JP2020198988A - Drum-type washing machine - Google Patents

Abstract

To reduce a used amount of commercial power supply and to reduce vibration of an outer tub in a drum-type washing machine.SOLUTION: A drum-type washing machine comprises a drum 8 for accommodating clothing, an outer tub 9 for including the drum 8, a housing 1 for accommodating the outer tub 9, a drive mechanism 10 for rotationally driving the drum 8, linear actuators 30 that support a lower part of the outer tub 9, and a control apparatus 7 for controlling the linear actuators 30, in which the linear actuators 30 are provided at least on the right and left sides one by one. The control apparatus 7 differentiates control methods of the linear actuators 30 provided on a side in which the clothing falls down and a side in which the clothing is lifted up with respect to a rotation direction of the drum 8.SELECTED DRAWING: Figure 2

Description

The present invention relates to a drum-type washing machine, and more particularly to reducing vibration of the drum-type washing machine during dehydration.

A drum-type washing machine is composed of an outer tub for storing water, a drum rotatably supported inside the outer tub, a housing forming an outer shell, and a vibration-proof support mechanism for supporting the outer tub on the housing. Dehydration of clothing is performed by rotating the drum at high speed. At this time, if the distribution of clothing in the drum is uneven, vibration is generated in the outer tank when the drum rotates. This vibration is transmitted from the outer tank to the housing and the floor via the vibration isolation support mechanism. The greater the damping force of the vibration isolation support mechanism for the outer tank, the more the vibration of the outer tank can be reduced, but the more the transmission force to the housing and the floor increases.

Patent Document 1 is a background technique in this technical field. In this publication, the vibration damping device is detected by a linear motor connected to the vibration damping object, an inverter that drives the linear motor, a current detector that detects the current applied to the linear motor, and a current detector. It is provided with a thrust adjusting unit that adjusts the thrust of the linear motor by driving the inverter based on the generated current. It is stated that this makes it possible to appropriately suppress the vibration of the vibration damping object.

Japanese Unexamined Patent Publication No. 2018-46624

However, Patent Document 1 describes a method of switching the damping force. At the time of resonance of the outer tank, the damping force (viscosity coefficient) is set large, and at high speed, the damping force is reduced to reduce the transmission force to the floor. Although it is said to be reduced, it is desirable to control the spring element as well because the transmission from the outer tank to the housing is transmitted not only from the damping element but also from the spring element.

The present invention has been made to solve the above-mentioned problems, and in consideration of the transmission from the spring element, a drum type washing machine capable of reducing the vibration of the housing and the transmission force to the floor can be provided. The purpose is to provide.

In order to solve the above object, the drum type washing machine of the present invention includes a drum for accommodating clothes, an outer tub containing the drum, a housing for accommodating the outer tub, and a drive mechanism for rotationally driving the drum. It has a linear actuator that supports the lower part of the outer tank and a control device that controls the linear actuator, and has at least one linear actuator on each side, and the control device lowers clothing in the direction of rotation of the drum. It is characterized in that the control method of the linear actuator provided on the side and the lifting side is different. The control method outputs a force obtained by multiplying the displacement by a proportional gain. Other aspects of the present invention will be described in embodiments described below.

According to the present invention, it is possible to reduce the vibration of the housing and the transmission force to the floor in consideration of the transmission from the spring element.

It is an external perspective view which shows the drum type washing machine which concerns on this embodiment. It is a right side sectional view which showed by cutting a part of the housing body to show the internal structure of the drum type washing machine which concerns on this embodiment. It is a vertical cross-sectional view which shows the internal structure of the linear actuator which concerns on this embodiment. It is a view of the end view of the line arrow II-II of FIG. It is a schematic diagram which shows the structure of the elastic support mechanism which concerns on this embodiment. It is a schematic diagram which shows the structural example of the elastic support mechanism different from FIG. It is explanatory drawing which shows the influence of the damping coefficient on the vibration displacement. It is explanatory drawing which shows the influence of the damping coefficient on the transmission force. It is explanatory drawing which shows the influence of the spring constant on the vibration displacement. It is explanatory drawing which shows the influence of the spring constant on the transmission force. It is a schematic diagram which shows the relationship between the rotation speed, the outer tank vibration, and the housing vibration. It is a schematic diagram which shows an example of the transmission of the force related to the left-right vibration of the housing of a drum type washing machine. It is a schematic diagram which shows an example of the transmission of the force related to the vertical vibration of the housing of a drum type washing machine. It is a schematic diagram which shows the floor transmission force reduction effect of the drum type washing machine of this invention. It is a schematic diagram which shows the control method of the spring constant of the actuator which concerns on the drum type washing machine of this invention.

