sensor which is additionally used between the drum and the housing can also be dispensed with. In particular, also angular changes during damping can be detected.

In an advantageous development, the damping gap has a radial height of less than 2% of the damping gap diameter and/or a radial height of less than 0.6 mm. In the case of a 30 mm diameter, a 0.6 mm height is obtained with a radial height of 2% of the diameter. At a diameter of 10 mm, a damping gap with a height of 0.2 mm is obtained. In all embodiments, it is preferred that the radial height is less than 0.5 mm, in particular less than 0.3 mm. This makes it possible to achieve a small volume for the magnetorheological fluid or the magnetorheological medium.

The damping gap therefore particularly preferably has a volume of less than 10 ml, in particular less than 5 ml or even less than 2 ml. Volumes of less than 3 ml are also possible and preferred.

The electrical coils and possibly the sensors are preferably connected by connecting wires which extend out especially within the inner part. It is also possible for the connecting wires to project outwardly from the inner part. The inner member may surround the rotating shaft so that the connecting wire protrudes outward through the inside of the rotating shaft. Preferably no slip ring is provided for connecting the electrical coils. In particular, it is preferred that the electrical coil and the sensor and thus the electrical power or signal transmission device are connected from the outside without the counter-rotating part by means of a coil spring, for example, like an elongated wound flat cable or a connecting wire of one-piece, in particular one-piece, material.

In other embodiments, for example, in which the service life is not so high, slip rings with wear can also be provided, which ensure contact-point transmission of the connecting line to the electrical coil.

In all embodiments, it is preferred that the outer part is a part of a housing which at least partially accommodates the inner part. The rotational axis of the inner part projects outward beyond the outer part. Preferably, at least one end of the rotatable shaft extends out of the housing. It is also preferred that the other end of the shaft terminates within the housing. In the case of a design in which one end projects from the housing and the other end terminates in the housing, a low friction torque and leakage can be achieved, since only a seal has to be provided at one end of the rotating shaft or shaft exposed portion.

In all modifications it is possible to mount a gear wheel on the rotary shaft, which is then in operative engagement or mesh with the toothed rack or other toothed wheel.

It is also possible and preferred that the damper is constructed in the form of a toggle lever. In the case of a vibration damping device designed in this way, one part of the damper is connected to one arm and the other part of the damper is connected to the other arm or formed as the other arm, so that overall a toggle lever is formed.

In all embodiments it is preferred that at least one spring mechanism is provided in order to generate a reaction force or a reaction moment when the deflection of the two parts takes place in at least one direction. The spring mechanism may be provided on the vibration damping device, but may also be mounted in or on other parts or components of the washing machine. The spring mechanism may be a linear spring, a butterfly spring, a coil spring, a flat spring, a torsion spring, a tension spring, or a compression spring, but is not limited thereto.

It is possible to provide a plurality of damping gaps which are distributed around the inner part. For this purpose, for example, the spacers can project radially outward beyond the inner part, so that the damping gap, which is itself substantially cylindrical, is divided into a plurality of partial gaps. The separating elements are connected to the inner part in a force-transmitting manner, since they must transmit forces during the rotational movement of the inner part relative to the outer part.

At least one coil may be assigned a permanent magnet. Such permanent magnets permanently provide a magnetic field, whereby a certain basic damping effect is permanently obtained. The magnetic field of the permanent magnet can particularly preferably be influenced by a corresponding electric coil. In particular, the magnetic field can be continuously varied in order to neutralize the magnetic field of the permanent magnet, for example by means of a corresponding reaction field, for example for machine loading. It is possible and preferred to continuously change the permanent magnet by a short electrical pulse of an electrical coil.

As magnetorheological media, it is advantageous to use suspensions of ferromagnetic particles in a medium such as, for example, oil, glycol or grease. The medium may contain a stabilizer.

The washing machine or dryer or the like according to the present invention has a drum housing together with a drum, a drum suspension/pedestal and a drum driving mechanism accommodated therein. A control device is also provided. At least one damper is provided between the washing machine housing and the drum or the drum housing for damping drum vibration. The damper comprises two parts which can be moved relative to one another, the relative movement of which can be damped. A damping gap which is at least partially filled with a magnetorheological medium is arranged between the two components. The damping gap is associated with a magnetic field generating device with an electrical coil. The two parts can be arranged so as to be rotatable relative to one another for torque transmission or force transmission. One of the two parts comprises an inner part and the other part comprises an outer part. The outer part surrounds the inner part at least in sections in the radial direction. The damping gap is formed radially between the outer part and the inner part, so that the damper is formed in the form of a rotary damper for damping a rotational movement between the two parts.

The washing machine according to the present invention also has many advantages because the vibration caused by the movement of the drum can be damped by the damper used. At the same time, small load quantities can be determined, so that an automatic and quantity-dependent control of the washing program is achieved.

The damper is adjustable during a revolution of the drum. In particular, the damping force or the damping torque of the damper or the vibration absorber can be adjusted at least twice during a complete revolution of the drum.

The damping force or damping torque of the damper can preferably be controllably adjusted over 10% of the maximum force or maximum torque during a revolution and can in particular be controllably varied.

The control algorithm moves the drum speed in the region of the optimum displacement point in a corresponding initial adjustment of the active damping force and subsequently changes the active damping force, as a result of which the laundry items are moved/displaced and/or repositioned one or more times relative to one another during the washing process.

The optimum shift point is preferably within the resonant rotation speed range. The drum and the drum suspension and the drum housing are preferably designed accordingly.

