WO2019012870A1 - Dispositif de traitement de plats - Google Patents

Dispositif de traitement de plats Download PDF

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Publication number
WO2019012870A1
WO2019012870A1 PCT/JP2018/021795 JP2018021795W WO2019012870A1 WO 2019012870 A1 WO2019012870 A1 WO 2019012870A1 JP 2018021795 W JP2018021795 W JP 2018021795W WO 2019012870 A1 WO2019012870 A1 WO 2019012870A1
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WO
WIPO (PCT)
Prior art keywords
transfer device
control unit
tableware
cleaned
door
Prior art date
Application number
PCT/JP2018/021795
Other languages
English (en)
Japanese (ja)
Inventor
澁谷　昌樹
菊川　智之
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 CN201880030403.7A priority Critical patent/CN110602974B/zh
Publication of WO2019012870A1 publication Critical patent/WO2019012870A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/42—Details
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/42—Details
    • A47L15/46—Devices for the automatic control of the different phases of cleaning ; Controlling devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices

Definitions

  • the present invention relates to a dishwasher and a dish processing machine such as a dish dryer having a configuration for automatically placing an object to be treated such as dishes in a dish basket.
  • the conventional dishwashing and drying machine is configured such that the user himself places the dishes in the bowl and performs the washing and drying of the dishes.
  • the position on the dishbasket that can be placed is substantially determined by the type of tableware to be treated. That is, it is necessary for the user to set the dishes in the tableware basket while considering the arrangement order and places of the dishes. Therefore, while making a user take time and effort, it takes a long time to set dishes.
  • the shape, quantity, material, type, color of the object to be treated, the attached matter attached to the object, etc. are taken into consideration even if the user does not consider the order and the place in which the object is set.
  • a tableware processor capable of performing appropriate placement processing.
  • the tableware processing machine of the present invention comprises a treatment tank, a tableware basket provided inside the treatment tank and disposed with the object to be treated, a treatment unit for at least cleaning or drying the object, and a transfer for transferring the object to be treated.
  • the apparatus includes a controller that controls the transfer device.
  • the control unit controls the transfer device so that the transfer device and the workpiece transferred by the transfer device do not come in contact with other objects to be treated, the treatment tank, and the tableware cage, and automatically transfers the process material to the tableware cage, Configured to be deployed.
  • the objects to be treated such as dishes are automatically transferred by the transfer device to the appropriate places of the dish basket and arranged. Therefore, the user does not have to consider the order and the place for arranging the objects to be treated.
  • a tableware processing machine capable of automatically performing an appropriate disposition process according to the shape, quantity, material, type, color of the object to be treated, and adhering matter attached to the object to be treated.
  • FIG. 1 is a perspective view of a state in which the door of the dishwasher in Embodiment 1 of the present invention is pulled forward.
  • FIG. 2 is a side sectional view of the state where the door of the dishwasher in the same embodiment is pulled forward.
  • FIG. 3 is a side sectional view of the state in which the door of the dishwasher in the embodiment is closed.
  • FIG. 4 is a side cross-sectional view showing the position of the transfer device when the transfer device of the dishwasher according to the embodiment holds the object to be cleaned.
  • FIG. 5 is a side sectional view showing the position of the transfer device when the transfer device of the dishwasher according to the embodiment arranges the object to be cleaned.
  • FIG. 6 is a side sectional view showing the flow of washing water in the washing step of the dishwasher in the same embodiment.
  • FIG. 7 is a side cross-sectional view of a state in which the door of the dishwasher in the second embodiment of the present invention is closed.
  • FIG. 8 is a perspective view of the state in which the door of the dishwasher in
  • the dish processor of the present invention includes a dishwasher and a dish dryer. Therefore, in the following embodiment, although a dishwasher is demonstrated to an example as a dishwasher, it is the same also in a dishwasher. In addition, the thing which accommodates the to-be-processed objects, such as the dishware wash
  • the processing means cleaning the processing tank corresponds to a cleaning tank
  • the processing unit corresponds to a cleaning unit such as a cleaning nozzle.
  • the treatment means drying the treatment tank corresponds to the drying chamber
  • the treatment unit corresponds to the drying unit such as the heater.
  • FIG. 1 is a perspective view of a state in which a door 4 of a dishwasher 1 according to Embodiment 1 of the present invention is pulled forward.
  • the dishwasher 1 of the present embodiment includes a washing tank 3 having a front opening 2, a door 4, a washing space 5, a dish cage 7, a placement unit 8 and the like.
  • the door 4 is configured to be movable back and forth, and covers the front opening 2 of the cleaning tank 3 so as to open and close.
  • the cleaning space 5 is formed by being surrounded by the cleaning tank 3 and the door 4 and accommodates the tableware cage 7 and the placement unit 8 and the like.
  • the tableware cage 7 and the placement unit 8 are configured to be movable back and forth, and the article 6 is placed in a washable state.
  • the tableware cage 7 and the placement unit 8 are formed of, for example, a wire made of metal such as stainless steel.
  • the dishwasher 1 is built in, for example, the system kitchen 11.
  • the door 4 includes an operation unit 9 including a button and the like on the upper surface.
  • the user can perform, for example, power on / off, start, pause, cleaning and drying courses, switching of operating conditions, and the like by button operation of the operation unit 9.
  • the front opening 2 side of the cleaning tank 3 is front
  • the opposite side of the front opening 2 is rear
  • the right is rearward from the front, and rightward.
  • With the left side as the left side.
  • tableware cage 7 was demonstrated to the example above, it is not restricted to this. Depending on the amount of material 6 to be cleaned, more than one dish basket may be provided.
  • tableware cage 7 and the mounting part 8 were demonstrated by the example comprised by the metal wire rod above, it is not restricted to this.
  • the tableware cage 7 and the placement unit 8 may be made of metal coated with a material such as nylon or a resin material such as polypropylene (PP).
  • the outline of the dishwasher 1 of the present embodiment is configured.
  • FIG. 2 is a side cross-sectional view of the state where the door 4 of the dishwasher 1 in the same embodiment is pulled forward.
  • FIG. 3 is a side sectional view of the state where the door 4 of the dishwasher 1 in the embodiment is closed.
  • a washing nozzle 10 which is a washing unit (treatment unit) for washing the object to be washed 6 is provided below the dish cage 7.
  • the cleaning nozzle 10 is rotatably provided substantially at the center (including the center) when the dish cage 7 is viewed from above, and is connected to the water conduit 12.
  • the cleaning nozzle 10 has a hollow space through which cleaning water flows, and is provided with one or more injection holes 10 a on the upper surface.
  • the injection holes 10 a inject cleaning water toward the object 6 on the tableware cage 7. At this time, the washing nozzle 10 rotates in the direction opposite to the jetting direction of the washing water by the reaction force generated when the washing water supplied from the water conduit 12 is jetted from the injection holes 10a.
  • an injection hole may be further provided below the cleaning nozzle 10. Thereby, after washing
  • the water conduit 12 is formed in the shape of a hollow pipe.
  • the water conduit 12 extends in a substantially horizontal front-rear direction (including the horizontal front-rear direction), and is formed to bend downward above the cleaning nozzle 10.
  • the water conduit 12 is fixed to the lower wire 7 c of the tableware cage 7 and moves in the front-rear direction with the tableware cage 7.
  • the connection between the rear end of the water conduit 12 and the pipe-shaped joint 13 fixed to the back surface of the washing tank 3 is released.
  • the tableware cage 7 and the water conduit 12 move rearward, the rear end of the water conduit 12 joins with the joint 13. Thereby, water supply to the cleaning nozzle 10 is possible.
  • the tableware cage 7 is provided above the cleaning nozzle 10, as viewed from above, substantially in the entire cleaning space 5.
  • the tableware cage 7 is supported movably in the front-rear direction by a pair of tableware rails 14 on the left and right sides of the tableware cage 7.
  • the dish cage rail 14 is held on the lower side of both the left and right inner side walls 3 e and 3 f of the washing tank 3. This enables the tableware 7 to be pulled out from the front opening 2 to the front of the washing tank 3.
  • the placement unit 8 on which the user places the object 6 to be cleaned is disposed above the dish cage 7.
  • the front portion of the placement unit 8 is fixed to the door 4.
  • the placement unit 8 is located substantially in the whole (including the whole) in the left-right direction of the cleaning tank 3 as viewed from above, and located in the front half area in the depth direction It is arranged.
  • the placement unit 8 is supported on the left and right side surfaces of the placement unit 8 so as to be movable in the front-rear direction by the left and right placement unit rails 17.
  • the mounting unit rail 17 is held on the upper side of the inner side walls 3 e and 3 f of the cleaning tank 3.
  • the placement unit 8 can be pulled out of the front opening 2 to the front of the cleaning tank 3.
  • a recessed drainage port 30 is provided at the lowermost portion of the cleaning space 5 of the cleaning tank 3.
  • the washing water pump 18 is disposed on the lower side outside the bottom surface of the washing tank 3.
  • the pump water channel 31 constitutes a path connecting the drainage port 30 and the flush water pump 18.
  • the cleaning water pump 18 supplies cleaning water for cleaning the object to be cleaned 6 to the cleaning nozzle 10 via the cleaning water passage 32, for example, during forward rotation.
  • the washing water supplied from the washing water pump 18 passes through the washing water passage 32 and is sent to the washing nozzle 10 through the joint portion 13.
  • the washing water pump 18 switches the valve and drains the washing water in the washing tank 3 after washing is finished to the outside of the dishwasher 1.
  • the dishwasher 1 of the present embodiment further includes a main tray 20 and an auxiliary tray 21.
  • the main tray 20 and the auxiliary tray 21 receive water droplets and the like falling from the objects to be cleaned 6 placed on the tableware cage 7 and the placement unit 8.
  • the main tray 20 and the auxiliary tray 21 are pulled forward together with the door 4.
  • the main tray 20 and the auxiliary tray 21 are disposed with a gap between the left inner wall 3 e and the right inner wall 3 f of the cleaning tank 3. Thereby, the main tray 20 and the auxiliary tray 21 can be smoothly taken in and out with the door 4 with respect to the cleaning tank 3.
  • the main tray 20 is disposed below the tableware basket 7 and is formed in a shape having a larger width dimension in the left-right direction than the tableware basket 7 when viewed from the top of the tableware basket 7.
  • the main tray 20 is disposed inside the cleaning space 5 when the door 4 is closed.
  • the auxiliary tray 21 is disposed below the main tray 20.