Embodiments for carrying out the present invention will be described in detail with reference to the drawings as appropriate.
FIG. 1 is an external perspective view showing a drum-type washing machine according to the present embodiment. FIG. 2 is a cross-sectional view of the right side surface showing a part of the housing cut out in order to show the internal structure of the drum type washing machine according to the present embodiment.

The housing 1 constituting the outer shell is mounted on the base 1a, and is composed of the left and right side plates 1b, the front cover 1c, the back cover 1d, the top cover 1e, and the lower front cover 1f. The left and right side plates 1b are joined to a U-shaped upper reinforcing material, a front reinforcing material, and a rear reinforcing material to form a box-shaped housing 1 including the base 1a, and have sufficient strength. There is. The door 2 is provided at substantially the center of the front cover 1c to close the input port 1g for taking in and out clothes, and is supported by a hinge provided on the front reinforcing material so as to be openable and closable. The operation / display panel 3 provided in the center of the upper part of the housing 1 includes a power switch 4, an operation switch 5, and a display 6. The operation / display panel 3 is electrically connected to the control device 7 provided at the lower part of the housing 1. A cooling fan 7a is attached to the control device 7.

The drum 8 shown in FIG. 2 is rotatably supported by the outer tank 9, has a large number of through holes for water passage and ventilation in the outer peripheral wall and the bottom wall thereof, and for putting in and taking out clothes on the front end surface. An opening 8a is provided. A fluid balancer 8b integrated with the drum 8 is provided on the outside of the opening 8a. A plurality of lifters 8c extending in the axial direction are provided inside the outer peripheral wall, and when the drum 8 is rotated during washing and drying, the clothes are lifted along the outer peripheral wall by the lifter 8c and centrifugal force, and fall by gravity. repeat. The rotation axis of the drum 8 is inclined so as to be horizontal or higher on the opening 8a side.

The cylindrical outer tub 9 coaxially encloses the drum 8 and provides a drive mechanism 10 at the outer center of the rear end surface. The shaft of the drive mechanism 10 penetrates the outer tank 9 and is coupled to the drum 8. The outer tub 9 has an opening 9c in the center of the front side for taking in and out clothes. Further, the drive mechanism 10 is provided with a rotation speed detection unit 10a for detecting the rotation speed.

The opening 9c of the outer tub 9 and the opening provided in the front reinforcing material are connected by a rubber bellows 11, and the outer tub 9 is water-sealed by closing the door 2. The drainage port 9d is provided at the bottom bottom of the outer tank 9 and is connected to the drainage hose 12. The drain hose 12 is provided with a drain valve. By closing the drain valve and supplying water, water is stored in the outer tank 9, and the drain valve is opened to drain the water in the outer tank 9 to the outside of the machine. An outer tank vibration detection device 9e is provided below the outer tank 9 to measure the amplitude of the outer tank 9. Excessive by comparing the amplitude with a preset threshold value, stopping the rotation of the drum 8 when the amplitude is large, and increasing the rotation speed only when the vibration is below the threshold value. The generation of vibration is suppressed. Further, a counterweight 9f is installed in front of the outer tub 9, and by increasing the weight and the moment of inertia of the outer tub 9, vibration when the clothes are biased is reduced. The outer tub 9 is vibration-proof supported by a pair of left and right elastic support mechanisms 15 whose lower side is fixed to the base 1a. The elastic support mechanism 15 is composed of a spring 16 and a linear actuator 30.

