WO2017110021A1 - 衣類処理装置 - Google Patents

衣類処理装置 Download PDF

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Publication number
WO2017110021A1
WO2017110021A1 PCT/JP2016/004491 JP2016004491W WO2017110021A1 WO 2017110021 A1 WO2017110021 A1 WO 2017110021A1 JP 2016004491 W JP2016004491 W JP 2016004491W WO 2017110021 A1 WO2017110021 A1 WO 2017110021A1
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WO
WIPO (PCT)
Prior art keywords
clothing
washing machine
unit
clothes
processing apparatus
Prior art date
Application number
PCT/JP2016/004491
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English (en)
French (fr)
Japanese (ja)
Inventor
雅弘 河合
明宏 細川
友弘 藤井
Original Assignee
パナソニックＩｐマネジメント株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to CN201680075848.8A priority Critical patent/CN108541283B/zh
Priority to EP16877926.2A priority patent/EP3396057A4/en
Publication of WO2017110021A1 publication Critical patent/WO2017110021A1/ja

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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
    • D06F95/00—Laundry systems or arrangements of apparatus or machines; Mobile laundries 

Definitions

  • the present disclosure relates to a clothing processing apparatus that can put clothing into a washing machine.
  • Patent Document 1 discloses an example of a conventional washing machine.
  • the classification condition is, for example, the type of clothes and the degree of dirt.
  • the user is required to perform an operation of putting clothes sorted according to the sorting conditions into the washing machine each time washing is performed. This places a heavy burden on the user.
  • a clothing processing apparatus includes a plurality of storage units capable of storing clothing, and a plurality of storage units that can be individually operated so that the clothes stored in the storage unit are input to the washing machine A part.
  • the above-mentioned clothing processing device contributes to reducing the work load related to washing.
  • FIG. 1 is a perspective view of a clothing processing apparatus according to an embodiment.
  • FIG. 2 is a perspective view showing an internal structure of the clothing processing apparatus of FIG.
  • FIG. 3 is a block diagram of the clothing processing apparatus of FIG.
  • FIG. 4 is a flowchart of the input control executed by the clothing processing apparatus.
  • FIG. 5 is a flowchart of take-out control executed by the clothing processing apparatus.
  • FIG. 6 is a front view showing a state before the operation of the clothing processing apparatus.
  • FIG. 7 is an operation diagram showing a first operation of the clothing processing apparatus.
  • FIG. 8 is an operation diagram showing a second operation of the clothing processing apparatus.
  • FIG. 9 is an operation diagram showing a third operation of the clothing processing apparatus.
  • FIG. 10 is an operation diagram showing a fourth operation of the clothing processing apparatus.
  • One embodiment of a clothing processing apparatus is capable of individually operating a plurality of storage units capable of storing clothes and a plurality of storage units so that the clothes stored in the storage unit are put into a washing machine. Possible input part.
  • the user can store the clothing sorted according to the sorting conditions in different storage units.
  • the clothing stored in the storage unit is input to the washing machine by the input unit. For this reason, the user is not required to perform the work of putting the clothes sorted according to the sorting condition into the washing machine every time washing is performed, and the burden on the user is reduced.
  • the garment processing apparatus contributes to reducing the burden of work related to washing.
  • the input unit includes a transport unit that individually moves a plurality of storage units.
  • the input unit includes a drive unit that operates the storage unit so that the clothes are input to the washing machine in a state where the storage unit is transferred onto the washing machine by the transfer unit.
  • the driving unit throws the clothing into the washing machine by opening the bottom of the storage unit.
  • the clothing processing apparatus the clothing is dropped into the washing machine by dropping the clothing from the bottom of the storage unit conveyed onto the washing machine. In this way, since clothes are put into the washing machine with a simple structure, the structure of the clothes processing apparatus is simplified.
  • an operation unit capable of designating which storage unit stores the clothing stored in a plurality of storage units to be put into the washing machine, and the operation unit And a charging control unit that controls the charging unit based on the above operation.
  • the clothes to be put into the washing machine can be specified by the operation of the operation unit, so that the convenience of the clothing processing apparatus is improved as compared with the case where the clothes to be put into the washing machine do not depend on the user's intention. It is done.
  • the apparatus further includes a grasping unit that can grasp the clothes in the washing machine, and a take-out control unit that controls the grasping unit so that the clothes grasped by the grasping unit are taken out of the washing machine.
  • the clothes processing apparatus the clothes that have been washed by the washing machine are taken out from the washing machine by the grasping unit. For this reason, the user is not required to take out the clothes sorted according to the sorting conditions from the washing machine every time the laundry is washed, and the burden on the user is further reduced.
  • the clothing processing apparatus contributes to further reducing the work load related to washing.
  • the input unit includes a storage unit so that when the clothes in the washing machine are all taken out by the grasping unit, the next clothes to be input into the washing machine are input into the washing machine. Make it work.
  • the process of putting the clothes stored in the storage unit into the washing machine by the loading unit, and the process of taking out the clothes that have been washed by the washing machine from the washing machine by the grasping unit are sequentially repeated. It is. That is, after all the clothes in the washing machine are taken out, the clothes that are to be put into the washing machine next are quickly put into the washing machine. For this reason, the time concerning the work regarding washing is shortened.
  • the garment processing apparatus further includes a post-processing apparatus that performs post-processing of the clothes taken out from the washing machine by the grasping unit.
  • the post-processing apparatus performs the post-processing. For this reason, the user is not required to perform post-processing every time the clothes classified according to the classification condition are washed, and the burden on the user is further reduced.
  • the clothing processing apparatus contributes to further reducing the burden of work related to washing.
