EP0091336B2 - Clothes washing machine with means for detecting vibrations due to unbalance - Google Patents

Clothes washing machine with means for detecting vibrations due to unbalance Download PDF

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Publication number
EP0091336B2
EP0091336B2 EP83400575A EP83400575A EP0091336B2 EP 0091336 B2 EP0091336 B2 EP 0091336B2 EP 83400575 A EP83400575 A EP 83400575A EP 83400575 A EP83400575 A EP 83400575A EP 0091336 B2 EP0091336 B2 EP 0091336B2
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Prior art keywords
speed
drum
machine
error signal
motor
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German (de)
French (fr)
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EP0091336A1 (en
EP0091336B1 (en
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Laurent Didier
Jean-Claude Geay
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Esswein SA
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Esswein SA
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    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F34/00—Details of control systems for washing machines, washer-dryers or laundry dryers
    • D06F34/08—Control circuits or arrangements thereof
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • D06F33/48—Preventing or reducing imbalance or noise
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06F—LAUNDERING, DRYING, IRONING, PRESSING OR FOLDING TEXTILE ARTICLES
    • D06F2103/00—Parameters monitored or detected for the control of domestic laundry washing machines, washer-dryers or laundry dryers
    • D06F2103/26—Unbalance; Noise level

Description

L'invention est relative à une machine à laver le linge et à un dispositif de commande du moteur d'entraînement du tambour d'une telle machine.The invention relates to a washing machine and a device for controlling the drum drive motor of such a machine.

On sait que lorsque la vitesse de rotation du tambour d'une machine à laver le linge augmente depuis une faible valeur, par exemple correspondant à la rotation pendant une phase de lavage, jusqu'à une plus grande valeur pour effectuer l'essorage, il faut prendre des précautions particulières pour éviter l'apparition de balourds dus à une répartition irrégulière du linge dans le tambour. En effet de tels balourds provoquent des vibrations de la machine qui peuvent gravement endommager les organes de celle-ci, notamment pour une vitesse de rotation du tambour correspondant à la fréquence de résonance de la machine.It is known that when the speed of rotation of the drum of a washing machine increases from a low value, for example corresponding to the rotation during a washing phase, to a higher value for spinning, it special precautions must be taken to avoid the appearance of imbalances due to irregular distribution of the laundry in the drum. Indeed, such unbalances cause vibrations of the machine which can seriously damage the organs thereof, in particular for a speed of rotation of the drum corresponding to the resonant frequency of the machine.

On a déjà proposé (notamment par la Demande de Brevet Français n° 80 18923 (Publication n° 2 489 384) au nom de la demanderesse) de détecter la présence ou l'absence de balourds lors de l'accélération du tambour au début de la phase d'essorage et, en cas de détection de balourds, de diminuer la vitesse de rotation du tambour afin de répartir de façon plus régulière le linge et ainsi supprimer ces balourds.It has already been proposed (in particular by French Patent Application No. 80 18923 (Publication No. 2 489 384) in the name of the applicant) to detect the presence or absence of imbalances during acceleration of the drum at the start of the spin phase and, if imbalances are detected, to decrease the drum rotation speed in order to distribute the laundry more evenly and thus remove these imbalances.

Mais les moyens utilisés jusqu'à présent pour la détection des balourds ne sont pas bon marché.However, the means used hitherto for detecting unbalances are not inexpensive.

L'invention remédie à cet inconvénient.The invention overcomes this drawback.

Elle est caractérisée en ce que la machine comportant des moyens d'asservissement de la vitesse de rotation du tambour à une consigne fournie par un programmateur, on fait appel à l'écart entre la vitesse réelle du tambour et la vitesse de consigne pour détecter le balourd. On ne prévoit ainsi pas de moyen de détection particulier pour les balourds car c'est le même moyen et le même signal qui assure la détection de balourd et la régulation de vitesse.It is characterized in that the machine comprising means for controlling the speed of rotation of the drum to a setpoint supplied by a programmer, the difference between the actual speed of the drum and the setpoint speed is used to detect the imbalance. No particular detection means are therefore provided for unbalances because it is the same means and the same signal which ensures unbalance detection and speed regulation.