The drying duct 13 is vertically installed inside the back surface of the housing 1, and the lower portion of the drying duct 13 is connected to an intake port (not shown) provided below the back surface of the outer tank 9 by a rubber bellows 13a. .. The upper part of the drying duct 13 is connected to the blower unit 14. The blower unit 14 is installed in the front-rear direction on the upper part of the housing 1, and incorporates a drying fan 14a and a drying heater 14b for blowing air. The front of the blower unit 14 is connected to the warm air outlet 9g of the outer tank 9 by a rubber bellows 14c. Air is blown to the drying heater 14b by the drying fan 14a, and warm air is blown into the drum 8 from the hot air outlet 9g to dry the clothes.

Next, the structure of the linear actuator 30 will be described with reference to FIGS. 3 to 5.
FIG. 3 is a vertical cross-sectional view showing the structure of the linear actuator 30 according to the present embodiment. As shown in FIG. 3, the xyz axis is defined. Further, in FIG. 3, half of the linear actuator 30 is shown in the z direction, but the configuration of the linear actuator 30 is symmetrical with respect to the xy plane.

The linear actuator 30 includes a stator 31 and a mover 32, and a magnetic attraction / repulsion force in the y-axis direction between the stator 31 and the plate-shaped mover 32 extending in the y direction. This is a motor that linearly changes the relative positions of the stator 31 and the mover 32 in the y direction. The stator 31 includes a core 31a formed by laminating electromagnetic steel sheets and a winding 31b wound around the magnetic pole teeth T of the core 31a. Further, the mover 32 includes a plurality of metal plates 32a extending in the y direction, and permanent magnets 32b1, 32b2, 32b3 installed on the metal plate 32a at predetermined intervals in the y direction.

FIG. 4 is an end view taken along the line II-II of FIG. Note that FIG. 4 shows the entire linear actuator 30 (total cross section), not half of the linear actuator 30 in the z direction (see FIG. 3). As shown in FIG. 4, the core 31a of the stator 31 includes an annular portion S and magnetic pole teeth T (T1, T2), and the annular portion S constitutes a magnetic circuit. The pair of magnetic pole teeth T1 and T2 extend inward in the x direction from the annular portion S and face each other. The distance between the magnetic pole teeth T1 and T2 is slightly larger than the thickness of the plate-shaped mover 32. Windings 31b (31b1, 31b2) are wound around the magnetic pole teeth T1 and T2, respectively. By energizing the winding 31b, the stator 31 functions as an electromagnet.

In FIG. 3, two pairs of magnetic pole teeth T are provided in the y direction (moving direction of the mover 32). Further, the winding 31b wound around each of the two pairs of magnetic pole teeth T forms one winding, and both ends thereof are connected to the control device 7.

The permanent magnets 32b1, 32b2, 32b3 shown in FIG. 3 are magnetized in the y direction. More specifically, a permanent magnet magnetized in the positive direction in the y direction (for example, permanent magnets 32b1 and 32b3) and a permanent magnet magnetized in the negative direction in the y direction (for example, permanent magnet 32b2) are y. They are arranged alternately in the direction. Then, a thrust in the y direction acts on the mover 32 by the attractive force and the repulsive force of the mover 32 and the stator 31 that functions as an electromagnet. The "thrust" is a force that changes the relative positions of the mover 32 and the stator 31.

FIG. 5 is a schematic view showing the structure of the elastic support mechanism 15 according to the present embodiment. As described above, the elastic support mechanism 15 includes a spring 16 and a linear actuator 30. The upper end of the mover 32 penetrates the outer tank side suspension base 33, the rubber bushes 35a and 35b, and the metal plates 37a and 37b, and is fixed by the nut 38a. On the other hand, the stator 31 penetrates the suspension base 34 on the housing side, the rubber bushes 36a and 36b, and the metal plates 37c and 37d, and is fixed by the nut 38b. The outer tank side suspension base 33 is connected to the outer tank 9, and the housing side suspension base 34 is fixed to the housing 1. The spring 16 is arranged between the stator 31 and the metal plate 37a. Further, the stator 31 is provided with a displacement sensor 17 so that the distance between the stator 31 and the mover 32 in the y-axis direction can be measured.