  • the clothing processing apparatus further includes a temporary placement unit for temporarily placing clothing, and the grasping unit temporarily places the clothing in the washing machine before the post-processing of the clothing is performed by the post-processing device.
  • the clothing processing apparatus all of the clothing in the washing machine is taken out to the temporary placement section before post-processing is performed on the clothing that has been washed. For this reason, compared with the case where a post-process is performed in the process of taking out the clothes in the washing machine, the time taken until all the clothes in the washing machine are taken out is shortened. That is, the time from the completion of washing by the washing machine until the start of washing by the washing machine is shortened. For this reason, the time concerning the work regarding washing is further shortened.
  • the image processing apparatus further includes an imaging device capable of imaging the garment before being subjected to post-processing by the post-processing apparatus or the garment subjected to post-processing by the post-processing apparatus.
  • the post-processing device determines the type of clothing based on the image information acquired from the imaging device, and stores the clothing in a plurality of storage units according to the type based on the determination result.
  • the clothing processing apparatus the clothing taken out from the washing machine is stored in the storage unit according to the type. For this reason, the user is not required to perform an operation of classifying the clothing classified according to the classification condition according to the type every time it is washed, further reducing the burden on the user.
  • the clothing processing apparatus contributes to further reducing the burden of work related to washing.
  • the apparatus further includes a washing machine.
  • a clothing processing apparatus 1 shown in FIG. 1 is an apparatus that mechanically performs operations related to washing.
  • the clothing processing apparatus 1 includes a main body case 10, a clothing entry / exit section 11, an inspection port 12, an operation section 20, and a control device 30 (see FIG. 3).
  • the function of the main body case 10 is to accommodate a plurality of machine elements.
  • the main body case 10 is installed on an installation surface (not shown) such as a floor.
  • the shape of the main body case 10 is, for example, a rectangular parallelepiped that can define a longitudinal direction and a short direction.
  • the function of the control device 30 is to control various elements constituting the clothing processing apparatus 1.
  • the clothing entry / exit section 11 is an opening through which clothing can be put into the main body case 10 and clothing can be taken out from the main body case 10.
  • One example of the number of the clothing entry / exit portions 11 is two.
  • the clothing entrance / exit part 11 is provided, for example, in front of the main body case 10 and is covered with a cover (not shown) that can be opened or closed automatically or manually.
  • the inspection port 12 is an opening for inspecting the inside of the main body case 10.
  • the inspection port 12 is provided, for example, in front of the main body case 10 and is covered with a cover (not shown) that can be opened or closed automatically or manually.
  • the inspection port 12 is an opening larger than the clothing entrance / exit 11, and clothing or a blanket can be put into the main body case 10.
  • the inspection port 12 has an opening for directly putting clothes or a blanket into a washing machine 400 (see FIG. 2) accommodated in the main body case 10 and an opening for checking the washing machine 400. It is.
  • the function of the operation unit 20 is to input information related to the operation of the clothing processing apparatus 1.
  • An example of the operation unit 20 is a touch panel display. That is, the operation unit 20 also has a function as a notification unit.
  • the operation unit 20 includes a first operation unit 21, a second operation unit 22, and a power switch (not shown).
  • the first operation unit 21 includes, for example, two operation units provided individually.
  • the two operation units constituting the first operation unit 21 are provided above the clothing input / output units 11 in the main body case 10, for example.
  • the second operation unit 22 is provided, for example, above the inspection port 12 in the main body case 10.
  • the function of the power switch is to switch on / off the power of the clothing processing apparatus 1.
  • operation by each operation part 21 and 22 becomes effective because the power supply of the clothing processing apparatus 1 is set to ON.
  • FIG. 2 shows the internal structure of the clothing processing apparatus 1.
  • the clothing processing apparatus 1 further includes a clothing input device 100, a clothing take-out device 200, a post-processing device 300, and a washing machine 400.
  • the function of the washing machine 400 is to wash and dry clothes.
  • the washing machine 400 includes an opening 401 that opens upward.
  • the opening 401 communicates with the inside of the washing machine 400.
  • the washing machine 400 is installed on the bottom surface in the main body case 10, for example. Note that the specific configuration and operation of the washing machine 400 are substantially the same as, for example, the washing machine disclosed in Japanese Patent Application Laid-Open No. 2006-255195, and therefore a part or all of the description thereof is omitted.
  • the function of the clothing input device 100 is to input the clothing input into the main body case 10 from the clothing input / output unit 11 (see FIG. 1) into the washing machine 400.
  • the clothing input device 100 is accommodated in the main body case 10.
  • Clothing input device 100 includes a plurality of storage units 110 and input units 120 (see FIG. 3).
  • the functions of the storage unit 110 are to store clothes that can be put into the washing machine 400 and to store clothes that have been washed by the washing machine 400.
  • the storage unit 110 is, for example, a box having a space that can accommodate a plurality of clothes.
  • An example of the number of storage units 110 is ten. For example, five of these storage units 110 are arranged in two rows.
  • the storage unit 110 includes a box body 111, a first opening 111A, a second opening 111B, a third opening 111C, and a pair of lower lids 112.
  • the shape of the box body 111 is generally cubic.
  • the first opening 111 ⁇ / b> A is provided in front of the box body 111. That is, the first opening 111 ⁇ / b> A faces the front surface of the main body case 10.
  • the second opening 111B is provided on the back surface of the box body 111, for example.
  • the third opening 111 ⁇ / b> C is provided on a surface of the side surface of the box body 111 that faces the post-processing device 300.
  • Each of the openings 111A to 111C has, for example, a generally square shape, and has a size that allows clothes to be taken in and out.
  • the pair of lower lids 112 constitutes the bottom of the box body 111.