  • the auxiliary tray 21 is disposed at a position outside the washing space 5 below the washing tank 3 when the door 4 is closed.
  • the auxiliary tray 21 is disposed so that the distance in the height direction between the auxiliary tray 21 and the main tray 20 is at least 3 cm or more, preferably 5 cm or more.
  • the interval of 3 cm or more is, for example, in consideration of insertion of the user's hand, and is not limited to this. Thereby, the main tray 20 and the like can be easily removed and attached.
  • the main tray 20 is formed in a concave shape that opens upward, and is formed of a resin material such as PP having high rigidity.
  • the main tray 20 is disposed to be inclined downward (for example, an inclination angle of 5 degrees) toward the rear.
  • the front end portion of the main tray 20 is detachably fixed to the main tray claw portion 20 a provided on the door 4 by claw fitting.
  • the inclination of the main tray 20 may be formed at least on the upper surface side of the bottom. Furthermore, if it is formed also on the lower surface side (back surface) of the bottom portion, it is more preferable because it flows down to the cleaning tank 3 side and drops even if water droplets adhere to the lower surface side.
  • the inclination of the main tray 20 may be configured by inclining and positioning the main tray 20 downward toward the rear when the front end portion of the main tray 20 and the door 4 are fixed.
  • the configuration in which the inclination of the main tray 20 has a constant inclination angle has been described as an example, but the present invention is not limited to this.
  • the rearward and downward inclination of the main tray 20 may be configured to have a plurality of inclination angles.
  • the inclination of the main tray 20 may be configured by an inclination angle which changes gradually and continuously.
  • the main tray 20 is provided with tray rollers 23 (rolling support portions) rotatably provided on the left and right of the rear end portion.
  • the tray roller 23 supports the main tray 20 while rolling on the upper surfaces of the tray rails 24 provided on the left and right inner side walls 3 e and 3 f of the cleaning tank 3. That is, when the door 4 is pulled out, the main tray 20 is supported by the tray roller 23 and pulled out together with the door 4.
  • the auxiliary tray 21 is composed of a first auxiliary tray 21a and a second auxiliary tray 21b provided below the first auxiliary tray 21a.
  • the first auxiliary tray 21a and the second auxiliary tray 21b are formed in a concave shape that opens upward, and are formed of a resin material such as PP having high rigidity.
  • the first auxiliary tray 21a and the second auxiliary tray 21b are arranged to overlap vertically in the state where the door 4 is closed. On the other hand, when the door 4 is pulled out, the first auxiliary tray 21a and the second auxiliary tray 21b are pulled out together with the door 4 while being displaced relative to each other in the front-rear direction.
  • the dishwasher 1 of this Embodiment is equipped with the seal
  • the seal portion 25 is formed in a hollow shape, for example, with silicone rubber.
  • the seal portion 25 incorporates, for example, a rubber magnet (not shown) or the like having a magnetic force on the surface on the cleaning tank 3 side.
  • the cleaning tank seal surface 26 of the cleaning tank 3 facing the seal part 25 is made of a metal such as SUS 430 having magnetism. Therefore, when the door 4 is closed from the pulled out state, the seal portion 25 is drawn to the cleaning tank seal surface 26 by the magnetic force. Thereby, the door 4 is closed with respect to the cleaning tank 3 while maintaining water tightness.
  • washing tank sealing surface 26 by SUS430 was demonstrated above, it is not restricted to this.
  • a material having magnetism, such as iron, may be used.
  • the front surface of the cleaning tank 3 other than the cleaning tank sealing surface 26 may be made of a nonmagnetic material such as PP resin.
  • the seal portion may be provided on the cleaning tank 3 side, and a material having magnetism may be disposed on the surface of the facing door 4.
  • the cleaning tank 3 of the present embodiment is provided with a receiving portion 27 opened upward at the bottom on the front side.
  • the cleaning tank seal surface 26 is disposed rearward of the front surface 3 a of the receiving portion 27 of the cleaning tank 3.
  • the receiving portion 27 receives the cleaning water flowing downward along the cleaning tank sealing surface 26.
  • the receiving portion 27 is from the gap between the seal portion 25 of the door 4 and the cleaning tank sealing surface 26 until the cleaning water pump 18 is stopped. It receives cleaning water that flows down along the cleaning tank sealing surface 26. That is, even if some washing water flows down, the washing water can be received by the receiving portion 27 to prevent overflowing to the lower side.
  • a hole 26 a is partially provided in the lower cleaning tank seal surface 26.
  • the holes 26 a return the cleaning water accumulated in the receiving portion 27 into the cleaning tank 3. As a result, it is possible to prevent the washing water from falling to the installation surface or the like as it overflows from the receiving portion 27.
  • the door 4 is provided with a key-shaped hook 28 on the inner wall on the cleaning space 5 side.
  • the hooks 28 are engaged with a wire substantially at the center (including the center) of the front of the dish cage 7.
  • the door 4 and the tableware cage 7 can move back and forth interlockingly.
  • the user lifts the wire at the front of the tableware basket 7.
  • the engagement between the wire and the hook 28 is released, and the tableware cage 7 can be removed.
  • the hook 28 has an integrally provided inclined surface 28 a which is inclined rearward.
  • the washing tank 3 is provided with the water supply valve 29 directly connected with the water supply at the upper rear.
  • the tap water is supplied as water to the cleaning tank 3 through the water supply valve 29.
  • the cleaning tank 3 is provided with a fan 33 at the rear lower side of the outside.
  • the fan 33 sucks external air in the drying step of the dishwasher 1 or the like.
  • the sucked air is supplied to the inside of the cleaning space 5 from the air blowing port 35 through the air blowing path 34.
  • the air supplied to the cleaning space 5 is warmed by the heater 36 disposed below the cleaning space 5.
  • the warmed air is supplied into the cleaning space 5 to dry the object 6 to be cleaned inside.
  • the air is exhausted to the outside from an exhaust port 37 provided on the upper surface or the side wall of the door 4.
  • the exhaust port 37 may be provided on the top surface or the side wall of the cleaning tank 3.
  • a temperature detection unit 38 is disposed in close contact with the outer side of the bottom of the cleaning tank 3.
  • the temperature detection unit 38 indirectly detects the temperature of the cleaning water, the air, and the heater 36 in the cleaning tank 3.
  • the control unit 40 is disposed below the bottom surface of the cleaning tank 3.
  • the control unit 40 controls the water supply valve 29 based on a signal from the operation unit 9 operated by the user to control the supply of the cleaning water into the cleaning tank 3. Further, the control unit 40 controls the heater 36 based on the output of the temperature detection unit 38. Furthermore, the control unit 40 controls the washing water pump 18, the fan 33 and the like to sequentially execute a series of steps such as washing, rinsing and drying.
  • control unit 40 analyzes shooting information obtained by the hand camera 103 and the fixed camera 104 described later.
  • the control unit 40 controls the transfer device 100 based on the analysis result of the imaging information. The specific control of the transfer device 100 will be described later.
  • a door drive motor 70 which is an opening and closing device for opening and closing the door 4, is provided at the front bottom of the cleaning tank 3 and below the bottom surface.
  • the acceleration sensor 71 is provided inside the door 4.
  • the acceleration sensor 71 detects an impact applied to the door 4 when the door 4 is closed, for example, when it is struck by the user's hand.
  • the control unit 40 receives the detection information from the acceleration sensor 71 and drives the door drive motor 70. As a result, the door 4 moves forward, and the cleaning tank 3 is opened.
  • the control unit 40 receives the detection information and drives the door drive motor 70. As a result, the door 4 moves rearward and closes the front opening 2 of the cleaning tank 3.
  • the door detection switch 72 is provided on the upper side of the auxiliary tray 21 in front of the lower side of the bottom surface of the cleaning tank 3.
  • the door detection switch 72 constitutes an open / close detection unit that detects the opening / closing of the door 4.
  • the control unit 40 controls the rotation direction of the door drive motor 70 based on the detection information of the door detection switch 72. Thereby, the opening and closing operation of the door 4 is properly performed.
  • the acceleration sensor 71 as an information source (trigger) which starts opening-closing operation of the door 4 was demonstrated above, it is not restricted to this.
  • information from an electrostatic sensor that recognizes a change in capacitance, a microphone that recognizes voice, or the like may be used as a trigger that starts the opening / closing operation of the door 4.
  • the door drive motor 70 demonstrated the example which has both functions which open and close the door 4 in the above, it is not restricted to this.
  • the door drive motor 70 may be configured to have one of the functions of, for example, opening the door 4 or closing the door 4.
  • the above-described transfer device 100 is disposed, for example, on the inner rear surface 3 g of the cleaning tank 3 and has a function of transferring the object 6 to be cleaned.
  • the transfer apparatus 100 includes a plurality of arms, a plurality of joints rotatably connecting the arms, a hand 102, a hand camera 103, a hand light 105, and the like.
  • the plurality of arms include, for example, a first arm 100a, a second arm 100b, a third arm 100c, and a fourth arm 100d.
  • the plurality of joints include, for example, a first joint 101a, a second joint 101b, and a third joint 101c.
  • the hand 102, the hand camera 103 and the hand light 105 are provided to a fourth arm 100 d which is the tip of the transfer device 100.
  • the first arm 100 a is fixed to the back surface 3 g of the cleaning tank 3.
  • the first arm 100a is circumferentially rotatable, for example, formed in a cylindrical shape, and incorporates a motor.
  • the other end of the first arm 100a is connected to a first joint portion 101a rotatable in the vertical direction with respect to the axial direction of the first arm 100a.
  • the second arm 100 b is formed, for example, in a cylindrical shape, and one end thereof is connected to the first joint portion 101 a.
  • the other end of the second arm 100b is connected to a second joint portion 101b rotatable in a direction perpendicular to the axial direction of the second arm 100b.
  • the third arm 100c is formed, for example, in a cylindrical shape, and one end thereof is connected to the second joint portion 101b. The other end of the third arm 100c is connected to a third joint 101c rotatable in the vertical direction with respect to the axial direction of the third arm 100c.
  • the fourth arm 100 d is connected to the third joint portion 101 c.
  • the fourth arm 100d is circumferentially rotatable, for example, formed in a cylindrical shape, and incorporates a motor.
  • the other end of the fourth arm 100d constitutes a tip of the transfer device 100, and is provided with a hand 102 which is a gripping portion for gripping and releasing the object 6 to be cleaned.
  • the hand 102 is provided rotatably in the vertical direction with respect to the axial direction of the fourth arm 100 d.
  • the hand 102 has a pivotable pair of, for example, opposing arc-shaped grips 102a on a base 102b connected to the other end of the fourth arm 100d.
  • the pair of grips 102 a is rotated by a motor or the like built in the base 102 b of the hand 102.