As shown in FIG. 3, the stator 31 has a winding 31b, and both ends of the winding 31b need to be connected to the control device 7. Therefore, by connecting the stator 31 to the housing 1 side, The harness connecting both ends of the winding 31b and the control device 7 can reduce the risk of disconnection due to the vibration of the outer tank 9. However, it is not always necessary to have the configuration shown in FIG. 5, and as shown in FIG. 6, the stator 31 may be connected to the outer tank 9 and the mover 32 may be connected to the housing 1.

The control device 7 (see FIG. 2) that controls the output of the linear actuator 30 calculates the relative velocity dy / dt calculated from the relative displacement y and the relative displacement y of the stator 31 and the mover 32 measured by the displacement sensor 17. , The output is multiplied by the displacement proportional gain k ₁ (hereinafter, spring constant) and the velocity proportional gain c ₁ (hereinafter, damping coefficient), and is input to the linear actuator 30. The force output by the linear actuator 30 can be expressed by Eq. (1). Here, the relative displacement y is positive in the direction in which the elastic support mechanism 15 extends.

In the present embodiment, a displacement sensor 17 is provided in order to grasp the relative displacement between the stator 31 and the mover 32, but it is not always necessary to provide the displacement sensor 17 to directly measure the displacement, and a linear actuator. A value estimated using an induced voltage of 30 or the like may be used. Further, an acceleration sensor may be provided on the stator 31 and the relative displacement and the relative velocity may be calculated from the measured values of the acceleration sensor.

ここで、弾性支持機構１５のばね定数ｋは、リニアアクチュエータ３０のばね定数ｋ_１とバネ１６のばね定数ｋ_２の和となる。 Further, the force generated by the elastic support mechanism 15 can be expressed by Eq. (2) using the spring constant k ₂ of the spring 16.

Here, the spring constant k of the elastic support mechanism 15 is the sum of the spring constant k ₁ of the linear actuator 30 and the spring constant k ₂ of the spring 16.

Next, the vibration during dehydration in the drum type washing machine will be described.
When the rotation speed of the drum is increased, the outer tank 9 resonates in the left-right, up-down, and front-back directions at about 100 to 300 min ^-1 . Further Increasing the rotational speed housing 1 resonates in the lateral and longitudinal directions about 400~600min ^-1, housing 1 is resonant in the vertical direction at about 1000~1400min ^-1. The rotation speed to be finally increased varies depending on the driving course, etc., but is often performed at about 900 to 1400 min ^-1 .

Next, the vibration of the one-degree-of-freedom system excited by centrifugal force will be described with reference to FIGS. 7A, 7B, 8A, and 8B. FIG. 7A is an explanatory diagram showing the influence of the damping coefficient on the vibration displacement. FIG. 7B is an explanatory diagram showing the effect of the damping coefficient on the transmission force. FIG. 8A is an explanatory diagram showing the influence of the spring constant on the vibration displacement. FIG. 8B is an explanatory diagram showing the effect of the spring constant on the transmission force.

The horizontal axes of FIGS. 7 and 8 both indicate the rotation speed. As shown in FIG. 7A, the vibration displacement has a peak near 220 min ^-1 , and it can be seen that the larger the damping coefficient, which is the velocity proportional gain c, the more the vibration at the peak is suppressed. That is, in FIG. 7A, the line shown by the broken line (large attenuation coefficient) suppresses the vibration at the peak better.

As for the transmission force shown in FIG. 7B, the transmission force at the peak becomes smaller when the peak is in the vicinity of 220 min ^-1 and the damping coefficient, which is the velocity proportional gain c, is larger, as in the case of the vibration displacement. However, when it exceeds around 300 min ^-1 (√2 times the resonance rotation speed), the larger the damping coefficient, the larger the transmission force. Therefore, in general, in order to reduce the transmission force, the damping coefficient is increased when the rotation speed is low (broken line), and the damping coefficient is decreased when the rotation speed is high (solid line).