  • the function of the lower lid 112 is to open or close the bottom of the box body 111.
  • the pair of lower lids 112 forms, for example, a double door.
  • clothes in the storage unit 110 are supported by the lower lid 112. That is, clothing is stored in the storage unit 110.
  • the lower lid 112 is opened outward and the clothes in the storage unit 110 are dropped.
  • the function of the input unit 120 is to individually operate a plurality of storage units 110 so that clothes stored in the storage unit 110 are input to the washing machine 400.
  • the input unit 120 includes a transport unit 121 and an opening / closing drive unit 124 (see FIG. 3 for both).
  • the function of the transport unit 121 is to move a plurality of storage units 110.
  • the transport unit 121 is provided in the main body case 10 so that the storage unit 110 and other elements accommodated in the main body case 10 do not interfere with each other in the process of moving the plurality of storage units 110.
  • the conveyance unit 121 includes a rotating device 122 and a reciprocating device 123 (both refer to FIG. 3).
  • the function of the rotating device 122 is to change the arrangement of each storage unit 110 with respect to the main body case 10 by integrally rotating the plurality of storage units 110 clockwise or counterclockwise. That is, the rotating device 122 moves the plurality of storage units 110 integrally.
  • the rotating device 122 is configured, for example, by connecting 12 bar members (not shown) connected to each other by hinges. Each bar member is provided with a movement fulcrum 122A (see FIG. 3). Each movement fulcrum 122A supports, for example, the outer surface of the storage unit 110 that faces the third opening 111C.
  • the rotation device 122 includes a drive unit (not shown) that rotates the entire bar material.
  • the function of the reciprocating device 123 is to transport the storage unit 110 arranged at the uppermost stage onto the washing machine 400 and then reciprocate to the original position. That is, the reciprocating device 123 moves the plurality of storage units 110 individually.
  • the reciprocating device 123 is constituted by, for example, a chuck (not shown) suspended and supported on a wire. Therefore, a portion (not shown) that can be grasped by the chuck is provided on the top surface of each storage unit 110.
  • the reciprocating device 123 includes a drive unit that opens and closes the chuck and a drive unit that pushes and pulls the wire (both not shown).
  • the storage unit 110 to be moved by the reciprocating device 123 is specified based on the operation of the first operation unit 21 (see FIG. 1), for example.
  • the first operation unit 21 can designate which of the clothes stored in the plurality of storage units 110 is to be put into the washing machine 400. For this reason, the storage unit 110 designated by the first operation unit 21 moves to the uppermost stage as the rotating device 122 is driven, and is then conveyed onto the washing machine 400 as the reciprocating device 123 is driven.
  • Each storage part 110 in the center in the height direction of the main body case 10 faces each clothing entry / exit part 11. That is, the first opening 111 ⁇ / b> A of the central storage unit 110 communicates with the clothing entrance / exit unit 11. For this reason, the clothes put in from the clothing entry / exit part 11 are stored in the central storage part 110, and the clothes accommodated in the central storage part 110 are taken out from the clothes entry / exit part 11.
  • the central storage unit 110 can be changed by driving the rotating device 122 by an operation by the first operation unit 21.
  • the function of the opening / closing drive unit 124 is to operate the storage unit 110 so that clothes are put into the washing machine 400 in a state where the storage unit 110 is transferred onto the washing machine 400 by the transfer unit 121.
  • the opening / closing drive unit 124 is provided in each storage unit 110, for example.
  • the opening / closing drive unit 124 puts clothes into the washing machine by opening the bottom of the storage unit 110. That is, when the lower lid 112 of the storage unit 110 is opened by the opening / closing drive unit 124, the clothes in the storage unit 110 are dropped and put into the washing machine 400.
  • the function of the clothes take-out device 200 is to take out clothes in the washing machine 400 to the outside.
  • the clothing take-out device 200 is accommodated in the main body case 10.
  • the clothing take-out device 200 includes a plurality of arms 210 that are grasping parts, a support pipe 220, and a temporary placement part 230.
  • the function of the arm 210 is to grasp the clothes in the washing machine 400 and take them out.
  • An example of the number of arms 210 is two.
  • the arm 210 can be expanded and contracted in the height direction of the main body case 10, for example.
  • the arm 210 can also be adjusted in rotation around its axis along the direction of expansion and contraction, strength for grasping the clothing, angle of the portion for grasping the clothing, and the like.
  • the support pipe 220 includes a pair of first support pipes 221, a pair of second support pipes 222, and two sets of third support pipes 223.
  • the function of the first support pipe 221 is to support the arm 210 movably in the front-rear direction of the main body case 10.
  • Each first support pipe 221 extends, for example, in the front-rear direction of the main body case 10.
  • One first support pipe 221 supports one arm 210.
  • the other first support pipe 221 supports the other arm 210.
  • the arm 210 moves along the first support pipe 221 in the front-rear direction of the main body case 10.
  • the function of the second support pipe 222 is to support each first support pipe 221 so that the arm 210 moves in the left-right direction of the main body case 10.
  • the second support pipe 222 is provided at a position higher than the washing machine 400 in the height direction of the main body case 10 so that the arm 210 can move onto the washing machine 400.
  • Each second support pipe 222 extends in the left-right direction of the main body case 10, for example.
  • One second support pipe 222 supports one end of each first support pipe 221.
  • the other second support pipe 222 supports the other end of each first support pipe 221. As each first support pipe 221 moves along the second support pipe 222, the arm 210 moves in the left-right direction of the main body case 10.
  • the function of the third support pipe 223 is to support the second support pipe 222.
  • the third support pipe 223 extends, for example, in the height direction of the main body case 10.