Dans la Demande de Brevet Européen n° 56 437 déposée le 22 Octobre 1981 et publiée le 28 Juillet 1982 est décrite une machine à laver le linge dans laquelle, pour déterminer la charge et non le balourd, on fait appel à la comparaison entre un signal tel que la vitesse et une grandeur de consigne correspondante. Mais cette demande antérieure correspond aux situations prévues par les paragraphes 3 et 4 de l'article 54 CBE. En raison de l'article 56 CBE elle ne peut donc être prise en considération pour l'appréciation de l'activité inventive. En outre cette demande antérieure n'est opposable que pour les états désignés suivants : DE-GB-IT.In European Patent Application n ° 56,437 filed on October 22, 1981 and published on July 28, 1982 is described a washing machine in which, to determine the load and not the unbalance, a comparison is made between a signal such as speed and a corresponding target variable. However, this earlier request corresponds to the situations provided for in paragraphs 3 and 4 of Article 54 EPC. Owing to Article 56 EPC, it cannot therefore be taken into account for the assessment of inventive step. Furthermore, this previous request is only enforceable for the following designated states: DE-GB-IT.

Par ailleurs, dans la Demande de Brevet Européen n° 71 308 déposée le 22 Juillet 1982, revendiquant une priorité du 31 Juillet 1981 et publiée le 9 Février 1983, est décrite une machine à laver le linge dans laquelle, pour déterminer le balourd, on détecte le signal d'erreur de l'asservissement de la vitesse du moteur à une consigne quand cette vitesse est maintenue constante.Furthermore, in European Patent Application n ° 71,308 filed on July 22, 1982, claiming a priority of July 31, 1981 and published on February 9, 1983, is described a washing machine in which, to determine the unbalance, we detects the error signal of the motor speed control at a setpoint when this speed is kept constant.

Cette demande antérieure 71 308 correspond aussi aux situations prévues par les paragraphes 3 et 4 de l'article 54 CBE et ne peut (article 56 CBE) être prise en considération pour l'appréciation de l'activité inventive. Elle n'est opposable que pour les états désignés suivants : DE-GB-IT.This earlier request 71 308 also corresponds to the situations provided for in paragraphs 3 and 4 of Article 54 EPC and cannot (Article 56 EPC) be taken into account for the assessment of inventive step. It is only enforceable for the following designated states: DE-GB-IT.

Pour ces états, l'invention se rapporte à une machine à laver le linge comprenant un asservissement de la vitesse du moteur d'entraînement du tambour à une consigne fournie par un programmateur ainsi que des moyens de détection de balourds dans le tambour, qui est caractérisée en ce que les balourds sont détectés, lors de l'accélération du moteur, par le signal d'erreur de l'asservissement, c'est-à-dire l'écart entre la vitesse réelle de rotation du tambour et sa vitesse de consigne.For these states, the invention relates to a washing machine comprising a servo-control of the speed of the drum drive motor to a setpoint supplied by a programmer as well as means for detecting unbalances in the drum, which is characterized in that the unbalances are detected, during the acceleration of the motor, by the servo error signal, that is to say the difference between the actual speed of rotation of the drum and its speed instructions.

Egalement pour DE-GB-IT l'invention se rapporte aussi à une machine à laver le linge comprenant un asservissement de la vitesse du moteur d'entraînement du tambour à une consigne fournie par un programmateur ainsi que des moyens de détection de balourds dans le tambour, qui est caractérisée en ce que les balourds sont détectés par le signal d'erreur de l'asservissement, c'est-à-dire l'écart entre la vitesse réelle de rotation du tambour et sa vitesse de consigne, et en ce qu'elle comporte un microprocesseur pour l'asservissement et la détection de balourds.Also for DE-GB-IT, the invention also relates to a washing machine comprising a servo-control of the speed of the drum drive motor to a setpoint supplied by a programmer as well as means for detecting imbalances in the drum, which is characterized in that the unbalances are detected by the servo error signal, that is to say the difference between the actual speed of rotation of the drum and its set speed, and in this that it includes a microprocessor for slaving and detecting unbalances.

