JP2022012604A - washing machine - Google Patents

Abstract

To provide a washing machine which surely peels laundry after dewatering from an inner wall of an inner tub, without increasing damage on the laundry.SOLUTION: A washing machine includes: a housing; an outer tub 9 positioned inside the housing; an inner tub 8 rotatably supported inside the outer tub 9; a suspension having an actuator 30 which supports the outer tub 9 inside the housing in a vibration proof manner and controls the vibration of the outer tub; and a control part for controlling the actuator 30. The control part controls the actuator 30 and allows the outer tub to vibrate at the finish time or after the finish of the step for dewatering laundry.SELECTED DRAWING: Figure 10

Description

The present invention relates to a washing machine technique.

In the washing machine, the inner tub rotatably arranged inside the outer tub for storing water is rotated at high speed to dehydrate the laundry contained in the inner tub. The laundry being dehydrated is pressed against the inner wall of the inner tub by centrifugal force, and the laundry may remain stuck to the inner wall of the inner tub even after the dehydration is completed. In addition, there is a problem that it is difficult to take out the laundry because the laundry that is entangled due to rinsing is easy to wash and remains as it is even after dehydration.

Against this background, the vertical washing machine described in Patent Document 1 includes a frame, an outer tub suspended and supported inside the frame, a washing / dehydrating tub rotatably arranged in the outer tub, and washing. A fully automatic washing machine or a fully automatic washing / drying machine having a stirring blade rotatably arranged in the combined dehydration tub, a driving means for rotating and driving the washing / dehydrating tub and the stirring blade, and a control means for controlling the driving means. Therefore, the control means can remove the clothes attached to the side wall of the washing / dehydrating tub by using a fully automatic washing machine or a fully automatic washing / drying machine that drives the stirring blade after the final dehydration stroke, and the user can remove the clothes. It is stated that the clothes can be easily taken out from the fully automatic washing machine or the fully automatic washing and drying machine.

Further, in the drum-type washer-dryer described in Patent Document 2, the state of being stuck to the inner peripheral surface of the drum after the dehydration process of rotating the drum at high speed is completed and before the process shifts to the drying process. It is stated that when performing a cloth peeling process to peel off a piece of laundry, the control circuit performs DC excitation to fix the rotor position of the motor when stopping the rotation of the drum during the cloth peeling process. A method of peeling the clothes from the inner peripheral surface of the drum by applying gravity to the clothes by controlling the motor so that the drum does not rotate is described.

Japanese Patent Application Laid-Open No. 2003-311074 Japanese Patent Laid-Open No. 2011-50630 Public Relations

However, in Patent Document 1, when the stirring blade is rotated, the laundry in contact with the stirring blade is rubbed, so that there is a concern that the damage to the laundry may increase. Further, in Patent Document 2, the centrifugal force at the time of dehydration strongly acts on the laundry and the laundry is strongly attached to the inner peripheral surface of the drum, or the mass of the laundry is light and the laundry is attached. If the force acting on the surface in the direction of gravity is small, there is a concern that the laundry will not come off.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a washing machine for appropriately peeling dehydrated laundry from the inner wall of the inner tub.

In order to solve the above problems, the washing machine of the present invention has a housing, an outer tub located inside the housing, an inner tub rotatably supported inside the outer tub, and an outer tub. It has a suspension (for example, an elastic support mechanism 15) having an actuator that internally supports vibration-proof and controls the vibration of the outer tub, and a control unit that controls the actuator, and the control unit is a step of dehydrating the laundry. It is characterized in that the actuator is controlled to vibrate the outer tank at the end or after the end. Other aspects of the present invention will be described in the embodiments described below.

According to the washing machine of the present invention, the dehydrated laundry can be appropriately peeled from the inner wall of the inner tub.