  • the hand 102 further includes a torque sensor (not shown), a slip sensor (not shown), and the like.
  • the torque sensor detects the torque of the hand 102 in order to grip the object 6 with a predetermined force so as not to break it.
  • the slip sensor detects that the object to be cleaned 6 gripped by the hand 102 slips out.
  • the fourth arm 100 d includes the hand camera 103 and the hand light 105 described above.
  • the hand camera 103 functions as a recognition unit that recognizes an object 6 to be cleaned such as tableware. Specifically, the hand camera 103 takes, for example, an image necessary to recognize the position, shape, material, type, and color of the object 6 to be cleaned, and the deposit attached to the object 6 to be cleaned.
  • the hand light 105 illuminates the photographing destination of the hand camera 103 with a light amount necessary for photographing an image.
  • the fixed camera 104 and the fixed light 106 are respectively provided downward on the upper surface inside the cleaning tank 3.
  • the fixed camera 104 functions as a recognition unit that recognizes an object 6 to be cleaned such as tableware.
  • the fixed camera 104 shoots the inside of the cleaning tank 3.
  • the fixed light 106 illuminates the shooting destination of the fixed camera 104.
  • a distance sensor such as a proximity sensor which measures a distance
  • a camera, a proximity sensor, an infrared sensor, or the like may be used in combination as appropriate.
  • the present invention is not limited to this.
  • only the hand camera 103 may be provided depending on the size and shape of the cleaning tank 3.
  • only the fixed camera 104 may be provided.
  • a plurality of hand cameras 103 and a plurality of fixed cameras 104 may be provided.
  • the fixed camera 104 is described as being provided inside the cleaning tank 3.
  • the fixed camera 104 may be externally provided.
  • the fixed camera 104 is provided in a hole provided in the cleaning tank 3. , It is comprised so that the inside of the washing tank 3 may be image
  • the inside of the cleaning tank 3 can be recognized by the fixed camera 104 as described above.
  • the fixed camera 104 may be configured to be driven to oscillate by a motor or the like. As a result, the inside of the cleaning tank 3 can be photographed entirely by the fixed camera 104 so that no dead angle occurs.
  • the present invention is not limited thereto.
  • the object to be cleaned 6 may be suctioned and held using a suction pump or the like.
  • you may use the transfer apparatus of a different form, such as a belt conveyor and an elevator, for example.
  • a sheet-like cover 107 is provided to cover the whole of the transfer device 100 according to the present embodiment.
  • the cover 107 is waterproofed to prevent a short circuit of the electrical part generated by the washing water applied to the transfer device 100.
  • the cover 107 incorporates a pressure sensor that functions as a pressure detection unit.
  • the pressure sensor detects the pressure when the transfer device 100 is externally pressurized. Specifically, the pressure sensor detects, for example, that a human has touched the transfer device 100.
  • the control unit 40 stops the operation of the transfer device 100 based on the detection signal of the pressure sensor at the time of contact. In this way, safety for human beings and damage to the transfer device 100 can be prevented in advance.
  • the transfer device 100 is configured and operates.
  • control operation of the control unit 40 in the dishwasher 1 as an example of the dish processing machine according to the present embodiment will be specifically described.
  • the control unit 40 stops the cleaning water pump 18 if cleaning is in progress for safety. Similarly, when trying to open the door 4 during drying, the control unit 40 stops the fan 33 and the heater 36.
  • the control unit 40 moves the transfer device 100 to a position where the object to be cleaned 6 or the dish cage 7 in the cleaning tank 3 does not hit. Operate and stop. Thereafter, the control unit 40 operates the door drive motor 70 to move the door 4 forward. In this case, after returning the transfer device 100 to the initial position and stopping it, the control unit 40 operates the door drive motor 70 to move the door 4 and control the cleaning tank 3 to be opened. Is preferred. Thereby, after movement of the door 4, the user can easily take out the object to be cleaned 6 from the cleaning tank 3 without being disturbed by the transfer device 100.
  • control part 40 of dishwasher 1 of this embodiment controls operation of each part.
  • the door detection switch 72 is provided on the upper side of the auxiliary tray 21 in front of the lower side of the bottom surface of the cleaning tank 3.
  • the door detection switch 72 detects that the door 4 is closed.
  • the control unit 40 receives the detection information from the door detection switch 72 and controls the washing water pump 18 to stop so that the washing water does not jump out of the washing tank 3 during washing. Do.
  • the control unit 40 stops the washing water pump 18 if it is being washed. Similarly, during drying, the control unit 40 stops the fan 33 and the heater 36. If the transfer device 100 is in operation, the control unit 40 stops the transfer device 100. This makes it possible to prevent the occurrence of problems and ensure safety.
  • the structure which opens and closes the door 4 by the door drive motor 70 was demonstrated to the example above, it is not restricted to this.
  • a handle or the like may be provided on the door 4, and the user may manually open and close the door 4 via the handle.
  • a door lock device (not shown).
  • the door lock device locks the door 4 so as not to open when the door 4 is closed. That is, the control unit 40 locks the door 4 so that the door 4 is not opened by the door lock device during cleaning, drying, and operation of the transfer device 100. In this way, the door 4 can be prevented from being unexpectedly opened by the operation of the handle, and safety can be ensured.
  • the control unit 40 stops the washing water pump 18 if cleaning is in progress, stops the fan 33 and the heater 36 if drying, and stops the transfer device 100 if the transfer device 100 is in operation. . Then, the control unit 40 operates the door lock device to release the lock of the door 4. In this state, the user can open the door 4. In this case, after the control unit 40 returns the transfer device 100 to the initial position and stops, the control unit 40 preferably releases the door lock device so that the user opens the door 4. As a result, after the door 4 is opened, the user can easily take out the object 6 without being disturbed by the transfer device 100.
  • the door lock device or the like is used to lock the door 4 so as not to open during the operation of the transfer device 100.
  • the user can not open the door 4 during cleaning, drying and operation of the transfer device 100.
  • it is possible to prevent the occurrence of a failure due to the contact between the user and the transfer device 100 or the like.
  • the door lock device may be applied to a dishwasher configured to open and close the door 4 by the door drive motor 70.
  • the door lock device locks the door 4 and does not open it. Therefore, the occurrence of a collision with the door 4 due to the opening can be prevented, and the safety of the user can be secured. Further, in operation, the water tightness between the front opening 2 of the cleaning tank 3 and the door 4 can be maintained. Thereby, scattering of the washing water to the outside of the dishwasher 1 and falling to the floor surface can be prevented.
  • FIG. 4 is a side sectional view showing the position of the transfer device 100 when the transfer device 100 of the dishwasher 1 according to the embodiment holds the object 6 to be cleaned.
  • FIG. 5 is a side sectional view showing the position of the transfer device 100 when the transfer device 100 of the dishwasher 1 in the embodiment arranges the object 6 to be cleaned.
  • the user taps the door 4 from the front, for example, with a hand.
  • the acceleration sensor 71 detects an impact (acceleration) received by the door 4.
  • the control unit 40 receives the detection information from the acceleration sensor 71, drives the door drive motor 70, and pulls the door 4 forward.
  • the tableware cage 7 engaged with the door 4 by the hook 28, the placement unit 8, the main tray 20 and the auxiliary tray 21 are pulled forward in conjunction with the door 4.
  • the user places, for example, the objects to be cleaned 6 on the placement unit 8 in a stacked state, and places the detergent into the cleaning tank 3. Then, the user inputs a cleaning and drying course, conditions, and the like through the operation unit 9 on the upper surface of the door 4.
  • FIG. 4 shows the situation of the dishwasher 1 with the front opening 2 closed.
  • the control unit 40 captures an image of the cleaning object 6 in the cleaning tank 3 using the hand camera 103 and the fixed camera 104. Then, the control unit 40 automatically recognizes the position, the shape, the quantity, the material, the type, and the color of the object 6 to be cleaned, and the attached matter and the like attached to the object 6 from the photographed data.
  • the control unit 40 brings the transfer device 100 closer to the object 6 on the placement unit 8, the method of gripping the object 6, the method of transferring the object 6 and the object 6.
  • a plan such as how to arrange the items to be washed 6 in the dish cage 7.
  • control unit 40 executes the transfer and arrangement of the cleaning object 6 from the placement unit 8 to the tableware cage 7 according to the following procedure in accordance with the established plan (procedure).
  • control unit 40 controls the driving of the transfer device 100 according to the shape, the number, and the like of the objects to be cleaned 6 disposed in the tableware cage 7. Specifically, the transfer device 100 performs erecting of movable pins (not shown) for holding the objects 6 to be cleaned provided on the tableware cage 7 and folding of the movable pins.
  • control unit 40 brings the hand 102 of the transfer device 100 closer to a position where the object to be cleaned 6 stacked on the placement unit 8 can be gripped.
  • control unit 40 controls the first arm 100 a to the fourth arm 100 d of the transfer device 100 so as not to hit the object to be cleaned 6 other than the grip, the washing tank 3, and the placement unit 8.
  • the hand 102 is brought closer while adjusting the angle etc. of the third joint 101 c from the joint 101 a.
  • the control unit 40 opens and closes and rotates the pair of grips 102 a of the hand 102 to grip the uppermost cleaning object 6 on the placement unit 8.
  • the control unit 40 determines an appropriate gripping position (the edge of the object 6 to be cleaned, etc.) based on information such as the position, the shape, the material, the type, the attached matter, and the distance to the other object 6 Determine the sides, handles, etc.) and how to grip (pick, hold etc).
  • the control unit 40 controls the first arm 100 a to the fourth arm 100 d and the first joint portion 101 a so as not to hit the other wash target 6, the washing tank 3, and the placement unit 8.
  • the hand 102 is operated while adjusting the angle of the third joint portion 101c.
  • control unit 40 moves the transfer device 100 to the appropriate arrangement position on the dish cage 7 with the object 6 gripped by the hand 102.
  • control unit 40 controls the first arm 100 a to the fourth arm 100 d of the transfer device 100 so as not to hit the object to be cleaned 6 other than the grip, the washing tank 3, the placement unit 8, and the dish cage 7.
  • the transfer device 100 is driven while adjusting the angle and the like of the first joint portion 101a to the third joint portion 101c.
  • the control unit 40 opens the handle 102 a of the hand 102.
  • the griped object 6 is released from the hand 102, and the object 6 is placed at the planned position on the tableware cage 7.
  • the control unit 40 controls the first arm 100 a to the fourth arm 100 d and the other so as not to hit the object to be cleaned 6 other than the grip, the washing tank 3, the placement unit 8, and the dish cage 7.