Advantageously, the switching time for the change of the damping force or the damping torque is less than 20 milliseconds.

In particular, the damper is connected to the drum by a substantially right-angled connecting joint in the unloaded (or loaded) state of the drum.

The shaking of the drum shell is preferably damped by a damping device with a rotational damper.

The damper can be connected (90 °) to the drum in the unloaded state of the drum by means of, for example, a substantially right-angled connecting joint. In this case, there is approximately a right angle in the joint in the unloaded state of the drum. The angle changes in particular as the drum deflection increases. In an advantageous embodiment, the angle on the joint is between about 75 ° and 115 °.

The important operating states in the case of a washing machine are:

1. stopping and loading

At this point as little damping as possible should be present to complete the identification of the load amount.

2. Low speed washing

In this case, a weak or moderate damping effect is of interest. Thus "absorbing" a small amount of energy in the damper. But reaching a final stop should also be avoided. In this operating state, the rotary damper heats up during operation.

3. Range of resonance

Within this range, a strong damping action should be set. In this case, the invention provides advantages because the variable damping can be set so that a certain resonance point is not always present.

4. High rotational speeds, e.g. spin-drying

At high rotational speeds, for example 1600 rpm or more, a weak or as weak a damping action as possible should be present. Despite the possible (low) imbalance, only small deflections are obtained at very high rotational speeds. The required damping force in the aforementioned operating state can vary depending on the amount (mass) and position of the load in the drum, the ageing and wear of the components, the temperature, the air humidity and other influencing parameters. Advantages are obtained by the present invention of a controllable or adjustable rotary damper (adjustment during the service life) with self-adaptation and fast switching.

Usually, the rotary damper is always placed in a flexible (closed state). When the displacement signal or the drum movement exceeds a target value, the damping is carried out accordingly. Thus, the drum is not even vibrated. Since the rotary damper with the MR medium or MRF can be switched rapidly (in milliseconds), it can be done approximately "in real time". When the damper is slow, the machine may start to oscillate and the damping effect may not be adjusted fast enough to prevent resonance during the change of operating point. With the invention, the damping effect can be changed strongly and in particular from a minimum moment or a minimum force to almost or even a maximum value in a time period of less than 10 milliseconds. At 1500 rpm, a revolution takes 40 milliseconds, so even at this speed the damping effect can be changed several times during a single revolution. Small changes in the damping torque or damping force still require a short time, so that sufficient time should always be available for this.

In order to be able to follow the desired setting conditions as quickly as possible, a construction is advantageous in which the magnetic field acting in the damping gap can be changed very quickly. Special materials are suitable for this in the magnetic circuit, which are easily magnetized (high permeability) and retain no or hardly any remanence (low coercive field strength). In addition, eddy currents induced by magnetic field changes should be attenuated by poor electrical conductivity. Eddy currents can be damped particularly effectively by the layered structure of the magnetic circuit consisting of ferromagnetic sheets.

The magnetic circuit and the electrical coil are preferably designed such that the coil has an inductance which is as small as possible. Supplying the coil with a higher driving voltage than necessary is advantageous for driving the maximum current (boost), thereby allowing a rapid number of sudden changes in current. By pulsed control, any current can also be regulated. For example, a control device with a full bridge (H-bridge) is suitable for rapid changes in the current intensity in both directions, i.e. current increases and decreases.

The energy required for rapid load change is preferably provided by a low impedance source such as a capacitor or battery in the vicinity of the load.

In the simplest embodiment, the switch may be a mechanical switch/key; it is advantageous to use transistors. However, other possibilities are also conceivable, such as relays or special forms of transistors (MOSFET, IGBT). The switch can in particular also be arranged in the GND branch, i.e. between the coil and the Ground (GND). The current measurement can be made anywhere in the circuit. A self-oscillating diode may also be provided which allows the electrical coil to continue to drive current after the switch is opened. The diode may also be replaced by a switch (Sync-FET).

Control by means of a full bridge (H-bridge) is also possible. The electrical coil can then be controlled in both directions, i.e. the polarity at the electrical coil connections can be changed. This allows, for example, to strengthen or weaken the permanent magnet in the coil magnetic circuit. In the case of pulsed control (PWM), the coil current can also be varied. In addition to simple control possibilities, the control device can also be equipped in this exemplary embodiment with various sensors, which allow a control loop to be formed. Depending on the intended application, for example, pressure sensors, force sensors, displacement sensors, temperature sensors, speed sensors or acceleration sensors can be used. Combinations of these and other sensors are also contemplated.

Since the control program (washing program) has discovered this process, it can also take into account that the rotational speed is increased at a certain moment when, for example, a spin-drying program is started. The damper can then be switched to harder at the same time or in advance, respectively, and the drum start-up can be avoided at the beginning. The rotary damper therefore requires a smaller maximum torque or a smaller maximum force and can be designed to be smaller and less costly.

One advantage is that no extreme movements occur regardless of how the machine is loaded. A small amount of energy and water is required and the load and wear is low for the rotary damper and the whole machine.

It is possible to use a sensor for this purpose, which detects a displacement or a position or an acceleration. But it is also conceivable to have no sensor means. I.e. when the operating point change is rather decisive and the operating point change moment is known, as is usual in washing machines, a simple (less costly) time control of the actuator may also be possible in a simplified embodiment.

The program or control means may also be controlled in dependence of program related thresholds or measured parameters related to e.g. drum acceleration, motor power consumption, on-line frequency analysis and/or the like. The consumption by means of a measurement of the consumption of an electric motor, for example for the rotation of a drum, is an "effective" measurement parameter which is suitable for the control. Time can also be used as a measurement/reference parameter.