It is a perspective view which shows the drum type washing machine which concerns on 1st Embodiment of this invention. It is a right side sectional view which showed by cutting a part of the housing in order to show the internal structure of the drum type washing machine which concerns on 1st Embodiment of this invention. It is a vertical sectional view which shows the internal structure of the actuator which concerns on 1st Embodiment of this invention. FIG. 3 is an end view taken along the line II-II of FIG. It is a schematic diagram which shows the structural example of the elastic support mechanism which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the structural example of the elastic support mechanism different from FIG. It is a block diagram which shows the control part which concerns on 1st Embodiment of this invention. It is a right side sectional view which showed by cutting a part of the housing in order to show the internal structure of the vertical type washing machine which concerns on the modification of 1st Embodiment of this invention. It is a right side sectional view which showed by cutting a part of the housing in order to show the internal structure of the vertical washing machine different from FIG. It is a schematic diagram which shows the structural example of the drum type washing machine which concerns on 2nd Embodiment of this invention.

Embodiments for carrying out the present invention will be described in detail with reference to the drawings as appropriate.
<< First Embodiment >>
FIG. 1 is an external perspective view showing a drum-type washing machine 100 according to the first embodiment of the present invention, and FIG. 2 is a right side surface of a housing cut out to show an internal structure. It is a sectional view.

The housing 1 constituting the outer shell is mounted on the base 1a, and is composed of left and right side plates 1b, a front cover 1c, a top cover 1d, a back cover 1e, and a lower front cover 1f. The left and right side plates 1b are bonded 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 loading port 1g for loading and unloading laundry, 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. Further, the operation / display panel 3 is electrically connected to the control device 7 provided in the lower part of the housing 1.

The inner tub 8 shown in FIG. 2 is rotatably supported inside the outer tub 9, has a large number of through holes for water passage and ventilation in its outer peripheral wall and bottom wall, and laundry on the front end surface. An opening 8a is provided for taking in and out. A fluid balancer 8b integrated with the inner tank 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 inner tub 8 is rotated during washing and drying, the laundry is lifted along the outer peripheral wall by the lifter 8c and centrifugal force and falls by gravity. Repeat the movement. The rotation axis of the inner tank 8 is horizontal (direction in the 2z axis in FIG. 2) or inclined so that the opening 8a side is higher than the horizontal.

The cylindrical outer tank 9 coaxially encloses the inner tank 8 and is provided with a drive mechanism 10 (motor) in 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 inner tank 8. The outer tub 9 has an opening 9c in the center of the front side for taking in and out the laundry. Further, the drive mechanism 10 is provided with a rotation angle detection device 10a for detecting the rotation angle.

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 of the bottom surface 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 at the lower part of the outer tank 9 to measure the amplitude of the outer tank 9. By comparing the amplitude with the preset threshold value, the rotation of the inner tank 8 is stopped when the amplitude is large, and the rotation speed is increased only when the vibration is below the threshold value. The generation of excessive vibration is suppressed. Further, a counterweight 9f is installed in front of the outer tub 9 to increase the weight and moment of inertia of the outer tub 9 to reduce vibration when the laundry is biased. The outer tank 9 is vibration-proof supported by a pair of left and right elastic support mechanisms 15 (suspension) whose lower side is fixed to the base 1a. The elastic support mechanism 15 is arranged in a vertical direction or tilted from the vertical direction.

The elastic support mechanism 15 is composed of a spring 16 having a spring constant K and an actuator 30. The control unit 40 that controls the actuator 30 can communicate with the control device 7 and receive a command value to the actuator 30. The control unit 40 may be provided in the control device 7.

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 a rubber bellows 14c connected to the warm air outlet 9g of the outer tank 9. Air is sent to the drying heater 14b by the drying fan 14a, and the warm air is blown into the inner tub 8 from the warm air outlet 9 g to dry the laundry.

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

The actuator 30 includes a stator 31 and a mover 32, and is subjected to a magnetic attraction / repulsion force in the y-axis direction between the stator 31 and the plate-shaped mover 32 extending in the y-axis direction. , A motor that linearly changes the relative positions of the stator 31 and the mover 32 in the y-axis 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. The mover 32 includes a plurality of metal plates 32a extending in the y-axis direction and permanent magnets 32b1, 32b2, 32b3 installed on the metal plate 32a at predetermined intervals in the y-axis direction.

