WO2023163418A1

WO2023163418A1 - Clothing treatment apparatus and control method thereof

Info

Publication number: WO2023163418A1
Application number: PCT/KR2023/001760
Authority: WO
Inventors: 권선구; 최현규; 오재윤
Original assignee: 엘지전자 주식회사
Priority date: 2022-02-22
Filing date: 2023-02-08
Publication date: 2023-08-31
Also published as: KR20230126033A

Abstract

The present disclosure relates to a control method in which, in a clothing treatment apparatus including a cabinet, a first chamber positioned inside the cabinet to accommodate clothing, and a hanger which is provided inside the first chamber to linearly reciprocate according to a rotational motion of a motor, in order to minimize vibration of the cabinet during the reciprocating of the hanger, the magnitude of a motor drive speed command is varied.

Description

Clothes handling device and its control method

The present disclosure relates to a laundry handling apparatus. More specifically, it relates to reducing vibration of a cabinet when a hanger holding clothes is driven in a clothes handling apparatus.

A clothes handling device refers to a device developed to wash and dry clothes at home or at a laundromat and remove wrinkles from clothes. Laundry handling devices are classified as washing machines that wash clothes, dryers that dry clothes, washer/dryers that have both washing and drying functions, clothes care devices that refresh clothes, and wrinkle removal devices that remove wrinkles from clothes. It is a concept including a steamer and the like.

In particular, the clothes management device is a device that keeps clothes pleasant and clean. The clothes care machine can shake off fine dust attached to clothes, deodorize clothes, dry clothes, and add fragrance to clothes. In addition, generation of static electricity can be prevented and wrinkles generated in clothes can be removed using dehumidified air or steam, and clothes can be sterilized and disinfected.

Republic of Korea Patent Publication No. 10-2014-0108454 discloses a conventional laundry treatment device. In particular, in order to effectively supply steam or hot air to the clothes, the hanger holding the clothes may reciprocate left and right along the width direction of the cabinet. To this end, a slot for converting the rotational motion of the motor into the linear motion of the hanger is disclosed. A system that converts rotational motion into linear motion can be called a Scotch Yoke System.

Unlike conventional rotational systems in which the equivalent inertia does not change, in the Scotch yoke system the equivalent inertia changes. In other words, the motor rotates at a constant rotational speed in one rotational direction, but the hanger combined with the slot makes a linear reciprocating motion, so the direction of the speed continuously changes, and the direction of the force or torque applied to the hanger changes, causing vibration of the cabinet. There are problems you can do. In order to solve this problem, it is necessary to control the motor to be driven at a variable speed instead of rotating at a constant speed during one reciprocating motion of the hanger, that is, during a reciprocating period. That is, it is necessary to reduce vibration of the cabinet by adjusting the acceleration component of the hanger through variable speed control of the motor.

Korean Patent Registration No. 10-1558505 discloses a control method for controlling the reciprocating motion of a hanger by comparing a current applied to a motor with a reference value and adjusting a target rotational speed. This discloses a control method for adjusting the number of revolutions of a motor in order to prevent the motor driving the hanger from being overloaded. This relates to measuring the current value applied to the motor and rotating the motor at a constant speed according to the adjusted number of revolutions.

Republic of Korea Patent Registration No. 10-1710388 discloses a method of controlling the rotational speed of the drum when vibration of the drum is sensed and the vibration of the drum is equal to or greater than a set amount of vibration. This relates to changing the rotational speed of the drum in order to avoid a transient region where resonance occurs in the washing machine. That is, it relates to making the motor rotate at a constant speed at a changed speed.

First, the present disclosure aims to reduce noise and vibration of a cabinet caused by reciprocating motion of a hanger.

Second, the present disclosure aims to provide a vibration reduction control method that can easily implement a simple control method.

Third, an object of the present disclosure is to increase separation force in order to more effectively separate dust attached to clothes.

Fourth, an object of the present disclosure is to provide various motions of hangers by reflecting the user's sensitivity to noise and vibration.

Fifth, an object of the present disclosure is to improve noise and performance without mechanically changing an existing laundry treatment apparatus.

