WO2021106314A1 - Electromagnetic suspension and washing machine - Google Patents

Electromagnetic suspension and washing machine Download PDF

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Publication number
WO2021106314A1
WO2021106314A1 PCT/JP2020/034068 JP2020034068W WO2021106314A1 WO 2021106314 A1 WO2021106314 A1 WO 2021106314A1 JP 2020034068 W JP2020034068 W JP 2020034068W WO 2021106314 A1 WO2021106314 A1 WO 2021106314A1
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WO
WIPO (PCT)
Prior art keywords
electromagnetic suspension
mover
stator
linear motor
shaft
Prior art date
Application number
PCT/JP2020/034068
Other languages
French (fr)
Japanese (ja)
Inventor
邦彦 法月
康明 青山
祐貴 馬飼野
真理 黒澤
陽平 門傳
Original Assignee
日立グローバルライフソリューションズ株式会社
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Application filed by 日立グローバルライフソリューションズ株式会社 filed Critical 日立グローバルライフソリューションズ株式会社
Publication of WO2021106314A1 publication Critical patent/WO2021106314A1/en

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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
    • D06F33/00—Control of operations performed in washing machines or washer-dryers 
    • D06F33/30—Control of washing machines characterised by the purpose or target of the control 
    • 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
    • D06F37/00—Details specific to washing machines covered by groups D06F21/00 - D06F25/00
    • D06F37/20—Mountings, e.g. resilient mountings, for the rotary receptacle, motor, tub or casing; Preventing or damping vibrations
    • D06F37/22—Mountings, e.g. resilient mountings, for the rotary receptacle, motor, tub or casing; Preventing or damping vibrations in machines with a receptacle rotating or oscillating about a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
    • F16F15/067—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs using only wound springs
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors

Definitions

  • the present invention relates to an electromagnetic suspension and a washing machine.
  • Linear motors and linear actuators are known as electric machines that move linearly.
  • the linear motor has a structure in which the rotating machine is cut open in a straight line, and thrust is generated in the mover by the magnetic force acting between the magnetic poles formed in each of the stator and the mover. Therefore, in motor control, the change in the gap length between the stator and the mover greatly affects the motor characteristics.
  • studies are underway to apply a linear motor as an electromagnetic suspension to a vibration damping device.
  • Patent Document 1 describes a technique for applying an electromagnetic suspension having a linear motor as a suspension for a washing machine.
  • Patent Document 2 describes a technique relating to a vibration isolator using a magnetic force.
  • Patent Document 1 the mover, the spring, and the shaft are arranged on the same axis as the vibration direction. Moreover, in order to secure the mechanical strength of the mover, a technique for devising the cross-sectional shape of the mover into a concave-convex shape or a geometric shape such as a semicircular shape is described. However, there is no description about correcting the change in gap length due to vibration. Further, Patent Document 2 describes a technique in which a permanent magnet and an electromagnet are arranged so as to face each other in the vibration direction and vibration isolation is performed by changing the distance between them. However, there is no description about stress such as front-back / left-right / twist other than the vibration direction.
  • the present invention has been made to solve the above-mentioned problems, and suppresses a change in the gap length between the stator and the mover caused by stress other than the propulsion direction of the electromagnetic suspension, and electromagnetic waves having high vibration damping robustness. It is intended to provide suspensions and washing machines.
  • the electromagnetic suspension of the present invention has a pair of opposing shafts connecting frames (for example, a shaft fixing bracket 23), a stator having an armature core and an armature winding, and a frame.
  • a stator having an armature core and an armature winding
  • a frame has a magnet or magnetic material fixed to the stator and having a first surface (eg, front surface 122f) and a second surface (eg, back surface 122r) facing the stator and moves relative to the stator.
  • a linear motor having a mover
  • an elastic body mounted on a shaft and contracted by one side of a frame and an arm of a stator.
  • an electromagnetic suspension having high vibration damping robustness can be realized.
  • FIG. 5 is a schematic cross-sectional view taken along the line I-I of FIG. It is an exploded perspective view of the mover in 1st Embodiment. It is operation
  • FIG. 1 is a cross-sectional perspective view of the electromagnetic suspension 100 according to the first embodiment.
  • the electromagnetic suspension 100 is applied, for example, to suppress the vibration of the washing machine W (see FIG. 10).
  • FIG. 1 gives a bird's-eye view of the appearance of the electromagnetic suspension 100 and shows the internal structure by cutting a quarter of the appearance.
  • the electromagnetic suspension 100 includes a linear motor 10.
  • the electromagnetic suspension 100 is fixed between the frames, the pair of shafts 21 facing each other connecting the frames (for example, the shaft fixing bracket 23), the stator 11 having the armature core and the armature winding, and the stator 11.
  • Has a magnet or magnetic material having a first surface (for example, the front surface 122f in FIG. 5) and a second surface (for example, the back surface 122r in FIG. 5) facing the stator 11 and moves relative to the stator 11.
  • a linear motor 10 having a mover 12 and an elastic body 20 mounted on a shaft and contracted by one of the frames and an arm (bearing 22) of the stator 11 is provided.
  • the shaft 21 penetrates the elastic body 20. Further, the shaft 21 slides in the moving direction of the mover 12 via the stator 11 and the bearing 22 of the linear motor 10.
  • a sliding bearing whose metal surface is lubricated is used as the bearing 22.
  • FIG. 2 is a perspective view showing a support mechanism portion including the mover 12 according to the first embodiment.
  • the mover 12 is arranged in a support mechanism portion of a mouth-shaped structure including a shaft fixing bracket 23 and a pair of facing shafts 21 connecting the shaft fixing brackets 23. That is, it forms a surface structure that is wider and thicker than the mover 12 alone.
  • the mover 12 In the z-axis direction, the mover 12 is movable via the bearing 22 (see FIG. 1). On the other hand, when stress is generated in the x-axis direction and the y-axis direction, the bearing 22 is restrained. Further, the force is only a frictional force between the bearing 22 and the shaft 21, and no stress is applied to the mover 12. Further, even when twisting around the z-axis (rotation around the z-axis) occurs, the bearing 22 outside the mover 12 from the central axis (z-axis) restrains the twist and rotation, and the mover 12 Does not move and is not stressed. That is, the mover 12 has a structure that operates only in the z-axis direction with respect to stress.
  • FIG. 3 is a perspective sectional view of the linear motor 10 according to the first embodiment.
  • FIG. 3 gives a bird's-eye view of the appearance of the linear motor 10 and cuts a quarter of the linear motor 10 to show the internal structure.
  • the linear motor 10 includes a stator 11 which is an armature, and a plate-shaped mover 12 extending in the z-axis direction.
  • the stator 11 is formed in a substantially prism along the z-axis direction, and a rectangular flat plate-shaped mover 12 is loosely inserted in the hollow portion thereof. Then, the linear motor 10 changes the relative position between the stator 11 and the mover 12 in the z-axis direction by the magnetic attraction / repulsion force acting between the stator 11 and the mover 12, that is, the thrust. ..
  • the linear motor 10 is applied to the electromagnetic suspension 100, the mover 12 is coupled to the vibration damping object.
  • the outer tub 37 (see FIG. 10) of the washing machine W is the vibration damping object, and the stator 11 or the mover 12 is coupled to the outer tub 37.
  • the stator 11 includes a core 11a (armature iron core) and a winding 11b (armature winding).
  • the core 11a is formed by laminating electromagnetic steel sheets in the z-axis direction, and includes magnetic teeth 151 (first magnetic teeth) that are adjacent to each other along the z-axis direction and project toward the mover 12. Further, the core 11a has a magnetic tooth 152 (second magnetic tooth) adjacent to the magnetic tooth 151 in the z-axis direction and projecting toward the mover 12 at a position facing the magnetic tooth 151 with the mover 12 interposed therebetween. I have.
  • the winding 11b is wound around these magnetic teeth 151 and 152.
  • the mover 12 includes a frame 122 made of a non-magnetic material and magnets 124 (magnets 124a, 124b) fitted in the frame 122.
  • FIG. 4 is a schematic cross-sectional view taken along the line I-I of FIG. However, the 1/4 portion cut in FIG. 1 is not cut in FIG. As shown in FIG. 4, the core 11a of the stator 11 includes an annular portion 156 and magnetic teeth 151 and 152.
  • the annular portion 156 has an annular shape, that is, a substantially rectangular frame shape in a vertical cross-sectional view, and the annular portion 156 constitutes a magnetic circuit.
  • the pair of magnetic teeth 151 and 152 extend inward from the annular portion 156 along the y-axis direction and face each other. That is, there are two gaps in the magnetic path having the motor characteristics of the present invention.
  • the magnetic flux ⁇ A indicated by the solid arrow is the magnetic flux generated by the mover 12.
  • Windings 11b are wound around the magnetic teeth 151 and 152, respectively.
  • An inverter (for example, an inverter 40 in FIG. 12, which will be described later) is connected to the winding 11b. Then, when the winding 11b is energized by this inverter, the stator 11 functions as an electromagnet.
  • FIG. 5 is an exploded perspective view of the mover 12 in the first embodiment.
  • the mover 12 includes a frame 122 and two magnets 124a and 124b.
  • the frame 122 is formed by forming a non-magnetic material into a rectangular frame shape.
  • the frame 122 is formed with a rectangular through hole 122h that penetrates the front surface 122f (first surface) and the back surface 122r (second surface).
  • the mover 12 is lightweight. Therefore, it is conceivable to apply a lightweight material such as plastic or aluminum to the non-magnetic material constituting the frame 122. Further, a lightweight and high-strength composite material such as carbon fiber reinforced plastic may be applied. That is, the material of the frame 122 may be arbitrarily selected according to the required strength and specifications of the linear motor 10.
  • the two magnets 124a and 124b are alternately arranged so that the magnetic poles are inverted in the y-axis direction.
  • the magnet 124a When the magnet 124 is fitted into the frame 122, the magnet 124a has an N pole and the magnet 124b has an S pole on the surface 122f side (upper surface in FIG. 5) of the through hole 122h. Further, the magnet 124a has an S pole and the magnet 124b has an N pole from the back surface 122r side (bottom surface in FIG. 5) of the through hole 122h.
  • FIG. 6A, 6B, and 6C are operation explanatory views of the linear motor according to the first embodiment.
  • FIG. 6A is an operation explanatory view of the first position (state P1) of the linear motor according to the first embodiment.
  • FIG. 6B is an operation explanatory view of a second position (state P2) of the linear motor according to the first embodiment.
  • FIG. 6C is an operation explanatory view of a third position (state P3) of the linear motor according to the first embodiment.
  • the stator 11 includes a core 11a (armature iron core) and a winding 11b (armature winding).
  • the core 11a includes a core back portion 11a1, a teeth portion 11a2, and a tee stop portion 11a3 which is an end face facing the magnet of the teeth portion 11a2.
  • the states P1 (first position), state P2 (second position), and state P3 (third position) shown in FIGS. 6A, 6B, and 6C are relative to the stator 11 and the mover 12. The positional relationship is different. Further, in FIGS. 6A, 6B, and 6C, the thick arrow on the solid line indicates the direction of the magnetic flux generated by the magnet 124, and the thick arrow on the broken line indicates the direction of the magnetic flux generated by the stator 11. .. In any of the states P1 to P3, the magnetic teeth 151 face the front surface 122f of the frame 122, and the magnetic teeth 152 face the back surface 122r of the frame 122.
  • the stator 11 since the winding 11b is not energized, the stator 11 does not generate magnetic flux. Then, the center of the stator 11 (unsigned) in the z-axis direction and the center of the mover 12 (unsigned) coincide with each other. Further, when a current is passed through the winding 11b, the magnetic teeth 151 and 152 can be magnetized according to the direction of the current. In the state P1, similarly to the symbols “N” and “S” shown in the state P2, when the magnetic tooth 151 is magnetized to the N pole and the magnetic tooth 152 is magnetized to the S pole, the magnet 124a becomes the magnetic tooth 151. , 152, and the magnet 124a is attracted to the magnetic teeth 151 and 152.
  • thrust acts relatively on the stator 11 and the mover 12 along the z-axis direction.
  • the "thrust” is a force that changes the relative positions of the mover 12 and the stator 11. Therefore, for example, as shown in the state P2, the mover 12 is urged and moves relative to the stator 11 in the z-axis plus direction (left direction on FIG. 6B).
  • the magnet 124a is generated in the same manner as the symbols “N” and “S” shown in the state P3. It is repelled by the magnetic teeth 151 and 152, and the magnet 124b is repelled by the magnetic tooth 151 and attracted by the magnetic tooth 152. Therefore, for example, as shown in the state P3, the mover 12 is urged and moves relative to the stator 11 in the minus direction on the z-axis (to the right in the drawing).
  • the length of the normal range which is the movement range of the mover 12 from the state P2 to the state P3, is indicated by the "normal range length UL (range length)".
  • FIG. 7 is a schematic diagram illustrating an assembly and winding method of the core 11a of the linear motor according to the embodiment.
  • the core back portion 11a1 and the teeth portion 11a2 are integrally press-molded from an electromagnetic steel plate in an xy plane and laminated in the z-axis direction to obtain a core 11a.
  • the pre-processed winding 11b is fitted into the teeth portion 11a2.
  • two cores 11a having windings 11b are similarly prepared and combined vertically (in the y-axis direction in the drawing) to obtain the magnetic teeth 152 from the magnetic teeth 151.
  • FIG. 8 is a cross-sectional perspective view of the electromagnetic suspension 100C of the comparative example.
  • FIG. 8 gives a bird's-eye view of the appearance of the electromagnetic suspension 100C of the comparative example, and shows the internal structure by cutting a quarter thereof.
  • the electromagnetic suspension 100C of the comparative example includes a linear motor 10.
  • the mover 12 of the linear motor 10 is connected to the shaft 21 on the same axis (Z axis in the drawing).
  • the shaft 21 is integrated with the elastic body 20 on the same shaft.
  • the mover 12 is integrated with the stator 11 via a rotary bearing 25.
  • the vibration and external force received by the shaft 21 and the elastic body 20 are directly transmitted to the mover 12, and the mover has vibration and stress in the x direction, vibration and stress in the y-axis direction, and vibration in the z-axis direction in the figure. And stress, various vibrations and stresses such as twisting around the Z axis are applied. Since the z-axis direction coincides with the propulsion direction of the electromagnetic suspension, it is a controllable factor, but vibration and stress in the x-axis direction and y-axis direction, and twisting around the Z-axis are not controlled.
  • the vibration of the mover 12 means a change in the gap length in the linear motor 10, and means that the magnetic circuit changes momentarily due to the vibration and the external force. Therefore, the vibration damping property of the linear motor 10 is disturbed.
  • the electromagnetic suspension 100 has a stator 11 having a pair of opposing shafts 21 connecting frames (for example, a shaft fixing bracket 23), an armature iron core, and an armature winding. And has a magnet or magnetic material fixed between the frames and having a first surface (for example, front surface 122f) and a second surface (for example, back surface 122r) facing the stator, and relative to the stator. It includes a linear motor 10 having a mover 12 that moves substantially, and an elastic body 20 that is mounted on a shaft 21 and is contracted by one of the frames and the arm of the stator.