FIG. 4 is an end view taken along the line II-II of FIG. Note that FIG. 4 shows the entire actuator 30 instead of half of the actuator 30 in the z-axis 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-axis 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 movable element 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-axis 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 unit 40.

The permanent magnets 32b1, 32b2, 32b3 shown in FIG. 3 are magnetized in the y-axis direction. More specifically, a permanent magnet magnetized in the positive direction in the y-axis direction (for example, permanent magnets 32b1 and 32b3) and a permanent magnet magnetized in the negative direction in the y-axis direction (for example, permanent magnet 32b2). Are alternately arranged in the y-axis direction. Then, the thrust force in the y-axis direction acts on the mover 32 by the attractive force / repulsive force between 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 a structural example of the elastic support mechanism 15 according to the first embodiment. As described above, the elastic support mechanism 15 is composed of the spring 16 and the 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 unit 40. Therefore, by connecting the stator 31 to the housing 1 side, the stator 31 can be connected. It is possible to reduce the risk that the harness connecting both ends of the winding 31b and the control unit 40 will be disconnected due to the vibration of the outer tank 9.

FIG. 6 is a schematic view showing a structural example of the elastic support mechanism 15 different from that of FIG. 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.

Next, the configuration of the control unit 40 will be described.
FIG. 7 is a configuration diagram showing a control unit according to the first embodiment. The control unit 40 includes a calculation unit 401 (microcomputer) that calculates and processes a voltage command applied to the actuator 30, and a drive circuit 402 that applies a voltage to the actuator 30. The calculation unit 401 receives a driving force command for each actuator from the control device 7. The driving force command is, for example, a current amplitude command Imp [A], a frequency command Fx [Hz], a phase command θx [rad], or the like. The calculation unit 401 determines the voltage command from the received driving force command to the actuator 30. As an example, FIG. 7 shows a calculation method of a voltage command when a driving force command (current command) is given by a sinusoidal function.

The current command Ixref of the actuator 30 is determined by the following equation (1). Here, t is time, and when the current command Ixref is positive, the actuator 30 moves upward (in the y-axis direction in FIG. 2).

Ixref = Iamp × sin (2π × Fx × t + θx) ・ ・ ・ (1)
The current command Ixref calculated by the equation (1) and the actual current I detected by the drive circuit 402 are differentially calculated, and the voltage command vref is calculated so as to follow the current command Ixref by the proportional integration control (PI control). do.

The thrust FL [N] generated by the actuator 30 is determined by the following equation (2).
FL = I × Kt ・ ・ ・ (2)
Here, Kt [N / A] is a thrust constant, which is a coefficient that changes the current and the thrust, which is determined by the actuator 30. By controlling the current I to follow the current command Ixref, a thrust FL is generated and vibration is applied to the outer tank 9.

In the present embodiment, the step of impregnating the washing water D into the stains adhering to the laundry C, impregnating the fibers of the laundry C, and further dissolving the stains in the washing water D is defined as a "washing step". .. Further, the process of flushing the washing water D with tap water or the like is defined as a "rinsing process". Further, the process of reducing the water content of the laundry C by the centrifugal force when the inner tank 8 is rotated at high speed is defined as the "dehydration process", and the "washing process", the "rinsing process" and the "dehydration process" are combined to form "dehydration process". Defined as "washing process". Before carrying out the "rinsing step", the "dehydration step" shall be carried out.

Further, the process of removing water from the laundry C to make it dry by applying heat to the laundry C with a heater or the like or blowing wind on the laundry C is defined as a "drying process" and is defined as "drying process". The "washing process" and the "drying process" are collectively defined as the "washing and drying process". In the "washing and drying step", the "dehydration step" shall be carried out before the "drying step" is carried out.
In the following description, the contents of the present invention in the "dehydration step" will be mainly described.

Next, the operation and effect of the actuator 30 will be described.
As described above, in the dehydration step, the water content of the laundry C is reduced by the centrifugal force when the inner tank 8 is rotated at high speed. At that time, since the laundry C is pressed against the inner wall of the inner tub 8 by centrifugal force, the laundry C remains stuck to the inner wall of the inner tub even when the rotation of the inner tub 8 is stopped after the dehydration process is completed. May be.