  • the hand 102 is operated while adjusting the angle and the like of the first joint portion 101a to the third joint portion 101c.
  • control unit 40 controls driving of the transfer device 100 in the same manner as described above.
  • the objects to be cleaned 6 stacked on the placement unit 8 are moved from the top to the appropriate position of the tableware cage 7 and arranged.
  • control unit 40 arranges the object to be cleaned 6 through the transfer device 100 basically based on the method described below.
  • the to-be-cleaned object 6 is disposed preferentially from a distant position (near the door 4) away from the transfer device 100. That is, the object to be cleaned 6 is transferred and disposed at a position away from the transfer device 100. Therefore, contact with other objects to be cleaned 6 disposed near the transfer device 100 is unlikely to occur. Thereby, damage due to contact or the like between the objects to be cleaned 6 can be prevented in advance.
  • large objects to be cleaned 6 for example, cooking utensils such as large dishes, pans and pans
  • fragile objects to be cleaned 6 for example, glass dishes etc.
  • the transfer device 100 of the tableware basket 7 It arranges sequentially from the distant position. Then, toward the vicinity of the transfer device 100, the smaller object to be cleaned 6 is disposed gradually. As a result, contact between the transferred and disposed object 6 and the other object 6 is less likely to occur. Therefore, it is possible to prevent damage to the object 6 to be cleaned such as particularly fragile glass dishes.
  • the kind, quantity, etc. of the whole to-be-cleaned object 6 are small, for example, it is not necessary to arrange especially as mentioned above.
  • the large objects to be cleaned 6 are generally placed on the lower side. Therefore, it is difficult to first grasp and transfer the large cleaning object 6 using the transfer device 100.
  • control unit 40 first detects the state of the cleaning object 6 stacked on the placement unit 8 by the hand camera 103 or the fixed camera 104. Then, the control unit 40 recognizes the size of the cleaning object 6 and the positional relationship between the upper and lower sides.
  • the control unit 40 drives and controls the transfer device 100 to move the small object 6 stacked on the upper side to the empty space of the placement unit 8 and the dish cage 7 temporarily. Let me put it on a temporary basis. Then, as described above, the control unit 40 transfers the large object to be cleaned 6 to a distant position of the dish cage 7 away from the transfer device 100 first. Thereafter, the control unit 40 drives and controls the transfer device 100 so as to transfer the temporarily placed small cleaning object 6.
  • the relatively large object to be cleaned 6 is transferred and placed first. Therefore, the contact between the large object 6 to be cleaned and the other object 6 to be cleaned is unlikely to occur. Thereby, breakage of the to-be-cleaned object 6 can be prevented. However, this is not the case depending on the availability of temporary space.
  • the object to be cleaned 6 may be arranged based on the method described below.
  • the control unit 40 recognizes the attached matter of the object to be cleaned 6 by the hand camera 103 or the fixed camera 104. At this time, the control unit 40 determines whether a deposit that is difficult to clean adheres to the cleaning object 6 or not. If it is determined that the object 6 to be cleaned has adherent matter that is difficult to clean, the control unit 40 controls the object to be cleaned where the cleaning water from the injection hole 10a directly strikes the adherent matter. Arrange six. Therefore, it becomes easy to drop the adhering matter of the to-be-cleaned object 6 which is hard to drop. Thereby, the to-be-cleaned object 6 to which the attachment which is hard to wash adheres can be wash
  • the object to be cleaned 6 may be arranged based on the method described below.
  • the control unit 40 recognizes the material of the cleaning object 6 by the hand camera 103 or the fixed camera 104. At this time, the control unit 40 determines whether the material of the to-be-cleaned object 6 is the to-be-cleaned object 6 that is hard to dry, such as plastic dishes having a smaller heat capacity than pottery. If it is determined that the cleaning target 6 is a material that is difficult to dry, the control unit 40 places the recognized cleaning target 6 directly on the place of the tableware basket 7 where the warm air from the air outlet 35 hits directly. Deploy. Thereby, the to-be-washed
  • the object to be cleaned 6 may be arranged based on the method described below according to the shape or type of the object to be cleaned 6.
  • the control unit 40 recognizes the shape or the type of the cleaning object 6 by the hand camera 103 or the fixed camera 104. At this time, the control unit 40 determines whether or not the cleaning target 6 has the same shape or the same type. If it is determined that the objects 6 to be cleaned have the same shape or the same type, the control unit 40 controls the transfer device 100 to move the objects 6 to be cleaned together in the vicinity of the same location of the dish cage 7. ,Deploy. Thereby, the user can take out the to-be-cleaned object 6 of the same shape or the same kind from the same place vicinity, and can store it after washing
  • the object to be cleaned 6 may be arranged based on the method described below.
  • the control unit 40 recognizes the shape, type, or color of the cleaning object 6 by the hand camera 103 or the fixed camera 104. At this time, the control unit 40 determines, for example, whether the tableware used by the father, the tableware used by the mother, and the tableware used by the child. When the control unit 40 determines that the tableware used by the father, the tableware used by the mother, and the tableware used by the child, the objects to be cleaned 6 are grouped according to each member of the family to be used. Move, place. As a result, when cleaning of the object to be cleaned 6 is completed, the user can efficiently take out the object to be cleaned 6 together with the members of the family and store it in the cupboard. Furthermore, food can be efficiently provided and provided to the objects to be cleaned 6 organized for each family member.
  • the tableware processing apparatus can appropriately arrange the object to be cleaned 6 in the tableware cage 7 based on the captured data captured by the hand camera 103 or the fixed camera 104.
  • the priority regarding the setting position to the dish cage 7 of the to-be-cleaned object 6 mentioned above is preset at the time of the shipment from a factory.
  • the dishwasher 1 of the present embodiment can be configured to be reset by the user using the operation unit 9. Thereby, the to-be-cleaned object 6 can be set to the dish cage 7 with a priority of preference according to the user's use actual condition. As a result, a versatile dishwasher 1 can be realized.
  • an obstacle other than the to-be-cleaned object 6 is initially placed on the tableware cage 7, and when the to-be-cleaned object 6 is moved from the placement unit 8 to the tabletop cage 7.
  • the control unit 40 may process the obstacle based on the method described below.
  • the control unit 40 recognizes with the hand camera 103 or the fixed camera 104 whether or not an obstacle other than the cleaning object 6 is present on the tableware cage 7. At this time, when it is determined that an obstacle other than the object to be cleaned 6 is present on the tableware cage 7, the control unit 40 drives the transfer device 100 and grips the recognized obstacle with the hand 102. Then, it repositions the grasped obstacle out of the way. Thereby, obstacles other than the to-be-cleaned object 6 can be removed from the top of the tableware cage 7 and can be washed.
  • control unit 40 may perform processing based on the method described below.
  • the control unit 40 recognizes whether an object other than the object to be cleaned 6 or an object which can not be washed by the dishwasher 1 is placed in the cleaning tank 3 by the hand camera 103 or the fixed camera 104.
  • an object which can not be washed corresponds to, for example, an electric appliance or a plastic tableware having a low heat resistance temperature.
  • the control unit 40 determines that the object is present, the control unit 40 notifies the user by sound or display via a notification unit (not shown). Then, the user is prompted to remove the corresponding object.
  • a notification unit not shown
  • the user is prompted to remove the corresponding object.
  • the dishwasher 1 of the present embodiment is configured to be able to specify the arrangement position of the to-be-cleaned object 6 in the dish cage 7 by the input from the operation unit 9.
  • the user can place the to-be-cleaned object 6 at a desired position of the dish cage 7.
  • the to-be-cleaned object 6 can be arranged at a position easy to be taken by the user according to the height, the physical constitution and the like.
  • the object to be cleaned 6 can be arranged at an easy-to-get position according to the user's handedness. This improves the convenience for the user.
  • control unit 40 can automatically arrange the object 6 to be cleaned through the transfer device 100 according to the state and condition of the object 6 to be cleaned.
  • control unit 40 returns the transfer device 100 to the initial position at the rear of the inside of the cleaning tank 3.
  • the dishwasher 1 starts the washing and drying operation.
  • FIG. 6 is a side sectional view showing the flow of washing water in the washing step of the dishwasher 1 in the embodiment.
  • control unit 40 drives the washing water pump 18.
  • the washing water remaining inside the washing tank 3 is discharged to the outside of the dishwasher 1 when the previous operation is completed.
  • the control unit 40 opens the water supply valve 29. Thereby, a predetermined amount of tap water is supplied to the inside of the washing tank 3 as washing water.
  • a predetermined amount of cleaning water is supplied into the cleaning tank 3
  • the cleaning water flows into the inside of the cleaning water pump 18 connected to the pump water channel 31 from the drainage port 30 together with the detergent.
  • the washing water is pressurized by the washing water pump 18.
  • the washing water in which the detergent is dissolved is sent to the washing nozzle 10 through the washing water passage 32, the connecting part 13 and the water guiding passage 12 as shown by the arrow A in FIG.
  • the washing water supplied to the washing nozzle 10 is sprayed upward from the injection holes 10 a of the washing nozzle 10 toward the to-be-cleaned object 6 contained in the dish cage 7.
  • the washing nozzle 10 rotates in the direction opposite to the jetting direction of the washing water by using the reaction force of the washing water jetted from the jet holes 10a.
  • the wash water is evenly sprayed onto the stored object 6 to be cleaned.
  • the washing water in which the detergent is dissolved circulates. Thereby, the cleaning step of cleaning the object to be cleaned 6 is performed.
  • control unit 40 energizes the heater 36 provided inside the cleaning tank 3 to heat the cleaning water to a predetermined temperature while circulating the cleaning water.
  • a wash step is then performed with the heated wash water.
  • the washing step is performed for a predetermined time set in advance before the washing and drying operation.
  • the hand camera 103 and the fixed camera 104 can monitor the deposit of the object 6 to be cleaned. Therefore, depending on the condition of the deposit, the washing step may be performed for an arbitrary time until the deposit falls below a predetermined level, and the washing may be continued. In addition, depending on the condition of the deposit, as described above, even if the object to be cleaned 6 with many deposits is transferred to a place with strong cleaning power where the cleaning water from the injection holes 10a is directly applied Good. Furthermore, the cleaning may be performed in a state in which the cleaning water is held by the hand 102 so that the adhering matter of the object to be cleaned 6 directly contacts the cleaning water.