  • a surface structure is formed by the shaft fixing bracket 23 and the shaft 21, and if the shaft 21 is arranged in parallel with the propulsion direction of the mover 12 and integrated with the mover 12, the motor characteristics of the electromagnetic suspension 100 will be disturbed. Since it is not affected, the vibration damping property of the electromagnetic suspension 100 is improved.
  • FIG. 15 is a cross-sectional perspective view of a modified example 1 of the electromagnetic suspension 100 according to the first embodiment.
  • FIG. 15 gives a bird's-eye view of the appearance of the mover 12, and cuts a quarter of the mover 12 to show the internal structure.
  • the difference from the embodiment shown in FIG. 1 is that the shaft 21 is arranged in the magnetizing direction of the magnet 124.
  • the electromagnetic suspension 100 has the effect of reducing the width in the x-axis direction.
  • FIG. 16 is a cross-sectional perspective view of a modified example 2 of the electromagnetic suspension 100 according to the first embodiment.
  • the difference from the embodiment shown in FIG. 1 is that the shaft 21 is arranged in the direction perpendicular to the magnetizing direction of the magnet 124 and in the parallel direction.
  • the disturbance of the mover 12 is suppressed as compared with FIG. 1, and the vibration damping property is improved.
  • the arrangement of the shaft 21 can be set while observing the cost and the physique of the product.
  • FIG. 9 is a perspective view of the electromagnetic suspension 100 according to the second embodiment.
  • the same reference numerals may be given to the parts corresponding to the respective parts of the first embodiment described above, and the description thereof may be omitted.
  • the electromagnetic suspension 100 includes a linear motor 10 according to the first embodiment and an elastic body 20. Then, one end of the mover 12 or one end of the stator 11 of the linear motor 10 is coupled to the vibration damping object. In the figure, one end of the mover 12 is connected to the vibration damping object.
  • the vibration damping object is an object whose vibration is to be suppressed by the electromagnetic suspension 100, and in the illustrated example, the vibration damping object is the outer tub 37 of the washing machine W (see FIG. 10). The other end is connected to the base 31 of the washing machine W.
  • the electromagnetic suspension 100 may be arranged upside down, and one end of the stator 11 may be connected to the outer tank 37 (see FIG. 10) and one end of the mover may be connected to the base 31.
  • a metal winding spring is applied as the elastic body 20.
  • the elastic body 20 applies an elastic force to the mover 12, and is between the bearing 22 and the shaft fixing bracket 23. As shown in FIG. 9, the shaft 21 also penetrates the elastic body 20.
  • the elastic body 20 has a spring force capable of holding the outer tub 37 at a predetermined position in the washing machine even when the linear motor 10 is not energized.
  • a force that pushes back the mover 12 acts due to the weight of the outer tank 37 and the spring force of the elastic body 20.
  • the elastic body 20 secures the fail-safe property of control, and the robustness can be enhanced without arranging members such as stoppers at both ends of the mover 12.
  • the electromagnetic suspension 100 of the present embodiment includes the linear motor 10 according to the first embodiment and the elastic body 20 that urges the stator 11 or the mover 12 in the moving direction (z-axis direction). ..
  • the elastic body 20 includes a metal winding spring.
  • FIG. 10 is a perspective view of the washing machine W according to the third embodiment.
  • the washing machine W shown in FIG. 10 is a drum-type washing machine and also has a function of drying clothes.
  • the washing machine W includes a base 31, a housing 32, a door 33, an operation / display panel 34, an outer tub 37, a pair of electromagnetic suspensions 100L and 100R, and a drain hose H.
  • the electromagnetic suspensions 100L and 100R are configured in the same manner as the electromagnetic suspension 100 in the second embodiment, respectively.
  • the housing 32 includes left and right side plates 32a and 32a, a front cover 32b, a back cover 32c (see FIG. 11), and a top cover 32d.
  • the base 31 supports the housing 32.
  • a circular input port h1 (see FIG. 11) for taking in and out clothes is formed near the center of the front cover 32b.
  • the door 33 is an openable / closable lid provided at the inlet h1.
  • FIG. 11 is a vertical cross-sectional view of the washing machine W according to the third embodiment.
  • the washing machine W includes a washing tub 35, a lifter 36, a drive mechanism 38, and a blower unit 39.
  • the washing tub 35 accommodates clothes and has a bottomed cylindrical shape.
  • the washing tub 35 is contained in the outer tub 37 and is rotatably supported on the same axis as the outer tub 37.
  • the peripheral wall and bottom wall of the washing tub 35 are provided with a large number of through holes (not shown) for water passage and ventilation. Further, the opening h2 of the washing tub 35 faces the closed door 33 together with the opening h3 of the outer tub 37.
  • the rotation center axis of the washing tub 35 is inclined so that the opening side is higher, but the present invention is not limited to this. That is, the rotation center axis of the washing tub 35 may be in the horizontal direction or the vertical direction.
  • the lifter 36 lifts and drops clothes during washing and drying, and is installed on the inner peripheral wall of the washing tub 35.
  • the outer tub 37 stores washing water and the like, and has a bottomed cylindrical shape. As shown in FIG. 11, the outer tub 37 includes a washing tub 35.
  • electromagnetic suspensions 100L and 100R are arranged on the left and right sides of the outer tank 37, but in FIG. 9, only the electromagnetic suspension 100L on the left side is shown. Further, a drainage hole (not shown) is provided at the lowermost part of the bottom wall of the outer tank 37, and a drainage hose H is connected to this drainage hole. Then, the washing water is stored in the outer tub 37 in a state where the drain valve (not shown) provided in the drain hose H is closed, and the washing water is discharged by opening the drain valve. It has become like.
  • the drive mechanism 38 is a mechanism for rotating the washing tub 35, and is installed outside the bottom wall of the outer tub 37.
  • the rotation shaft of the motor included in the drive mechanism 38 penetrates the bottom wall of the outer tub 37 and is connected to the bottom wall of the washing tub 35.
  • the blower unit 39 blows warm air into the washing tub 35 and is arranged above the washing tub 35.
  • the blower unit 39 includes a heater and a fan. Then, the air heated by the heater is sent to the washing tub 35 by the fan. As a result, the clothes containing water are gradually dried in the washing tub 35.
  • the vibration of the outer tub 37 that is, the vibration of the washing machine W will be briefly described.
  • the washing tub 35 is rotated at a low speed by the drive mechanism 38 shown in FIG. 11, and the tumbling operation of lifting and dropping the clothes collected on the bottom of the washing tub 35 by the lifter 36 is repeated.
  • the washing tub 35 rotates at high speed, and centrifugal dehydration is performed to push out the moisture of the clothes by the centrifugal force due to the rotation.
  • the amplitude of vibration of the washing tub 35 often increases due to the reaction force of falling clothes during washing, rinsing, and drying. Further, in the conventional washing machine, vibration and noise are often generated in the washing machine W due to the bias of the position of clothes during dehydration. In this way, the way the washing machine W vibrates changes from moment to moment depending on various conditions such as washing, rinsing, drying, and dehydration, in addition to the amount and position of clothes in the washing tub 35 and the water content. The vibration propagates to the outer tank 37.
  • FIG. 12 is a configuration diagram of the vibration damping device 200 applied to the third embodiment.
  • the vibration damping device 200 includes an inverter 40, a current detector 50, a thrust adjusting unit 60, a rectifier circuit 70, and left and right electromagnetic suspensions 100L and 100R.
  • the vibration damping device 200 suppresses the vibration of the vibration damping object G.
  • the vibration damping object G is the outer tub 37 of the washing machine W (see FIG. 10).
  • the left and right electromagnetic suspensions 100L and 100R are represented by one frame. Further, the linear motors 10 included in the electromagnetic suspensions 100L and 100R are referred to as linear motors 10L and 10R, respectively. Similarly, the elastic bodies 20 included in the electromagnetic suspensions 100L and 100R are referred to as elastic bodies 20L and 20R.
  • the rectifier circuit 70 rectifies the AC voltage applied by the AC power supply E, and applies a DC voltage to the inverter 40.
  • the AC power supply E and the rectifier circuit 70 may be considered as a DC power supply in combination.
  • the inverter 40 converts the DC voltage applied from the rectifier circuit 70 into a single-phase AC voltage based on the voltage command V * from the thrust adjusting unit 60, and converts this single-phase AC voltage into the windings of the linear motors 10L and 10R. Apply to 11b (see FIG. 2). In other words, the inverter 40 has a function of driving the linear motors 10L and 10R based on the voltage command V *.
  • FIG. 13 is a configuration diagram of a main part of the vibration damping device 200 applied to the third embodiment.
  • the rectifier circuit 70 is a well-known voltage doubler rectifier circuit that converts an AC voltage applied from the AC power supply E into a DC voltage.
  • the rectifier circuit 70 includes a diode bridge circuit 72 in which diodes D1 to D4 are bridge-connected, and two smoothing capacitors 74 and 76 connected in series.
  • the drive mechanism 38 shown in FIG. 13 includes an inverter 38a and a motor 38b.
  • the rectifier circuit 70 is connected to the inverter 40 via the wiring k1 on the positive side and the wiring k2 on the negative side, and is also connected to the inverter 38a of the drive mechanism 38 that rotates the washing tub 35 (see FIG. 11). There is.
  • the inverter 40 converts the DC voltage applied from the rectifier circuit 70 into two single-phase AC voltages, and converts these two single-phase AC voltages into the windings 11b (see FIG. 4) of the linear motors 10L and 10R, respectively. It is an inverter to be applied.
  • the inverter 40 includes a first leg including switching elements SW1 and SW2, a second leg including switching elements SW3 and SW4, and a third leg including switching elements SW5 and SW6.
  • these switching elements SW1 to SW6 for example, an IGBT (Insulated Gate Bipolar Transistor) can be used.
  • a freewheeling diode D is connected in antiparallel to each of the switching elements SW1 to SW6.
  • connection points of the switching elements SW1 and SW2 are connected to the winding 11b (see FIG. 4) of the linear motor 10L via the wiring k3. That is, the leg corresponding to one phase of the three-phase inverter 40 is connected to the linear motor 10L on the left side. Further, the connection points of the switching elements SW5 and SW6 are connected to the winding 11b (see FIG. 4) of the linear motor 10R via the wiring k5. That is, another leg corresponding to one phase of the three-phase inverter 40 is connected to the linear motor 10L on the right side.
  • connection points of the switching elements SW3 and SW4 are connected to the winding 11b (see FIG. 4) of the linear motor 10L via the wiring k4, and also to the winding 11b of the linear motor 10R via the wiring k4. It is connected. That is, the remaining legs of the three-phase inverter 40 are connected to the left and right linear motors 10L and 10R.
  • the cost of the inverter 40 can be reduced by sharing the left and right as one inverter 40 instead of separately providing the inverters corresponding to the left and right linear motors 10L and 10R. Then, by controlling the on / off of the switching elements SW1 to SW6 based on PWM (Pulse Width Modulation) control, a single-phase AC voltage is applied to the windings 11b (see FIG. 4) of the linear motors 10L and 10R. It has become so.
  • PWM Pulse Width Modulation
  • the current detector 50 detects the current applied to the linear motors 10L and 10R, and is inserted in the wiring k4. That is, the current detector 50 detects the current flowing through the windings 11b (see FIG. 4) of the linear motors 10L and 10R.
  • the thrust adjusting unit 60 shown in FIG. 12 includes electronic circuits such as a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and various interfaces. .. Then, the program stored in the ROM is read out and expanded in the RAM, and the CPU executes various processes.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the thrust adjusting unit 60 has a function of adjusting the thrust of the linear motors 10L and 10R by driving the inverter 40 based on the current i detected by the current detector 50. That is, the thrust adjusting unit 60 detects the polarity of the current i flowing through the current detector 50 during the dead time of the inverter 40. The polarity of the current i indicates the moving direction of the linear motors 10L and 10R.
  • the thrust adjusting unit 60 generates a voltage command V * in the direction of suppressing the movement of the linear motors 10L and 10R, and switches the switching elements SW1 to SW6 on and off based on the voltage command V *.
  • the thrust adjusting unit 60 causes the thrusts of the linear motors 10L and 10R to cancel the change. Has a function to adjust.
  • the washing machine W of the present embodiment includes the electromagnetic suspensions 100L and 100R according to the second embodiment, the inverter 40 that supplies an alternating current to the armature winding (winding 11b), and the armature winding. It further includes a current detector 50 that detects the flowing current, and a thrust adjusting unit 60 that adjusts the thrust of the linear motor 10 by controlling the inverter 40 based on the current detected by the current detector 50.
  • the current flowing through the armature winding can be detected by the current detector 50, and the thrust of the linear motor 10 can be adjusted so as to suppress the relative movement of the stator 11 and the mover 12.
  • the washing machine W of the present embodiment includes a washing tub 35 for accommodating clothes, an outer tub 37 containing the washing tub 35 (see FIG. 11), and a drive mechanism 38 for rotating the washing tub (see FIG. 11).
  • the electromagnetic suspensions 100L and 100R suppress the vibration of the outer tank 37.
  • the vibration of the outer tank 37 can be suppressed with a relatively simple configuration. Further, according to the present embodiment, it is not necessary to provide a position sensor for detecting the position of the mover 12, so that the cost of the washing machine W can be reduced. Further, since the stator 11 and the mover 12, which are the components of the linear motors 10L and 10R, are hardly damaged or worn, the durability of the electromagnetic suspension 100L and 100R can be improved.
  • the single-phase AC voltage applied to the left and right linear motors 10L and 10R can be generated by one inverter 40 having six switching elements. If inverters are individually provided for the left and right linear motors 10L and 10R, eight switching elements are required. Therefore, according to the present embodiment, the cost of the washing machine W can be reduced as compared with the configuration in which the inverters are individually provided corresponding to the left and right linear motors 10L and 10R.
  • the output current of the inverter 40 is not changed based on the vibration frequencies of the linear motors 10L and 10R. That is, when the linear motors 10L and 10R are considered as "dampers", the viscous damping coefficient C [Ns / m] of the dampers in the third embodiment becomes constant regardless of the vibration frequency. On the other hand, in the present embodiment, the viscosity damping coefficient C [Ns / m] is changed according to the vibration frequencies of the linear motors 10L and 10R. The details will be described below.
  • the equation of motion of the electromagnetic suspension 100 which is an electromagnetic suspension, is expressed by the equation (1).
  • the FD [N] shown in the equation (1) is a force generated by the electromagnetic suspension 100 (that is, the thrust of the linear motor 10). Further, x [m] is the position of the mover 12.
  • the equation of motion of the thrust of the linear motor 10 is expressed by the equation (2).
  • FL [N] is the thrust of the linear motor 10
  • Ke [N / A] is the motor constant of the linear motor 10.
  • I [A] is a current flowing through the winding 11b (see FIG. 4)
  • V [V] is a voltage applied to the winding 11b.
  • R [ ⁇ ] is the resistance of the winding 11b
  • ⁇ [T] is the magnetic flux generated in the winding 11b.