De préférence, le montage est tel que l'asservissement est d'une précision moyenne afin que ledit écart, ou signal d'erreur, ait une valeur non négligeable.Preferably, the assembly is such that the servo-control is of average precision so that said deviation, or error signal, has a non-negligible value.

Ainsi on choisit délibérément une précision relativement peu importante pour l'asservissement, ce qui réduit d'autant le coût de cet asservissement et, malgré tout, apporte l'avantage de permettre une détection de balourds qui aurait été plus difficile avec un asservissement précis.Thus, a relatively unimportant precision for the servo is deliberately chosen, which reduces the cost of this servo all the more and, despite everything, brings the advantage of allowing imbalance detection which would have been more difficult with a precise servo.

Dans un exemple la précision de la régulation est de 3 tours/mn, c'est-à-dire qu'un écart entre la vitesse réelle de rotation et la vitesse de consigne n'est détecté que s'il dépasse 3 tours/mn. Pour que la signal d'erreur ait une valeur suffisante on peut également choisir une puissance du moteur qui ne soit pas trop excédentaire.In one example, the precision of the regulation is 3 rpm, that is to say that a difference between the actual rotation speed and the set speed is only detected if it exceeds 3 rpm . In order for the error signal to have a sufficient value, it is also possible to choose an engine power which is not excessively excessive.

Dans une réalisation, la vitesse est mesurée à l'aide d'une génératrice tachymétrique entraînée par le moteur et le signal analogique fourni par cette génératrice est appliqué à l'entrée d'un microprocesseur dans lequel, après conversion sous forme numérique, il est comparé à des signaux numériques de consigne de vitesse afin d'effectuer la régulation. Le microprocesseur est également tel que si l'écart dépasse une valeur déterminére au démarrage d'une phase d'essorage, un ordre de diminution de vitesse est produit pour arrêter la rotation ou diminuer la vitesse de façon à supprimer le balourd.In one embodiment, the speed is measured using a tachometer generator driven by the engine and the analog signal supplied by this generator is applied to the input of a microprocessor in which, after conversion into digital form, it is compared to digital speed setpoint signals to regulate. The microprocessor is also such that if the difference exceeds a determined value at the start of a spin phase, a speed decrease command is produced to stop the rotation or decrease the speed so as to remove the unbalance.

D'autres caractéristiques et avantages de l'invention apparaîtront avec la description de certains de ses modes de réalisation, celle-ci étant effectuée en se référant aux dessins ci-annexés sur lesquels:

  • - la figure 1 est un schéma montrant un moteur d'entrainement de tambour de machine à laver et son circuit de commande selon l'invention,
  • - la figure 2 est un diagramme montrant la variation du courant d'alimentation en fonction du temps, et
  • - la figure 3 est un organigramme montrant la programmation d'un microprocesseur du circuit de la figure 1.
Other characteristics and advantages of the invention tion will appear with the description of some of its embodiments, this being carried out with reference to the attached drawings in which:
  • FIG. 1 is a diagram showing a washing machine drum drive motor and its control circuit according to the invention,
  • FIG. 2 is a diagram showing the variation of the supply current as a function of time, and
  • - Figure 3 is a flowchart showing the programming of a microprocessor of the circuit of Figure 1.

Dans l'exemple la machine à laver le linge comprend un moteur électrique 10 alimenté en courant alternatif par l'intermédiaire d'une alimentation à découpage comprenant, de façon en soi connue, un interrupteur commandé 11 tel qu'un triac et un circuit de commande de cet interrupteur. En variante le moteur est alimenté en courant continu.In the example, the washing machine comprises an electric motor 10 supplied with alternating current by means of a switching power supply comprising, in a manner known per se, a controlled switch 11 such as a triac and a circuit for control of this switch. As a variant, the motor is supplied with direct current.

La vitesse de rotation du moteur 10 d'entraine- ment du tambour de la machine est fonction de la puissance reçue par ce moteur c'est-à-dire de la durée de fermeture de l'interrupteur 11 au cours d'une période donnée. Cette période donnée est par exemple une alternance ou une demie-alternance du courant alternativ.The speed of rotation of the motor 10 for driving the drum of the machine is a function of the power received by this motor, that is to say of the duration of closure of the switch 11 during a given period. . This given period is for example an alternation or a half-alternation of the alternating current.