In order to solve the above problems, a control method for adjusting a driving speed command applied to a motor is provided. Vibration is generated by converting the rotational motion of the motor into reciprocating motion of the hanger, which can be achieved by changing the driving RPM of the motor or changing the moving distance or amplitude of the hanger. However, since the change in the movement distance of the hanger must be accompanied by a mechanical change in the laundry treatment device, a control method for improving vibration and performance is provided by adjusting the driving speed command applied to the motor.

In particular, in a vibration-type load system that converts the rotational motion of the motor into the reciprocating motion of the hanger, the speed control of the motor is interlocked or synchronized with the period of vibration of the cabinet or the period of reciprocating motion of the hanger, and the entire motor is controlled within the period. It is to provide a method for controlling vibration amount and performance.

In other words, to provide a control method capable of processing the current and output torque of the motor in an arbitrary form through instantaneous variable-speed control.

To achieve this, a sinusoidally converting signal such as speed, current, or torque must be added and injected, and this signal can be interlocked and synchronized with the cycle of vibration of the cabinet (or one cycle of the hanger). In addition, the magnitude of the added signal may be maintained at the same level at the start and end points of vibration. Lastly, the frequency of the signal to be added and injected must be the same as the vibration frequency of the clothes handling device and can be correlated with the absolute position of the hanger.

The vibration frequency is an acceleration-based vibration frequency, which is not only the same as the vibration frequency of the cabinet or the frequency of the reciprocating motion of the hanger (the reciprocal number of the reciprocating period), but also the vibration frequency based on the displacement.

In the case of a typical laundry treatment apparatus, since the motor rotates at a constant speed, the driving speed command applied for rotation of the motor applied by the control unit can be controlled as shown in Equation 1 below.

Here, ω*rpm means the driving speed command applied to the motor. Then, current is applied to the motor according to the driving speed command. The current applied to the motor may be a three-phase current. Each phase current will be applied in the form of a sine wave according to each driving speed command. In the case of a typical clothes handling apparatus, since the speed of the motor is constant, it may have a constant value as a predetermined value, and thus, the envelope of the sinusoidal current waveform may be a straight line with a constant size.

In particular, the present disclosure relates to minimizing vibration of a cabinet by changing the size of a driving speed command from A to A±Δ and changing a phase angle controlling a timing of change of the corresponding driving speed command.

More specifically, a cabinet; a first chamber located inside the cabinet to accommodate clothes; a hanger provided inside the first chamber to hold the clothes; a driving unit including a motor and reciprocating the hanger by the rotational motion of the motor; and a control unit generating a driving speed command for controlling the driving speed of the motor and applying a current to the motor according to the driving speed command, wherein the control unit responds to the reciprocating motion of the hanger according to the driving speed command. Another aspect of the present invention provides a clothes handling apparatus that reduces vibration of the cabinet by including a section in which the driving speed of the motor is maintained at a predetermined constant speed and a section in which the driving speed is maintained at a different speed from the predetermined speed.

The control unit may repeat an increase or decrease in an envelope of any one of the phase currents during the reciprocating motion of the hanger.

The control unit may match the period of the envelope with a reciprocating period corresponding to the reciprocating motion of the hanger or a vibration period corresponding to the vibration of the cabinet.

The control unit changes the driving speed of the motor in a stepwise manner by a predetermined speed size from the constant speed according to a predetermined time interval within the vibration period or the reciprocating period of the motor within the vibration period or the reciprocating period. The driving speed may decrease and then be controlled to return to the constant speed.

In addition, the control unit may increase or decrease the size of the envelope by a predetermined size interval according to the time interval during the oscillation period or the reciprocating period.

The control unit sets the time interval to an interval obtained by dividing the vibration period or the reciprocating period by twice the resolution, and sets the driving speed of the motor according to the time interval during half of the vibration period or the reciprocating period to the speed size. and the driving speed of the motor may be increased stepwise by the speed magnitude during the other half of the oscillation period or the reciprocating period.

The control unit is in a state where the hanger is stopped and is in a first position where the hanger moves maximally along one direction of the cabinet and a second position where it moves maximally along a direction opposite to the one direction, the current of any one of the phase currents You can control the values to be different.