  • FIG. 14A is an experimental result showing changes in the rotation speed of the washing tub 35 and the displacement (vibration) of the outer tub 37 in a comparative example using an oil damper (hydraulic damper) having a constant viscosity damping coefficient C.
  • the range from zero rotation speed of the washing machine W to the maximum rotation speed is displayed as a percentage.
  • the y-axis shows the displacement (vibration) of the outer tank 37 as a relative value when the value of zero rotation speed is set to 0.
  • the washing tub 35 was rotated with 1 kg of clothes placed in a biased predetermined position in the washing tub 35.
  • the amplitude of the outer tub 37 changes as the rotation speed of the washing tub 35 increases. Specifically, when the rotation speed of the washing tub 35 is increased from zero, the amplitude of the outer tub 37 once decreases at a rotation speed of about 5 [%], and the amplitude of the outer tub 37 decreases at a rotation speed of about 10 [%]. The amplitude suddenly increases to the maximum amplitude. Further, the amplitude of the outer tub 37 increases at a rotation speed of 10 to 17 [%], and in the region of 20 [%] or more, the amplitude of the outer tub 37 decreases as the rotation speed of the washing tub 35 increases. There is.
  • FIG. 14B is an experimental result showing changes in the rotation speed of the washing tub 35 and the displacement (vibration) of the outer tub 37 using the electromagnetic suspension of the comparative example shown in FIG. 8 in another control example of the third embodiment. ..
  • the duty ratio of the inverter 40 was set so that the higher the rotation speed of the washing tub 35 (that is, the higher the vibration frequency f of the outer tub 37), the smaller the viscous damping coefficient C of the linear motor 10. Controlled.
  • the maximum amplitude of the outer tub 37 is about 5 [PU]
  • the maximum amplitude of the comparative example shown in FIG. 14A is about half.
  • the amplitude of the outer tub 37 is about 1 [PU].
  • FIG. 14C shows the experimental results showing changes in the rotation speed of the washing tub 35 and the displacement (vibration) of the outer tub 37 using the electromagnetic suspension 100 of the present embodiment shown in FIG. 1 in another control example of the third embodiment. Is. In the experiment in FIG. 14C, it can be seen that the vibration damping property is dramatically improved as compared with FIG. 14B. Its value is ⁇ 2 [PU] or less regardless of the rotation speed.
  • the present invention is not limited to the above-described embodiment, and various modifications are possible.
  • the above-described embodiments are exemplified for the purpose of explaining the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to delete a part of the configuration of each embodiment, or add / replace another configuration.
  • the control lines and information lines shown in the figure show what is considered necessary for explanation, and do not necessarily show all the control lines and information lines necessary for the product. In practice, it can be considered that almost all configurations are interconnected. Possible modifications to the embodiment are, for example:
  • two rectangular plate-shaped magnets 124a and 124b are fitted into one rectangular plate-shaped frame 122 to form a mover 12. did.
  • one magnet may be attached to one frame 122.
  • a plurality of magnets may be attached to each of the plurality of frames.
  • the shapes of the frame 122 and the magnet 124 are not limited to the rectangular plate shape, and various shapes can be adopted.
  • the electromagnetic suspension 100 can be used for home appliances such as air conditioners and refrigerators. , Rail vehicles, automobiles, etc.
  • the mover, the shaft 21 arranged parallel to the propulsion direction of the mover, and the elastic body 20 are integrated, and the surface structure is formed to form a front-rear / left-right / twist. It is possible to increase the strength against stress.

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Abstract

An electromagnetic suspension (100) includes: a linear motor (10) that includes a pair of shafts (21) facing each other and connecting frames to each other, a stator (11) having an armature core and an armature coil, and a mover (12) fixed between the frames, having a magnet or magnetic material having a first surface and a second surface facing the stator, and moving relative to the stator (11); and an elastic body (20) mounted on the shaft (21) and abutted and contracted by one of the frames and a bearing (22) which is an arm of the stator (11).

Description

電磁サスペンションおよび洗濯機Electromagnetic suspension and washing machine
　本発明は、電磁サスペンションおよび洗濯機に関する。 The present invention relates to an electromagnetic suspension and a washing machine.
　直線運動する電機としてリニアモータやリニアアクチュエータ（以下、総称してリニアモータと称する）が知られている。リニアモータは、回転機を直線状に切り開いた構造を有しており、固定子と可動子の各々に構成された磁極の間に働く磁力によって、可動子に推力を発生させる。よって、モータ制御において固定子と可動子のギャップ長の変化はモータ特性を大きく左右する。また、リニアモータを電磁サスペンションとして制振装置へ応用する検討も進められている。例えば、特許文献１は、洗濯機用のサスペンションとして、リニアモータを有する電磁サスペンションを適用する技術が記載されている。また、特許文献２は、磁力を用いた除振装置に関する技術が記載されている。 Linear motors and linear actuators (hereinafter collectively referred to as linear motors) are known as electric machines that move linearly. The linear motor has a structure in which the rotating machine is cut open in a straight line, and thrust is generated in the mover by the magnetic force acting between the magnetic poles formed in each of the stator and the mover. Therefore, in motor control, the change in the gap length between the stator and the mover greatly affects the motor characteristics. In addition, studies are underway to apply a linear motor as an electromagnetic suspension to a vibration damping device. For example, Patent Document 1 describes a technique for applying an electromagnetic suspension having a linear motor as a suspension for a washing machine. Further, Patent Document 2 describes a technique relating to a vibration isolator using a magnetic force.
特開２０１７－２００３３６号公報Japanese Unexamined Patent Publication No. 2017-20306 特開２００２－８１４９８号公報JP-A-2002-81498
　発明者らの検討により、電磁サスペンションを制振装置に用いる場合、振動によって電磁サスペンションには推進方向だけではなく、前後／左右／捻じれなどの応力が加わる。この応力によりリニアモータのギャップ長は均等ではなくなり、リニアモータの特性や制御性を悪化させ、所望の制振効果が得られないことがわかってきた。 According to the study by the inventors, when the electromagnetic suspension is used as a vibration damping device, stress such as front-rear / left-right / twist is applied to the electromagnetic suspension as well as the propulsion direction due to vibration. It has been found that the gap length of the linear motor becomes uneven due to this stress, the characteristics and controllability of the linear motor are deteriorated, and the desired damping effect cannot be obtained.
　特許文献１は、可動子とバネとシャフトが振動方向と同じ軸上に配置してある。かつ可動子の機械強度を確保するために、可動子の断面形状を凹凸加工や、半円形状などの幾何学形状に工夫する技術が記載されている。しかし振動によるギャップ長の変化の是正に関する記述はない。また、特許文献２は、永久磁石と電磁石が振動方向に対向して配置し、その距離を変化させることで除振する技術に関して記載されている。しかし、振動方向以外の前後／左右／捻じれなど応力に関する記述はない。 In Patent Document 1, the mover, the spring, and the shaft are arranged on the same axis as the vibration direction. Moreover, in order to secure the mechanical strength of the mover, a technique for devising the cross-sectional shape of the mover into a concave-convex shape or a geometric shape such as a semicircular shape is described. However, there is no description about correcting the change in gap length due to vibration. Further, Patent Document 2 describes a technique in which a permanent magnet and an electromagnet are arranged so as to face each other in the vibration direction and vibration isolation is performed by changing the distance between them. However, there is no description about stress such as front-back / left-right / twist other than the vibration direction.
　本発明は、前記した課題を解決するためになされたものであり、電磁サスペンションの推進方向以外の応力によって発生する固定子と可動子のギャップ長の変化を抑制し、制振ロバスト性の高い電磁サスペンションおよび洗濯機を提供することを目的とする。 The present invention has been made to solve the above-mentioned problems, and suppresses a change in the gap length between the stator and the mover caused by stress other than the propulsion direction of the electromagnetic suspension, and electromagnetic waves having high vibration damping robustness. It is intended to provide suspensions and washing machines.
　前記目的を達成するため、本発明の電磁サスペンションは、フレーム（例えば、シャフト固定金具２３）間を繋ぐ対向する一対のシャフトと、電機子鉄心と電機子巻線とを有する固定子と、フレーム間に固定され、固定子に対向する第１の面（例えば、表面１２２ｆ）と第２の面（例えば、裏面１２２ｒ）とを有する磁石または磁性体を有し、固定子に対し相対的に移動する可動子と、を有するリニアモータと、シャフトに装着され、フレームの一方と固定子の腕とで縮接されている弾性体と、を備えることを特徴とする。
　本発明のその他の態様については、後記する実施形態において説明する。 In order to achieve the above object, the electromagnetic suspension of the present invention has a pair of opposing shafts connecting frames (for example, a shaft fixing bracket 23), a stator having an armature core and an armature winding, and a frame. Has a magnet or magnetic material fixed to the stator and having a first surface (eg, front surface 122f) and a second surface (eg, back surface 122r) facing the stator and moves relative to the stator. It is characterized by including a linear motor having a mover, and an elastic body mounted on a shaft and contracted by one side of a frame and an arm of a stator.
Other aspects of the present invention will be described in embodiments described below.
　本発明によれば、制振ロバスト性の高い電磁サスペンションを実現できる。 According to the present invention, an electromagnetic suspension having high vibration damping robustness can be realized.
第１実施形態に係る電磁サスペンションの断面斜視図である。It is sectional drawing of the electromagnetic suspension which concerns on 1st Embodiment. 第１実施形態に係る可動子を含む支持機構部の斜視図である。It is a perspective view of the support mechanism part including a mover which concerns on 1st Embodiment. 第１実施形態に係るリニアモータの斜視断面図である。It is a perspective sectional view of the linear motor which concerns on 1st Embodiment. 図１のＩ－Ｉ線の模式的な矢視断面図である。FIG. 5 is a schematic cross-sectional view taken along the line I-I of FIG. 第１実施形態における可動子の分解斜視図である。It is an exploded perspective view of the mover in 1st Embodiment. 第１実施形態によるリニアモータの第１の位置の動作説明図である。It is operation | movement explanatory drawing of the 1st position of the linear motor by 1st Embodiment. 第１実施形態によるリニアモータの第２の位置の動作説明図である。It is operation | movement explanatory drawing of the 2nd position of the linear motor by 1st Embodiment. 第１実施形態によるリニアモータの第３の位置の動作説明図である。It is operation | movement explanatory drawing of the 3rd position of the linear motor by 1st Embodiment. 実施形態に係るリニアモータのコア組立と巻線方法を説明する模式図である。It is a schematic diagram explaining the core assembly and winding method of the linear motor which concerns on embodiment. 比較例の電磁サスペンションの断面斜視図である。It is sectional drawing of the electromagnetic suspension of a comparative example. 第２実施形態による電磁サスペンションと洗濯機の斜視図である。It is a perspective view of the electromagnetic suspension and a washing machine according to 2nd Embodiment. 第２実施形態による洗濯機の斜視図である。It is a perspective view of the washing machine according to 2nd Embodiment. 第３実施形態による洗濯機の縦断面図である。It is a vertical sectional view of the washing machine according to 3rd Embodiment. 第３実施形態に適用される制振装置の構成図である。It is a block diagram of the vibration damping device applied to 3rd Embodiment. 第３実施形態に適用される制振装置の要部の構成図である。It is a block diagram of the main part of the vibration damping device applied to 3rd Embodiment. 粘性減衰係数が一定であるオイルダンパを用いた比較例における洗濯槽の回転速度と外槽の変位を示す図である。It is a figure which shows the rotation speed of the washing tub and the displacement of the outer tub in the comparative example using the oil damper which has a constant viscosity damping coefficient. 図８の比較例における洗濯槽の回転速度と外槽の変位を示す図である。It is a figure which shows the rotation speed of the washing tub and the displacement of the outer tub in the comparative example of FIG. 本実施形態における洗濯槽の回転速度と外槽の変位を示す図である。It is a figure which shows the rotation speed of the washing tub and the displacement of the outer tub in this embodiment. 第１実施形態に係る電磁サスペンションの変形例１の断面斜視図である。It is sectional drawing of the modification 1 of the electromagnetic suspension which concerns on 1st Embodiment. 第１実施形態に係る電磁サスペンションの変形例２の断面斜視図である。It is sectional drawing of the modification 2 of the electromagnetic suspension which concerns on 1st Embodiment.
　本発明を実施するための実施形態について、適宜図面を参照しながら詳細に説明する。
［第１実施形態］
〈第１実施形態の構成〉
　図１は、第１実施形態による電磁サスペンション１００の断面斜視図である。なお、電磁サスペンション１００は、例えば洗濯機Ｗ（図１０参照）の振動を抑制するために適用される。 Embodiments for carrying out the present invention will be described in detail with reference to the drawings as appropriate.
[First Embodiment]
<Structure of the first embodiment>
FIG. 1 is a cross-sectional perspective view of the electromagnetic suspension 100 according to the first embodiment. The electromagnetic suspension 100 is applied, for example, to suppress the vibration of the washing machine W (see FIG. 10).
　図１の符号ｘ，ｙ，ｚに示すように、ｘ軸，ｙ軸，ｚ軸を定める。図１は、電磁サスペンション１００の外観を俯瞰するとともに、その１／４をカットし内部構造を図示している。電磁サスペンション１００は、リニアモータ１０を内包している。 As shown by the symbols x, y, z in FIG. 1, the x-axis, y-axis, and z-axis are defined. FIG. 1 gives a bird's-eye view of the appearance of the electromagnetic suspension 100 and shows the internal structure by cutting a quarter of the appearance. The electromagnetic suspension 100 includes a linear motor 10.
　電磁サスペンション１００は、フレーム（例えば、シャフト固定金具２３）間を繋ぐ対向する一対のシャフト２１と、電機子鉄心と電機子巻線とを有する固定子１１と、フレーム間に固定され、固定子１１に対向する第１の面（例えば、図５の表面１２２ｆ）と第２の面（例えば、図５の裏面１２２ｒ）とを有する磁石または磁性体を有し、固定子１１に対し相対的に移動する可動子１２と、を有するリニアモータ１０と、シャフトに装着され、フレームの一方と固定子１１の腕（軸受け２２）とで縮接されている弾性体２０と、を備える。 The electromagnetic suspension 100 is fixed between the frames, the pair of shafts 21 facing each other connecting the frames (for example, the shaft fixing bracket 23), the stator 11 having the armature core and the armature winding, and the stator 11. Has a magnet or magnetic material having a first surface (for example, the front surface 122f in FIG. 5) and a second surface (for example, the back surface 122r in FIG. 5) facing the stator 11 and moves relative to the stator 11. A linear motor 10 having a mover 12 and an elastic body 20 mounted on a shaft and contracted by one of the frames and an arm (bearing 22) of the stator 11 is provided.
　リニアモータ１０の可動子１２と、推進方向に対して（図中ｚ軸方向）に対して並行な位置に、２本のシャフト２１、２個の弾性体２０がある。シャフト２１は弾性体２０を貫通している。またシャフト２１はリニアモータ１０の固定子１１と軸受け２２を介して可動子１２の移動方向に摺動する。本実施形態では軸受け２２として金属表面に潤滑加工したすべり軸受けを用いている。 There are two shafts 21 and two elastic bodies 20 at positions parallel to the mover 12 of the linear motor 10 and the propulsion direction (z-axis direction in the figure). The shaft 21 penetrates the elastic body 20. Further, the shaft 21 slides in the moving direction of the mover 12 via the stator 11 and the bearing 22 of the linear motor 10. In this embodiment, a sliding bearing whose metal surface is lubricated is used as the bearing 22.