Dans l'exemple l'interrupteur 11 étant un triac, il est tel que dès qu'il a reçu une impulsion de commande de conduction sur sa gâchette 13, il reste conducteur jusqu'à ce que le courant le traversant passe par la valeur zéro. La durée de fermeture de l'interrupteur 11 ne dépend alors que de l'instant de sa fermeture au cours d'une demie-période du courant alternatif. Cet instant est couramment exprimé en angle de déphasage 0 par rapport au début de l'alternance, la fin de la demie-alternance correspondant à 1800 (figure 2).In the example the switch 11 being a triac, it is such that as soon as it has received a conduction control pulse on its trigger 13, it remains conductive until the current passing through it passes through the value zero . The duration of closure of the switch 11 then depends only on the instant of its closure during a half-period of the alternating current. This instant is commonly expressed as a phase shift angle 0 relative to the start of the half-cycle, the end of the half-cycle corresponding to 180 0 (FIG. 2).

Les impulsions de commande du triac 11 sont délivrées par un circuit d'interface 12 recevant ses signaux d'entrée de la sortie 14 d'un microprosseur 15 dans lequel ont été introduites toutes les instructions de programmation de la machine.The control pulses of the triac 11 are delivered by an interface circuit 12 receiving its input signals from the output 14 of a microprosser 15 into which all the programming instructions of the machine have been introduced.

Ce microprocesseur 15 présente une entrée 16 recevant le signal analogique fourni par une génératrice tachymétrique 17 entraînée par l'arbre du moteur 10.This microprocessor 15 has an input 16 receiving the analog signal supplied by a tachometer generator 17 driven by the motor shaft 10.

Dans le microprocesseur 15 les instructions de consigne de vitesse pour le moteur 10 sont stockées sous forme numérique et sont comparées aux signaux numériques de vitesse réelle, obtenus après une conversion analogique-numérique (effectuée à l'intérieur du microprocesseur 15) des signaux fournis par la génératrice 17, afin d'asservir la vitesse du moteur 10 à la vitesse de consigne programmée.In the microprocessor 15 the speed setpoint instructions for the motor 10 are stored in digital form and are compared with the digital signals of real speed, obtained after an analog-digital conversion (carried out inside the microprocessor 15) of the signals supplied by the generator 17, in order to control the speed of the motor 10 to the programmed reference speed.

Le microprocesseur est ainsi programmé pour calculer l'écart s, ou signal d'erreur, entre la vitesse de consigne Vc et la vitesse réelle Vr:

Figure imgb0001
et cet écart est converti, grâce à une table introduite en mémoire du microprocesseur 15, en un angle 0 permettant de fermer l'interrupteur 11 à chaque demie-alternance à un instant tel que le signal d'erreur est minimisé, la vitesse réelle étant ainsi rapprochée au maximum de la vitesse de consigne.The microprocessor is thus programmed to calculate the difference s, or error signal, between the set speed V c and the actual speed V r :
Figure imgb0001
 and this difference is converted, thanks to a table introduced into the memory of the microprocessor 15, into an angle 0 making it possible to close the switch 11 at each half-wave at an instant such that the error signal is minimized, the real speed being thus brought as close as possible to the set speed.

Cependant, comme déjà mentionné ci-dessus, la précision de la régulation est volontairement limitée. Dans l'exemple chaque signal de vitesse est exprimé par un nombre binaire, ou mot, de 8 bits. La vitesse est ainsi mesurée à l'aide de 256 éléments. Le tambour pouvant tourner à 750 tours/mn un incrément de vitesse correspond à 3 tours/mn. Autrement dit la précision de la régulation est de 3 tours/mn.However, as already mentioned above, the precision of the regulation is deliberately limited. In the example each speed signal is expressed by a binary number, or word, of 8 bits. The speed is thus measured using 256 elements. Since the drum can rotate at 750 rpm, an increment of speed corresponds to 3 rpm. In other words, the precision of the regulation is 3 revolutions / min.