  • the cleaning step is performed for a predetermined time, or for a time until the deposit of the object 6 falls below a predetermined level. Thereafter, the control unit 40 drives the washing water pump 18 to discharge the washing water including the dirt washed off from the object to be washed 6 out of the dishwasher 1.
  • the control unit 40 executes the rinse step.
  • the control unit 40 again opens the water supply valve 29 to supply the washing water into the washing tank 3. And washing water is sprayed again from injection hole 10a of washing nozzle 10 like a washing step.
  • the rinse step is performed by rinsing the to-be-cleaned object 6 which has been soiled with the detergent or the residual food.
  • the control unit 40 operates the washing water pump 18 to discharge the washing water out of the dishwasher 1 again. And the said rinse step is repeatedly performed several times (for example, about 2 times) continuously, and is performed.
  • the control unit 40 executes a heat rinse step. Specifically, the heating and rinsing step heats the washing water to a predetermined temperature (for example, about 60 ° C.) by the heater 36, and is performed in the same operation as the above-described rinsing step.
  • a predetermined temperature for example, about 60 ° C.
  • control unit 40 starts the drying step.
  • the control unit 40 operates the fan 33.
  • the outside air is sent from the air blowing port 35 to the inside of the cleaning tank 3 through the air blowing path 34.
  • the air sent into the cleaning tank 3 is heated by a heater 36 provided downstream of the air outlet 35.
  • the heated air circulates in the cleaning tank 3 to dry the object 6 to be cleaned.
  • the dried air is exhausted out of the dishwasher 1 from the exhaust port 37. This completes the drying step.
  • the drying step is also performed for a predetermined time set in advance before the washing and drying operation, as in the washing step.
  • the dry condition of the surface of the object 6 can be monitored by the hand camera 103 and the fixed camera 104. Therefore, drying may be continued for an arbitrary time until the surface of the object to be cleaned 6 is dried. Further, depending on the degree of dryness of the surface of the object to be cleaned 6, as described above, the object to be cleaned 6 may be transferred and dried to a position where the warm air from the air outlet 35 which is easier to dry is directly applied. Furthermore, the drying process may be performed in a state in which the warm air is held by the hand 102 so as to directly hit the workpiece 6.
  • control unit 40 ends the series of operations of the dishwasher 1.
  • control unit 40 may be configured to notify the user of the end of driving via, for example, a sound by a buzzer or the like.
  • the user taps the door 4 from the front, for example, with a hand.
  • the acceleration sensor 71 detects an impact received by the door 4.
  • the control unit 40 receives the detection information from the acceleration sensor 71, drives the door drive motor 70, and automatically pulls out the door 4 forward. As a result, the user removes the to-be-cleaned object 6 which has been cleaned and dried from the dish cage 7.
  • the arrangement process of the to-be-cleaned object 6 after the completion of the washing and drying is not particularly mentioned, for example, the kind of the to-be-cleaned object 6
  • the members may be divided and placed one on another.
  • the object to be cleaned 6 may be arranged on the mounting portion 8 in the same manner as the state of the object to be cleaned 6 which has been placed on the mounting portion 8 before the cleaning and drying operation.
  • the transfer device 100 may be stored in the storage space of the system kitchen 11 outside the cleaning tank 3. That is, the operation of the transfer device 100 may be designated from the operation unit 9 and set such that the object 6 to be cleaned is disposed at a position easy for the user to use.
  • the degree of clogging of the tray filter 41 and the drainage filter 50 may be monitored by the hand camera 103 and the fixed camera 104. Then, when a predetermined amount or more of the remnant is accumulated, the control unit 40 may be configured to notify via a sound or a display unit so as to prompt the user to take care (removal). At this time, in the case where the waste food has accumulated a predetermined amount or more, the control unit 40 first drives the transfer device 100 to grip the tray filter 41 and the drainage filter 50. Then, the tray filter 41 or the drainage filter 50 may be disposed at a position where the user can easily take it out. Alternatively, the tray filter 41 and the drainage filter 50 may be transported to a position where they can be delivered directly to the user and handed over. This can significantly reduce the time and effort of the user.
  • a mode may be provided in which the transfer device 100 is automatically cleaned. According to this mode, it is possible to clean the transfer device 100 with the washing water ejected from the washing nozzle 10 while moving the transfer device 100 in all directions. Furthermore, a mode may be provided in which the transfer device 100 can be manually maintained. In this mode, the user can open the door 4 and directly move the transfer device 100 to a maintenance-friendly position such as wiping with a cloth. At this time, it is desirable that the control unit 40 control the transfer device 100 to stop or prevent the user from being in danger during maintenance of the transfer device 100.
  • the dishwasher 1 includes the cleaning tank 3, the dish cage 7 provided inside the cleaning tank 3 and the object 6 to be cleaned disposed, and the cleaning nozzle for cleaning the object 6 to be cleaned. 10, a transfer device 100 for transferring the object 6 to be cleaned, and a control unit 40 for controlling the transfer device 100.
  • the control unit 40 is configured to control the transfer device 100 to automatically arrange the object to be cleaned 6 in the dish cage 7.
  • the to-be-cleaned object 6 is automatically transferred by the transfer device 100 to the appropriate position of the dish cage 7 and disposed. Therefore, the user does not have to consider the order and the place in which the objects to be cleaned 6 are arranged.
  • the object 6 can be automatically arranged and cleaned automatically and appropriately depending on the shape, quantity, material, type, color of the object 6 and the deposits attached to the object 6 and the like.
  • Dishwasher 1 can be provided.
  • the dishwasher 1 of the present embodiment is provided with a hand camera 103 that recognizes the object 6 to be cleaned.
  • the control unit 40 is configured to automatically recognize at least one of the position, the shape, the quantity, the material, the type, the color, and the attached matter attached to the object 6 by the hand camera 103.
  • control unit 40 automatically recognizes the state and the condition of the object 6 based on the information from the hand camera 103. Then, the control unit 40 analyzes and controls the operation of the transfer device 100 so that the transfer device 100 that grips the cleaning object 6 does not hit the cleaning tank 3, the placement unit 8, and the like.
  • control unit 40 determines how to properly move the transfer device 100 to the to-be-cleaned object 6, how to securely hold the to-be-cleaned object 6, the transfer device 100 and the to-be-cleaned object 6
  • etc. To the tableware cage 7 is analyzed, and suitable movement conditions are drawn up (plan). Then, drive control of the transfer device 100 is performed based on the determined appropriate movement conditions. As a result, it is possible to prevent the occurrence of problems that are likely to occur when the transfer device 100 moves.
  • the hand camera 103 is disposed in the transfer device 100.
  • the hand camera 103 along with the movement of the transfer device 100, the hand camera 103 also moves simultaneously. Therefore, the state and condition of the object 6 to be cleaned can be accurately recognized closer. As a result, the position, shape, number, material, type, color of the object 6 to be cleaned, and the substance attached to the object 6 to be cleaned can be recognized more reliably.
  • the fixed camera 104 is arrange
  • the inside of the cleaning tank 3 can be monitored at all times. This makes it possible to easily recognize the placement and removal status of the object 6 to be cleaned.
  • the fixed camera 104 is disposed so as to be fixed to the outside of the washing tank 3.
  • the inside of the cleaning tank 3 can be recognized by the fixed camera 104. Furthermore, the fixed camera 104 can be prevented from getting wet by the wash water being washed. This makes it possible to more reliably prevent the occurrence of failure such as insulation failure due to moisture and the like.
  • control unit 40 of the dishwasher 1 of the present embodiment recognizes the to-be-cleaned object 6 placed on the placement unit 8 in advance. Then, the control unit 40 is configured to convey the to-be-cleaned object 6 from the placement unit 8 by the transfer device 100 based on the recognized state of the to-be-cleaned object 6 and to automatically arrange the to-be-cleaned object 6 Ru.
  • the user simply places the to-be-cleaned object 6 on the placement unit 8, and the to-be-cleaned object 6 is automatically disposed at the appropriate position of the dish cage 7 by the transfer device 100. Therefore, the user does not have to consider the order and the place in which the objects to be cleaned 6 are arranged. Thereby, according to the shape, the quantity, the material, the type, the color of the object 6 to be cleaned, the deposits attached to the object 6 to be cleaned, etc., the object 6 can be disposed at an appropriate position and cleaned. Can provide
  • the transfer device 100 is provided inside the cleaning tank 3. According to this configuration, the external dimensions of the dishwasher 1 can be made compact.
  • the dishwasher 1 of this embodiment is provided with the door 4 which covers the front opening 2 of the washing tank 3 so that opening and closing is possible, and the door detection switch 72 which detects the open / close state of the door 4.
  • the control unit 40 is configured to stop the transfer device 100 when the door detection switch 72 detects that the door 4 is opened. According to this configuration, even if the user suddenly opens the door 4, contact between the operating transfer device 100 and the user is prevented.
  • the dishwasher 1 of this Embodiment is provided with the door drive motor 70 which has at least any one function of opening the door 4 or closing the door 4. According to this configuration, the user does not have to open and close the door 4 by himself. Therefore, the time and effort of the user can be further reduced.
  • the transfer apparatus 100 of the dishwasher 1 of this Embodiment is provided with the cover 107 which has a pressure sensor.
  • the control unit 40 is configured to stop the transfer device 100 when it is detected by the pressure sensor incorporated in the cover 107 that the transfer device 100 is pressurized beyond a predetermined pressure. According to this configuration, when the user contacts the transfer device 100, the control unit 40 causes the transfer device 100 to stop based on the detected pressure information detected by the pressure sensor. This can ensure the safety of the user.
  • the structure which makes the transfer apparatus 100 stop is demonstrated to an example, when a pressure sensor detects a contact with a user in the above, it is not restricted to this. For example, if the safety of the user can be ensured, the control unit 40 may operate with the transfer device 100 at a safe speed by stopping without stopping the transfer device 100.
  • the transfer device 100 includes the first arm 100a to the fourth arm 100d rotatably formed in the circumferential direction, and the first arm 100a to the fourth arm 100d. Are comprised of a first joint portion 101a to a third joint portion 101c which rotatably connect.
  • the control unit 40 can change and control the attitude of the transfer device 100 in various ways. As a result, the transfer device 100 is driven so as to automatically arrange the object to be cleaned 6 at an appropriate position of the dish cage 7 so as not to hit the other objects to be cleaned 6, the cleaning tank 3, and the placement unit 8. be able to.