Next, the influence of the spring constant, which is the displacement proportional gain k, will be described with reference to FIGS. 8A and 8B. As shown in FIG. 8A, the resonance rotation speed increases as the spring constant increases, and the vibration displacement during resonance also increases. The same applies to the transmission force shown in FIG. 8B. The larger the spring constant, the larger the transmission force at resonance, and the tendency does not change even if the rotation speed increases.

Therefore, when reducing vibration and transmission force, it is desirable that the spring constant is small. However, if the spring constant can be switched, the spring constant is increased up to around 220 min ^-1 shown in FIG. 8A, and the spring constant is decreased at 220 min ^-1 , resulting in vibration in a rotation speed region lower than the resonance rotation speed. Displacement and transmission force can also be reduced.

Next, the effects of the vibration mode and the spring constant and damping coefficient in the vibration-proof structure of the drum-type washing machine will be described with reference to FIGS. 9 to 11.
FIG. 9 is a schematic view showing the relationship between the rotation speed, the outer tank vibration, and the housing vibration. When the rotation speed of the drum is increased, a plurality of resonances of the outer tank 9 appear in 100 to 300 min ^-1 . Further Increasing the rotational speed 400～600Min ^-1 to resonance appears that the housing 1 is vibrated in the lateral direction, the resonance of the housing 1 vibrates in the vertical direction appears in 1000~1400min ^-1. In general, the acceleration rate in that region is set high so that the operating time in the vicinity of the resonance rotation speed at which such vibration increases does not become long.

Further, as shown in FIGS. 7A, 7B, 8A, and 8B, the damping coefficient of the elastic support mechanism 15 is increased and the spring constant is decreased in the vicinity of the resonance rotation speed of the outer tank 9, thereby vibrating the outer tank 9. Can be reduced and the transmission power can be reduced. That is, the vibration of the housing and the transmission force to the floor can be reduced.

On the other hand, since the influence of the spring constant and the damping coefficient of the elastic support mechanism 15 on the vibration of the outer tank 9 is small at the resonance rotation speed of the housing 1, the housing is reduced by reducing the transmission force from the outer tank 9 to the housing 1. The vibration of the body 1 can be reduced. That is, by reducing the spring constant and the damping coefficient of the elastic support mechanism 15, the housing vibration is reduced.

FIG. 10 is a schematic view showing an example of transmission of a force related to the left-right vibration of the housing 1, and FIG. 11 is a schematic view showing an example of transmission of a force related to the vertical vibration of the housing 1. The control method of the linear actuator 30 of this embodiment will be described with reference to FIGS. 10 and 11.

In the present embodiment, the control method of the left linear actuator 30 and the right linear actuator 30 is described with the rotation direction of the drum 8 counterclockwise, but when the rotation direction is clockwise, the left and right linear actuators 30 are controlled. The method needs to be reversed.

In FIG. 10, when the outer tub 9 vibrates while drawing a circular locus counterclockwise, the force received by the housing 1 from each factor when the outer tub 9 moves to the upper position is vibrated from side to side of the housing 1. It is shown focusing on. The left-right vibration of the housing 1 is not the horizontal direction but the rotation vibration so that the housing 1 tilts left and right, and the center of the rotational vibration is the center of the main body in the left-right direction and the floor surface in the vertical direction as shown in FIG. It will be in the vicinity. Here, when the outer tank 9 moves upward, the displacement is upward, so the transmission force (spring force) F _1k from the spring component of the bellows 11 is upward, and the velocity is leftward, so the transmission force from the damping component (spring force). Damping force) F _1c points to the left. This is because the support position of the bellows 11 is higher than the center of the rotational vibration, so that the transmission force due to the damping force becomes a counterclockwise moment. On the other hand, since the spring force is upward, the force for tilting the housing 1 in the left-right direction is small. Further, an upward force is applied to the housing 1 with respect to the springs 16 of the left and right elastic support mechanisms 15.