  • One set of third support pipes 223 supports both ends of one second support pipe 222.
  • the third support pipe 223 of the other set supports both ends of the other second support pipe 222.
  • Each set of third support pipes 223 is, for example, such that the washing machine 400 is disposed between one third support pipe 223 and the other third support pipe 223 in the left-right direction of the main body case 10.
  • the washing machine 400 is arranged between the third support pipe 223 of one set and the third support pipe 223 of the other set in the front-rear direction of the main case 10 so that the washing machine 400 is disposed on the bottom surface of the main case 10. Installed. That is, the support pipe 220 is provided so as not to hinder the operation of the clothes put into the washing machine 400.
  • the function of the temporary placement unit 230 is to temporarily store clothes taken out from the washing machine 400.
  • the temporary placement unit 230 is, for example, a box having a space in which a plurality of clothes can be stored and having an upper surface opened.
  • the temporary placement unit 230 has, for example, a capacity of the washing machine 400 or more.
  • the temporary placement unit 230 is installed, for example, on the bottom surface of the main body case 10 at a position where the arm 210 can move above and at a position adjacent to the washing machine 400.
  • the function of the post-processing apparatus 300 is to execute post-processing of clothes taken out from the washing machine 400.
  • the post-processing executed by the post-processing device 300 includes at least one of attaching a tag to the garment, additionally drying the garment, folding the garment, and the like.
  • the post-processing device 300 is accommodated in the main body case 10.
  • movement which fold clothing are substantially the same as patent 5299934, the description is abbreviate
  • the clothing processing apparatus 1 further includes a guide unit 40 and a dehumidifying device 50.
  • the function of the guide unit 40 is to guide clothes to the washing machine 400.
  • the guide unit 40 is provided between one second support pipe 222 and the other second support pipe 222 above the washing machine 400 and in the front-rear direction of the main body case 10.
  • An example of the shape of the guide part 40 is a hollow prism.
  • the first opening 41 that is the opening on the upper side of the guide part 40 is, for example, the second opening 42 that is the opening on the lower side of the guide part 40 and the opening 401 of the washing machine 400.
  • the second opening 42 is smaller than the opening 401 of the washing machine 400, for example.
  • the function of the dehumidifying device 50 is to dehumidify the inside of the main body case 10.
  • the dehumidifier 50 is accommodated in the main body case 10, for example.
  • the dehumidifying device 50 is provided below the plurality of storage units 110.
  • the dehumidifier 50 is, for example, a pipe having a large number of planar fins, and has a shape that allows a refrigerant to pass through the pipe.
  • the dehumidifying device 50 cools its surface by evaporating the refrigerant, for example, and causes moisture contained in the main body case 10 to condense. For this reason, the inside of the main body case 10 is dehumidified.
  • FIG. 3 shows a connection relation of each element constituting the clothing processing apparatus 1.
  • Clothing input apparatus 100 further includes an input control unit 130.
  • the function of the input control unit 130 is to control the input unit 120 based on the operation of the first operation unit 21.
  • the making control unit 130 executes making control based on the operation of the first operation unit 21 that specifies the clothes to be put into the washing machine 400 (see FIG. 4).
  • the input control unit 130 constitutes the control device 30.
  • the clothing take-out device 200 further includes a pair of arm drive units 241, a pair of front and rear drive units 242, a pair of left and right drive units 243, a first imaging device 250, and a take-out control unit 260.
  • the function of the arm drive unit 241 is to operate the arm 210.
  • Each arm drive unit 241 is provided in each arm 210, for example. In one example, the arm driving unit 241 operates so that the arm 210 extends and contracts.
  • the function of the front / rear drive unit 242 is to move the arm 210 along the first support pipe 221.
  • Each front / rear drive unit 242 includes, for example, a ball screw and a motor (both not shown).
  • the ball screw includes a screw shaft and a nut, and converts the rotational motion of the output shaft of the motor into translational motion in the front-rear direction of the main body case 10.
  • the screw shaft is provided in each first support pipe 221, for example, and the nut is provided in the base of each arm 210, for example.
  • the function of the left / right drive unit 243 is to move the arm 210 in the left / right direction of the main body case 10.
  • Each left and right drive unit 243 includes, for example, a ball screw and a motor (both not shown).
  • the ball screw includes a screw shaft and two nuts, and converts the rotational motion of the output shaft of the motor into translational motion in the left-right direction of the main body case 10.
  • the screw shaft is provided in each second support pipe 222, for example, and the nut is provided, for example, at both ends of each first support pipe 221.
  • the function of the first imaging device 250 is to image the inside of the washing machine 400.
  • the first imaging device 250 is, for example, a CCD (Charge Coupled Device) camera.
  • the first imaging device 250 is provided near the opening 401 of the washing machine 400, for example.
  • the first imaging device 250 outputs the captured information to the extraction control unit 260 and the input control unit 130.
  • the function of the take-out control unit 260 is to control each arm 210 so that the clothing grasped by each arm 210 is taken out of the washing machine 400.
  • the take-out control unit 260 controls the driving units 241 to 243, so that the clothes taken out from the washing machine 400 before the post-processing device 300 performs the post-processing of the clothes are temporarily placed in the temporary placement unit 230 ( (See Fig. 2).
  • the take-out control unit 260 executes take-out control when washing by the washing machine 400 is completed (see FIG. 5).
  • the take-out control unit 260 determines, for example, whether clothes grasped by the arm 210 are entangled or clothes are present in the washing machine 400 based on the image information acquired from the first imaging device 250. it can.
  • the take-out control unit 260 constitutes the control device 30.
  • the post-processing device 300 includes a post-processing device 310, a second imaging device 320, and a post-processing control unit 330.