The control or adjustment may also be constructed and/or learned based on fuzzy logic.

The control or regulation can then be learnable/self-learning with regard to influences such as aging and/or temperature influences. In addition, it may be learned/self-learned for optimal damping for a particular wash profile. Specific/iterative loading conditions can also be considered/learned at this time.

Here, the control or adjustment can be learned independently or optimized/adjusted by the user.

In order to be able to detect a suitable/optimum damping effect for all possible operating states, corresponding characteristic variables are generated on the basis of all measured variables available in the system. They signal whether the damping is correspondingly well or relatively non-optimally adjusted. These characteristic parameters are preferably generated/generated continuously/periodically at regular time intervals.

The characteristic parameter is a measure for the damping quality. The calculation may be based on all measurement parameters available within the system. Information of the motion parameters of all actuators used in the system is preferably used.

The calculation of the characteristic parameters is preferably carried out by direct processing of the sensor signals and/or by algorithms which continue to process this information, for example frequency analysis or the like.

The characteristic parameter is, for example, a measure for a vibration and/or noise impression. Alternative expressions of the characteristic parameters are also conceivable.

The characteristic parameter can then be interpreted by the control device.

In general, all available system information, in particular actuator movement parameters, can be used for monitoring purposes.

The monitoring is preferably carried out in real time, if necessary at regular time intervals. At this point, a time interval of less than 10 milliseconds appears to be a realistic advantage.

These characteristic parameters can likewise be interpreted by the washing machine user. The output can be performed, for example, by a display or the like.

It is possible that the user can manually adjust the damping properties during operation in order to produce an optimum damping effect for each operating state. The interpretation of the damping quality is then carried out, in particular, by means of corresponding automatically generated characteristic parameters.

Thereby allowing the user to personalize the washing sequence. For this purpose, an optimum damping behavior can be determined and stored for a specific load quantity in a specific operating state. It is also conceivable to determine/store the time sequence of the damping behavior.

To this end, the user is allowed to create/store/recall a specific optimal washing program for a specific/repeated loading pattern.

For example, a low-noise washing process can be generated for this purpose and recalled for repeated use (for example, for washing bedding).

It is also possible that all the content described at this time is automatically known/executed by the control unit.

In this case, it is conceivable, for example, for the control unit to inform the user of the characteristic variable after each washing operation on the basis of the characteristic variable determined for the optimum damping.

The user can then correspondingly store the time sequence for future repeated washing processes.

Furthermore, the control device can react to aging phenomena in a self-learning and/or automatic manner and adjust the control of the actuator accordingly to ensure an always optimal damping effect.

Furthermore, the control device can be self-learning and/or automatically responsive to temperature influences and adjust the control of the actuator accordingly to ensure an always optimal damping effect.

The temperature in the actuator may rise significantly during operation, so that the damping behavior can be changed significantly in the case of automatic control. It is therefore advantageous that this temperature influence is compensated during said control in order to produce an always constant performance.

This cannot be done with conventional actuators.

This can be done with the present system in which the actuator temperature is measured, for example by PT1000 in the coil or an alternative concept, and adjustments corresponding to known temperature effects are made based on the temperature information.

When the drum is loaded on one side (e.g. laundry in a pile; large laundry items), this may then create a very unbalance which can only be controlled with considerable effort. The switching of the rotary damper to a harder state may then also only be effected less gently. As soon as such an imbalance is noticed, modern washing machines change or reduce the drum rotation speed (shift rotation speed) or stop at a favourable position. The unbalance or the washing is then, for example, stopped at the top, i.e. at the 12 o' clock position, so that the washing is thereby "shifted" or "redistributed". One disadvantage here is that the washing time is thus (significantly) prolonged, since this process requires a relatively long time. The "shift" process must typically be performed multiple times (change in rotational speed, drum stop, wait). In addition, this consumes energy (start drum).

With the invention and the rapidly switched rotary damper used therewith, with a switching time of in particular less than 10 ms, from a small damping force acting on the drum shell to a correspondingly large damping force acting on the drum shell, it is also possible to perform a laundry displacement (dynamic displacement) during one or more revolutions or spin-drying revolutions, similar to that in a normal washing operation. That is, the force of the switchable rotary damper, which is operatively connected to the drum housing and is arranged in a plurality of different positions, is "intelligently" changed during one revolution, so that the resulting drum movement (vibration, impact) causes the laundry to be displaced. This process is enhanced when the drum speed is shifted into the region of the resonance point with a correspondingly low damping torque or an effective damping force and the damping torque is then changed "intelligently". The same can also be used to enhance the washing action and reduce the detergent and water requirements, since thereby the items to be washed can be moved/displaced/repositioned one or more times relative to each other during the washing process.

In this case, it is advantageous if the sensor knows exactly at which angular position or angular position the laundry or the imbalance is located or how large the load is. A corresponding algorithm again improves the result, so that the washing distribution in the drum can be shifted in as short a time as possible with low energy requirement and noise.

Another advantage is that aging phenomena within the system, which may alter the resonance occurrence, can be taken into account. It is feasible to rely on algorithms to react to this. Thus, as the number of years of use increases, optimal damping also occurs.

An additional advantage is that a stronger washing action can be obtained. This can be achieved by "water hammering", or so that the laundry can bounce back when it is exposed to water.

Energy saving is achieved because the damper is adjusted to only the required hard condition during washing.