In the control unit, the absolute value of the current value of any one phase current is maximum at the first position, and the absolute value of the current value at the second position is the absolute value of the current value of any one phase current at the first position. can be controlled to be less than the value.

The control unit detects a change in the current value applied to the motor due to the vibration of the cabinet during the reciprocating motion of the hanger, determines a variable frequency that is a vibration frequency according to the vibration of the cabinet, and determines the magnitude and phase of the vibration of the cabinet. Imprint vibration magnitude and vibration phase angle can be detected.

The controller may change the magnitude of the driving speed command and the phase of the driving speed command for changing the timing of applying the driving speed command during a vibration period corresponding to the vibration of the cabinet or a reciprocating period corresponding to the reciprocating motion of the hanger. The optimum magnitude and the optimum phase angle of the driving speed command for minimizing the magnitude of the vibration are calculated while changing the angle, and the current waveform of the current is set to have a magnitude and a phase angle corresponding to the optimal magnitude and the optimal phase angle. can

After setting the phase angle of the driving speed command to a predetermined signal phase angle, the control unit increases or decreases the size of the driving speed command according to a predetermined size step according to the vibration period or the reciprocating period, and the cabinet It is possible to calculate the optimal size that minimizes the vibration of.

After setting the magnitude of the driving speed command to a predetermined signal level, the control unit increases or decreases the phase angle of the driving speed command according to a preset phase angle step according to the vibration period or the reciprocating period, and the cabinet It is possible to calculate the optimal phase angle that minimizes the vibration of .

After setting the phase angle of the driving speed command to the optimal phase angle, the control unit vibrates the cabinet while increasing or causing the size of the driving speed command according to a predetermined size step according to the vibration period or the reciprocating period. The optimal size that minimizes can be calculated.

The control unit may change the size of the current waveform according to the optimal size at a detailed time interval obtained by dividing the vibration period or the reciprocating period by twice a predetermined resolution.

The control unit determines the size interval by dividing the difference by the resolution by subtracting the minimum value of the size of the current waveform from the maximum value of the size of the current waveform according to the optimum size and the optimum phase angle during the oscillation period or the reciprocating period. can be set to

Meanwhile, the laundry treatment apparatus further includes a vibration sensor for measuring vibration on an inner surface of the cabinet, and the control unit can measure the magnitude of vibration of the cabinet through the vibration sensor.

The magnitude of the vibration may be greatest at any one of a first position where the hanger moves maximally along one direction of the cabinet in a stopped state and a second position where it moves maximally along a direction opposite to the one direction of the cabinet.

On the other hand, the drive unit motor; a rotating member rotated by the motor; A connecting member spaced apart in parallel with the rotating member; a coupling member coupling the rotating member and the connecting member; and a guide member coupled to the connecting member to perform linear reciprocating movement of the hanger according to rotation of the connecting member.

The guide member may further include a guide groove or a guide hole extending in a direction perpendicular to the longitudinal direction of the hanger.

On the other hand, the cabinet; a first chamber located inside the cabinet to accommodate clothes; a hanger provided inside the first chamber to hold the clothes; a driving unit including a motor and reciprocating the hanger by the rotational motion of the motor; and a control unit generating a driving speed command for controlling the driving speed of the motor and applying current to the motor according to the driving speed command, wherein the control unit responds to the vibration of the cabinet by the reciprocating motion of the hanger. During the vibration period or the reciprocating period according to the reciprocating motion of the hanger, the driving speed of the motor is changed, including a period in which the driving speed of the motor is maintained at a preset constant speed and a period in which the driving speed is maintained at a speed different from the constant speed. [PROBLEMS] To provide a clothes handling apparatus that reduces vibration of a cabinet.

On the other hand, the cabinet; a first chamber located inside the cabinet to accommodate clothes; a hanger provided inside the first chamber to hold the clothes; a driving unit including a motor and reciprocating the hanger by the rotational motion of the motor; and a control unit generating a driving speed command for controlling the driving speed of the motor and applying current to the motor according to the driving speed command, wherein the control unit performs the driving speed command according to the driving speed command when the hanger reciprocates. It is to provide a clothes handling apparatus that changes the driving speed of the motor in a step type, including a section in which the driving speed of the motor is maintained at a predetermined constant speed and a section in which the driving speed is maintained at a different speed from the predetermined speed.