In the present invention, vibration (thrust) is applied to the outer tub 9 from the actuator 30 at the end or after the end of the dehydration step, and the inner tub 8 is vibrated to give collision energy to the laundry C. The collision energy Ec [j] when the inner tank 8 vibrates at a speed Vd when vibration is applied from the actuator 30 is given by the following equation (3).

Ec = mc x Vd ^2/2 ... (3)
Here, mc [kg] is the mass of the laundry C.

Therefore, by driving the actuator 30 and applying vibration to the inner tub 8 via the outer tub 9, arbitrary collision energy Ec can be given to the laundry C attached to the inner wall of the inner tub 8.

In the case of the conventional method of rotating the inner tank 8, the collision energy generated by the rotation acts most in the circumferential direction. However, when the outer tub 9 is vibrated in the vertical direction, the collision energy Ec acts most in the horizontal direction with the force that the laundry C sticks to the inner wall of the inner tub 8, so that the collision energy Ec is efficiently given to the laundry C. Will be possible

As another method of giving vibration (driving force command), for example, the frequency command may be set near the resonance frequency of the inner tank 8 (for example, 120 [min ^-1 ]). By doing so, the inner tub 8 can be vibrated greatly with a small driving force, and the collision energy Ec can be efficiently applied to the laundry C.

Further, if the collision energy Ec is made too large, the force acting on the floor surface also becomes large, and the floor surface vibrates greatly, which may cause deterioration of the floor material and increase in user discomfort. Therefore, the collision energy Ec may be, for example, 40 [N] or less.

Further, in the present embodiment, the case where the current command is given in the shape of a sine wave has been described, but the same effect can be obtained by giving the current command not only in a sine wave but also in a square wave, a sawtooth wave, or the like. Further, if the frequency command Fx is set too high, the vibration may be attenuated by the rubber bellows 11 or the like, and the vibration amplitude of the inner tank may be reduced. Therefore, the frequency command Fx may be, for example, 1 [kHz] or less.

<Effect>
According to the first embodiment, the control unit 40 drives the actuator 30 and vibrates the inner tub 8 via the outer tub 9, so that the laundry C can be given the collision energy Ec, and the dehydration is completed. The laundry C stuck to the inner wall of the inner tub 8 can be appropriately (without increasing the damage of the laundry C and surely) peeled off from the inner wall of the inner tub 8 at the time or after the end.

<Modified example of the first embodiment>
In the first embodiment, the operation of the actuator 30 in the drum type washing machine has been described, but the operation is not limited thereto. In this modification, the operation in the vertical washing machine will be described.

FIG. 8 is a right side sectional view showing a part of the housing 81 cut out in order to show the internal structure of the vertical washing machine 80 according to the modified example of the first embodiment. The vertical washing machine 80 includes a housing 81 that constitutes an outer shell, and is provided with a top cover 82 at the upper part of the housing 81 (in the y-axis direction in FIG. 8) and a base 83 at the lower part of the housing 81. The top cover 82 is provided with an outer lid 82b so as to cover the input port 82a. The front side of the top cover 82 is equipped with an operation switch (not shown) such as a power switch, a washing course selection switch, a time setting switch, and a start button, and a display (not shown) that displays the selected course and remaining time. An operation / display panel 87 is provided. The operation / display panel 87 is electrically connected to the control device 7 provided on the back surface of the housing 81. Further, behind the top cover 82, a water supply port 82c for connecting a water supply hose is provided.

Inside the housing 81, an outer tank 810 for storing water is elastically supported by the housing 81 via an elastic support mechanism 15. The elastic support mechanism 15 includes a spring 16 and an actuator 30. The elastic support mechanism 15 is arranged in a vertical direction or tilted from the vertical direction.

FIG. 9 is a cross-sectional view on the right side showing a part of the housing cut out in order to show the internal structure of the vertical washing machine different from that of FIG. As shown in FIG. 9, the outer tank 810 may be supported by elastically supporting the four corners to the housing 81 via the suspension rod 91. By doing so, the space under the outer tank 810 can be effectively used.