The operation can be achieved with a soft sound, smooth and little vibration. This is extremely important especially in the case of washing machines which are now placed in a small room in a kitchen or living room. By means of the adaptive dampers, a more careful washing is obtained, which also extends the machine life.

With a smaller damper stroke and thus smaller drum deflection required, larger drums can be provided for accommodating more laundry in a washing machine having the same outer dimensions. Alternatively, the outer dimensions can be dimensioned for the same washing quantity (washing quality) and thus reduce the installation space requirement.

By the self-adaptive damper with intelligent control function, no or only a small amount of additional mass is needed on the washing machine to stabilize or adjust the resonance capability or improve the unbalance acceptance capability.

The control device preferably processes, in particular continuously, available system measurement parameters, such as all measured accelerations of the system (drum, carriage, etc.) and also actuator movement parameters, and on the basis of the measurement data and the known system performance, preferably determines a suitable damping force for the individual actuator per revolution and controls it accordingly, so that the vibration performance of the system is reduced.

The movement parameters of the actuator can be measured directly here by means of, for example, a displacement sensor, a speed sensor or an acceleration sensor.

It is also conceivable that the corresponding movement parameters are generated by means of suitable algorithms on the basis of the measured parameters. As basic measurement parameters, for example, displacement sensors, speed sensors or acceleration sensors can be used in this case. Here, the algorithm is preferably based on a kalman filter. Alternative algorithms for signal processing are also conceivable.

The calculation of the optimal damping force for at least a part of the used actuators and preferably for the whole used actuators (dampers) at any control moment is preferably performed by means of at least one suitable control algorithm. It is possible that a beat time of up to 50 microseconds is required for optimal control. For this purpose, in particular, a large number and preferably all of the information about the actual movement parameters of a plurality and preferably all of the actuators used is taken into account. In addition, in particular a plurality of and preferably all available system parameters, for example a plurality of and preferably all measured accelerations of the system (drum, stand, etc.), are taken into account.

The calculation of the optimal damping for each individual actuator (damper) can be carried out in the upper central control unit. The optimal damping information is then transmitted to and implemented/generated by the respective actuator.

It is also possible to decentralize the calculation of the optimal damping for each individual actuator (damper) used. Each actuator is provided with its own control unit, which calculates and implements the corresponding information.

It is also possible that each actuator is provided with its own control unit, wherein the control unit works as a calculation hub. It is the master electronics and processes/calculates the superior control strategy and transmits the corresponding information of the best damping to the remaining actuators (slaves) available within the system.

In addition to calculating the damping which is optimal for all actuators which are available in particular in the system, it is important to ensure that the optimal damping is achieved by the actuators in good time by means of a suitable control. The torque of the actuator is then proportional to the coil current. Accordingly, the optimal damping information is proportional to the coil current. The control unit must therefore ensure that the actual coil current in operation also corresponds to the coil current calculated for optimum damping. Due to the coil inductance present, no sudden current changes occur in the coil and thus no sudden changes in the actuator torque. In order to minimize the occurrence of time constants, at least one current controller is preferably used. The current controller is responsible for this so that the actual coil current follows the desired coil current as quickly as possible (for optimum damping).

Here, the implementation/calculation/commissioning of the current controller may be taken over by the central control unit for all actuators used within the system.

It is also possible that the implementation/calculation/realization of the current controller is distributed for each individual actuator (damper) used. At this point, each actuator is provided with its own control unit, which calculates and implements the corresponding information.

In any case, the current controller requires information about the actual coil current, among other things. Here, the information provision can be made by means of suitable sensors, such as shunts or the like. An observation system for evaluating the actual coil current is also conceivable.

The current controller can be regarded as a torque control device here.

For precise torque control, at least one torque sensor may also be used. The resistive torque of the actuator/actuators is then preferably controlled by the sensor signal of the torque sensor, and the current controller can be dispensed with.

A combination of a current controller and a superordinate torque controller is also conceivable.

The upper-level calculation of the optimum damping can then again be carried out centrally or decentralized.

These two control tasks may be considered independent of each other.

With the vibration damping device for a washing machine according to the present invention, a high damping force acting on the drum housing can be adjusted. Here, there is a high ratio between the minimum damping force and the maximum damping force, which is determined by the small basic force. The ratio of the maximum force to the minimum force or the ratio of the maximum torque to the minimum torque exceeds a factor of 100 and preferably 300 and can reach and exceed particularly preferred values of 400 or 500. Only with such a high ratio, combined with a very short switching time and an intelligent adjustment of the damping force, a "dynamic displacement" of the laundry and the described increase in the washing action and reduction of the detergent, energy and water requirements can be achieved by repositioning the drum contents relative to one another. In addition, a relatively small footprint is required, which reduces costs.

Furthermore, by means of the joint, a desired force transmission can also be achieved, here, for example, at right angles when high damping forces are required. The axis of rotation of the rotary damper can be oriented parallel to the axis of rotation of the drum, but can also be oriented transversely or askew with respect to the axis of rotation of the drum.

The magnetorheological transfer device may also be provided for the use of a magnetorheological fluid, such as the product "basic" by BASF corporation.

Magnetorheological fluids can be made of various distinct compositions, either alone or in combination: iron, carbon steel, NdFeB (neodymium), alnico, samarium, cobalt, silicon, carbon fiber, stainless steel, polymer, soda-lime glass, soda-lime-silicate glass, ceramic material, non-magnetic metal, and the like. A two-state magnetorheological fluid containing nanotubes or/and nanowires is also possible.