Here, considering that the center of the rotational vibration of the housing 1 is near the lower part of the housing 1 (near the floor surface), the spring 16 on the left side is from the center of the rotational vibration of the housing 1 as shown in FIG. Is also connected to the left side, so it becomes a clockwise moment. On the other hand, since the spring 16 on the right side is connected to the right side of the center of the rotational vibration of the housing 1, it becomes a counterclockwise moment.

In FIG. 10, the moment due to the bellows 11 is M ₁ , the moment due to the spring 16 on the left side is M ₂ , the moment due to the spring 16 on the right side is M _3, and M, which is the total moment acting on the housing 1, is given by Eq. (3). Can be represented.
M = M ₁ + M ₂ + M ₃ (3)

Furthermore, with clockwise as positive, the distances from the center of rotation to the connection positions of the bellows 11, the left spring 16, and the right spring 16 are l ₁ , l ₂ , l ₃ , and the transmission forces are F ₁ , F ₂ , respectively. , When F _3, moment M acting on the housing 1 can be expressed by the equation (4).
M = -F ₁ l ₁ + F ₂ l ₂ -F ₃ l ₃ (4)

As described above, since only the left spring 16 is positive, there is an effect of canceling the moment by the bellows 11 and the right spring 16. Therefore, the left-right vibration of the housing 1 can be suppressed by balancing the vibration moment of the bellows 11 and the spring 16 on the right side with the vibration moment of the spring 16 on the left side. However, if the spring constants of the left and right springs 16 are different, the left and right spring constants are generally equal because they tilt and sink in the left-right direction when a load is applied to the drum.

Therefore, with respect to the left side where other forces can be offset, the spring constant of the elastic support mechanism 15 is increased with the spring constant of the linear actuator 30 as a positive value. As a result, the amount of cancellation increases, so that the housing vibration can be reduced.

On the other hand, on the right side, it is desirable to reduce the force transmitted to the housing 1, so the spring constant of the elastic support mechanism 15 is reduced. That is, the spring constant k ₁ of the linear actuator 30 is reduced. Here, it is possible to reduce the value by setting the spring constant k ₁ of the linear actuator 30 to 0, but by setting the spring constant k ₁ to a negative value and bringing the absolute value closer to the spring constant k ₂ of the spring 16, the elasticity The spring constant of the support mechanism 15 can be brought close to 0, and vibration can be further reduced. By these controls, the left-right vibration of the housing 1 can be reduced by reducing the exciting force with respect to the left-right vibration of the housing 1.

FIG. 11 is a schematic view showing an example of transmission of a force related to vertical vibration of the housing of a drum-type washing machine. In FIG. 11, when the outer tank 9 vibrates while drawing a circular locus counterclockwise, the vertical vibration of the housing 1 receives the force received by each factor when the outer tank 9 moves to the upper position. Focusing on. The force applied to the housing 1 in the vertical direction includes the spring force and damping force of the bellows 11 and the spring force and damping force of the elastic support mechanism 15. When the outer tank 9 vibrates upward as shown in FIG. 11, the displacement is upward and the velocity is 0. Therefore, the transmission force from the damping component of the bellows 11 and the elastic support mechanism 15 becomes 0, and the bellows 11 and the elastic support The transmission force from the spring component of the mechanism 15 is all upward. Therefore, since the directions of the forces from each connection portion are the same, they do not cancel each other out. Further, when the outer tank 9 vibrates to the left side, the displacement in the vertical direction is 0 and the speed is downward, so that the transmission force from the spring component of the bellows 11 and the elastic support mechanism 15 is downward.

As described above, the transmission of the force related to the vertical vibration is the same as the damping force because all the elements act in the same direction. Therefore, in order to reduce the vibration in the vertical direction, it is desirable to reduce the spring constant and the damping coefficient of each connection portion. Therefore, it is desirable that the damping force of the linear actuator 30 is small, and that the spring constant of the elastic support mechanism 15 is small. That is, it is desirable that the spring constant k ₁ of the linear actuator 30 is a negative value of the spring constant k ₂ of the spring 16.