  • the function of the post-processing machine 310 is to post-process the clothes taken out from the washing machine 400.
  • the post-processor 310 includes at least an arm (not shown).
  • the function of the second image pickup device 320 is to take an image of clothes before the post-processing device 310 performs post-processing.
  • the second imaging device 320 is, for example, a CCD camera.
  • the second imaging device 320 is provided on the temporary placement unit 230 so that clothes placed on the temporary placement unit 230 can be imaged.
  • the second imaging device 320 outputs the captured information to the post-processing control unit 330.
  • the functions of the post-processing control unit 330 are to control the post-processing device 310 so that the post-processing is performed on the clothing, and to store the clothing in the plurality of storage units 110 for each type.
  • the post-processing control unit 330 controls the post-processing device 310 based on the image information acquired from the second imaging device 320.
  • the post-processing control unit 330 determines whether or not post-processing of the clothing is necessary based on the image information acquired from the second imaging device 320, and if it is determined that post-processing is necessary, The post-processor 310 is controlled so that post-processing is performed. Then, the post-processing control unit 330 determines the type of clothing based on the image information acquired from the second imaging device 320, and the clothing is stored in the plurality of storage units 110 for each type based on the result. The post processor 310 is controlled. In one example, the clothing is grasped by the arm of the post-processing device 310, and the clothing is accommodated in the storage unit 110 through the third opening 111 ⁇ / b> C of the storage unit 110. The clothing accommodated in the plurality of storage units 110 includes clothing that has been subjected to post-processing and clothing that has been determined not to require post-processing. The post-processing control unit 330 constitutes the control device 30.
  • Washing machine 400 further includes a detection unit 410, a washing machine control unit 420, a dryer (not shown), and a lid (not shown).
  • the function of the dryer is to dry the washed clothes.
  • the function of the lid is to open and close the opening 401 of the washing machine 400.
  • An example of the number of lids is three.
  • the opening and closing of the lid is controlled by the washing machine control unit 420, for example.
  • the function of the detection unit 410 is to detect foreign matter in the washing machine 400.
  • An example of the detection unit 410 is a weight sensor.
  • the detection unit 410 outputs the detected information to the washing machine control unit 420.
  • the function of the washing machine control unit 420 is to control various machine elements constituting the washing machine 400. By controlling these elements, the clothes in the washing machine 400 are washed and dried.
  • the washing machine control unit 420 stops various controls.
  • the washing machine 400 can change the washing conditions and the like for each piece of clothing stored in the storage unit 110 based on the operation of the operation units 21 and 22.
  • the washing conditions include, for example, a washing course set in advance according to the type of clothes and the degree of dirt, and the types of detergents, softeners, bleaches, and the like housed in the washing machine 400.
  • FIG. 4 is an example of a flowchart of the input control executed by the input control unit 130.
  • the throwing control unit 130 performs throwing control based on the fact that clothes are thrown into one or a plurality of storage units 110 and the clothes to be thrown first into the washing machine 400 are designated by the operation of the first operation unit 21. . Specifically, by operating the first operation unit 21, the storage unit 110 storing the clothes to be put in first is designated.
  • step S11 the input control unit 130 controls the rotating device 122 to move the storage unit 110 storing the designated clothing (hereinafter, “designated storage unit D”) to the first position.
  • the first position is, for example, the uppermost position in the row on the washing machine 400 side.
  • step S12 the loading control unit 130 controls the reciprocating device 123 to move the designated storage unit D to the second position.
  • the second position is, for example, a position on the washing machine 400 that faces the washing machine 400 with the guide unit 40 interposed therebetween.
  • step S13 the washing machine control unit 420 controls the lid of the washing machine 400 to open the opening 401 of the washing machine 400.
  • step S14 the loading control unit 130 controls the opening / closing drive unit 124 to open the lower lid 112 of the designated storage unit D. That is, the bottom of the designated storage unit D is opened. For this reason, the clothes in the designated storage unit D fall toward the washing machine 400.
  • the dropped clothing passes through the openings 41 and 42 of the guide unit 40 and the opening 401 of the washing machine 400 and is put into the washing machine 400.
  • the washing machine control unit 420 closes the opening 401 of the washing machine 400 by controlling the lid of the washing machine 400.
  • the closing control unit 130 controls the open / close driving unit 124 to close the lower lid 112 of the specified storage unit D, and the specified storage unit D is restored to the original storage unit D.
  • the reciprocating device 123 is controlled to return to the position. Thereafter, washing and drying by the washing machine 400 are started.
  • FIG. 5 is an example of a flowchart of extraction control executed by the extraction control unit 260.
  • the take-out control unit 260 executes take-out control when washing and drying by the washing machine 400 are completed and the opening 401 of the washing machine 400 is opened.
  • step S ⁇ b> 21 the take-out control unit 260 determines whether clothing is present in the washing machine 400 based on the image information acquired from the first imaging device 250. In step S21, when it is determined that there is no clothing in the washing machine 400, the take-out control ends. On the other hand, if it is determined in step S21 that there is clothing in the washing machine 400, the process of step S22 is executed.
  • step S ⁇ b> 22 the take-out control unit 260 recognizes the arrangement of clothes in the washing machine 400 based on the image information acquired from the first imaging device 250, and controls the front / rear drive unit 242 and the left / right drive unit 243.
  • the arm 210 is moved to the removal position.
  • the take-out position is a position on the washing machine 400 that faces the washing machine 400 with the guide unit 40 interposed therebetween, and is a position that corresponds to the position immediately above the clothing that is to be grasped by the corresponding arm 210.