The carrier liquid may in particular consist of the following or a combination thereof: the oil is preferably synthetic or non-synthetic oil, hydraulic oil, glycol, water, grease, etc.

Depending on the material used, a residual magnetic field may occur in the material, for example depending on the number of switching (on-off). In this way, the base moment increases. By having an alternating field of decreasing amplitude, the residual magnetic field can be excluded.

This makes it possible to accept larger material quality tolerances in the material etc., which in turn reduces the production costs.

In all designs it is also possible for the rotational shaft to be of fixed design, i.e. to be constructed in the form of a shaft, where the housing then damps the rotation during said damping. The damper housing is then operatively connected to the drum housing.

Drawings

Further advantages and features result from the following embodiments described in connection with the accompanying drawings, which show:

fig. 1 is a front view schematically illustrating a washing machine according to the present invention;

fig. 2 is a schematic view of a drum suspension in the washing machine according to fig. 1;

FIG. 3 is an exploded schematic view of a vibration damping device for the washing machine according to FIG. 1;

FIG. 4 is a schematic cross-sectional view of a vibration damping device for the washing machine according to FIG. 1;

FIG. 5 is a partial perspective view of the vibration damping device according to FIG. 3;

FIG. 6 is a schematic cross-sectional view of the damping device according to FIG. 3;

fig. 7 shows schematically drawn magnetic field lines in the damping device according to fig. 6;

FIG. 8 is a cross-sectional view of another vibration damping device for the washing machine according to FIG. 1;

FIG. 9 is a perspective view of yet another vibration damping device for the washing machine according to FIG. 1;

FIG. 10 is a very schematic sketch of a control device of the damping device;

fig. 11 is a very schematic sketch of another design of the control device of the damping device.

Detailed Description

Fig. 1 shows a simplified front view schematic of a laundry machine 100 according to the present invention, which is provided with a housing 102. A drum casing 102 is mounted on the casing 102. The drum 101 is rotatably mounted within a drum shell 102. The drum may be rotated by a drum drive mechanism 104. Then, the drum shell 102 is connected with the damper 1. The control device 105 is used to integrally control the program operation and the washing machine 100.

The drum 101 or the drum shell 102 is mounted in a vibration-damped manner by means of three vibration damping devices 10. Each vibration damping device 10 has a damper in the form of a rotary damper 1. The damping device here comprises a connecting knuckle 106 and a rod/ link 107, 108 connected thereto, respectively. Here, the rods 107 are connected to the rotary dampers 1, respectively, and the rod 108 is connected to the drum 101 here.

Here, the basic friction or the basic torque of the rotary damper 1 is so small that the drum 101 can reliably obtain a small load of 1 kg or 2 kg, so that the control device 105 can control the corresponding program according to the weight.

Fig. 2 shows a schematic view of a drum suspension of a drum 101 or a drum housing 102 of the washing machine 100. The drum 101 or drum shell 102 is schematically shown to be elastically suspended by a drum suspension 103. The centered and downward arrow represents the offset of the drum 101 when the drum is loaded. Then, the roller 101 is substantially lowered, so that the rod 108 is also moved downward, and the joint 106 is also pressed downward. Thereby, the angle between the rods 107, 108 at the connection joint 106 changes, and the rotary damper 1 rotationally offsets.

Fig. 3 shows a perspective view of the vibration damping device 10, where several parts of the rotary damper 1 can be seen.

The rotary damper 1 is essentially formed by parts 2,3, wherein a rotational axis 4 is arranged or formed on the part 2. The rotating shaft 4 has a first end 31 and a second end 32. On the circumferential surface of the part 2, a plurality of arms 21,22,23 can be seen here, as will be described in more detail in the description of fig. 5-7.

A tumbler pin 4a (sliding key) may be arranged on the rotating shaft 4 to couple the component 2 to a part of the washing machine 100 in a rotationally fixed manner. Instead of a feather key, a wedge tooth structure, a polygonal connection structure or other frictional engagement or form-fitting connection may also be used. When mounted, the member 3 is pushed onto the member 2 and finally screwed with the cap 3a, with the first end 31 of the rotary shaft 4 projecting outwardly from the end of the member 3 to the right. A spacer sleeve 38 may be fitted for maintaining the predetermined spacing.

In principle, two variants are also possible here, namely that on the other side of the component 3 the second end 32 of the rotary shaft extends all the way out, but alternatively that the second end 32 of the rotary shaft 4 is mounted in the component 3 and, for example, in a bearing 37 of the cover 3a, which is made of aluminum or the like, for example. The bearing 37 may be a low-cost sliding bearing, but may also be a ball bearing or a roller bearing when the basic friction and service life requirements are high. Bearings can also be omitted when the requirements are low.

A rotation sensor or angle sensor 17 is used to determine the angular position of the components 2,3 relative to each other. The angle sensor 17 may contain a magnet stack and be read out of the housing 30 in a contactless manner. It may also be mounted on the connecting member (e.g. at the pivot point of the toggle lever). However, it may also be incorporated in a linear transducer mounted, for example, on a connecting rod between points that move linearly relative to each other.

The connection line 14 is used to supply the rotary damper 1 with electrical energy.

Furthermore, the collar, the adjusting washer, the collar, the seal, the bearing, etc. can be seen from left to right.