Generally, in a drum type washing machine, the resonance rotation speed in the left-right direction is lower than the resonance rotation speed in the vertical direction of the housing 1, so that the spring constant of the linear actuator 30 on the left side is large near the left-right resonance rotation speed. However, by reducing the spring constant at a rotation speed higher than the left-right resonance rotation speed, it is possible to achieve both reduction of left-right vibration at the time of housing 1 left-right resonance and reduction of vertical vibration at the time of housing 1 vertical resonance.

Further, the force transmitted from the housing 1 to the floor (floor transmission force) is dominated by the left-right vibration during the left-right resonance of the housing 1 and the vertical vibration during the vertical resonance of the housing 1, as described above. By controlling, the floor transmission force can also be reduced.

Further, in the case of a vibration system that is vibrated by centrifugal force such as a drum type washing machine, the vibration of the outer tub 9 at the time of resonance of the outer tub 9 becomes smaller as the spring constant becomes smaller. Further, the smaller the spring constant, the smaller the transmission force, so that the vibration of the housing 1 is also reduced. Therefore, when the outer tank 9 resonates, it is desirable to reduce the spring constant of both the left and right linear actuators 30.

FIG. 12A is a schematic view showing the floor transmission force reducing effect of the drum type washing machine of the present invention. FIG. 12B is a schematic view showing a method of controlling the spring constant of the actuator according to the drum type washing machine of the present invention. FIG. 12A shows the relationship between the rotational speed and the floor transmission force, and FIG. 12B shows switching between the case where the left and right linear actuators 30 are controlled in the same way as the control method of the comparative example and the case where the spring constant of the linear actuator 30 is switched in the control method of the present invention. The method is shown.

Here, in FIG. 12B, "large" indicates that the spring constant of the elastic support mechanism 15 is controlled to be increased, and "small" indicates that the spring constant of the elastic support mechanism 15 is controlled to be decreased. For example, regarding "small", the spring constant of the linear actuator 30 does not necessarily have to be a negative value, and the spring constant of the elastic support mechanism 15 may be smaller than that of the "large" state.

In the region A where the outer tub 9 vibrates significantly, the spring constant of the linear actuator 30 is set to a small state (including a negative value) in both the control of the comparative example and the example of the present embodiment to reduce the vibration of the outer tub 9. In the region C where the housing 1 vibrates greatly up and down, the spring constant of the linear actuator 30 is set to a small state to reduce the transmission force.

In the region B where the housing 1 vibrates greatly to the left and right, in the control of the comparative example, the spring constants of both the left and right linear actuators 30 are used to reduce the force transmitted from the elastic support mechanism 15 to the housing 1 as in the region C. Is in a small state. However, in the present embodiment, since the spring constant of the elastic support mechanism 15 on the left side cancels the exciting force of other factors, the spring constant of the linear actuator 30 on the left side is set to a large state. As a result, as shown in FIG. 12A, it is possible to reduce the floor transmission force in the region B as compared with the control of switching left and right at the same time.

Further, in the present embodiment, the case where the resonance rotation speed of the housing 1 is lower in the left-right direction than in the up-down direction has been described, but the case where the resonance rotation speed of the housing 1 is higher in the left-right direction than in the up-down direction. May be controlled by exchanging the area B and the area C.

The drum-type washing machine of the present embodiment has one set of left and right linear actuators 30 capable of outputting a force proportional to the displacement, and the control device 7 obtains the gains of the left and right linear actuators 30 according to the form of vibration. Make it different. Specifically, the drum type washing machine includes a drum 8 for accommodating clothes, an outer tub 9 containing the drum 8, a housing 1 for accommodating the outer tub 9, and a drive for rotationally driving the drum 8. It has a mechanism 10, a linear actuator 30 that supports the lower part of the outer tank 9, and a control device 7 that controls the linear actuator 30, and has at least one linear actuator 30 on each side, and the control device 7 is a drum 8. The control method of the linear actuator 30 provided on the side where the clothing is lowered and the side where the clothing is lifted is different with respect to the rotation direction of. The control method outputs a force obtained by multiplying the displacement y by a proportional gain (for example, the spring constant k). As a result, it is possible to reduce the vibration of the housing 1 and the transmission force to the floor.