  • the dishwasher 1 of the present embodiment includes the hand 102 configured to be able to grip and release the object 6 at the tip of the transfer device 100.
  • the transfer device 100 reliably holds the object 6 placed on the placement unit 8.
  • the transfer apparatus 100 transfers the dish 6 to the dish cage 7 without dropping it.
  • the transfer device 100 can reliably release the object to be cleaned 6 and place it at the appropriate position of the dish cage 7.
  • the dishwasher 1 of the present embodiment differs from that of the first embodiment in that the transfer device 100 is stored in the transfer device storage unit 120.
  • FIG. 7 is a side cross-sectional view of the state in which the door 4 of the dishwasher 1 according to Embodiment 2 of the present invention is closed.
  • the dishwasher 1 of the present embodiment includes a transfer device storage unit 120 for storing the transfer device 100 at the rear outside of the washing tank 3.
  • the cleaning tank 3 is provided with a cleaning tank opening 110 facing the front opening 121 of the transfer device storage unit 120 on the back surface 3 g side. Behind the cleaning tank opening 110, a slide opening / closing part 111 is provided so as to cover the cleaning tank opening 110.
  • the control unit 40 causes the slide opening and closing unit 111 to slide up and down, for example, by the opening and closing unit drive motor 112 to open and close the cleaning tank opening 110.
  • the transfer device 100 in the transfer device storage unit 120 can enter the cleaning tank 3.
  • the dishwasher 1 of the present embodiment is configured.
  • control unit 40 When placing the to-be-cleaned object 6 placed on the placement unit 8 in the dish cage 7, the control unit 40 first slides the slide opening / closing unit 111 by the opening / closing unit drive motor 112 to open the cleaning tank opening 110 .
  • control unit 40 allows the front opening 121 of the transfer device storage unit 120 and the cleaning tank opening 110 to pass through, for example, the second arm 100 b to the fourth arm 100 d of the transfer device 100.
  • the joint portion 101 b and the third joint portion 101 c are made to enter the cleaning tank 3.
  • the control unit 40 adjusts the angle of each joint portion of the transfer device 100 so that the transfer device 100 does not hit the other cleaning object 6, the inner wall surface of the cleaning tank 3, the mounting portion 8 and the like. While letting in.
  • control unit 40 brings the transfer device 100 closer to a position where the top object to be cleaned 6 stacked on the placement unit 8 can be gripped by the hand 102.
  • the object to be cleaned 6 is sequentially gripped by the transfer device 100 and transferred to a predetermined arrangement position set in advance. As a result, the automatic placement of the objects to be cleaned 6 in the dish cage 7 is completed.
  • control unit 40 returns the transfer device 100 to the initial position in the transfer device storage unit 120 behind the cleaning tank 3 while adjusting the angle of each joint of the transfer device 100 in the same manner as described above. Then, the control unit 40 slides the slide opening / closing unit 111 by the opening / closing unit drive motor 112 to close the cleaning tank opening 110.
  • the dishwasher 1 of the said structure performs washing
  • the slide opening / closing unit 111 may be slid by the hand 102 of the transfer device 100 to open / close the cleaning tank opening 110.
  • the transfer apparatus 100 may be provided on any of the upper side, the lower side, and the left and right side if it is outside the cleaning tank 3.
  • the opening and closing part may be configured by, for example, an opening door or a folding door, and the cleaning tank opening 110 may be opened and closed.
  • the transfer device 100 is provided outside the cleaning tank 3. According to this configuration, it is possible to prevent the entry of cleaning water into the transfer device 100 during cleaning. As a result, it is possible to prevent in advance the failure of the transfer device 100 due to the entry of washing water or the like.
  • Dishwasher 1 of the present embodiment is different from those of Embodiments 1 and 2 in that transfer device 100, sink camera 108 and safety camera 109 are disposed on the system kitchen. Further, the dishwasher 1 of the present embodiment is different from those of Embodiments 1 and 2 in that the placing portion 8 is not provided, and the lower dish basket 7a and the upper dish basket 7b are provided.
  • Embodiments 1 and 2 differ from the configurations and operations of Embodiments 1 and 2 mainly described, and the same components as in Embodiments 1 and 2 will be assigned the same reference numerals, and the details of the configuration and operations will be described. I omit explanation.
  • FIG. 8 is a perspective view of the state in which the door 4 of the dishwasher 1 according to Embodiment 3 of the present invention is pulled forward.
  • the system kitchen 11 is provided with the sink 15, the sink camera 108, the transfer device 100, the safety camera 109, the operation unit 9 and the like on the upper surface side.
  • the dishwasher 1 which is an example of a dish processing machine is arrange
  • the sink camera 108 is disposed at a position above the sink 15 and monitors the state and condition of the cleaning object 6 in the sink 15.
  • the transfer device 100 is disposed on the upper surface of the system kitchen 11 above the dishwasher 1 and transfers, for example, the object 6 placed in the sink 15.
  • the safety camera 109 is disposed above the transfer device 100.
  • the operation unit 9 is disposed in the vicinity of the transfer device 100 on the upper surface of the system kitchen 11.
  • the sink camera 108 constitutes a recognition unit that recognizes an object 6 to be cleaned such as tableware.
  • the sink camera 108 shoots the inside of the sink 15.
  • the safety camera 109 constitutes a transfer device recognition unit that recognizes an object around the transfer device 100.
  • the safety camera 109 captures an image of the periphery of the transfer device 100.
  • the dishwasher 1 of the present embodiment includes a lower tableware basket 7a, an upper tableware basket 7b, and the like.
  • the dishwasher 1 is built into the system kitchen 11.
  • the lower tableware cage 7a is movable in the front-rear direction, and is made of, for example, a wire made of metal such as stainless steel.
  • the upper tableware cage 7b is disposed above the lower tableware cage 7a, and is movable in the front-rear direction similarly to the lower tableware cage 7a, and is made of, for example, a metal wire material such as stainless steel.
  • the upper tableware cage 7b is driven in the front-rear direction by an upper tableware cage drive motor (not shown), and withdrawal and storage from the cleaning tank 3 are automatically performed.
  • the upper table cage driving motor is controlled by the control unit 40.
  • a distance sensor such as a proximity sensor which measures a distance
  • a camera, a proximity sensor, an infrared sensor, or the like may be used in combination as appropriate.
  • the dishwasher 1 of the present embodiment is configured.
  • the user places objects to be cleaned 6 stacked on the bottom of the sink 15.
  • the user then operates the operation unit 9 provided on the upper surface of the system kitchen 11. Enter the washing and drying course and operating conditions and press the start button.
  • control unit 40 causes the sink camera 108 to image the object 6 placed on the bottom of the sink 15. Then, the control unit 40 automatically recognizes the position, the shape, the quantity, the material, the type, and the color of the object 6 to be cleaned, and the attached matter and the like attached to the object 6 from the photographed data.
  • control unit 40 moves the transfer device 100 closer to the object 6 on the bottom surface of the sink 15, the method of gripping the object 6, the method of transferring the object 6, and the lower table cage 7a of the object 6 And make plans (procedures) such as how to place in the upper tableware cage 7b.
  • control unit 40 determines from the shooting data of the sink camera 108 and the safety camera 109 whether there is a human body or an obstacle in the vicinity of the sink 15, in the vicinity of the transfer device 100, and in the operation direction of the door 4. Check. When a human body or an obstacle or the like is present, the control unit 40 stops the operation of each unit and stands by until the human body or the obstacle or the like is not present.
  • control unit 40 pulls the door 4 forward by the door drive motor 70. At the same time, the control unit 40 also pulls out the upper table cage 7b forward by the upper table cage drive motor.
  • control unit 40 brings the hand 102 of the transfer device 100 close to a position where the object to be cleaned 6 stacked on the bottom surface of the sink 15 can be gripped. At this time, the control unit 40 brings the hand 102 closer while adjusting the angles of the joints of the transfer device 100 so as not to hit the other cleaning object 6 other than the grip, the sink 15, the system kitchen 11, etc. .
  • control unit 40 opens and closes and rotates the pair of grips 102a of the hand 102, and grips the cleaning target 6 stacked on the top.
  • control unit 40 determines an appropriate gripping position and a gripping method of the cleaning object 6 based on information such as the position, the shape, the material, the type, the adhering matter, and the distance to the other cleaning object 6 of the cleaning object 6. Decide.
  • the control unit 40 operates the hand 102 while adjusting the angle of each arm and each joint of the transfer device 100 so as not to hit the other cleaning object 6, the sink 15, and the system kitchen 11.
  • control unit 40 moves the transfer device 100 to a position where the object 6 gripped by the hand 102 can be disposed on the upper table tray 7 b. At this time, the control unit 40 prevents the arms 6 and the joints of the transfer device 100 so as not to hit other objects to be cleaned 6 other than gripped, the door 4, the sink 15, the system kitchen 11, and the upper tableware cage 7b. The transfer device 100 is driven while adjusting the angle etc.
  • the control unit 40 opens the handle 102 a of the hand 102.
  • the griped object 6 is released from the hand 102, and the object 6 is placed at the planned position on the upper table cage 7b.
  • the control unit 40 controls the hand 102 while adjusting the angles and the like of the arms and the joints of the transfer device 100 so as not to hit the object to be cleaned 6 other than gripping and the upper dish cage 7b. Make it work.
  • the to-be-cleaned object 6 is automatically arrange
  • the control unit 40 causes the upper dish cage driving motor to store the upper dish cage 7b in the cleaning tank 3 in the rear. Thereby, the upper part of the lower tableware cage 7a is open
  • control unit 40 automatically arranges the lower dish cage 7a by the same method as the arrangement of the upper dish cage 7b to the object 6 to be cleaned.
  • the order of the automatic arrangement of the objects to be cleaned 6 in the upper and lower dish cages 7b and 7a may be performed first from any of the dish cages.
  • the upper dish cage 7b is pulled out and stored in the middle of the arrangement of the objects to be cleaned 6, for example, the objects 6 to be cleaned are alternately arranged in the upper dish cage 7b and the lower dish cage 7a. Good.
  • control unit 40 returns the transfer device 100 to the initial position on the upper surface of the system kitchen 11.
  • the dishwasher 1 starts the washing and drying operation.
  • the washing and drying operation is performed as in the first embodiment, and the drying step is completed.
  • control unit 40 ends the operation of the dishwasher 1 and notifies the user of the operation completion of the dishwasher 1 by a sound such as a buzzer.
  • the transfer device 100 such as the upper surface of the system kitchen 11 is provided outside the cleaning tank 3. According to this configuration, it is possible to prevent the entry of cleaning water into the transfer device 100 during cleaning. As a result, it is possible to prevent in advance the failure of the transfer device 100 due to the entry of washing water or the like.