Fig. 4 shows a cross-sectional illustration in the assembled state, where it can be seen that the component 3 forms the housing 30 of the rotary damper 1 in the assembled state. The part 3 is internally provided with the main part of the part 2 so that only the first end 31 of the turning axle 4 protrudes out of the housing 30 after screwing the cover 3a onto the part 3. A pin 4a is provided on the portion of the rotating shaft 4 that protrudes outward. The member 3 has an outer member 13 and forms a housing 30. The component 2 has an inner part 12 surrounded by an outer part 13.

The rotary shaft 4 is mounted near the first end 31 by means of a bearing 37 and is provided at the other end 32 with a here spherical bearing structure with a bearing 37, so that only the rotary shaft 4 passes through it to the outside. In this way, the basic friction and thus the basic torque can be reduced, whereby a higher sensitivity of the washing machine 100 when loaded can be obtained.

The geometric axis 9 extends centrally through the rotation shaft 4. The connection wire 14 also passes through the rotating shaft 4, and is led from the outside (without slip ring) through the rotating shaft 4 to the electric coil 8 provided in the housing 30.

In this very schematic cross section of the rotary damper 1, two arms 21,22 can be seen on the inner part 12 of the part 2.

The damping gap 6 is arranged radially between the inner part 12 and the outer part 13 and extends over an axial length 16 which accounts for a major part of the length of the inner part 12. The length 16 of the damping gap 6 is preferably equal to at least half the length of the component 3, in particular at least 2/3 of the length of the component 3.

In particular, when the damping gap 6 has a large diameter 27, it is possible to provide a seal at each axial end of the damping gap 6 in order to substantially and preferably completely trap the magnetorheological medium in the damping gap 6. In a simple embodiment, a magnetic seal can be provided, in which case a magnetic seal is achieved that also exists in the narrow gap between the parts 2, 3.

At least one sealing element 11 is arranged at the outlet of the rotation shaft 4, which is as thin as possible, extending out of the housing 30. Here, the sealing elements 11 are arranged between the rotary shaft and the respective through-openings in the cover 3 a. If there are no seals on both axial ends of the damping gap 6, the basic friction is small. The volume of the magnetorheological medium is determined by the volume of the damping gap 6 and the volume of the approximately disc-shaped cavity between the inner part 12 and the outer part 13 at the two axial end faces.

The volume of the damping gap 6 is small, since the radial height of the damping gap is preferably less than 2% of the diameter 27 of the here cylindrical damping gap. The radial height of the damping gap is in particular less than 1 mm, preferably less than 0.6 mm, in particular less than 0.3 mm. With a length 16 of, for example, up to 40 mm or 50 mm and a diameter 27 of up to 30 mm and a gap height in the range of 0.3 mm, a gap volume of less than 2 ml is obtained, as a result of which the production costs can be kept low. The volume of the magnetorheological medium is in particular less than 3 ml and preferably less than 2 ml.

Between the rotary shaft 4 and the lever 107 or another connecting element, a transmission according to the prior art, preferably a planetary gear, a mini-transmission or a shaft transmission (e.g. a harmonic transmission) which is as free of play as possible, can also be provided.

Instead of the lever 107, a disk may be mounted on the input shaft. The disc or the disc outer diameter may be connected (friction fit or positive fit) to the member to be damped by at least one cord, belt. The connecting piece can also be effectively connected with the component to be damped through a steering mechanism and a speed change mechanism (such as a pulley block principle). The structure is thus flexible in terms of mounting and, unlike the rods 107, 108, the force/moment is independent of the angular position. However, it is also possible to use eccentric disks or cams, whereby the force/moment is dependent on the angular position. It is also possible to use a surrounding rope with fixing points, whereby a positive control, i.e. a transmission of tensile and compressive forces, is achieved. The transmission element (e.g. a rope) can be connected to the disc in a friction-fit or form-fit manner.

Fig. 5 shows a perspective view of a part of the rotary damper 1, wherein the component 2 is shown without the rotary shaft 4. When mounted, the shown part of the component 2 is coupled in a rotationally fixed manner to the rotary shaft 4.

The member 2 has a plurality of radially outwardly projecting arms 21,22,23 etc. Here, 8 arms are provided. But it is also possible and preferred to provide 6 or 10 or 12 or more arms.

Coils 8, which have at least one and in this case a plurality of windings, are wound onto the respective limb. The winding and the connection of the electrical coils are realized in such a way that, when the coil 8 is energized, different poles of the magnetic field occur at adjacent points of adjacent limbs.

Fig. 6 shows a cross section of the rotary damper 1, where the component 2 has an inner part 12, which is surrounded by an outer part 13 of the component 3. A damping gap 6, which is substantially cylindrical and is shown greatly exaggerated, extends between the two components 2,3, in which damping gap a magnetorheological medium 5 is located. In particular, the damping gap 6 is completely filled with the magnetorheological medium 5. At least one storage container 15 can be provided, in which a stock of magnetorheological medium is stored in order to compensate for the loss of a certain amount of medium over the service life of the rotary damper 1. Such a storage container 15 may be arranged, for example, in the space between the two arms 22, 23. But the storage container may also be external to the component 3.

In manufacture, the coil 8 is first wound around a separate arm. The remaining gaps between the individual arms can then be partially or completely filled with a medium, so that the magnetorheological fluid does not have to be filled there. For example, a casting resin or the like may be filled therein to fill the gap. Casting resins and the like are less expensive than magnetorheological fluids. Filling the voids is not required for the function. However, it is also possible, for example, to cover the damping gap 6 locally by a protective film in the form of a cover plate 34, while the spacing between the arms remains empty.