　図２は、第１実施形態に係る可動子１２を含む支持機構部を示す斜視図である。シャフト固定金具２３と、シャフト固定金具２３間を繋ぐ対向する一対のシャフト２１からなる口型構造の支持機構部内に可動子１２は配設されている。つまり可動子１２単体よりも広くて厚い面構造を形成している。 FIG. 2 is a perspective view showing a support mechanism portion including the mover 12 according to the first embodiment. The mover 12 is arranged in a support mechanism portion of a mouth-shaped structure including a shaft fixing bracket 23 and a pair of facing shafts 21 connecting the shaft fixing brackets 23. That is, it forms a surface structure that is wider and thicker than the mover 12 alone.
　ここで、電磁サスペンション１００における可動子１２並びに支持機構部に加わる応力を考える。ｚ軸方向に関しては軸受け２２（図１参照）を介して可動子１２が可動する。一方、ｘ軸方向、ｙ軸方向の応力発生時は軸受け２２が拘束する。またその力は軸受け２２とシャフト２１間の摩擦力となるだけで、可動子１２に応力は及ぶことはない。また、ｚ軸を中心に捻じれ（ｚ軸中心に回転）が生じた場合も、中心軸（ｚ軸）より可動子１２の外側にある軸受け２２が捻じれや回転を拘束し、可動子１２は移動しないし、応力も及ばない。つまり、可動子１２は応力に対し、ｚ軸方向にしか稼働しない構造となっている。 Here, consider the stress applied to the mover 12 and the support mechanism portion in the electromagnetic suspension 100. In the z-axis direction, the mover 12 is movable via the bearing 22 (see FIG. 1). On the other hand, when stress is generated in the x-axis direction and the y-axis direction, the bearing 22 is restrained. Further, the force is only a frictional force between the bearing 22 and the shaft 21, and no stress is applied to the mover 12. Further, even when twisting around the z-axis (rotation around the z-axis) occurs, the bearing 22 outside the mover 12 from the central axis (z-axis) restrains the twist and rotation, and the mover 12 Does not move and is not stressed. That is, the mover 12 has a structure that operates only in the z-axis direction with respect to stress.
　図３は、第１実施形態に係るリニアモータ１０の斜視断面図である。図３は、リニアモータ１０の外観を俯瞰するとともに、その１／４をカットし内部構造を図示している。リニアモータ１０は、電機子である固定子１１と、ｚ軸方向に延在する板状の可動子１２と、を備えている。 FIG. 3 is a perspective sectional view of the linear motor 10 according to the first embodiment. FIG. 3 gives a bird's-eye view of the appearance of the linear motor 10 and cuts a quarter of the linear motor 10 to show the internal structure. The linear motor 10 includes a stator 11 which is an armature, and a plate-shaped mover 12 extending in the z-axis direction.
　固定子１１は、ｚ軸方向に沿った略角柱に形成され、その中空部分に矩形平板状の可動子１２が遊挿されている。そして、リニアモータ１０は、固定子１１と可動子１２との間に働く磁気的な吸引力・反発力、すなわち推力によって、固定子１１と可動子１２との相対位置をｚ軸方向に変化させる。リニアモータ１０を電磁サスペンション１００に適用する場合には、可動子１２は、制振対象物に結合される。図１に示す例においては、洗濯機Ｗの外槽３７（図１０参照）が制振対象物であり、固定子１１または可動子１２が外槽３７に結合されている。 The stator 11 is formed in a substantially prism along the z-axis direction, and a rectangular flat plate-shaped mover 12 is loosely inserted in the hollow portion thereof. Then, the linear motor 10 changes the relative position between the stator 11 and the mover 12 in the z-axis direction by the magnetic attraction / repulsion force acting between the stator 11 and the mover 12, that is, the thrust. .. When the linear motor 10 is applied to the electromagnetic suspension 100, the mover 12 is coupled to the vibration damping object. In the example shown in FIG. 1, the outer tub 37 (see FIG. 10) of the washing machine W is the vibration damping object, and the stator 11 or the mover 12 is coupled to the outer tub 37.
　固定子１１は、コア１１ａ（電機子鉄心）と、巻線１１ｂ（電機子巻線）と、を備えている。コア１１ａは、電磁鋼板をｚ軸方向に積層したものであり、ｚ軸方向に沿って隣接し可動子１２に向かって突出する磁気歯１５１（第１の磁気歯）を備えている。また、コア１１ａは、可動子１２を挟んで磁気歯１５１に対向する位置に、ｚ軸方向に沿って隣接し可動子１２に向かって突出する磁気歯１５２（第２の磁気歯）と、を備えている。 The stator 11 includes a core 11a (armature iron core) and a winding 11b (armature winding). The core 11a is formed by laminating electromagnetic steel sheets in the z-axis direction, and includes magnetic teeth 151 (first magnetic teeth) that are adjacent to each other along the z-axis direction and project toward the mover 12. Further, the core 11a has a magnetic tooth 152 (second magnetic tooth) adjacent to the magnetic tooth 151 in the z-axis direction and projecting toward the mover 12 at a position facing the magnetic tooth 151 with the mover 12 interposed therebetween. I have.
　巻線１１ｂは、これら磁気歯１５１と１５２に巻回されている。また、可動子１２は、非磁性材料のフレーム１２２と、フレーム１２２に嵌め込まれた磁石１２４（磁石１２４ａ，１２４ｂ）と、を備えている。 The winding 11b is wound around these magnetic teeth 151 and 152. Further, the mover 12 includes a frame 122 made of a non-magnetic material and magnets 124 ( magnets 124a, 124b) fitted in the frame 122.
　図４は、図３のI－I線の模式的な矢視断面図である。但し、図１においてカットされた１／４の部分は図２ではカットされていない。図４に示すように、固定子１１のコア１１ａは、環状部１５６と、磁気歯１５１，１５２と、を備えている。 FIG. 4 is a schematic cross-sectional view taken along the line I-I of FIG. However, the 1/4 portion cut in FIG. 1 is not cut in FIG. As shown in FIG. 4, the core 11a of the stator 11 includes an annular portion 156 and magnetic teeth 151 and 152.
　環状部１５６は、縦断面視において環状すなわち略矩形枠状の形状を有しており、この環状部１５６によって磁気回路が構成されている。一対の磁気歯１５１，１５２は、環状部１５６からｙ軸方向に沿って内側に延びており、相互に対向している。つまり、本発明のモータ特性の磁路にはギャップが２個存在する。 The annular portion 156 has an annular shape, that is, a substantially rectangular frame shape in a vertical cross-sectional view, and the annular portion 156 constitutes a magnetic circuit. The pair of magnetic teeth 151 and 152 extend inward from the annular portion 156 along the y-axis direction and face each other. That is, there are two gaps in the magnetic path having the motor characteristics of the present invention.
　実線矢印で示す磁束ΦＡは、可動子１２によって生じる磁束である。磁気歯１５１，１５２には、それぞれ、巻線１１ｂが巻回されている。巻線１１ｂには、インバータ（例えば後述する図１２のインバータ４０等）が接続される。そして、このインバータによって巻線１１ｂに通電すると、固定子１１が電磁石として機能する。 The magnetic flux ΦA indicated by the solid arrow is the magnetic flux generated by the mover 12. Windings 11b are wound around the magnetic teeth 151 and 152, respectively. An inverter (for example, an inverter 40 in FIG. 12, which will be described later) is connected to the winding 11b. Then, when the winding 11b is energized by this inverter, the stator 11 functions as an electromagnet.
　図５は、第１実施形態における可動子１２の分解斜視図である。図３に示したように、可動子１２は、フレーム１２２と、２つの磁石１２４ａ，１２４ｂと、を備えている。フレーム１２２は、非磁性材料を矩形枠状に形成したものである。そして、フレーム１２２には、表面１２２ｆ（第１の面）および裏面１２２ｒ（第２の面）を貫通する、矩形の貫通孔１２２ｈが形成されている。 FIG. 5 is an exploded perspective view of the mover 12 in the first embodiment. As shown in FIG. 3, the mover 12 includes a frame 122 and two magnets 124a and 124b. The frame 122 is formed by forming a non-magnetic material into a rectangular frame shape. The frame 122 is formed with a rectangular through hole 122h that penetrates the front surface 122f (first surface) and the back surface 122r (second surface).
　また、リニアモータ１０の応答性を高めるためには、可動子１２は軽量であることが望ましい。そこでフレーム１２２を構成する非磁性材料には、プラスチックやアルミニウム等の軽量材料を適用することが考えられる。また、炭素繊維強化プラスチック等、軽量で強度の高い複合材を適用してもよい。すなわち、フレーム１２２の材質は、リニアモータ１０の要求強度や仕様に応じて、任意に選択するとよい。 Further, in order to improve the responsiveness of the linear motor 10, it is desirable that the mover 12 is lightweight. Therefore, it is conceivable to apply a lightweight material such as plastic or aluminum to the non-magnetic material constituting the frame 122. Further, a lightweight and high-strength composite material such as carbon fiber reinforced plastic may be applied. That is, the material of the frame 122 may be arbitrarily selected according to the required strength and specifications of the linear motor 10.
　また、２つの磁石１２４ａ，１２４ｂは、ｙ軸方向に磁極が反転するように交互に配列している。磁石１２４がフレーム１２２に嵌め込まれると、貫通孔１２２ｈの表面１２２ｆ側（図５における上面）は磁石１２４ａはＮ極、磁石１２４ｂはＳ極となっている。また、貫通孔１２２ｈの裏面１２２ｒ側（図５における底面）から磁石１２４ａはＳ極、磁石１２４ｂはＮ極となっている。 Further, the two magnets 124a and 124b are alternately arranged so that the magnetic poles are inverted in the y-axis direction. When the magnet 124 is fitted into the frame 122, the magnet 124a has an N pole and the magnet 124b has an S pole on the surface 122f side (upper surface in FIG. 5) of the through hole 122h. Further, the magnet 124a has an S pole and the magnet 124b has an N pole from the back surface 122r side (bottom surface in FIG. 5) of the through hole 122h.
　次にリニアモータ１０の動作について説明する。
　図６Ａ、図６Ｂ、図６Ｃは、第１実施形態によるリニアモータの動作説明図である。図６Ａは、第１実施形態によるリニアモータの第１の位置（状態Ｐ１）の動作説明図である。図６Ｂは、第１実施形態によるリニアモータの第２の位置（状態Ｐ２）の動作説明図である。図６Ｃは、第１実施形態によるリニアモータの第３の位置（状態Ｐ３）の動作説明図である。 Next, the operation of the linear motor 10 will be described.
6A, 6B, and 6C are operation explanatory views of the linear motor according to the first embodiment. FIG. 6A is an operation explanatory view of the first position (state P1) of the linear motor according to the first embodiment. FIG. 6B is an operation explanatory view of a second position (state P2) of the linear motor according to the first embodiment. FIG. 6C is an operation explanatory view of a third position (state P3) of the linear motor according to the first embodiment.
　固定子１１は、前述したように、コア１１ａ（電機子鉄心）と、巻線１１ｂ（電機子巻線）と、を備えている。コア１１ａは、コアバック部１１ａ１と、ティース部１１ａ２と、ティース部１１ａ２に磁石に対向する端面であるティーストップ部１１ａ３からなる。 As described above, the stator 11 includes a core 11a (armature iron core) and a winding 11b (armature winding). The core 11a includes a core back portion 11a1, a teeth portion 11a2, and a tee stop portion 11a3 which is an end face facing the magnet of the teeth portion 11a2.
　図６Ａ、図６Ｂ、図６Ｃに示す状態Ｐ１（第１の位置）、状態Ｐ２（第２の位置）、状態Ｐ３（第３の位置）は、固定子１１と可動子１２との相対的な位置関係が、それぞれ異なっている。また、図６Ａ、図６Ｂ、図６Ｃにおいて、実線の太矢印は、磁石１２４が発生する磁束の向きを示しており、破線の太矢印は、固定子１１が発生する磁束の向きを示している。状態Ｐ１～Ｐ３のいずれにおいても、磁気歯１５１はフレーム１２２の表面１２２ｆに対向し、磁気歯１５２はフレーム１２２の裏面１２２ｒに対向している。 The states P1 (first position), state P2 (second position), and state P3 (third position) shown in FIGS. 6A, 6B, and 6C are relative to the stator 11 and the mover 12. The positional relationship is different. Further, in FIGS. 6A, 6B, and 6C, the thick arrow on the solid line indicates the direction of the magnetic flux generated by the magnet 124, and the thick arrow on the broken line indicates the direction of the magnetic flux generated by the stator 11. .. In any of the states P1 to P3, the magnetic teeth 151 face the front surface 122f of the frame 122, and the magnetic teeth 152 face the back surface 122r of the frame 122.
　図６Ａの状態Ｐ１において、巻線１１ｂは通電されていないため、固定子１１は磁束を発生していない。そして、ｚ軸方向における固定子１１の中心（符号なし）と、可動子１２の中心（符号なし）とが一致している。また、巻線１１ｂに電流を流すと、電流の方向に応じて、磁気歯１５１と１５２を磁化させることができる。状態Ｐ１において、状態Ｐ２に示している「Ｎ」，「Ｓ」の記号と同様に、磁気歯１５１をＮ極に磁化させ、磁気歯１５２をＳ極に磁化させると、磁石１２４aは磁気歯１５１，１５２に反発され、磁石１２４aは磁気歯１５１，１５２に吸引される。 In the state P1 of FIG. 6A, since the winding 11b is not energized, the stator 11 does not generate magnetic flux. Then, the center of the stator 11 (unsigned) in the z-axis direction and the center of the mover 12 (unsigned) coincide with each other. Further, when a current is passed through the winding 11b, the magnetic teeth 151 and 152 can be magnetized according to the direction of the current. In the state P1, similarly to the symbols “N” and “S” shown in the state P2, when the magnetic tooth 151 is magnetized to the N pole and the magnetic tooth 152 is magnetized to the S pole, the magnet 124a becomes the magnetic tooth 151. , 152, and the magnet 124a is attracted to the magnetic teeth 151 and 152.
　このように、固定子１１と可動子１２との間に働く吸引力・反発力によって、固定子１１および可動子１２には、ｚ軸方向に沿って相対的に推力が働く。なお、「推力」とは、可動子１２と固定子１１との相対位置を変化させる力である。このため、例えば状態Ｐ２に示すように、可動子１２は、固定子１１に対してｚ軸プラス方向（図６Ｂ上では左方向）に相対的に付勢され移動する。 In this way, due to the attractive force / repulsive force acting between the stator 11 and the mover 12, thrust acts relatively on the stator 11 and the mover 12 along the z-axis direction. The "thrust" is a force that changes the relative positions of the mover 12 and the stator 11. Therefore, for example, as shown in the state P2, the mover 12 is urged and moves relative to the stator 11 in the z-axis plus direction (left direction on FIG. 6B).