In the drum type washing machine of the present embodiment, the vibration of the outer tub 9 is reduced by generating a force proportional to the displacement according to the vibration mode of the outer tub 9 (see FIG. 12A) (see FIG. 12B), and the housing body. It is possible to reduce the vibration of 1 and the transmission force to the floor.

The control device 7 is assumed to repel when the elastic support mechanism 15 including the linear actuator 30 contracts when the proportional gain is positive, like an actual spring, and has a predetermined rotational speed region (for example, B in FIG. 12A). The proportional gain of the linear actuator 30 provided on the side where the clothing is lowered with respect to the rotation direction of the drum 8 may be larger than the proportional gain of the linear actuator 30 provided on the side where the clothing is lifted. As a result, it is possible to reduce the vibration of the outer tank 9 and reduce the vibration of the housing 1 and the transmission force to the floor.

The drum-type washing machine has at least one spring 16 for supporting the outer tub 9 on each side, and the control device 7 has an elastic support mechanism including a linear actuator 30 like an actual spring when the proportional gain is positive. It is assumed that the repulsion occurs when 15 contracts, and the proportional gain of the linear actuator 30 provided in the direction in which the clothing is lifted when the drum 8 rotates may be set to a negative value. As a result, it is possible to reduce the vibration of the outer tank 9 and reduce the vibration of the housing 1 and the transmission force to the floor.

In the present embodiment, the elastic support mechanism 15 has a structure having a spring 16 and a linear actuator 30, but it is not always necessary to have the structure, and the spring 16 and the linear actuator 30 may be arranged at different positions. For example, the spring 16 may be configured to lift the outer tub 9 from the upper part, and the lower part of the outer tub 9 may be supported by the linear actuator 30. Further, if the rotation direction of the drum 8 is reversed, the above description is reversed.

1 Housing 2 Door 7 Control device 8 Drum 9 Outer tank 9e Outer tank vibration detection device 10 Drive mechanism 10a Rotation speed detector 15 Elastic support mechanism 16 Spring 17 Displacement sensor 30 Linear actuator

Claims (5)

A drum for accommodating clothes, an outer tank containing the drum, a housing for accommodating the outer tank, a drive mechanism for rotationally driving the drum, a linear actuator for supporting the lower portion of the outer tank, and the linear actuator. Has a control device to control
It has at least one linear actuator on each side.
The control device is a drum-type washing machine characterized in that the control method of linear actuators provided on the side where clothes are lowered and the side where clothes are lifted with respect to the rotation direction of the drum is different. In the drum type washing machine according to claim 1.
The control method is a drum-type washing machine characterized in that a force obtained by multiplying a displacement by a proportional gain is output. In the drum type washing machine according to claim 2.
It has a rotation speed detection unit that measures the rotation speed of the drum.
The control device is a drum-type washing machine, characterized in that the value of the proportional gain is changed according to the rotation speed of the drum. In the drum-type washing machine according to claim 2 or 3.
The control device shall repel when the elastic support mechanism including the linear actuator contracts when the proportional gain is positive, like an actual spring, and with respect to the rotation direction of the drum in a predetermined rotation speed region. A drum-type washing machine characterized in that the proportional gain of the linear actuator provided on the side where the clothes are lowered is larger than the proportional gain of the linear actuator provided on the side where the clothes are lifted. In the drum-type washing machine according to claim 2 or 3.
It has at least one spring on each side to support the outer tank.
The control device is provided to repel when the elastic support mechanism including the linear actuator contracts when the proportional gain is positive, like an actual spring, and the clothing is lifted when the drum rotates. A drum-type washing machine characterized in that the proportional gain of the linear actuator is set to a negative value.

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