  • step S23 the take-out control unit 260 controls the arm driving unit 241 based on the image information acquired from the first imaging device 250 to cause the arm 210 to grasp the clothing. Specifically, after adjusting the position of the main body case 10 in the height direction by expanding and contracting the arm 210, the arm 210 is made to grasp the clothing. At this time, the clothes in the washing machine 400 are grasped by one or both arms 210 according to the size of the clothes. Different clothing may be grasped for each arm 210.
  • step S ⁇ b> 24 the take-out control unit 260 controls the arm driving unit 241 to slightly lift the clothing grasped by the arm 210 (hereinafter, “grasping clothing”), and then acquires image information acquired from the first imaging device 250. Based on the above, it is determined whether or not the grasping garment is tangled with another garment. If it is determined in step S24 that the grasping clothing is not tangled with another clothing, the processing in step S26 is executed. On the other hand, if it is determined in step S24 that the grasping clothing is tangled with another clothing, the processing in step S25 is executed.
  • step S25 the take-out control unit 260 controls the arm driving unit 241 to vibrate the arm 210 so that the grasped clothing and the different clothing are separated.
  • the vibration of the arm 210 is formed by repeating the expansion and contraction of the arm 210, for example.
  • step S26 the process proceeds to step S26.
  • step S26 the take-out control unit 260 controls the driving units 241 to 243 to take out the grasping clothing from the washing machine 400 and place the arm 210 on the temporary placement unit 230.
  • the take-out control unit 260 controls the drive units 241 to 243 so that the grasping clothing is placed on the temporary placement unit 230.
  • the take-out control unit 260 repeatedly executes take-out control including the processing in steps S21 to S26 until it is determined in step S21 that no clothes are present in the washing machine 400.
  • the input control unit 130 determines that all of the clothes in the washing machine 400 have been taken out based on, for example, the image information acquired from the first imaging device 250, the next clothes to be input into the washing machine 400 are
  • the storage unit 110 is operated so as to be put into the washing machine 400. That is, the input control unit 130 executes the input control again based on the image information acquired from the first imaging device 250.
  • FIGS. 6 to 10 and FIGS. 6 to 10 are front views of the clothing processing apparatus 1, and some of the components are omitted.
  • a user using the clothing processing apparatus 1 operates the power switch of the operation unit 20 to turn on the power of the clothing processing apparatus 1.
  • the control device 30 and the washing machine control unit 420 (hereinafter referred to as “various control devices”) perform inspection control as follows, for example.
  • the various control devices first compare detection values of various sensors and the like mounted on the clothing processing apparatus 1 with standard values corresponding to those sensors.
  • Various sensors and the like include at least a water amount sensor, a vibration sensor, and a detection unit 410 mounted on the washing machine 400.
  • the standard value is stored in advance in memories of various control devices, for example.
  • various control devices determine that an error between a detection value of a sensor or the like and a standard value is large, for example, information for prompting an abnormality is output to the display of the operation unit 20. In one example, information that prompts an abnormality is output when a foreign object is present in the washing machine 400.
  • Various control devices stop the inspection control until the abnormality is cleared.
  • the various control devices determine that the error between the detection value of the sensor or the like and the standard value is small, the process proceeds to the next process.
  • the various control devices compare the positions of the conveyance unit 121 and each arm 210 with the reference points.
  • the reference point is, for example, one point such as the washing machine 400 fixed to the main body case 10.
  • various control devices capture the conveyance unit 121, each arm 210, and the reference point with an imaging device (not shown) that can image the entire interior of the main body case 10. It is determined whether the distance based on the coordinates and the distance based on the coordinates between each arm 210 and the reference point are within a predetermined range.
  • the control device When various control devices determine that the distance between the transport unit 121 and each arm 210 and the reference point is not within a predetermined range, the control device causes the display of the operation unit 20 to output information that prompts an abnormality.
  • the various control devices stop the inspection control until the abnormality is canceled, and the transport unit 121 and the driving units 241 to 241 so that the distance between the transport unit 121 and each arm 210 and the reference point are included in a predetermined range. 243 is controlled.
  • the various control devices determine that the distance between the transport unit 121 and each arm 210 and the reference point is within a predetermined range, the inspection control is terminated.
  • the user who uses the clothing processing apparatus 1 classifies the clothes to be washed together according to the classification conditions, and inputs the classified clothes from the clothes input / output unit 11 to different storage units 110.
  • the classification condition is, for example, the type of clothes and the degree of dirt.
  • the user designates, for example, the clothes to be put into the washing machine 400 first by the operation by the first operation unit 21. Specifically, by operating the first operation unit 21, the storage unit 110 storing the clothes to be put in first is designated. Note that the order of clothes put into the washing machine 400 by the operation of the first operation unit 21 and the washing conditions of the clothes can be set for each storage unit 110.
  • the input control unit 130 executes the input control shown in FIGS.
  • the input control unit 130 first executes the first operation. That is, the input control unit 130 controls the rotating device 122 to move the designated storage unit D to the first position.
  • the input control unit 130 next executes a second operation. That is, the input control unit 130 controls the input unit 120 so that the clothes in the designated storage unit D are input to the washing machine 400. Specifically, the input control unit 130 first moves the designated storage unit D to the second position by controlling the reciprocating device 123. Next, the loading control unit 130 controls the opening / closing drive unit 124 to open the lower lid 112 of the designated storage unit D. For this reason, the clothes in the designated storage unit D fall toward the washing machine 400 and the clothes are put into the washing machine 400. Finally, the closing control unit 130 controls the opening / closing drive unit 124 to close the lower lid 112 of the designated storage unit D, and controls the reciprocating device 123 so that the designated storage unit D returns to the original position.