　逆に、状態Ｐ１において、状態Ｐ３に示している「Ｎ」，「Ｓ」の記号と同様に、磁気歯１５１をＳ極に磁化させ、磁気歯１５２をＮ極に磁化させると、磁石１２４aは磁気歯１５１，１５２に反発され、磁石１２４ｂは磁気歯１５１に反発され、磁気歯１５２に吸引される。このため、例えば状態Ｐ３に示すように、可動子１２は、固定子１１に対してｚ軸マイナス方向（図上では右方向）に相対的に付勢され移動する。なお、状態Ｐ２から状態Ｐ３までの可動子１２の移動範囲である常用範囲の長さを「常用範囲長ＵＬ（範囲長）」で示している。 On the contrary, in the state P1, when the magnetic tooth 151 is magnetized to the S pole and the magnetic tooth 152 is magnetized to the N pole, the magnet 124a is generated in the same manner as the symbols “N” and “S” shown in the state P3. It is repelled by the magnetic teeth 151 and 152, and the magnet 124b is repelled by the magnetic tooth 151 and attracted by the magnetic tooth 152. Therefore, for example, as shown in the state P3, the mover 12 is urged and moves relative to the stator 11 in the minus direction on the z-axis (to the right in the drawing). The length of the normal range, which is the movement range of the mover 12 from the state P2 to the state P3, is indicated by the "normal range length UL (range length)".
　図７は、実施形態に係るリニアモータのコア１１ａの組立と巻線方法を説明する模式図である。リニアモータのコア１１ａを成型する場合、コアバック部１１ａ１と、ティース部１１ａ２を電磁鋼板よりｘ－ｙ平面で一体プレス成型し、ｚ軸方向に積層し、コア１１ａを得る。次に、予め加工した巻線１１ｂをティース部１１ａ２に勘合する。以下、同様に巻線１１ｂを備えるコア１１ａを２つ準備し、上下（図中ｙ軸方向）に組み合わせ、磁気歯１５１から磁気歯１５２を得る。 FIG. 7 is a schematic diagram illustrating an assembly and winding method of the core 11a of the linear motor according to the embodiment. When molding the core 11a of a linear motor, the core back portion 11a1 and the teeth portion 11a2 are integrally press-molded from an electromagnetic steel plate in an xy plane and laminated in the z-axis direction to obtain a core 11a. Next, the pre-processed winding 11b is fitted into the teeth portion 11a2. Hereinafter, two cores 11a having windings 11b are similarly prepared and combined vertically (in the y-axis direction in the drawing) to obtain the magnetic teeth 152 from the magnetic teeth 151.
　図８は、比較例の電磁サスペンション１００Ｃの断面斜視図である。図８は、比較例の電磁サスペンション１００Ｃの外観を俯瞰するとともに、その１／４をカットし内部構造を図示している。比較例の電磁サスペンション１００Ｃは、リニアモータ１０を内包している。リニアモータ１０の可動子１２は、同一軸上（図中Ｚ軸）でシャフト２１と連結している。シャフト２１は、同一軸上で弾性体２０と一体化している。また可動子１２は、回転軸受け２５を介して固定子１１と一体化されている。故に、シャフト２１と弾性体２０とが受ける振動や外力は、直接可動子１２に伝達され、可動子に、図中ｘ方向の振動と応力、ｙ軸方向の振動と応力、ｚ軸方向の振動と応力、Ｚ軸を中心とした捻じれなどの様々な振動や応力が加わる。ｚ軸方向は電磁サスペンションの推進方向と一致するため、制御可能な因子であるが、ｘ軸方向、ｙ軸方向の振動と応力、Ｚ軸を中心とした捻じれは制御されていない。 FIG. 8 is a cross-sectional perspective view of the electromagnetic suspension 100C of the comparative example. FIG. 8 gives a bird's-eye view of the appearance of the electromagnetic suspension 100C of the comparative example, and shows the internal structure by cutting a quarter thereof. The electromagnetic suspension 100C of the comparative example includes a linear motor 10. The mover 12 of the linear motor 10 is connected to the shaft 21 on the same axis (Z axis in the drawing). The shaft 21 is integrated with the elastic body 20 on the same shaft. Further, the mover 12 is integrated with the stator 11 via a rotary bearing 25. Therefore, the vibration and external force received by the shaft 21 and the elastic body 20 are directly transmitted to the mover 12, and the mover has vibration and stress in the x direction, vibration and stress in the y-axis direction, and vibration in the z-axis direction in the figure. And stress, various vibrations and stresses such as twisting around the Z axis are applied. Since the z-axis direction coincides with the propulsion direction of the electromagnetic suspension, it is a controllable factor, but vibration and stress in the x-axis direction and y-axis direction, and twisting around the Z-axis are not controlled.
　ここで、図４を用いて示したように、可動子１２の振動はリニアモータ１０におけるギャップ長の変化を意味し、磁気回路が振動と外力によって時々刻々と変化することを意味する。よって、リニアモータ１０の制振性は乱れたものとなる。 Here, as shown with reference to FIG. 4, the vibration of the mover 12 means a change in the gap length in the linear motor 10, and means that the magnetic circuit changes momentarily due to the vibration and the external force. Therefore, the vibration damping property of the linear motor 10 is disturbed.
〈第１実施形態の効果〉
　以上のように本実施形態によれば、電磁サスペンション１００は、フレーム（例えば、シャフト固定金具２３）間を繋ぐ対向する一対のシャフト２１と、電機子鉄心と電機子巻線とを有する固定子１１と、フレーム間に固定され、固定子に対向する第１の面（例えば、表面１２２ｆ）と第２の面（例えば、裏面１２２ｒ）とを有する磁石または磁性体を有し、固定子に対し相対的に移動する可動子１２と、を有するリニアモータ１０と、シャフト２１に装着され、フレームの一方と固定子の腕とで縮接されている弾性体２０と、を備える。シャフト固定金具２３とシャフト２１とにより、面構造が形成され、シャフト２１は可動子１２の推進方向に対し並列に配置し、かつ可動子１２と一体化すれば電磁サスペンション１００のモータ特性が外乱の影響を受けないため、電磁サスペンション１００の制振性が向上する。 <Effect of the first embodiment>
As described above, according to the present embodiment, the electromagnetic suspension 100 has a stator 11 having a pair of opposing shafts 21 connecting frames (for example, a shaft fixing bracket 23), an armature iron core, and an armature winding. And has a magnet or magnetic material fixed between the frames and having a first surface (for example, front surface 122f) and a second surface (for example, back surface 122r) facing the stator, and relative to the stator. It includes a linear motor 10 having a mover 12 that moves substantially, and an elastic body 20 that is mounted on a shaft 21 and is contracted by one of the frames and the arm of the stator. A surface structure is formed by the shaft fixing bracket 23 and the shaft 21, and if the shaft 21 is arranged in parallel with the propulsion direction of the mover 12 and integrated with the mover 12, the motor characteristics of the electromagnetic suspension 100 will be disturbed. Since it is not affected, the vibration damping property of the electromagnetic suspension 100 is improved.
〈第１実施形態の変形例〉
　図１５は、第１実施形態に係る電磁サスペンション１００の変形例１の断面斜視図である。図１５は、可動子１２の外観を俯瞰するとともに、その１／４をカットし内部構造を図示している。図１に示した実施形態との違いは、磁石１２４の着磁方向にシャフト２１を配置した点である。これにより、電磁サスペンション１００は、ｘ軸方向の幅が小さくなる効果がある。 <Modified example of the first embodiment>
FIG. 15 is a cross-sectional perspective view of a modified example 1 of the electromagnetic suspension 100 according to the first embodiment. FIG. 15 gives a bird's-eye view of the appearance of the mover 12, and cuts a quarter of the mover 12 to show the internal structure. The difference from the embodiment shown in FIG. 1 is that the shaft 21 is arranged in the magnetizing direction of the magnet 124. As a result, the electromagnetic suspension 100 has the effect of reducing the width in the x-axis direction.
　図１６は、第１実施形態に係る電磁サスペンション１００の変形例２の断面斜視図です。図１に示した実施形態との違いは、磁石１２４の着磁方向に対し、垂直方向と並列方向にシャフト２１を配置した点である。これにより、可動子１２の外乱は図１よりも抑えられ、制振性が向上する。前記示したように、シャフト２１の配置はコストと製品の体格をみながら設定することが可能である。 FIG. 16 is a cross-sectional perspective view of a modified example 2 of the electromagnetic suspension 100 according to the first embodiment. The difference from the embodiment shown in FIG. 1 is that the shaft 21 is arranged in the direction perpendicular to the magnetizing direction of the magnet 124 and in the parallel direction. As a result, the disturbance of the mover 12 is suppressed as compared with FIG. 1, and the vibration damping property is improved. As shown above, the arrangement of the shaft 21 can be set while observing the cost and the physique of the product.
［第２実施形態］
〈第２実施形態の構成〉
　図９は、第２実施形態による電磁サスペンション１００の斜視図である。なお、以下の説明において、前述した第１実施形態の各部に対応する部分には同一の符号を付し、その説明を省略する場合がある。 [Second Embodiment]
<Structure of the second embodiment>
FIG. 9 is a perspective view of the electromagnetic suspension 100 according to the second embodiment. In the following description, the same reference numerals may be given to the parts corresponding to the respective parts of the first embodiment described above, and the description thereof may be omitted.
　電磁サスペンション１００は、第１実施形態によるリニアモータ１０と、弾性体２０と、を備えている。そして、リニアモータ１０の可動子１２の一端、または固定子１１の一端は、制振対象物に結合される。図では可動子１２の一端を制振対象物に結合している。ここで、制振対象物とは、電磁サスペンション１００によって振動を抑制しようとする対象物であり、図示の例において制振対象物は、洗濯機Ｗ（図１０参照）の外槽３７である。他端は洗濯機Ｗのベース３１と結合している。当然、電磁サスペンション１００を上下逆さまに配置し、固定子１１の一端を外槽３７（図１０参照）に、可動子の一端をベース３１に結合してもよい。 The electromagnetic suspension 100 includes a linear motor 10 according to the first embodiment and an elastic body 20. Then, one end of the mover 12 or one end of the stator 11 of the linear motor 10 is coupled to the vibration damping object. In the figure, one end of the mover 12 is connected to the vibration damping object. Here, the vibration damping object is an object whose vibration is to be suppressed by the electromagnetic suspension 100, and in the illustrated example, the vibration damping object is the outer tub 37 of the washing machine W (see FIG. 10). The other end is connected to the base 31 of the washing machine W. As a matter of course, the electromagnetic suspension 100 may be arranged upside down, and one end of the stator 11 may be connected to the outer tank 37 (see FIG. 10) and one end of the mover may be connected to the base 31.
　従って、洗濯機の外槽３７がｚ軸方向に振動すると、それに伴って可動子１２がｚ軸方向に沿って往復し、可動子１２と固定子１１との相対的な位置関係が変化する。 Therefore, when the outer tub 37 of the washing machine vibrates in the z-axis direction, the mover 12 reciprocates along the z-axis direction, and the relative positional relationship between the mover 12 and the stator 11 changes.
　また、本実施形態においては、弾性体２０として金属製の巻バネを適用した。ここで、弾性体２０は、可動子１２に弾性力を付与するものであり、軸受け２２とシャフト固定金具２３の間ある。図９に示すように、シャフト２１は、弾性体２０も貫通している。 Further, in the present embodiment, a metal winding spring is applied as the elastic body 20. Here, the elastic body 20 applies an elastic force to the mover 12, and is between the bearing 22 and the shaft fixing bracket 23. As shown in FIG. 9, the shaft 21 also penetrates the elastic body 20.
　弾性体２０は、リニアモータ１０の非通電状態においても、外槽３７を洗濯機内の所定の位置に保持できるバネ力を備えている。これにより、万が一、制御ミスにより可動子１２がｚ軸上方に突き抜けかけた場合においても、外槽３７の自重と、弾性体２０のバネ力により、可動子１２を押し戻す力が働く。同様に、可動子１２がｚ軸下方に突き抜けかけた場合は、弾性体２０のバネ力により、押し戻される。すなわち、弾性体２０が制御のフェールセーフ性を確保し、可動子１２の両端にストッパーのような部材を配置することなく、ロバスト性を高めることができる。 The elastic body 20 has a spring force capable of holding the outer tub 37 at a predetermined position in the washing machine even when the linear motor 10 is not energized. As a result, even in the unlikely event that the mover 12 penetrates upward on the z-axis due to a control error, a force that pushes back the mover 12 acts due to the weight of the outer tank 37 and the spring force of the elastic body 20. Similarly, when the mover 12 penetrates downward on the z-axis, it is pushed back by the spring force of the elastic body 20. That is, the elastic body 20 secures the fail-safe property of control, and the robustness can be enhanced without arranging members such as stoppers at both ends of the mover 12.
〈第２実施形態の効果〉
　以上のように、本実施形態の電磁サスペンション１００は、第１実施形態によるリニアモータ１０と、固定子１１または可動子１２を移動方向（ｚ軸方向）に付勢する弾性体２０と、を有する。特に、弾性体２０は、金属製の巻バネを含む。これにより、リニアモータ１０の非通電状態においても、リニアモータ１０を所定の位置に保持でき、リニアモータ１０の動作時においても、可動子１２の突き抜けを防止することができる。 <Effect of the second embodiment>
As described above, the electromagnetic suspension 100 of the present embodiment includes the linear motor 10 according to the first embodiment and the elastic body 20 that urges the stator 11 or the mover 12 in the moving direction (z-axis direction). .. In particular, the elastic body 20 includes a metal winding spring. As a result, the linear motor 10 can be held at a predetermined position even when the linear motor 10 is not energized, and the mover 12 can be prevented from penetrating even when the linear motor 10 is operating.
［第３実施形態］
〈第３実施形態の構成〉
（全体構成）
　図１０は、第３実施形態による洗濯機Ｗの斜視図である。図１０に示す洗濯機Ｗは、ドラム式の洗濯機であり、また、衣類を乾燥する機能も有している。洗濯機Ｗは、ベース３１と、筐体３２と、ドア３３と、操作・表示パネル３４と、外槽３７と、一対の電磁サスペンション１００Ｌ，１００Ｒと、排水ホースＨと、を備えている。ここで、電磁サスペンション１００Ｌ，１００Ｒは、それぞれ第２実施形態における電磁サスペンション１００と同様に構成されている。 [Third Embodiment]
<Structure of the third embodiment>
(overall structure)
FIG. 10 is a perspective view of the washing machine W according to the third embodiment. The washing machine W shown in FIG. 10 is a drum-type washing machine and also has a function of drying clothes. The washing machine W includes a base 31, a housing 32, a door 33, an operation / display panel 34, an outer tub 37, a pair of electromagnetic suspensions 100L and 100R, and a drain hose H. Here, the electromagnetic suspensions 100L and 100R are configured in the same manner as the electromagnetic suspension 100 in the second embodiment, respectively.