  • the dishwasher 1 of the present embodiment is provided with a safety camera 109 as a transfer device recognition unit that recognizes an object around the transfer device 100.
  • the control unit 40 automatically recognizes a human body and an obstacle at the time of transfer by the transfer device 100.
  • the control unit 40 is configured to stop the transfer device 100.
  • the control unit 40 stops the transfer device 100. This can ensure the safety of the user. Furthermore, a collision between the transfer device 100 and an obstacle can be avoided in advance, and damage to the transfer device 100 can be prevented.
  • a pressure detection unit may be provided in the transfer device 100 instead of or in addition to the safety camera 109 which is the transfer device recognition unit.
  • the pressure detection unit detects whether a pressure equal to or higher than a predetermined pressure is applied to the transfer device 100. And when a pressure detection part detects more than predetermined pressure, control part 40 makes operation of transfer device 100 stop. According to this configuration, the control unit 40 stops the transfer device 100 when the user does not contact the transfer device 100 and the obstacle exists on the transfer path. This can ensure the safety of the user. Furthermore, a collision between the transfer device 100 and an obstacle can be avoided in advance, and damage to the transfer device 100 can be prevented.
  • a placement unit may be provided on the upper surface or upper side of the system kitchen 11, inside the system kitchen 11, or outside the system kitchen 11, and the object 6 may be placed on the placement unit.
  • a camera is installed in the vicinity of the transfer device 100 or in the vicinity of the object 6 so that the object 6 can be recognized.
  • the transfer apparatus 100 of the position and length which can transfer the to-be-cleaned thing 6 to the upper dish cage 7b and the lower dish cage 7a may be provided.
  • the tableware processor of the present invention includes a treatment tank, a tableware provided inside the treatment tank and on which the object to be treated is disposed, and a treatment unit which at least cleans or dries the object.
  • the control unit controls the transfer device so that the transfer device and the workpiece transferred by the transfer device do not come in contact with other objects to be treated, the treatment tank, and the tableware cage, and automatically transfers the process material to the tableware cage, Configured to be deployed.
  • the objects to be treated such as dishes are automatically transferred by the transfer device to the appropriate places of the dish basket and arranged. Therefore, the user does not have to consider the order and the place for arranging the objects to be treated.
  • a tableware processing machine capable of automatically performing an appropriate disposition process according to the shape, quantity, material, type, color of the object to be treated, and adhering matter attached to the object to be treated.
  • the tableware processing machine of the present invention is provided with a recognition unit for recognizing the object to be treated, and the control unit adheres to the position, shape, quantity, material, type, color of the object to be treated by the recognition unit. Automatically recognize at least one of the deposits. Based on the recognized result, the control unit creates a plan on the method of accessing the transfer device to the object, the method of gripping the object, the method of transferring the object, and the method of arranging the object on the tableware cage Do. Furthermore, the control unit may be configured to execute the placement of the object to be processed on the table according to the created plan.
  • the control unit makes plans such as how to properly move the transfer device to an object to be treated, the transfer device does not hit the processing tank, the mounting portion, etc., and how to hold the object securely and appropriately.
  • plans such as how to properly move the transfer device to an object to be treated, the transfer device does not hit the processing tank, the mounting portion, etc., and how to hold the object securely and appropriately.
  • the control unit prepares a plan such as how to optimally arrange the transfer device and the object to be processed which does not hit the other object to be treated, the treatment tank, the mounting portion, etc. Do. Then, the control unit can cause the transfer device to execute based on the created plan.
  • control unit of the dish processing machine of the present invention may be configured to control the transfer device and arrange the objects to be processed sequentially from the position away from the transfer device.
  • the control unit of the dish processing machine of the present invention may be configured to control the transfer device and arrange the objects to be processed sequentially from the position away from the transfer device.
  • the object is transferred and disposed at a position away from the transfer device.
  • the disposed object is not present at a position close to the transfer device. Therefore, the transferred object does not come in contact with other objects. This can prevent damage to the transferred workpiece.
  • control unit of the tableware processor of the present invention recognizes the size of the object to be processed by the recognition unit. Then, the control unit may be configured to place the relatively large workpiece among the recognized workpieces at a position away from the transport device by controlling the transport device. According to this configuration, during transfer and arrangement of a relatively large object to be treated, the object to be transferred can be made less likely to come in contact with other objects to be treated, and the occurrence of breakage can be prevented.
  • control unit of the dish processing machine of the present invention recognizes the positional relationship between the plurality of objects to be processed by the recognition unit. Then, the control unit controls the transfer device to relatively perform the transfer device when the relatively large object among the recognized objects is placed under the relatively small object.
  • the small object to be treated may be temporarily moved and temporarily placed, and the relatively large object to be treated may be disposed at a position away from the transfer device. According to this configuration, the relatively large object to be treated is first transported and placed at an appropriate position. This makes it difficult for contact between the transferred object to be processed and another object to be processed to occur. As a result, it is possible to prevent damage to the object to be processed due to contact.
  • control unit of the tableware processing machine recognizes the processing target of the easily damaged material by the recognition unit
  • the control unit controls the transfer device to separate the processing target of the easily damaged material from the transfer unit. It may be configured to be placed at any position. According to this configuration, when transporting and disposing the easily damaged workpiece, it is possible to prevent contact between the easily transported and transported workpiece and another workpiece. In this way, it is possible to more reliably prevent breakage of the object to be treated such as fragile glass dishes.
  • control unit of the tableware processing machine recognizes the object to be treated to which the attachment that is difficult to clean adheres by the recognition unit, the control unit controls the transfer device to adhere to the attachment that is difficult to clean.
  • the object to be treated may be arranged to be placed in a place with strong cleaning power. According to this configuration, it is possible to efficiently clean the object to be cleaned to which adherent substances that are difficult to clean adhere, and to shorten the cleaning time and prevent the occurrence of insufficient cleaning.
  • control unit of the tableware processing machine recognizes the object to be treated which is difficult to dry by the recognition unit
  • control unit controls the transfer device to easily dry the object to be treated which is difficult to dry. It may be configured to be placed at According to this configuration, it is possible to efficiently dry an object to be treated such as, for example, a plastic that is difficult to dry, and to shorten the drying time and prevent the insufficient drying.
  • control unit of the tableware processing machine recognizes the shape or type of the object to be processed by the recognition unit, collects the objects to be processed together in the same place for each shape or type, and controls the transfer device. It may be configured to According to this configuration, the user can efficiently take out the object to be treated and store it in the cupboard at the end of the treatment. In addition, food can be efficiently provided for each shape or type of object to be treated.
  • control unit of the tableware processing machine recognizes the user from the shape, type, and color of the object to be processed by the recognition unit, and collectively controls the object to be processed to the same place for each user to control the transfer device. And may be configured to be deployed. According to this configuration, the user can efficiently take out the object to be treated and store it in the cupboard at the end of the treatment. Furthermore, the food can be efficiently provided to the objects to be treated for each user.
  • the control unit of the tableware processing machine controls the transfer device to a position that does not get in the way of the processing object to be transferred or disposed.
  • An obstacle may be arranged, or the user may be notified of an abnormality. According to this configuration, it is possible to prevent in advance the damage due to the contact of the object with the obstacle.
  • the tableware processing machine of the present invention may be configured such that the user can designate the arrangement position of the object to be processed on the tableware cage.
  • the user can place the object at a desired position of the dish cage.
  • the object to be treated can be disposed at a position easy to be taken by the user, in accordance with the height and physical constitution of the user. Further, the object to be treated can be disposed at a position easy to be taken by the user according to the user's handedness or the like. Thereby, the convenience of the tableware processing can be further improved.
  • the objects to be treated are automatically transferred by the transfer device without considering the order and the place in which the user places the objects to be treated such as the dishes in the tableware basket. It is placed in the proper position according to the property of the object. Therefore, it can be applied not only to dishwashers and dish dryers but also to applications such as storage.
  • Dishwasher (dishwashing machine) 2 Front opening (opening) 3 Washing tank (treatment tank) 3a front surface 3e, 3f inner side wall 3g back surface 4 door 5 cleaning space 6 object to be cleaned (object to be processed) 7 tableware basket 7a lower tableware basket 7b upper tableware basket 7c lower wire rod 8 placing section 9 operation section 10 cleaning nozzle (processing section) DESCRIPTION OF SYMBOLS 10a injection hole 11 system kitchen 12 water conduit 13 coupling part 14 dish cage rail 15 sink 17 mounting part rail 18 washing water pump 20 main tray 20a main tray claw part 21 auxiliary tray 21a 1st auxiliary tray 21b 2nd auxiliary tray 23 Tray Roller (Rolling Support) Reference Signs List 24 tray rail 25 seal portion 26 cleaning tank seal surface 26a hole portion 27 receiving portion 28 hook 28a inclined surface 29 water supply valve 30 drain port 31 pump channel 32 wash channel 33 fan 34 air flow path 35 air outlet 36 heater 37 air outlet 38 temperature detection Section 40 Control section 41 Tray filter 50 Drain filter 70 Door drive motor (opening and closing device) 71 acceleration sensor 72