On the other hand, the cabinet; a first chamber located inside the cabinet to accommodate clothes; a hanger provided inside the first chamber to hold the clothes; and a driving unit configured to reciprocate the hanger by the rotational motion of the motor. In the method of controlling the clothes handling apparatus, measuring or estimating the variable frequency of the cabinet, which is the vibration frequency due to the vibration of the cabinet when the hanger reciprocates. doing; detecting the magnitude and phase angle of vibration of the cabinet, which are the magnitude and phase angle of vibration; and a period in which the driving speed of the motor is maintained at a predetermined constant speed so that the magnitude of the vibration is minimized at intervals of a vibration period corresponding to the vibration of the cabinet or a reciprocating period corresponding to the reciprocating motion of the hanger, and the constant An optimization step of calculating an optimal size of a driving speed command for controlling the speed of the motor and an optimal phase angle of the driving speed command, including a section in which the speed is maintained at a different speed from the speed; is to do

The control method of the laundry treatment apparatus may include, after the optimizing step, a current applying step of applying a current to the motor to change the driving speed of the motor according to the driving speed command having the optimal size and the optimal phase angle; can include more

The optimization step sets the magnitude and phase angle of the driving speed command to a predetermined signal magnitude and a predetermined first phase angle to obtain a detailed time obtained by dividing the vibration period or the reciprocating period by twice a preset resolution, and The magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration magnitude interval so as to reach a negative value of the signal magnitude from the signal magnitude whenever the detailed time elapses during the cycle or half of the reciprocating cycle, and the vibration cycle Alternatively, during the other half of the reciprocating period, the signal level is discontinuously increased by a predetermined speed increasing period so as to reach the signal level from a negative value of the signal level whenever the detailed time elapses. a first phase measurement step of measuring a magnitude of vibration at one phase angle; The magnitude and phase angle of the driving speed command are set to a second phase angle that is changed by a preset phase angle step from the signal magnitude and the first phase angle, and each time the detailed time elapses during the oscillation period or half of the reciprocating period. The magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration magnitude interval to reach a negative value of the signal magnitude from the signal magnitude, and the detailed time elapses during the other half of the vibration period or the reciprocating period. The vibration at the second phase angle during the oscillation period or the reciprocating period by discontinuously increasing the size of the driving speed command by a predetermined speed increase interval to reach the signal level from a negative value of the signal level every time. a second phase measurement step of measuring the size; a phase comparison step of determining whether a vibration difference value, which is a difference between the amplitude of vibration at the second phase angle and the amplitude of vibration at the first phase angle, increases when the phase changes; and a phase setting step of setting the first phase angle to the optimum phase angle when the vibration difference value during the phase change increases in the phase comparison step.

In the phase setting step, when the vibration difference value during the phase change decreases in the phase comparing step, the second phase angle and the magnitude of vibration at the second phase angle are set at the first phase angle and the first phase angle, respectively. After setting the vibration magnitude of , the second phase angle may be changed to a value obtained by adding the phase angle step to the second phase angle, and the second phase measurement step and the phase comparison step may be repeated.

In the optimizing step, after setting the phase angle of the driving speed command to the optimal phase angle, the size of the driving speed command is changed to a predetermined first size every time the detailed time elapses during the oscillation period or half of the reciprocating period. discontinuously decreases by a predetermined deceleration size interval to reach a negative value of the first magnitude, and during the other half of the vibration period or the reciprocating period, the magnitude of the driving speed command is changed whenever the detailed time elapses. From the negative value of the first magnitude to the second magnitude, which is changed by a preset magnitude step from the first magnitude, discontinuously increases by a predetermined speed increasing interval to reach the first magnitude at the first magnitude during the oscillation period or the reciprocating period. a first magnitude measurement step of measuring the magnitude of the vibration when it changes to a second magnitude; Every time the detailed time elapses during the vibration period or half of the reciprocating period, the magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration magnitude interval so as to reach a negative value of the second magnitude from the second magnitude, , During the other half of the oscillation period or the reciprocating period, whenever the detailed time elapses, the size of the driving speed command is changed from a negative value of the second size to a third size that is changed by a predetermined size step from the second size. a second magnitude measurement step of measuring the magnitude of vibration when the second magnitude changes from the second magnitude to the third magnitude during the vibration period or the reciprocating period by discontinuously increasing the speed increasing interval to reach the third level; a size comparison step of determining whether a vibration difference value upon size change, which is a difference between the vibration size when changing from the first size to the second size and the vibration size when changing from the second size to the third size, increases; and a size setting step of setting the first size to an optimal size when the vibration difference value during size change increases in the size comparison step.