Le signal d'erreur s calculé dans le microprocesseur 15 est également utilisé pour détecter les balourds lors de l'accélération de la rotation du moteur. Si, lors de cette accélération, le signal d'erreur s dépasse une valeur limite sM le moteur est ralenti et il est commandé pour effectuer une opération de défoulage et ensuite reprendre son accélération. Si un balourd est à nouveau détecté une opération de défoulage est de nouveau commandée. Cependant le moteur est complètement arrêté par trois tentatives infructueuses c'est-à-dire après trois essais ayant montré que le signal d'erreur dépasse la valeur limite sM. En effet l'expérience a montré qu'après trois opérations de défoulage la probabilité pour que le linge soit réparti de façon irrégulière, et provoque ainsi des balourds, est pratiquement négligeable. En d'autres termes si au bout de trois tentatives on détecte encore des balourds il est alors hautement probable que ceux-ci ne proviennent pas d'une mauvaise répartition du linge, mais d'une autre cause à laquelle il faut remédier. C'est pourquoi on provoque alors l'arrêt du moteur et, de préférence, également l'arrêt des autres organes de la machine.The error signal s calculated in the microprocessor 15 is also used to detect unbalances during the acceleration of the rotation of the motor. If, during this acceleration, the error signal s exceeds a limit value s M the engine is slowed down and it is commanded to carry out a release operation and then resume its acceleration. If an unbalance is again detected, a release operation is again ordered. However, the engine is completely stopped by three unsuccessful attempts, that is to say after three tests having shown that the error signal exceeds the limit value s M. In fact, experience has shown that after three stripping operations, the probability that the laundry will be distributed irregularly, and thus cause imbalances, is practically negligible. In other words if after three attempts we still detect imbalances it is then highly likely that these do not come from a poor distribution of the laundry, but from another cause which must be remedied. This is why the engine is then stopped and, preferably, the other parts of the machine are also stopped.

Les divers éléments de l'asservissement étant tels que le signal d'erreur n'est pas trop faible, le balourd est toujours détectable dans de bonnes conditions. En effet si la qualité de la régulation est trop grande, même en cas balourd, le signal d'erreur peut être très faible. Au contraire en choissant une qualité de régulation qui n'est pas trop importante, le signal d'erreur s gardera une valeur mesurable, aisément exploitable pour la détection de balourds.The various elements of the control being such that the error signal is not too weak, the unbalance is always detectable under good conditions. In fact, if the quality of the regulation is too high, even in the event of an imbalance, the error signal can be very weak. On the contrary by choosing a quality of regulation which is not too important, the error signal s will keep a measurable value, easily exploitable for the detection of imbalances.

La figure 3 est un organigramme simplifié montrant une partie de la programmation du microprocesseur 15. Sur cet organigramme, de façon classique, les losanges correspondent à des comparaisons et les rectangles à des opérations effectuées. Cet organigramme faisant partie intégrante de la présente description, il n'est pas nécessaire de le décrire en détail. On précise cependant que l'opération correspondant au losange 20 »montée en vitesse« consiste à déterminer si, d'une part, la vitesse du moteur augmente et, d'autre part, si cette vitesse est comprise entre 50 tours/mn (vitesse qui correspond au lavage) et 150 tours/mn. Ce n'est qu'en cas de réponse positive à cette question qu'est effectuée la comparaison entre le signal d'erreur s et la valeur limite bεM (losange 21). Dans l'exemple εM est de l'ordre de 30 tours/mn.FIG. 3 is a simplified flowchart showing part of the programming of the microprocessor 15. On this flowchart, in a conventional manner, the diamonds correspond to comparisons and the rectangles to operations carried out. This flowchart being an integral part of the present description, it is not necessary to describe it in detail. However, it should be noted that the operation corresponding to the diamond 20 "speed increase" consists in determining whether, on the one hand, the speed of the motor increases and, on the other hand, whether this speed is between 50 rpm (speed which corresponds to lava ge) and 150 rpm. It is only in the event of a positive response to this question that the comparison is made between the error signal s and the limit value bε M (diamond 21). In the example ε M is of the order of 30 revolutions / min.