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Washing And Drying Of Tableware (AREA)
  • Manipulator (AREA)

Abstract

La présente invention comprend : une cuve de lavage (3); un panier à vaisselle (7) disposé à l'intérieur de la cuve de lavage (3) et ayant des articles à laver (6) disposés à l'intérieur; une buse de lavage (10) qui lave des articles à laver (6); un dispositif de transfert (100) qui transfère des articles à laver (6); et une unité de commande (40) qui commande le dispositif de transfert (100). L'unité de commande (40) est conçue de telle sorte que les articles à laver (6) soient agencés automatiquement dans le panier à vaisselle (7) par le dispositif de transfert (100). Par conséquent, les articles à laver (6) sont automatiquement transférés par le dispositif de transfert (100) et agencés à des positions appropriées dans le panier à vaisselle (7). Par conséquent, un lave-vaisselle (1) peut être fourni, lequel peut effectuer de manière appropriée un lavage conformément à des caractéristiques telles que la forme, la quantité et autres d'articles à laver (6), sans que l'utilisateur ne s'occupe de l'ordre d'agencement ou de l'emplacement des articles à laver (6).
PCT/JP2018/021795 2017-07-14 2018-06-07 Dispositif de traitement de plats WO2019012870A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201880030403.7A CN110602974B (zh) 2017-07-14 2018-06-07 餐具处理机

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017137577A JP6895609B2 (ja) 2017-07-14 2017-07-14 食器処理機
JP2017-137577 2017-07-14

Publications (1)

Publication Number Publication Date
WO2019012870A1 true WO2019012870A1 (fr) 2019-01-17

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Country Link
JP (1) JP6895609B2 (fr)
CN (1) CN110602974B (fr)
WO (1) WO2019012870A1 (fr)

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WO2020171067A1 (fr) * 2019-02-18 2020-08-27 コネクテッドロボティクス株式会社 Dispositif d'assistance au le lavage de vaisselle et programme de commande
TWI726535B (zh) * 2019-12-13 2021-05-01 建造金屬工業股份有限公司 烘碗機構造
WO2024017522A1 (fr) * 2022-07-18 2024-01-25 BSH Hausgeräte GmbH Lave-vaisselle domestique

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WO2020171067A1 (fr) * 2019-02-18 2020-08-27 コネクテッドロボティクス株式会社 Dispositif d'assistance au le lavage de vaisselle et programme de commande
JP2020130530A (ja) * 2019-02-18 2020-08-31 コネクテッドロボティクス株式会社 食器洗浄支援装置及び制御プログラム
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WO2024017522A1 (fr) * 2022-07-18 2024-01-25 BSH Hausgeräte GmbH Lave-vaisselle domestique

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JP2019017612A (ja) 2019-02-07
JP6895609B2 (ja) 2021-06-30
CN110602974B (zh) 2023-01-10
CN110602974A (zh) 2019-12-20

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