　筐体３２は、左右の側板３２ａ，３２ａと、前面カバー３２ｂと、背面カバー３２ｃ（図１１参照）と、上面カバー３２ｄと、を備えている。ベース３１は、筐体３２を支持するものである。前面カバー３２ｂの中央付近には、衣類の出し入れを行うための円形の投入口ｈ１（図１１参照）が形成されている。ドア３３は、この投入口ｈ１に設けられる開閉可能な蓋である。 The housing 32 includes left and right side plates 32a and 32a, a front cover 32b, a back cover 32c (see FIG. 11), and a top cover 32d. The base 31 supports the housing 32. A circular input port h1 (see FIG. 11) for taking in and out clothes is formed near the center of the front cover 32b. The door 33 is an openable / closable lid provided at the inlet h1.
　図１１は、第３実施形態による洗濯機Ｗの縦断面図である。洗濯機Ｗは、前述した構成の他に、洗濯槽３５と、リフタ３６と、駆動機構３８と、送風ユニット３９と、を備えている。洗濯槽３５は、衣類を収容するものであり、有底円筒状を呈している。洗濯槽３５は、外槽３７に内包され、この外槽３７と同軸上で回転自在に軸支されている。洗濯槽３５の周壁および底壁には、通水・通風のための貫通孔（図示せず）が多数設けられている。また、洗濯槽３５の開口ｈ２は、外槽３７の開口ｈ３とともに、閉状態のドア３３に臨んでいる。 FIG. 11 is a vertical cross-sectional view of the washing machine W according to the third embodiment. In addition to the above-described configuration, the washing machine W includes a washing tub 35, a lifter 36, a drive mechanism 38, and a blower unit 39. The washing tub 35 accommodates clothes and has a bottomed cylindrical shape. The washing tub 35 is contained in the outer tub 37 and is rotatably supported on the same axis as the outer tub 37. The peripheral wall and bottom wall of the washing tub 35 are provided with a large number of through holes (not shown) for water passage and ventilation. Further, the opening h2 of the washing tub 35 faces the closed door 33 together with the opening h3 of the outer tub 37.
　なお、図１１に示す例において洗濯槽３５の回転中心軸は、開口側が高くなるように傾斜しているが、本発明はこれに限定されるわけではない。すなわち、洗濯槽３５の回転中心軸は、水平方向または鉛直方向であってもよい。リフタ３６は、洗濯中・乾燥中に衣類を持ち上げて落下させるものであり、洗濯槽３５の内周壁に設置されている。外槽３７は、洗濯水の貯留等を行うものであり、有底円筒状を呈している。図１１に示すように、外槽３７は、洗濯槽３５を内包している。 In the example shown in FIG. 11, the rotation center axis of the washing tub 35 is inclined so that the opening side is higher, but the present invention is not limited to this. That is, the rotation center axis of the washing tub 35 may be in the horizontal direction or the vertical direction. The lifter 36 lifts and drops clothes during washing and drying, and is installed on the inner peripheral wall of the washing tub 35. The outer tub 37 stores washing water and the like, and has a bottomed cylindrical shape. As shown in FIG. 11, the outer tub 37 includes a washing tub 35.
　また、図１０に示したように、外槽３７の左右には、電磁サスペンション１００Ｌ，１００Ｒが配置されているが、図９においては、左側の電磁サスペンション１００Ｌのみを示している。また、外槽３７の底壁の最下部には排水孔（図示せず）が設けられ、この排水孔に排水ホースＨが接続されている。そして、排水ホースＨに設けられた排水弁（図示せず）が閉弁された状態で外槽３７に洗濯水が貯留され、また、排水弁が開弁されることで洗濯水が排出されるようになっている。 Further, as shown in FIG. 10, electromagnetic suspensions 100L and 100R are arranged on the left and right sides of the outer tank 37, but in FIG. 9, only the electromagnetic suspension 100L on the left side is shown. Further, a drainage hole (not shown) is provided at the lowermost part of the bottom wall of the outer tank 37, and a drainage hose H is connected to this drainage hole. Then, the washing water is stored in the outer tub 37 in a state where the drain valve (not shown) provided in the drain hose H is closed, and the washing water is discharged by opening the drain valve. It has become like.
　駆動機構３８は、洗濯槽３５を回転させる機構であり、外槽３７の底壁の外側に設置されている。駆動機構３８が備えるモータの回転軸は、外槽３７の底壁を貫通して、洗濯槽３５の底壁に連結されている。送風ユニット３９は、洗濯槽３５に温風を送り込むものであり、洗濯槽３５の上側に配置されている。送風ユニット３９は、ヒータおよびファンを備えている。そして、ヒータで熱せられた空気が、ファンによって洗濯槽３５に送り込まれる。これによって、水を含んだ衣類が、洗濯槽３５内で徐々に乾燥する。 The drive mechanism 38 is a mechanism for rotating the washing tub 35, and is installed outside the bottom wall of the outer tub 37. The rotation shaft of the motor included in the drive mechanism 38 penetrates the bottom wall of the outer tub 37 and is connected to the bottom wall of the washing tub 35. The blower unit 39 blows warm air into the washing tub 35 and is arranged above the washing tub 35. The blower unit 39 includes a heater and a fan. Then, the air heated by the heater is sent to the washing tub 35 by the fan. As a result, the clothes containing water are gradually dried in the washing tub 35.
　ここで、外槽３７の振動、すなわち洗濯機Ｗの振動について簡単に説明する。洗い・すすぎ・乾燥時には、図１１に示す駆動機構３８によって洗濯槽３５が低速回転し、洗濯槽３５の底に溜まった衣類をリフタ３６によって持ち上げて落下させるタンブリング動作が繰り返される。また、脱水時には洗濯槽３５が高速回転し、回転による遠心力で衣類の水分を外に押し出す遠心脱水が行われる。 Here, the vibration of the outer tub 37, that is, the vibration of the washing machine W will be briefly described. During washing, rinsing, and drying, the washing tub 35 is rotated at a low speed by the drive mechanism 38 shown in FIG. 11, and the tumbling operation of lifting and dropping the clothes collected on the bottom of the washing tub 35 by the lifter 36 is repeated. Further, during dehydration, the washing tub 35 rotates at high speed, and centrifugal dehydration is performed to push out the moisture of the clothes by the centrifugal force due to the rotation.
　なお、従来の洗濯機では、洗い・すすぎ・乾燥時において、落下する衣類の反力で洗濯槽３５の振動の振幅が大きくなることが多かった。また、従来の洗濯機では、脱水時において、衣類の位置の偏りに起因して、洗濯機Ｗで振動・騒音が発生することが多かった。このように、洗濯槽３５における衣類の量や位置の偏り、含水率の他、洗い・すすぎ・乾燥・脱水等の諸条件によって、洗濯機Ｗの振動の仕方は時々刻々と変化する。その振動は外槽３７に伝播する。 In a conventional washing machine, the amplitude of vibration of the washing tub 35 often increases due to the reaction force of falling clothes during washing, rinsing, and drying. Further, in the conventional washing machine, vibration and noise are often generated in the washing machine W due to the bias of the position of clothes during dehydration. In this way, the way the washing machine W vibrates changes from moment to moment depending on various conditions such as washing, rinsing, drying, and dehydration, in addition to the amount and position of clothes in the washing tub 35 and the water content. The vibration propagates to the outer tank 37.
（制振装置２００の構成）
　図１２は、実施形態３に適用される制振装置２００の構成図である。図１２において制振装置２００は、インバータ４０と、電流検出器５０と、推力調整部６０と、整流回路７０と、左右の電磁サスペンション１００Ｌ，１００Ｒと、を備えている。制振装置２００は、制振対象物Ｇの振動を抑制するものである。なお、本実施形態においては、制振対象物Ｇは、洗濯機Ｗの外槽３７（図１０参照）である。 (Structure of vibration damping device 200)
FIG. 12 is a configuration diagram of the vibration damping device 200 applied to the third embodiment. In FIG. 12, the vibration damping device 200 includes an inverter 40, a current detector 50, a thrust adjusting unit 60, a rectifier circuit 70, and left and right electromagnetic suspensions 100L and 100R. The vibration damping device 200 suppresses the vibration of the vibration damping object G. In the present embodiment, the vibration damping object G is the outer tub 37 of the washing machine W (see FIG. 10).
　図１２においては、左右の電磁サスペンション１００Ｌ，１００Ｒを一つの枠で表している。また、電磁サスペンション１００Ｌ，１００Ｒに含まれるリニアモータ１０を、それぞれリニアモータ１０Ｌ，１０Ｒと呼ぶ。同様に、電磁サスペンション１００Ｌ，１００Ｒに含まれる弾性体２０を、弾性体２０Ｌ，２０Ｒと呼ぶ。 In FIG. 12, the left and right electromagnetic suspensions 100L and 100R are represented by one frame. Further, the linear motors 10 included in the electromagnetic suspensions 100L and 100R are referred to as linear motors 10L and 10R, respectively. Similarly, the elastic bodies 20 included in the electromagnetic suspensions 100L and 100R are referred to as elastic bodies 20L and 20R.
　整流回路７０は、交流電源Ｅによって印加された交流電圧を整流し、インバータ４０に直流電圧を印加する。なお、交流電源Ｅと整流回路７０とを合わせて直流電源であると考えてもよい。インバータ４０は、整流回路７０から印加される直流電圧を、推力調整部６０からの電圧指令Ｖ＊に基づいて単相交流電圧に変換し、この単相交流電圧をリニアモータ１０Ｌ，１０Ｒの巻線１１ｂ（図２参照）に印加する。換言すれば、インバータ４０は、電圧指令Ｖ＊に基づいて、リニアモータ１０Ｌ，１０Ｒを駆動する機能を有している。 The rectifier circuit 70 rectifies the AC voltage applied by the AC power supply E, and applies a DC voltage to the inverter 40. The AC power supply E and the rectifier circuit 70 may be considered as a DC power supply in combination. The inverter 40 converts the DC voltage applied from the rectifier circuit 70 into a single-phase AC voltage based on the voltage command V * from the thrust adjusting unit 60, and converts this single-phase AC voltage into the windings of the linear motors 10L and 10R. Apply to 11b (see FIG. 2). In other words, the inverter 40 has a function of driving the linear motors 10L and 10R based on the voltage command V *.
　図１３は、第３実施形態に適用される制振装置２００の要部の構成図である。整流回路７０は、交流電源Ｅから印加される交流電圧を直流電圧に変換する周知の倍電圧整流回路である。図１３に示すように、整流回路７０は、ダイオードＤ１～Ｄ４をブリッジ接続してなるダイオードブリッジ回路７２と、直列接続された２つの平滑コンデンサ７４，７６と、を備えている。また、図１３に示した駆動機構３８は、図１３に示すように、インバータ３８ａと、モータ３８ｂと、を備えている。 FIG. 13 is a configuration diagram of a main part of the vibration damping device 200 applied to the third embodiment. The rectifier circuit 70 is a well-known voltage doubler rectifier circuit that converts an AC voltage applied from the AC power supply E into a DC voltage. As shown in FIG. 13, the rectifier circuit 70 includes a diode bridge circuit 72 in which diodes D1 to D4 are bridge-connected, and two smoothing capacitors 74 and 76 connected in series. Further, as shown in FIG. 13, the drive mechanism 38 shown in FIG. 13 includes an inverter 38a and a motor 38b.
　そして、ダイオードブリッジ回路７２によって生成される電圧（脈流を含む直流電圧）が、平滑コンデンサ７４，７６によって平滑化され、交流電源Ｅの電圧の略２倍に相当する直流電圧が生成される。整流回路７０は、正側の配線ｋ１と、負側の配線ｋ２を介してインバータ４０に接続されるとともに、洗濯槽３５（図１１参照）を回転させる駆動機構３８のインバータ３８ａにも接続されている。 Then, the voltage (DC voltage including pulsating current) generated by the diode bridge circuit 72 is smoothed by the smoothing capacitors 74 and 76, and a DC voltage corresponding to approximately twice the voltage of the AC power supply E is generated. The rectifier circuit 70 is connected to the inverter 40 via the wiring k1 on the positive side and the wiring k2 on the negative side, and is also connected to the inverter 38a of the drive mechanism 38 that rotates the washing tub 35 (see FIG. 11). There is.
　インバータ４０は、整流回路７０から印加される直流電圧を二系統の単相交流電圧に変換し、これら二系統の単相交流電圧を各々リニアモータ１０Ｌ，１０Ｒの巻線１１ｂ（図４参照）に印加するインバータである。 The inverter 40 converts the DC voltage applied from the rectifier circuit 70 into two single-phase AC voltages, and converts these two single-phase AC voltages into the windings 11b (see FIG. 4) of the linear motors 10L and 10R, respectively. It is an inverter to be applied.
　図１３に示すように、インバータ４０は、スイッチング素子ＳＷ１，ＳＷ２を備える第１のレグと、スイッチング素子ＳＷ３，ＳＷ４を備える第２のレグと、スイッチング素子ＳＷ５，ＳＷ６を備える第３のレグと、が並列接続された構成になっている。これらのスイッチング素子ＳＷ１～ＳＷ６として、例えば、ＩＧＢＴ（Insulated Gate Bipolar Transistor）を用いることができる。スイッチング素子ＳＷ１～ＳＷ６には、それぞれ、還流ダイオードＤが逆並列に接続されている。 As shown in FIG. 13, the inverter 40 includes a first leg including switching elements SW1 and SW2, a second leg including switching elements SW3 and SW4, and a third leg including switching elements SW5 and SW6. Are connected in parallel. As these switching elements SW1 to SW6, for example, an IGBT (Insulated Gate Bipolar Transistor) can be used. A freewheeling diode D is connected in antiparallel to each of the switching elements SW1 to SW6.
　また、スイッチング素子ＳＷ１，ＳＷ２の接続点は、配線ｋ３を介して、リニアモータ１０Ｌの巻線１１ｂ（図４参照）に接続されている。すなわち、三相のインバータ４０の一相分に対応するレグが、左側のリニアモータ１０Ｌに接続されている。また、スイッチング素子ＳＷ５，ＳＷ６の接続点は、配線ｋ５を介して、リニアモータ１０Ｒの巻線１１ｂ（図４参照）に接続されている。すなわち、三相のインバータ４０の一相分に対応する別のレグが、右側のリニアモータ１０Ｌに接続されている。 Further, the connection points of the switching elements SW1 and SW2 are connected to the winding 11b (see FIG. 4) of the linear motor 10L via the wiring k3. That is, the leg corresponding to one phase of the three-phase inverter 40 is connected to the linear motor 10L on the left side. Further, the connection points of the switching elements SW5 and SW6 are connected to the winding 11b (see FIG. 4) of the linear motor 10R via the wiring k5. That is, another leg corresponding to one phase of the three-phase inverter 40 is connected to the linear motor 10L on the right side.