Returning to FIG. 8, the control unit 40 that controls the actuator 30 can communicate with the control device 7 and receive a driving force command to the actuator 30. The control unit 40 may be provided in the control device 7.

Inside the outer tub 810, an inner tub 89 for storing the laundry C (see FIG. 9) is provided. As shown in FIG. 8, the inner tank 89 has a large number of small through holes 89a for water passage and ventilation in its outer peripheral wall, and a plurality of through holes 89b for water passage and ventilation in its bottom wall. A fluid balancer 89c is provided on the upper edge thereof, and a stirring blade 811 is rotatably supported inside the bottom portion.

A clutch mechanism 812 and a drive mechanism 813 whose rotation axis is oriented in a substantially vertical direction (y-axis direction in FIG. 8) are provided on the outside of the bottom of the outer tank 810, and the inner tank is controlled by controlling the clutch mechanism 812. It is possible to change the drive form of the 89 and the stirring blade 811. The drive mode is a first drive mode in which the stirring blade 811 is driven in a state where the inner tank 89 is fixed so as not to rotate, and a second drive mode in which the stirring blade 811 is driven in a state where the inner tank 89 is rotatable. And, there are three third drive modes in which the inner tank 89 and the stirring blade 811 are integrally rotated in the same direction.

Further, the drive mechanism 813 is provided with a rotation speed measuring means 813a using a hall sensor or the like in order to measure the rotation speed. Further, the clutch mechanism 812 is also provided with an inner tank rotation speed measuring means 89d for detecting the rotation speed of the shaft connected to the inner tank 89, so that the rotation speed of the inner tank 89 can be grasped even in the second drive mode. There is.

A tank cover 814 is provided on the upper surface of the outer tank 810, and the tank cover 814 includes an inlet 814a and a water supply inlet 814c that communicate the upper surface and the lower surface. Further, the tank cover 814 is provided with an inner lid 815 so as to cover the charging port 814a.

Further, the housing 81 is provided with a water supply valve 816 connected to the water supply port 82c, and water can be supplied to the inner tank 89 via the water supply inlet 814c. A drainage port 810b for draining water is provided at the lower part of the outer tank 810, and a drainage hose 818 is connected via a drainage valve 817.

As described above, the vertical washing machine has a stirring blade 811 in addition to the outer tub 810 and the inner tub 89, and the point that the input port 82a and the drive mechanism 813 face in the vertical direction (y-axis direction) is a drum type. Different from a washing machine. For example, in the dehydration step, the inner tub 89 is rotated at high speed in the third drive mode, but since the inner tub 89 is oriented in the vertical direction (y-axis direction), the laundry C sticks in the circumferential direction of the y-axis. .. Therefore, the force of the laundry C sticking to the inner wall of the inner tub 89 acts in the direction orthogonal to the y-axis. On the other hand, the actuator 30 connected to the outer tub 810 generates vibration in the outer tub 810 at the end or after the end of the dehydration step, and vibrates mainly in the y-axis direction.

As another method of applying vibration (driving force command), for example, the actuator 30 may be controlled so that the vibration direction of the inner tank 89 is not parallel to the y-axis direction. By doing so, the force acting in the opposite direction of the force of the laundry C sticking to the inner wall of the inner tub 89 can be increased, and the collision energy Ec can be efficiently applied to the laundry C.

<Effect>
The control unit 40 drives the actuator 30 and vibrates the inner tub 89 via the outer tub 810 to give the laundry C collision energy Ec. The laundry C attached to the inner wall can be peeled off from the inner wall of the inner tub 89.

<< Second Embodiment >>
Next, a second embodiment of the present invention will be described.
FIG. 10 is a schematic view showing a structural example of the drum type washing machine 100 according to the second embodiment. The second embodiment is different from the first embodiment in that the driving force commands of the plurality of actuators 30 (actuators 30L, 30R) are independently given. The elastic support mechanism 15 (suspension) is arranged in a vertical direction or tilted from the vertical direction.