In the size setting step, when the vibration difference value upon size change decreases in the size comparison step, the second size and the vibration size at the second size are set to the first size and the vibration size at the first size, respectively. After setting, the second size may be changed to a value obtained by adding the size step to the second size, and the second size measurement step and the size comparison step may be repeated.

The control method of the laundry handling apparatus may further include a resolution step of finding an optimized resolution for minimizing vibration of the cabinet by changing the resolution after setting the optimal phase angle and the optimal size.

On the other hand, the optimization step sets the phase angle of the driving speed command to a predetermined signal phase angle, obtains a detailed time obtained by dividing the vibration period or the reciprocating period by twice the preset resolution, and then calculates the vibration period or the reciprocating period. During the half of, the magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration size interval so as to reach a negative value of the first magnitude from a predetermined first magnitude whenever the detailed time elapses, and the vibration period or During the other half of the reciprocating period, each time the detailed time elapses, the driving speed command is increased at a predetermined speed from a negative value of the first magnitude to a second magnitude that is changed by a preset magnitude step from the first magnitude. a first magnitude measuring step of measuring the magnitude of the vibration when the magnitude is changed from the first magnitude to the second magnitude during the vibration period or the reciprocating period by discontinuously increasing the amplitude; Every time the detailed time elapses during the vibration period or half of the reciprocating period, the magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration magnitude interval so as to reach a negative value of the second magnitude from the second magnitude, , During the other half of the oscillation period or the reciprocating period, whenever the detailed time elapses, the size of the driving speed command is changed from a negative value of the second size to a third size that is changed by a predetermined size step from the second size. a second magnitude measurement step of measuring the magnitude of vibration when the second magnitude changes from the second magnitude to the third magnitude during the vibration period or the reciprocating period by discontinuously increasing the speed increasing interval to reach the third level; a size comparison step of determining whether a vibration difference value upon size change, which is a difference between the vibration size when changing from the first size to the second size and the vibration size when changing from the second size to the third size, increases; and a size setting step of setting the first size to an optimal size when the vibration difference value during size change increases in the size comparison step.

In the optimization step, after setting the size of the driving speed command to the optimal size and a predetermined first phase angle, obtaining a detailed time obtained by dividing the vibration period or the reciprocating period by twice a preset resolution, and then calculating the vibration period or The magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration magnitude interval so as to reach a negative value of the optimal magnitude from the optimal magnitude whenever the detailed time elapses during half of the reciprocating period, and the vibration period or the During the other half of the reciprocating period, the first phase during the oscillation period or the reciprocating period is discontinuously increased by a predetermined speed increase interval so as to reach the optimum amplitude from the negative value of the optimum amplitude whenever the detailed time elapses. A first phase measurement step of measuring the magnitude of vibration at each angle; After setting the size of the driving speed command to a second phase angle changed by a preset phase angle step from the optimal size and the first phase angle, the vibration period or half of the reciprocating period The magnitude of the driving speed command is discontinuously reduced by a preset deceleration magnitude interval to reach a negative value of the optimal magnitude from the optimal magnitude, and every time the detailed time elapses during the other half of the vibration cycle or the reciprocating cycle The magnitude of the driving speed command is discontinuously increased by a preset speed increase interval to reach the optimal magnitude from the negative value of the optimal magnitude, thereby increasing the vibration magnitude at the second phase angle during the vibration period or the reciprocating period. a second phase measurement step of measuring; a phase comparison step of determining whether a vibration difference value, which is a difference between the amplitude of vibration at the second phase angle and the amplitude of vibration at the first phase angle, increases when the phase changes; and a phase setting step of setting the first phase angle to the optimal phase angle when the vibration difference value during the phase change in the phase comparison step increases.