　また、スイッチング素子ＳＷ３，ＳＷ４の接続点は、配線ｋ４を介してリニアモータ１０Ｌの巻線１１ｂ（図４参照）に接続されるとともに、この配線ｋ４を介してリニアモータ１０Ｒの巻線１１ｂにも接続されている。すなわち、３相のインバータ４０の残りのレグが、左右のリニアモータ１０Ｌ，１０Ｒに接続されている。 Further, the connection points of the switching elements SW3 and SW4 are connected to the winding 11b (see FIG. 4) of the linear motor 10L via the wiring k4, and also to the winding 11b of the linear motor 10R via the wiring k4. It is connected. That is, the remaining legs of the three-phase inverter 40 are connected to the left and right linear motors 10L and 10R.
　このように、左右のリニアモータ１０Ｌ，１０Ｒに対応して別々にインバータを設けるのではなく、左右を一つのインバータ４０として共通化することで、インバータ４０のコストを削減できる。そして、ＰＷＭ（Pulse Width Modulation）制御に基づいてスイッチング素子ＳＷ１～ＳＷ６のオン・オフが制御されることで、リニアモータ１０Ｌ，１０Ｒの巻線１１ｂ（図４参照）に単相交流電圧が印加されるようになっている。 In this way, the cost of the inverter 40 can be reduced by sharing the left and right as one inverter 40 instead of separately providing the inverters corresponding to the left and right linear motors 10L and 10R. Then, by controlling the on / off of the switching elements SW1 to SW6 based on PWM (Pulse Width Modulation) control, a single-phase AC voltage is applied to the windings 11b (see FIG. 4) of the linear motors 10L and 10R. It has become so.
　電流検出器５０は、リニアモータ１０Ｌ，１０Ｒに通電される電流を検出するものであり、配線ｋ４に挿入されている。すなわち、電流検出器５０によって、リニアモータ１０Ｌ，１０Ｒの巻線１１ｂ（図４参照）に流れる電流が検出される。 The current detector 50 detects the current applied to the linear motors 10L and 10R, and is inserted in the wiring k4. That is, the current detector 50 detects the current flowing through the windings 11b (see FIG. 4) of the linear motors 10L and 10R.
（推力調整部６０）
　図１２に示す推力調整部６０は、図示は省略するが、ＣＰＵ（Central Processing Unit）、ＲＯＭ（Read Only Memory）、ＲＡＭ（Ｒandom Access Memory）、各種インタフェース等の電子回路を含んで構成されている。そして、ＲＯＭに記憶されたプログラムを読み出してＲＡＭに展開し、ＣＰＵが各種処理を実行するようになっている。 (Thrust adjustment unit 60)
Although not shown, the thrust adjusting unit 60 shown in FIG. 12 includes electronic circuits such as a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and various interfaces. .. Then, the program stored in the ROM is read out and expanded in the RAM, and the CPU executes various processes.
　図１２において、推力調整部６０は、電流検出器５０によって検出される電流ｉに基づき、インバータ４０を駆動することによって、リニアモータ１０Ｌ，１０Ｒの推力を調整する機能を有している。すなわち、推力調整部６０は、インバータ４０のデッドタイム中に電流検出器５０を流れる電流ｉの極性を検出する。電流ｉの極性は、リニアモータ１０Ｌ，１０Ｒの移動方向を示している。 In FIG. 12, the thrust adjusting unit 60 has a function of adjusting the thrust of the linear motors 10L and 10R by driving the inverter 40 based on the current i detected by the current detector 50. That is, the thrust adjusting unit 60 detects the polarity of the current i flowing through the current detector 50 during the dead time of the inverter 40. The polarity of the current i indicates the moving direction of the linear motors 10L and 10R.
　そこで、推力調整部６０は、リニアモータ１０Ｌ，１０Ｒの移動を抑制する方向の電圧指令Ｖ＊を生成し、この電圧指令Ｖ＊に基づいてスイッチング素子ＳＷ１～ＳＷ６のオン・オフを切り替える。これにより、推力調整部６０は、外槽３７（図１１参照）の振動に伴って可動子１２と固定子１１との相対位置が変化すると、この変化を打ち消すようにリニアモータ１０Ｌ，１０Ｒの推力を調整する機能を有している。 Therefore, the thrust adjusting unit 60 generates a voltage command V * in the direction of suppressing the movement of the linear motors 10L and 10R, and switches the switching elements SW1 to SW6 on and off based on the voltage command V *. As a result, when the relative positions of the mover 12 and the stator 11 change due to the vibration of the outer tank 37 (see FIG. 11), the thrust adjusting unit 60 causes the thrusts of the linear motors 10L and 10R to cancel the change. Has a function to adjust.
〈第３実施形態の効果〉
　以上のように、本実施形態の洗濯機Ｗは、第２実施形態による電磁サスペンション１００Ｌ，１００Ｒと、電機子巻線（巻線１１ｂ）に交流電流を供給するインバータ４０と、電機子巻線に流れる電流を検出する電流検出器５０と、電流検出器５０によって検出される電流に基づいてインバータ４０を制御することによってリニアモータ１０の推力を調整する推力調整部６０と、をさらに備える。 <Effect of the third embodiment>
As described above, the washing machine W of the present embodiment includes the electromagnetic suspensions 100L and 100R according to the second embodiment, the inverter 40 that supplies an alternating current to the armature winding (winding 11b), and the armature winding. It further includes a current detector 50 that detects the flowing current, and a thrust adjusting unit 60 that adjusts the thrust of the linear motor 10 by controlling the inverter 40 based on the current detected by the current detector 50.
　これにより、電流検出器５０によって電機子巻線に流れる電流を検出することができ、固定子１１および可動子１２の相対運動を抑制するように、リニアモータ１０の推力を調整することができる。 Thereby, the current flowing through the armature winding can be detected by the current detector 50, and the thrust of the linear motor 10 can be adjusted so as to suppress the relative movement of the stator 11 and the mover 12.
　さらに、本実施形態の洗濯機Ｗは、衣類を収容する洗濯槽３５と、洗濯槽３５を内包する外槽３７（図１１参照）と、洗濯槽を回転させる駆動機構３８（図１１参照）と、を備え、電磁サスペンション１００Ｌ，１００Ｒは外槽３７の振動を抑制する。 Further, the washing machine W of the present embodiment includes a washing tub 35 for accommodating clothes, an outer tub 37 containing the washing tub 35 (see FIG. 11), and a drive mechanism 38 for rotating the washing tub (see FIG. 11). , And the electromagnetic suspensions 100L and 100R suppress the vibration of the outer tank 37.
　これにより、本実施形態によれば、比較的簡素な構成で外槽３７の振動を抑制することができる。また、本実施形態によれば、可動子１２の位置を検出する位置センサを設ける必要がないため、洗濯機Ｗの低コスト化を図ることができる。また、リニアモータ１０Ｌ，１０Ｒの構成要素である固定子１１および可動子１２は、損傷や摩耗がほとんど発生しないため、電磁サスペンション１００Ｌ，１００Ｒの耐久性を高めることができる。 Thereby, according to the present embodiment, the vibration of the outer tank 37 can be suppressed with a relatively simple configuration. Further, according to the present embodiment, it is not necessary to provide a position sensor for detecting the position of the mover 12, so that the cost of the washing machine W can be reduced. Further, since the stator 11 and the mover 12, which are the components of the linear motors 10L and 10R, are hardly damaged or worn, the durability of the electromagnetic suspension 100L and 100R can be improved.
　また、本実施形態によれば、左右のリニアモータ１０Ｌ，１０Ｒに印加される単相交流電圧を、６個のスイッチング素子を有する１台のインバータ４０によって生成することができる。仮に、左右のリニアモータ１０Ｌ，１０Ｒに対応して個別にインバータを設けると、８個のスイッチング素子が必要になる。従って、本実施形態によれば、左右のリニアモータ１０Ｌ，１０Ｒに対応して個別にインバータを設ける構成と比較して、洗濯機Ｗの低コスト化を図ることができる。 Further, according to the present embodiment, the single-phase AC voltage applied to the left and right linear motors 10L and 10R can be generated by one inverter 40 having six switching elements. If inverters are individually provided for the left and right linear motors 10L and 10R, eight switching elements are required. Therefore, according to the present embodiment, the cost of the washing machine W can be reduced as compared with the configuration in which the inverters are individually provided corresponding to the left and right linear motors 10L and 10R.
［第３実施形態における他の制御例の効果］
　次に、第３実施形態の他の制御例について説明する。洗濯機の構成および動作は、第３実施形態のもの（図１０～図１３参照）と同様である。但し、本実施形態において、推力調整部６０（図１２参照）は、電流検出器５０の出力信号に基づいて左右のリニアモータ１０Ｌ，１０Ｒの振動周波数を検出し、振動周波数に応じてインバータ４０の出力電流を変化させる点が異なる。 [Effects of other control examples in the third embodiment]
Next, another control example of the third embodiment will be described. The configuration and operation of the washing machine are the same as those of the third embodiment (see FIGS. 10 to 13). However, in the present embodiment, the thrust adjusting unit 60 (see FIG. 12) detects the vibration frequencies of the left and right linear motors 10L and 10R based on the output signal of the current detector 50, and the inverter 40 responds to the vibration frequencies. The difference is that the output current is changed.
　まず、前述した第３実施形態においては、リニアモータ１０Ｌ，１０Ｒの振動周波数に基づいて、インバータ４０の出力電流を変化させるものではなかった。すなわち、リニアモータ１０Ｌ，１０Ｒを「ダンパ」と考えた場合、第３実施形態においてダンパの粘性減衰係数Ｃ［Ｎｓ／ｍ］は、振動周波数に関わらず一定になる。一方、本実施形態においては、リニアモータ１０Ｌ，１０Ｒの振動周波数に応じて粘性減衰係数Ｃ［Ｎｓ／ｍ］を変化させる。その詳細について、以下説明する。 First, in the third embodiment described above, the output current of the inverter 40 is not changed based on the vibration frequencies of the linear motors 10L and 10R. That is, when the linear motors 10L and 10R are considered as "dampers", the viscous damping coefficient C [Ns / m] of the dampers in the third embodiment becomes constant regardless of the vibration frequency. On the other hand, in the present embodiment, the viscosity damping coefficient C [Ns / m] is changed according to the vibration frequencies of the linear motors 10L and 10R. The details will be described below.
　電磁サスペンションである電磁サスペンション１００の運動方程式は、式（１）で表される。なお、式（１）に示すＦＤ［Ｎ］は、電磁サスペンション１００で発生する力（すなわち、リニアモータ１０の推力）である。また、ｘ［ｍ］は、可動子１２の位置である。
Figure JPOXMLDOC01-appb-M000001
 The equation of motion of the electromagnetic suspension 100, which is an electromagnetic suspension, is expressed by the equation (1). The FD [N] shown in the equation (1) is a force generated by the electromagnetic suspension 100 (that is, the thrust of the linear motor 10). Further, x [m] is the position of the mover 12.
Figure JPOXMLDOC01-appb-M000001
　また、リニアモータ１０の推力の運動方程式は、式（２）で表される。なお、ＦＬ［Ｎ］はリニアモータ１０の推力であり、Ｋｅ［Ｎ／Ａ］はリニアモータ１０のモータ定数である。また、Ｉ［Ａ］は巻線１１ｂ（図４参照）に流れる電流であり、Ｖ［Ｖ］は巻線１１ｂに印加される電圧である。また、Ｒ［Ω］は巻線１１ｂの抵抗であり、φ［Ｔ］は巻線１１ｂで発生する磁束である。
Figure JPOXMLDOC01-appb-M000002
 The equation of motion of the thrust of the linear motor 10 is expressed by the equation (2). FL [N] is the thrust of the linear motor 10, and Ke [N / A] is the motor constant of the linear motor 10. Further, I [A] is a current flowing through the winding 11b (see FIG. 4), and V [V] is a voltage applied to the winding 11b. Further, R [Ω] is the resistance of the winding 11b, and φ [T] is the magnetic flux generated in the winding 11b.
Figure JPOXMLDOC01-appb-M000002
　ここで、式（１）の力ＦＤと、式（２）の推力ＦＬと、は等価であるため、以下の式（３）が導かれる。なお、Ｃ［Ｎ・ｍ／ｓ］は、リニアモータ１０の粘性減衰係数である。
Figure JPOXMLDOC01-appb-M000003
 Here, the force F D of the formula (1), since the thrust F L of formula (2), are equivalent, the following equation (3) is derived. C [Nm / s] is a viscous damping coefficient of the linear motor 10.
Figure JPOXMLDOC01-appb-M000003
　図１４Ａは、粘性減衰係数Ｃが一定であるオイルダンパ（油圧ダンパ）を用いた比較例において、洗濯槽３５の回転速度と外槽３７の変位（振動）の変化を示す実験結果である。ｘ軸は洗濯機Ｗの回転速度ゼロから最高回転速度までの範囲をパーセント表示としている。ｙ軸は外槽３７の変位（振動）を回転速度ゼロの値を０とした場合の相対値で示している。なお、図１４に係る実験では、洗濯槽３５内の偏った所定位置に１ｋｇの衣類を置いた状態で、洗濯槽３５を回転させた。 FIG. 14A is an experimental result showing changes in the rotation speed of the washing tub 35 and the displacement (vibration) of the outer tub 37 in a comparative example using an oil damper (hydraulic damper) having a constant viscosity damping coefficient C. On the x-axis, the range from zero rotation speed of the washing machine W to the maximum rotation speed is displayed as a percentage. The y-axis shows the displacement (vibration) of the outer tank 37 as a relative value when the value of zero rotation speed is set to 0. In the experiment according to FIG. 14, the washing tub 35 was rotated with 1 kg of clothes placed in a biased predetermined position in the washing tub 35.
　図１４Ａに示すように、洗濯槽３５の回転速度が大きくなるにつれて、外槽３７の振幅が変化している。具体的には、洗濯槽３５の回転速度をゼロから増加させると、約５［％］の回転速度において外槽３７の振幅が一旦減少し、約１０［％］の回転速度において外槽３７の振幅が急激に大きくなって最大振幅になっている。また、１０～１７［％］の回転速度において外槽３７の振幅が増加し、２０［％］以上の領域では、洗濯槽３５の回転速度が大きくなるにつれて、外槽３７の振幅は小さくなっている。 As shown in FIG. 14A, the amplitude of the outer tub 37 changes as the rotation speed of the washing tub 35 increases. Specifically, when the rotation speed of the washing tub 35 is increased from zero, the amplitude of the outer tub 37 once decreases at a rotation speed of about 5 [%], and the amplitude of the outer tub 37 decreases at a rotation speed of about 10 [%]. The amplitude suddenly increases to the maximum amplitude. Further, the amplitude of the outer tub 37 increases at a rotation speed of 10 to 17 [%], and in the region of 20 [%] or more, the amplitude of the outer tub 37 decreases as the rotation speed of the washing tub 35 increases. There is.