The damping gap is preferably formed cylindrically. It is also possible, however, for a plurality of spacers 29 to be arranged in the joint gap, which divide the cylindrical joint gap into a plurality of partial gaps. In this case, the spacers 29 are preferably connected either to the component 2 or to the component 3.

The engagement gap 6 itself can form the chamber 28 for the magnetorheological medium, but alternatively the engagement gap 6 together with the storage container 15 forms at least a substantial part of the chamber 28.

Fig. 7 shows a very schematic view of the course of the field lines in the cross-sectional area of the rotary damper 1 from fig. 6. The field lines 36 run here substantially radially through the damping gap 6, each extending through an angular portion of the component 3, and then run substantially perpendicularly through the damping gap 6 (into the adjacent arm) in the adjacent arm.

Fig. 7 clearly shows that there is a high field line density practically all around the rotary damper, so that an effective damping of the rotary motion can be achieved.

Fig. 8 shows a further embodiment of the rotary damper 1, in which the function is in principle the same as in the previous rotary damper 1. In contrast to the previous embodiments, in the rotary damper 1 according to fig. 8, the rotary shaft 4 is exposed not only at the first end 31 but also at the second end 32. Thus, the rotating shaft 4 is supported at both ends and sealed to the outside by the seal members 11. Here, too, the magnetic seal 11a can axially seal the damping gap 6.

Fig. 9 shows an embodiment of a rotary damper 1, in which one part 2 has a projecting arm and the other part 3 also has a projecting arm, the arms of the parts 2,3 being arranged in the basic state, for example, at right angles to one another. A portion of the part 2 forms an inner part 12 which is surrounded by an outer part 13 of the part 3.

In general, the vibration damping device 10 in the embodiment according to fig. 9 is a toggle joint adapted to effectively damp rotational movements in the washing machine 100.

Fig. 10 and 11 show a highly schematic embodiment of the control system of the vibration damping device 10.

In this context, the term "control device" is also intended to mean, within the scope of the invention, a control device which is also preferably designed and adapted for adjustment.

For example, only three articulated rotary dampers 1 are shown here as actuators. But four or five or ten or many actuators to be controlled may also be provided. But it is also possible to provide only one actuator or two actuators.

In this case, the damper 1 is operatively connected to the computing unit 201. The calculation unit 201 receives at least one actuator signal 204 for a respective one of the dampers 1, which actuator signal describes at least one parameter characterizing at least one state of the damper 1. For example, the actuator signal comprises a characteristic parameter obtained by the rotation sensor 17. The actuator signal may also comprise characteristic parameters which are measured by at least one torque sensor and/or at least one current sensor. Other suitable sensor types are possible. The calculation unit 201 particularly preferably takes into account a plurality of actuator signals 204 originating from a plurality of different sensors.

The calculation unit 201 preferably also takes into account at least one system information 203, which describes at least one system parameter. The system information 203 comprises, for example, acceleration values and/or other system parameters of the drum 101 and/or of the drum shell 109.

In conjunction with the supplied actuator signal 204, the computing unit 201 determines at least one parameter for the optimal resistance torque for the damper 1 in each case. The parameters for the determined resistance torque of the actuator of the damper 1 are each supplied to a current/torque controller 202 associated with the damper 1.

The current/torque controller 202 outputs at least one regulated voltage 205 in accordance with the resistive torque provided for each damper 1, respectively. It is also possible to include an adjustment signal suitable for controlling the non-voltage parameter and/or the additional parameter of the damper 1. The respective damper 1 is adjusted in dependence on the adjustment voltage 205.

The control device shown in fig. 10 can be configured as a central control device 200. At this time, the central control device 200 includes a computing unit 201 and current/torque controllers 202 assigned to the respective dampers 1.

In an embodiment not shown here, the current/torque controllers 202 associated with the respective dampers 1 can also be of a decentralized design. The computing unit 201 remains here in the center. For this purpose, the current/torque controller 202 is arranged in particular separately and spatially separated from the computing unit 201.

Fig. 11 shows a control device, which is embodied in the form of a decentralized control device 206. Each damper 1 is associated with at least one dedicated computing unit 201 and at least one dedicated current/torque controller 202. It is possible that the calculation unit 201 and the current/torque controller 202 to be assigned to one damper 1 are designed to act independently. However, the following design is also possible, and here the decentralized control device 206 also takes into account the system information 203.

List of reference numerals

1 damper, rotary damper 28 Chamber

2 parts 29 spacer

3 parts 30 housing

3a end of cap 314

4 end of the rotating shaft 324

4a pulling pin 33 permanent magnet

5 magnetorheological medium 34 cover plate

6 damping gap 35 cavity, packing

7 magnetic field generating means 36 field lines

8 electric coil 37 bearing

9-axis 38 spacer sleeve

10 vibration damper 100 washing machine

11 sealing mechanism 101 roller

12 inner part 102 housing

13 outer part 103 drum suspension

14 connecting line 104 roller driving mechanism

15 storage container 105 control mechanism

16 axial length 106 joint

17 rotation sensor 107 rod

18 winding 108 rod

1921. 22 end 109 drum shell

20 spring mechanism 200 central control device

21 arm 201 computing unit

22 arm 202 current/torque controller

23 arm 203 System information

24 pole 204 actuator signal

25 pole 205 regulated voltage

266 disperse the control means.