  • the washing machine control unit 420 starts washing and drying by the washing machine 400.
  • the clothes in the washing machine 400 are first washed, then dehydrated, and then dried.
  • the washing machine control unit 420 opens the opening 401 of the washing machine 400 after washing and drying by the washing machine 400 is completed.
  • the take-out control unit 260 executes the take-out control shown in FIGS.
  • the take-out control unit 260 first executes the third operation. That is, the take-out control unit 260 controls each of the driving units 241 to 243 to cause each arm 210 to grasp the clothes in the washing machine 400. Specifically, the take-out control unit 260 first recognizes the arrangement of clothes in the washing machine 400 based on the image information acquired from the first imaging device 250 and controls the front-rear drive unit 242 and the left-right drive unit 243. As a result, each arm 210 is moved to the removal position. Next, the take-out control unit 260 controls the arm driving unit 241 based on the image information acquired from the first imaging device 250 to cause each arm 210 to grasp the clothing.
  • the extraction control unit 260 next executes a fourth operation. That is, the take-out control unit 260 places the grasping clothing on the temporary placement unit 230 by controlling the drive units 241 to 243. Specifically, the take-out control unit 260 takes out grasped clothing from the washing machine 400 and controls the drive units 241 to 243 so that the arm 210 is disposed on the temporary placement unit 230. Next, the take-out control unit 260 controls the arm driving unit 241 so that the grasping clothing falls from the arm 210. For this reason, the clothes taken out from the washing machine 400 are placed on the temporary placement unit 230.
  • the take-out control unit 260 repeatedly executes the take-out control shown in FIGS. 9 and 10 until it is determined that all the clothes in the washing machine 400 have been taken out based on the image information acquired from the first imaging device 250.
  • the input control unit 130 determines that all of the clothes in the washing machine 400 have been taken out based on the image information acquired from the first imaging device 250
  • the input control shown in FIGS. 7 and 8 is executed again. To do.
  • the post-processing control unit 330 determines whether or not post-processing of the clothing placed on the temporary placement unit 230 is necessary based on the image information acquired from the second imaging device 320, and post-processing is necessary.
  • the post-processing device 310 is controlled so that the post-processing is performed on the clothing.
  • the post-processing control unit 330 determines the type of clothing based on the image information acquired from the second imaging device 320, and the clothing is stored in the plurality of storage units 110 for each type based on the result.
  • the post processor 310 is controlled. Then, the clothes housed in the storage unit 110 are taken out from the clothes loading / unloading unit 11.
  • the clothes put into the storage unit 110 are put into the washing machine 400, and the clothes that have been washed by the washing machine 400 are taken out from the washing machine 400 and need post-processing.
  • the clothing is post-processed and then stored in each storage unit 110 according to the type of clothing.
  • the user can store the clothing sorted according to the sorting conditions in different storage units 110.
  • the clothing stored in the storage unit 110 is input to the washing machine 400 by the input unit 120. For this reason, the user is not required to perform the work of putting the clothes sorted according to the sorting condition into the washing machine 400 every time washing is performed, and the burden on the user is reduced.
  • the clothing processing apparatus 1 contributes to reducing the burden of work related to washing.
  • the clothing processing apparatus 1 According to the clothing processing apparatus 1, the clothing is dropped into the washing machine 400 by dropping the clothing from the bottom of the storage unit 110 conveyed onto the washing machine 400. Thus, since clothes are thrown into the washing machine 400 with a simple structure, the structure of the clothing processing apparatus 1 is simplified.
  • the clothing processing apparatus 1 since the clothing to be put into the washing machine 400 can be specified by the operation by the first operation unit 21, compared with the case where the clothing to be thrown into the washing machine 400 does not depend on the user's intention. Thus, the convenience of the clothing processing apparatus 1 is enhanced.
  • the clothing processing apparatus 1 According to the clothing processing apparatus 1, clothing that has been washed by the washing machine 400 is taken out from the washing machine 400 by the arm 210. For this reason, the user is not required to take out the clothes sorted according to the sorting conditions from the washing machine 400 each time the clothes are washed, and the burden on the user is further reduced. As described above, the clothing processing apparatus 1 contributes to further reducing the burden of work related to washing.
  • the clothes stored in the storage unit 110 are put into the washing machine 400 by the loading unit 120, and the clothes that have been washed by the washing machine 400 are washed by the arm 210.
  • the steps taken out from 400 are sequentially repeated. That is, after all the clothes in the washing machine 400 are taken out, the clothes that are to be put into the washing machine 400 next are quickly put into the washing machine 400. For this reason, the time concerning the work regarding washing is shortened.
  • the post-processing apparatus 300 performs post-processing. For this reason, the user is not required to perform post-processing every time the clothes classified according to the classification condition are washed, and the burden on the user is further reduced. In this way, the clothing processing apparatus 1 contributes to further reducing the work load related to washing.
  • the clothing processing apparatus 1 all of the clothing in the washing machine 400 is taken out to the temporary placement unit 230 before post-processing is performed on the clothing that has been washed. For this reason, compared with the case where a post-process is performed in the process of taking out the clothes in the washing machine 400, the time taken until all the clothes in the washing machine 400 are taken out is shortened. That is, the time from when the washing by the washing machine 400 is completed until the next washing by the washing machine 400 is started is shortened. For this reason, the time concerning the work regarding washing is further shortened.
  • the clothing processing apparatus 1 According to the clothing processing apparatus 1, clothing taken out from the washing machine 400 is stored in the storage unit 110 according to the type. For this reason, the user is not required to perform an operation of classifying the clothing classified according to the classification condition according to the type every time it is washed, further reducing the burden on the user. In this way, the clothing processing apparatus 1 contributes to further reducing the work load related to washing.