　図１４Ｂは、第３実施形態の他の制御例において、図８に示す比較例の電磁サスペンションを用い、洗濯槽３５の回転速度と外槽３７の変位（振動）の変化を示す実験結果である。図１４Ｂにおける実験では、洗濯槽３５の回転速度が高いほど（すなわち、外槽３７の振動周波数ｆが高いほど）、リニアモータ１０の粘性減衰係数Ｃが小さくなるように、インバータ４０のデューティ比を制御した。 FIG. 14B is an experimental result showing changes in the rotation speed of the washing tub 35 and the displacement (vibration) of the outer tub 37 using the electromagnetic suspension of the comparative example shown in FIG. 8 in another control example of the third embodiment. .. In the experiment in FIG. 14B, the duty ratio of the inverter 40 was set so that the higher the rotation speed of the washing tub 35 (that is, the higher the vibration frequency f of the outer tub 37), the smaller the viscous damping coefficient C of the linear motor 10. Controlled.
　図1４Ｂに示すように、洗濯槽３５の回転速度が約１０［％］のときの外槽３７の最大振幅は約５［ＰＵ］であり、図１４Ａに示す比較例の最大振幅（約１０［ＰＵ］）の半分程度になっている。また、洗濯槽３５の回転速度が５０［％］以上の領域では、外槽３７の振幅が１［ＰＵ］程度になっている。このように、第３実施形態によれば、粘性減衰係数Ｃを可変制御することによって、オイルダンパを用いた場合よりも外槽３７の振動を効果的に抑制できる。 As shown in FIG. 14B, when the rotation speed of the washing tub 35 is about 10 [%], the maximum amplitude of the outer tub 37 is about 5 [PU], and the maximum amplitude of the comparative example shown in FIG. 14A (about 10 [%]). PU]) is about half. Further, in the region where the rotation speed of the washing tub 35 is 50 [%] or more, the amplitude of the outer tub 37 is about 1 [PU]. As described above, according to the third embodiment, by variably controlling the viscosity damping coefficient C, the vibration of the outer tank 37 can be effectively suppressed as compared with the case where the oil damper is used.
　図１４Ｃは、第３実施形態の他の制御例において、図１に示す本実施形態の電磁サスペンション１００を用い、洗濯槽３５の回転速度と外槽３７の変位（振動）の変化を示す実験結果である。図１４Ｃにおける実験では、図１４Ｂに比べ、制振性が飛躍的に向上していることがわかる。その値は回転速度に関係なく±２[ＰＵ]以下である。 FIG. 14C shows the experimental results showing changes in the rotation speed of the washing tub 35 and the displacement (vibration) of the outer tub 37 using the electromagnetic suspension 100 of the present embodiment shown in FIG. 1 in another control example of the third embodiment. Is. In the experiment in FIG. 14C, it can be seen that the vibration damping property is dramatically improved as compared with FIG. 14B. Its value is ± 2 [PU] or less regardless of the rotation speed.
　以上より、電磁サスペンション１００を構成するリニアモータ１０の可動子１２に、外乱因子（ｘ軸方向の振動と外力、ｙ軸方向の振動と外力、ｚ軸を中心とした捻じれ）を与えないように、弾性体２０とシャフト２１を可動子１２の推進方向に対し並列に配置し、かつ可動子１２と一体化することが有効であることを確認した。 From the above, disturbing factors (vibration and external force in the x-axis direction, vibration and external force in the y-axis direction, and twisting around the z-axis) are not applied to the mover 12 of the linear motor 10 constituting the electromagnetic suspension 100. It was confirmed that it is effective to arrange the elastic body 20 and the shaft 21 in parallel with the propulsion direction of the mover 12 and integrate them with the mover 12.
［変形例］
　本発明は前述した実施形態に限定されるものではなく、種々の変形が可能である。前述した実施形態は本発明を理解しやすく説明するために例示したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、ある実施形態の構成の一部を他の実施形態の構成に置き換えることが可能であり、ある実施形態の構成に他の実施形態の構成を加えることも可能である。また、各実施形態の構成の一部について削除し、もしくは他の構成の追加・置換をすることが可能である。また、図中に示した制御線や情報線は説明上必要と考えられるものを示しており、製品上で必要な全ての制御線や情報線を示しているとは限らない。実際には殆ど全ての構成が相互に接続されていると考えてもよい。前記実施形態に対して可能な変形は、例えば以下のようなものである。 [Modification example]
The present invention is not limited to the above-described embodiment, and various modifications are possible. The above-described embodiments are exemplified for the purpose of explaining the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to delete a part of the configuration of each embodiment, or add / replace another configuration. In addition, the control lines and information lines shown in the figure show what is considered necessary for explanation, and do not necessarily show all the control lines and information lines necessary for the product. In practice, it can be considered that almost all configurations are interconnected. Possible modifications to the embodiment are, for example:
（１）前記各実施形態においては、図５に示したように、１個の矩形板状のフレーム１２２に、２個の矩形板状の磁石１２４ａ，１２４ｂ、を嵌め込んで可動子１２を構成した。しかし、１個のフレーム１２２に、１個の磁石を装着してもよい。また、複数のフレームの各々に複数の磁石を装着してもよい。また、フレーム１２２および磁石１２４の形状は矩形板状に限られるものではなく、様々な形状のものを採用することができる。 (1) In each of the above-described embodiments, as shown in FIG. 5, two rectangular plate-shaped magnets 124a and 124b are fitted into one rectangular plate-shaped frame 122 to form a mover 12. did. However, one magnet may be attached to one frame 122. Further, a plurality of magnets may be attached to each of the plurality of frames. Further, the shapes of the frame 122 and the magnet 124 are not limited to the rectangular plate shape, and various shapes can be adopted.
（２）また、図６Ａにおいて、磁石１２４ａ，１２４ｂのＳ極およびＮ極、磁気歯１５１，１５２の磁化方向を逆にしてもよい。 (2) Further, in FIG. 6A, the magnetization directions of the S pole and N pole of the magnets 124a and 124b and the magnetic teeth 151 and 152 may be reversed.
（３）また、前記第２，第３実施形態においては、電磁サスペンション１００を洗濯機Ｗの制振に適用した例を説明したが、電磁サスペンション１００は、空気調和機、冷蔵庫等の家電製品や、鉄道車両、自動車等にも適用することができる。 (3) Further, in the second and third embodiments, an example in which the electromagnetic suspension 100 is applied to the vibration suppression of the washing machine W has been described, but the electromagnetic suspension 100 can be used for home appliances such as air conditioners and refrigerators. , Rail vehicles, automobiles, etc.
（４）また、前記各実施形態においては、単相交流電流でリニアモータ１０を駆動する構成について説明したが、例えば、３相交流電流でリニアモータ１０を駆動してもよい。 (4) Further, in each of the above-described embodiments, the configuration for driving the linear motor 10 with a single-phase alternating current has been described, but for example, the linear motor 10 may be driven with a three-phase alternating current.
（５）各実施形態においては、偶数本のシャフト２１と偶数個の弾性体２０を用いた例を示したが、偶数本に限定されるものではない。振動により発生する推進方向以外の応力が可動子１２に集中しないように、大きな面構造を構築でき、機械強度が確保できれば本数や個数は限定されない。 (5) In each embodiment, an example in which an even number of shafts 21 and an even number of elastic bodies 20 are used is shown, but the present invention is not limited to an even number of shafts. The number and number are not limited as long as a large surface structure can be constructed and the mechanical strength can be secured so that stress generated by vibration other than the propulsion direction is not concentrated on the mover 12.
　本実施形態の電磁サスペンション１００によれば、可動子と、当該可動子の推進方向に平行に配置したシャフト２１と弾性体２０とを一体化し、面構造を成形することで前後／左右／捻じれなど応力に対する強度を高めることができる。 According to the electromagnetic suspension 100 of the present embodiment, the mover, the shaft 21 arranged parallel to the propulsion direction of the mover, and the elastic body 20 are integrated, and the surface structure is formed to form a front-rear / left-right / twist. It is possible to increase the strength against stress.
　１０，１０Ｌ，１０Ｒ　　リニアモータ
　１１　　固定子
　１１ａ　　コア（電機子鉄心）
　１１ｂ　　巻線（電機子巻線）
　１１ａ１　　コアバック部（電機子鉄心）
　１１ａ２　　ティース部（電機子鉄心）
　１１ａ３　　ティーストップ部（電機子鉄心）
　１２　　可動子
　２０，２０Ｌ，２０Ｒ　　弾性体
　２１　　シャフト
　２２　　軸受け（腕）
　２３　　シャフト固定金具（フレーム）
　２５　　回転軸受け
　３５　　洗濯槽
　３７　　外槽
　３８　　駆動機構
　４０　　インバータ
　５０　　電流検出器
　６０　　推力調整部
　１００，１００Ｌ，１００Ｒ　　電磁サスペンション
　１００Ｃ　　比較例の電磁サスペンション
　１２２　　フレーム
　１２２ｆ　　表面（第１の面）
　１２２ｈ　　貫通孔
　１２２ｒ　　裏面（第２の面）
　１２４，１２４ａ，１２４ｂ　　磁石
　１５１　　磁気歯（第１の磁気歯）
　１５２　　磁気歯（第２の磁気歯）
　Ｐ１　　状態（第１の位置）
　Ｐ２　　状態（第２の位置）
　Ｐ３　　状態（第３の位置）
　Ｗ　　洗濯機
　ｚ　　ｚ軸方向（移動方向） 10,10L, 10R Linear motor 11 Stator 11a Core (armature iron core)
11b winding (armature winding)
11a1 core back part (armature iron core)
11a2 Teeth section (armature iron core)
11a3 Tea stop (armature iron core)
12 Movables 20, 20L, 20R Elastic body 21 Shaft 22 Bearing (arm)
23 Shaft fixing bracket (frame)
25 Rotating bearing 35 Washing tub 37 Outer tub 38 Drive mechanism 40 Inverter 50 Current detector 60 Thrust adjuster 100, 100L, 100R Electromagnetic suspension 100C Electromagnetic suspension 122 frame 122f surface (first surface)
122h through hole 122r back surface (second surface)
124, 124a, 124b Magnet 151 Magnetic tooth (first magnetic tooth)
152 Magnetic tooth (second magnetic tooth)
P1 state (first position)
P2 state (second position)
P3 state (third position)
W washing machine z z axis direction (movement direction)

Claims (9)

  1. 　フレーム間を繋ぐ対向する一対のシャフトと、
    　電機子鉄心と電機子巻線とを有する固定子と、前記フレーム間に固定され、前記固定子に対向する第１の面と第２の面とを有する磁石または磁性体を有し、前記固定子に対し相対的に移動する可動子と、を有するリニアモータと、
    　前記シャフトに装着され、前記フレームの一方と前記固定子の腕とで縮接されている弾性体と、を備える
    　ことを特徴とする電磁サスペンション。     A pair of opposing shafts connecting the frames and
    A stator having an armature core and an armature winding, and a magnet or magnetic material fixed between the frames and having a first surface and a second surface facing the stator, and the fixing A linear motor having a mover that moves relative to the child,
    An electromagnetic suspension comprising an elastic body mounted on the shaft and contracted by one of the frames and the arm of the stator.
  2. 　請求項１において、
    　前記シャフトは、前記磁石の着磁方向に対し垂直方向に配置している
    　ことを特徴とする電磁サスペンション     In claim 1,
    The shaft is an electromagnetic suspension characterized in that it is arranged in a direction perpendicular to the magnetizing direction of the magnet.
  3. 　請求項１または請求項２において、
    　前記シャフトは、前記固定子の磁気歯方向に対し垂直方向に配置している
    　ことを特徴とする電磁サスペンション。     In claim 1 or 2,
    An electromagnetic suspension characterized in that the shaft is arranged in a direction perpendicular to the magnetic tooth direction of the stator.
  4. 　請求項１において、
    　前記腕は軸受けであり、
    　前記シャフトは前記軸受けで支持され、前記可動子の移動方向に摺動可能である
    　ことを特徴とする電磁サスペンション。     In claim 1,
    The arm is a bearing
    An electromagnetic suspension characterized in that the shaft is supported by the bearing and is slidable in the moving direction of the mover.
  5. 　請求項４において、
    　前記軸受けがすべり軸受けである
    　ことを特徴とする電磁サスペンション。     In claim 4,
    An electromagnetic suspension characterized in that the bearing is a sliding bearing.
  6. 　請求項５において、
    　前記シャフトは、前記シャフト１本あたり２個の前記軸受けで支持され、前記可動子の移動方向に摺動可能である
    　ことを特徴とする電磁サスペンション。     In claim 5,
    An electromagnetic suspension characterized in that the shaft is supported by two bearings per shaft and can slide in the moving direction of the mover.
  7. 　請求項１において、
    　前記弾性体は、金属製の巻バネである
    　ことを特徴とする電磁サスペンション。     In claim 1,
    The elastic body is an electromagnetic suspension characterized by being a wound spring made of metal.
  8. 　請求項７において、さらに、
    　前記電機子巻線に交流電流を供給するインバータと、
    　前記電機子巻線に流れる電流を検出する電流検出器と、
    　前記電流検出器によって検出される電流に基づいて前記インバータを制御することによって前記リニアモータの推力を調整する推力調整部と、備える
    　ことを特徴とする電磁サスペンション。     In claim 7, further
    An inverter that supplies alternating current to the armature winding,
    A current detector that detects the current flowing through the armature winding, and
    An electromagnetic suspension including a thrust adjusting unit that adjusts the thrust of the linear motor by controlling the inverter based on the current detected by the current detector.
  9. 　請求項１から８のいずれか１項の電磁サスペンションと、
    　衣類を収容する洗濯槽と、
    　前記洗濯槽を内包する外槽と、
    　前記洗濯槽を回転させる駆動機構と、を備え、
    　前記電磁サスペンションは、前記外槽の振動を抑制する
    　ことを特徴とする洗濯機。     The electromagnetic suspension according to any one of claims 1 to 8 and
    A washing tub for storing clothes and
    An outer tub containing the washing tub and
    A drive mechanism for rotating the washing tub is provided.
    The electromagnetic suspension is a washing machine characterized by suppressing vibration of the outer tub.
PCT/JP2020/034068 2019-11-26 2020-09-09 Electromagnetic suspension and washing machine WO2021106314A1 (en)

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JP2011097747A (en) * 2009-10-29 2011-05-12 Nidec Copal Corp Vibration actuator
JP2015095943A (en) * 2013-11-11 2015-05-18 日本電産コパル株式会社 Vibration actuator and portable information terminal
JP2016101019A (en) * 2014-11-25 2016-05-30 株式会社日立製作所 Linear motor, and compressor mounting the same
JP2018046624A (en) * 2016-09-13 2018-03-22 日立アプライアンス株式会社 Vibration damping device and washing machine

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005276118A (en) * 2004-03-26 2005-10-06 Hazama Corp Active floor vibration suppression device
JP2011078150A (en) * 2009-09-29 2011-04-14 Nidec Sankyo Corp Linear drive device and optical element drive device
JP2011097747A (en) * 2009-10-29 2011-05-12 Nidec Copal Corp Vibration actuator
JP2015095943A (en) * 2013-11-11 2015-05-18 日本電産コパル株式会社 Vibration actuator and portable information terminal
JP2016101019A (en) * 2014-11-25 2016-05-30 株式会社日立製作所 Linear motor, and compressor mounting the same
JP2018046624A (en) * 2016-09-13 2018-03-22 日立アプライアンス株式会社 Vibration damping device and washing machine

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