276 diameter of

Claims (24)

1. A vibration damping device (10) for a machine equipped with a drum (101) for damping vibrations caused in operation by movements of the drum (101) and/or of a drum shell (109), comprising a damper (1) having two parts (2,3) which can be moved relative to one another, the relative movements between which can be damped, wherein a damping gap (6) which is at least partially filled with a magnetorheological medium (5) is provided between the two parts (2,3), and the damping gap (6) is assigned a magnetic field generating device (7) with an electrical coil (8), characterized in that the vibration damping device (10) is adapted and designed for converting a drum movement into a rotary movement, so that the damper (1) is constructed in the form of a rotary damper for damping a rotary movement between the two parts (2,3), wherein the two components (2,3) are arranged rotatably relative to each other, and one (2) of the two components is an inner component (12), the other component (3) is an outer component (13), and the outer component (13) at least partially surrounds the inner component (12) in the radial direction, and the damping gap (6) is formed radially between the outer component (13) and the inner component (12), so that the damper (1) is designed in the form of a rotational damper for damping rotational movements between the two components (2,3), the inner component (12) having radially extending arms (21,22,23) with electrical coils (8) arranged thereon.

2. The vibration damping device (10) according to claim 1, wherein the damping gap (6) is part of a chamber (28), wherein the chamber (28) is sealed by the two components (2,3) and by a sealing means (11) provided between the two components (2,3) or by two sealing means (11) provided between the two components.

3. Damping device (10) according to claim 1, wherein the windings (18) of the electrical coils (8) each extend near an axis (9) extending centrally through the rotating shaft and spaced from the axis (9).

4. The damping device (10) according to claim 1, wherein different poles (24,25) of the magnetic field generating device (7) are provided on adjacent ends (19) of adjacent arms of at least one component (2, 3).

5. The vibration damping device (10) according to claim 1, wherein the damping torque is changeable by at least 30% of the required operating range in less than 20 milliseconds.

6. The damping device (10) according to claim 1, wherein the two parts (2,3) can only be rotated relative to each other by a limited angle of rotation.

7. The vibration damping device (10) according to claim 1, wherein the damper (1) is assigned at least one rotation sensor (17) for determining the angle of rotation of the two components (2, 3).

8. The vibration damping device (10) according to claim 1, wherein the damping gap (6) has a radial height (26) which is less than 2% of the diameter (27) of the damping gap (6) and/or a radial height (26) which is less than 0.6 mm.

9. The vibration damping device (10) according to claim 1, wherein the damping gap (6) has a volume of less than 10 ml.

10. Damping device (10) according to claim 1, wherein the electrical coil (8) is connected by a connecting wire extending outwards inside or outside the inner piece (12).

11. The vibration damping device (10) according to claim 1, wherein the outer member (13) is part of a housing (30) accommodating the inner member (12), wherein the rotational axis of the inner member (12) extends outwardly of the outer member (13).

12. The vibration damping device (10) according to claim 11, wherein one end (31) of the rotary shaft (4) protrudes out of the housing (30), and the other end (32) of the rotary shaft (4) terminates in the housing (30).

13. The vibration damping device (10) according to claim 1, wherein the damper (1) is constructed in the form of a toggle lever.

14. The damping device (10) according to claim 1, wherein a spring mechanism (20) is provided for generating a counter force when the deflection of the two components (2,3) takes place in at least one direction.

15. The vibration damping device (10) according to claim 1, wherein a plurality of damping gaps (6) are provided which are arranged dispersedly around the inner part (12).

16. Damping device (10) according to claim 1, wherein a permanent magnet (33) is associated with at least one electrical coil (8).

17. The vibration damping device (10) according to claim 1, wherein the magnetorheological medium (5) is a suspension of ferromagnetic particles in a medium.

18. The vibration damping device (10) according to claim 17, wherein the medium contains a stabilizer.

19. A machine with a housing (102) and a drum (101) accommodated in a drum housing (109) on the housing, as well as a drum suspension (103) and a drum drive mechanism (104) and a control mechanism (105), wherein at least one damper (1) is provided between the housing (102) and the drum housing (109) to damp vibrations of the drum (101) and/or of the drum housing (109),

wherein the damper (1) comprises two parts (2,3) which can be moved relative to one another and whose relative movement can be damped, wherein a damping gap (6) which is at least partially filled with a magnetorheological medium (5) is provided between the two parts (2,3), and wherein a magnetic field generating device (7) having an electric coil (8) is associated with the damping gap (6), characterized in that the two parts (2,3) are arranged so as to be rotatable relative to one another, and one of the two parts (2,3) comprises an inner part (12), and the other part comprises an outer part (13), wherein the outer part (13) at least partially surrounds the inner part (12) in the radial direction, and wherein the damping gap (6) is formed radially between the outer part (13) and the inner part (12), so that the damper (1) serves for damping the two parts (2,3) in the form of a rotary damper for rotary movement, the control algorithm moves the drum speed in the region of the optimum switching point in a corresponding initial setting of the damping torque, and subsequently changes the damping torque in such a way that the washing parts are moved/switched/repositioned relative to one another one or more times during the washing process.

20. A machine according to claim 19, wherein the damping torque of the damper (1) is controllably adjustable during one revolution over 10% of the maximum torque.

21. The machine of claim 19, wherein the optimal index point is within a resonant speed range.

22. The machine of claim 19, wherein a switching time for damping torque changes is less than 20 milliseconds.

23. A machine according to claim 19, wherein the damper (1) is connected to the drum (101) by a substantially vertical connecting joint (106) in the unloaded state of the drum (101).

24. A machine according to claim 19, wherein the shaking of the drum shell (109) is damped by a damping device (10) with a rotational damper.

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