  • the garment input from the garment entry / exit section 11 is stored in the storage section 110, and the washed and dried clothes are stored in the storage section 110.
  • the structure of the clothing processing apparatus 1 is simplified as compared with the case where the storage unit that stores the clothes put in from the clothing input / output unit 11 is different from the storage unit that stores the clothes that have been washed and dried.
  • the description regarding the embodiment is an exemplification of a form that the clothing processing apparatus according to the present disclosure can take, and is not intended to limit the form.
  • the garment processing apparatus according to the present disclosure may take a form in which, for example, a modification of the embodiment shown below and a combination of at least two modifications not contradicting each other are combined.
  • the timing at which the second imaging device 320 images clothing can be arbitrarily changed.
  • the clothing after the post-processing is performed by the post-processing device 310 is imaged by the second imaging device 320.
  • all the clothes taken out from the washing machine 400 are post-processed.
  • the second imaging device 320 captures clothes before the post-processing is performed by the post-processing device 310 and after the post-processing is performed by the post-processing device 310.
  • the garment processing apparatus 1 can take a form in which the second imaging device 320 is omitted. In this modified example, all the clothes taken out from the washing machine 400 are post-processed.
  • the modified clothing processing apparatus 1 further includes a plurality of other storage units in addition to the plurality of storage units 110.
  • clothes that can be put into the washing machine 400 are stored in the plurality of storage units 110, and clothes that are washed by the washing machine 400 are stored in another plurality of storage units.
  • the garment processing apparatus 1 may take a form in which the temporary placement unit 230 is omitted.
  • post-processing is performed on the clothing immediately after being taken out from the washing machine 400.
  • the operation of the storage unit 110 by the opening / closing drive unit 124 can be arbitrarily changed.
  • the lower lid 112 slides with respect to the box body 111 by the closing control unit 130 controlling the opening / closing drive unit 124.
  • the bottom of the box body 111 is opened, and the clothes in the storage unit 110 are dropped and put into the washing machine 400.
  • the storage unit 110 is tilted with respect to the washing machine 400 by the closing control unit 130 controlling the opening / closing drive unit 124.
  • the storage unit 110 is tilted so that the third opening 111C of the storage unit 110 faces downward, the clothes in the storage unit 110 are dropped from the third opening 111C and put into the washing machine 400.
  • the number of arms 210 can be changed arbitrarily. In one example, the number of arms 210 is one or three or more.
  • the modified clothing take-out device 200 includes another grasping unit having substantially the same function as each arm 210 instead of each arm 210.
  • the transfer unit 121 of the modified example can take a form in which the rotating device 122 is omitted.
  • the transport unit 121 moves the plurality of storage units 110 individually, the storage unit 110 storing the clothes to be put into the washing machine 400 is transported onto the washing machine 400.
  • the form of the detection unit 410 can be arbitrarily changed.
  • the detection unit 410 is an infrared sensor that can measure the amount of heat in the washing machine 400.
  • the detection unit 410 is an ultrasonic sensor that can detect an obstacle in the washing machine 400.
  • the relationship between the first opening 41 and the second opening 42 of the guide unit 40 can be arbitrarily changed.
  • the first opening 41 is smaller than the second opening 42.
  • the first opening 41 and the second opening 42 have substantially the same size. Note that the relationship between the second opening 42 and the opening 401 of the washing machine 400 can be arbitrarily changed.
  • the garment processing apparatus 1 according to the modification can take a form in which the guide unit 40 is omitted.
  • the garment processing apparatus 1 can take a form in which the dehumidifying apparatus 50 is omitted.
  • the form of the dehumidifying device 50 can be arbitrarily changed.
  • the dehumidifying device 50 is a desiccant such as zeolite having high moisture adsorption performance.
  • positioning of the dehumidification apparatus 50 with respect to the main body case 10 can also be changed arbitrarily.
  • the modified clothing processing apparatus 1 includes another clothing entry / exit section instead of or in addition to the clothing entry / exit section 11. Another clothing entry / exit portion is provided on the back surface of the main body case 10, for example. The garment thrown in from another garment entry / exit part is thrown into the storage part 110 through the third opening 111C.
  • the storage unit 110 according to the modification can take a form in which the third opening 111C is omitted.
  • the operation unit 20 of the modified example can take a form in which the second operation unit 22 is omitted.
  • step S24 and step S25 are abbreviate
  • the number of storage units 110 can be arbitrarily changed. In one example, the number of storage units is 2 or more and 9 or less, or 11 or more.
  • the modified garment processing apparatus 1 may take a form in which some or all of the elements constituting at least one of the garment take-out apparatus 200, the post-processing apparatus 300, and the washing machine 400 are omitted.
  • the clothing processing apparatus according to the present disclosure can be used in various clothing processing apparatuses including business use and home use.
PCT/JP2016/004491 2015-12-25 2016-10-05 衣類処理装置 WO2017110021A1 (ja)

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EP16877926.2A EP3396057A4 (en) 2015-12-25 2016-10-05 Clothing processing device

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CN107815841A (zh) * 2017-11-15 2018-03-20 浙江宏茂科技有限公司 智能洗衣机系统
CN107747206A (zh) * 2017-11-15 2018-03-02 浙江宏茂科技有限公司 公用洗衣机系统
CN107815840A (zh) * 2017-11-15 2018-03-20 浙江宏茂科技有限公司 可自动投放衣物的洗衣机系统
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EP3396057A4 (en) 2018-12-26
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CN108541283A (zh) 2018-09-14
JP6583683B2 (ja) 2019-10-02
EP3396057A1 (en) 2018-10-31

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