Depending on the device (for example, the blower unit 14) installed in the housing 1, the space between the housing 1 and the outer tank 9 in the y-axis direction may be different on the left and right. As shown in FIG. 10, two elastic support mechanisms 15 that elastically support the outer tank independently give driving force commands to the actuators 30L and 30R, which are independently driven, so that, for example, a device mounted in the upper right direction can be used. It is possible to prevent the outer tank 9 from coming into contact with the outer tank 9.

<Effect>
According to the second embodiment, the control unit 40 independently drives the actuators 30L and 30R to prevent the outer tank 9 from coming into contact with the housing 1 or the device mounted in the housing 1. The laundry C attached to the inner wall of the inner tub 8 can be appropriately (without increasing the damage of the laundry C and surely) peeled off from the inner wall of the inner tub 8 at the end of dehydration or after the end.

<Other embodiments>
In each embodiment, a linear actuator has been described, but the present invention is not limited to this. For example, a configuration using a ball screw and a rotary motor, or a configuration using a crank mechanism and a rotary motor may be used. Further, each embodiment is described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the configurations described. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration. In addition, the above-mentioned mechanism and configuration show what is considered necessary for explanation, and do not necessarily show all the mechanisms and configurations in the product.

According to the washing machine of the present embodiment, the outer tub 9 and the inner tub 8 arranged inside the outer tub 9 are vibrated at the time of the end of dehydration or after the end, thereby causing the laundry C (see FIG. 10). The laundry C stuck to the inner wall of the inner tub 8 can be surely peeled off regardless of the state. Further, since the actuator 30 driven to peel off the laundry C attached to the inner wall of the inner tub 8 does not come into direct contact with the laundry C, damage to the laundry C can be prevented.

1 Housing 2 Door 3 Operation / display panel 4 Power switch 5 Operation switch 6 Display 7 Control device (control unit)
8 Inner tank 8c Lifter 9 Outer tank 9c Opening 9e Outer tank vibration detection device 10 Drive mechanism (motor)
10a Rotation angle detector 15 Elastic support mechanism (suspension)
16 Spring 17 Displacement sensor 30, 30L, 30R Actuator 31 Stator 31a Core 31b Winding 32 Movable element 32b1, 32b2, 32b3 Permanent magnet 33 Outer tank side suspension base 34 Housing side suspension base 40 Control unit 401 Calculation unit (microcomputer)
402 Drive circuit 80 Vertical washing machine 81 Housing 82 Top cover 89 Inner tank 89d Inner tank rotation speed measuring means 810 Outer tank 811 Stirring blade 812 Clutch mechanism 813 Drive mechanism 813a Rotation speed measuring means 91 Suspended rod C Laundry D Washing water K spring constant T pole tooth S annular part Iamp current amplitude command Fx frequency command θx phase command Ixref current command vref voltage command FL thrust force Kt thrust force constant I current V voltage Ec collision energy mc mass Vd speed of laundry C

Claims (7)

With the housing
The outer tank located inside the housing and
The inner tank, which is rotatably supported inside the outer tank,
A suspension having an actuator that supports the outer tank with vibration isolation inside the housing and controls the vibration of the outer tank,
It has a control unit that controls the actuator, and has
The washing machine is characterized in that the control unit controls the actuator to vibrate the outer tub at the end or after the end of the step of dehydrating the laundry. In claim 1,
The control unit is a washing machine characterized in that, in a washing step or a rinsing step of the laundry, after the laundry is dehydrated, the actuator is controlled to vibrate the outer tub. In claim 1,
The suspension is a washing machine characterized in that it is arranged in a vertical direction or tilted from the vertical direction. In claim 3,
The washing machine is characterized in that the suspension is arranged under the inner tub. In claim 1,
The washing machine has at least two or more actuators.
The control unit is a washing machine characterized in that the actuator is independently controlled. In any one of claims 1 to 5,
The actuator is a washing machine characterized by being an electrically driven linear actuator. In claim 1 or 2,
The control unit is a washing machine characterized in that it controls the actuator and vibrates the outer tub in the vertical direction.

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