Claims (11)

1. A washing machine comprising a means for automatic control of the speed of the motor (10) for driving the drum at a desired value set by a programmed operating means, and furthermore means for the detection of imbalance in the drum, characterized in that such imbalance is detected, at the time of acceleration of the rotation of the drum, by the error signal of the automatic control means, that is to say the deviation (s) between the true speed of rotation of the drum (Vr) and the desired value speed (Vc) thereof.
2. Awashing machine comprising a means for automatic control of the speed of the motor (10) for driving the drum at a desired value set by a programmed operating means, and furthermore means for the detection of imbalance in the drum, characterized in that such imbalance is detected by the error signal of the automatic control means, that is to say the deviation (s) between the true speed of revolution of the drum (Vr) and the desired value speed (Vc) and in that it comprises a microprocessor (15) for the automatic control means and the detection of the imbalance.
3. The machine as claimed in claim 1 or claim 2, characterized in that the accuracy of the control is so limited that the error signal has a measurable value.
4. The machine as claimed in claim 3, characterized in that the accuracy of measurement of the speed is of the order of 3 revolutions per minute.
5. The machine as claimed in any one of the claims 1 through 4, characterized in that it comprises means in order to slow down the drum when the error signal (s) exceeds a threshold value (sM).
6. The machine as claimed in claim 5, characterized in that the threshold value (sM) is of the order of 30 revolutions per minute.
7. The machine as claimed in claim 5 or claim 6, characterized in that the drum is only slowed down if its speed of rotation is above the speed corresponding to a washing phase.
8. The machine as claimed in any one of the claims 5 through 7, characterized in that an instruction is given for redistribution when the error signal (s) exceeds the said threshold value (sM), the motor then being accelerated again.
9. The machine as claimed in claim 8, characterized in that the motor is ultimately stopped after three redistribution operations followed by detection of excessive imbalance.
10. The machine as claimed in any one of the preceding claims, characterized in that it comprises a tachometer generator (17) for the measurement of the true speed of rotation of the drum.
11. The machine as claimed in any one of the preceding claims, characterized in that the motor (10) for driving the drum is fed by a chopped power supply (11) controlled by the automatic control means.
EP83400575A 1982-03-26 1983-03-18 Clothes washing machine with means for detecting vibrations due to unbalance Expired - Lifetime EP0091336B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8205256 1982-03-26
FR8205256A FR2524020A1 (en) 1982-03-26 1982-03-26 WASHING MACHINE WITH MEANS FOR DETECTION OF BALANCES

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EP0091336A1 EP0091336A1 (en) 1983-10-12
EP0091336B1 EP0091336B1 (en) 1985-09-11
EP0091336B2 true EP0091336B2 (en) 1992-11-19

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DE (1) DE3360760D1 (en)
ES (1) ES8402039A1 (en)
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DE102004021627B3 (en) * 2004-05-03 2005-08-18 Koenig & Bauer Ag Roller support for supporting supply roller with axle for rotation printing machine has regulator that regulates imbalance force to desired value by driving final control element(s) to vary roller revolution rate

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FR2587378B1 (en) * 1985-09-17 1987-11-20 Esswein Sa METHOD FOR DETECTING THE LEVEL OF WATER IN A WASHING MACHINE AND WASHING MACHINE USING THE SAME
FR2629484B1 (en) * 1988-03-29 1990-11-16 Esswein Sa IMPROVEMENT IN MEANS FOR DETECTING BALMS IN WASHING MACHINES
FR2665271B1 (en) * 1990-07-24 1992-11-13 Sextant Avionique METHOD FOR CONTROLLING THE ROTATION SPEED OF THE DRUM OF A CENTRIFUGAL SPINNING MACHINE ACCORDING TO THE BALOURD AND MACHINE FOR CARRYING OUT THIS METHOD.
DE19522393C2 (en) * 1995-06-23 1998-04-09 Miele & Cie Device and method for determining the imbalance in a drum washing machine
DE19842611C2 (en) * 1997-12-10 2000-11-16 Miele & Cie Washer or washer dryer
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Also Published As

Publication number Publication date
DE3360760D1 (en) 1985-10-17
ES520989A0 (en) 1984-01-01
EP0091336A1 (en) 1983-10-12
EP0091336B1 (en) 1985-09-11
ES8402039A1 (en) 1984-01-01
FR2524020A1 (en) 1983-09-30
FR2524020B1 (en) 1985-01-04

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