Meanwhile, the control method of the laundry treatment apparatus may further include a resolution step of finding an optimized resolution for minimizing vibration of the cabinet by changing the resolution after setting the optimal phase angle and the optimal size.

In the current applying step, the period of the envelope of any one of the phase currents may be matched with the oscillation period or the reciprocating period.

First, the present disclosure can reduce noise and vibration by controlling a variable speed of a motor during reciprocating motion of a hanger.

Second, the present disclosure can reduce noise and vibration to reflect the user's sensitivity or reduce discomfort due to noise and vibration.

Third, the present disclosure can more effectively separate dust attached to clothes by having an asymmetric separation force per reciprocating cycle of the hanger.

Fourth, the present disclosure can secure the ease of implementing a vibration reduction method through a simple control method.

Fifth, the present disclosure can increase durability of a product by reducing noise and vibration.

1 is an example of a laundry treatment device.

2 is an example of a device located inside the second chamber.

3 is an example of a clothing support unit.

4 is an exploded view of an example of the clothes support part.

5 is another example of a driving unit provided in a clothing support unit.

6 is an exploded view of the driving unit.

7 (a) to 7 (d) briefly show the relative positions of the power conversion unit and the hanger.

FIG. 8 briefly illustrates displacement, speed, and acceleration of the hanger when the motor rotates at constant speed.

9(a) shows an example of one phase current according to a driving speed command for rotating the motor when the motor rotates at constant speed. 9(b) shows an example of one variably changing phase current.

10 is a flow chart showing an example of a control method described in the present disclosure.

Fig. 11 is a flow chart showing an example of a control method for setting an optimum phase angle in an optimization step.

Fig. 12 is a flow chart showing an example of a control method for setting an optimum size in an optimization step.

13(a) and 13(b) relate to an example in which the envelope of the current waveform applied to the motor is changed stepwise by dividing the oscillation period of the cabinet or the reciprocating period of the hanger into subsections according to the resolution.

14 is a flow chart showing another example of the control method described in the present disclosure.

15(a) shows a current waveform applied to the motor when the motor travels at constant speed. 15(b) shows an example of a current waveform for controlling the motor according to an example of a control method described in the present disclosure.

16(a) shows an example of vibration displacement of a hanger, clothes mounted on the hanger, and a cabinet when the motor runs at constant speed. 16(b) illustrates an example of vibration displacement of a hanger, clothes mounted on the hanger, and a cabinet when driving a motor according to a control method described in the present disclosure.

17(a) shows an example of acceleration of a hanger, clothes and a cabinet mounted on the hanger when the motor runs at constant speed. 16(b) shows an example of acceleration of a hanger, clothes mounted on the hanger, and a cabinet when driving a motor according to a control method described in the present disclosure.

FIG. 18 shows whether each component operates in various processes that can be performed by the laundry treatment apparatus.

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The configuration or control method of a device to be described below is only for explaining an embodiment of the present disclosure, but is not intended to limit the scope of the present disclosure, and the same reference numerals used throughout the specification indicate the same components. .

Specific terminology used in this specification is only for convenience of description and is not used as a limitation of the exemplified embodiments.

For example, expressions such as "the same" and "the same" not only show exactly the same state, but also show tolerances or states where there is a difference in the degree to which the same function is obtained.

For example, expressions indicating relative or absolute arrangements such as "in which direction", "along which direction", "side by side", "vertically", "center", "concentric" or "coaxial", Not only does it strictly represent such an arrangement, but it also shows a state of relative displacement with tolerance or an angle or distance to the extent that the same function can be obtained.

In order to explain the present disclosure, a spatial Cartesian coordinate system with X, Y, and Z axes orthogonal to each other will be described below. Each axis direction (X-axis direction, Y-axis direction, Z-axis direction) means both directions in which each axis extends. A '+' sign in front of each axis direction (+X-axis direction, +Y-axis direction, +Z-axis direction) means a positive direction, which is one of both directions in which each axis extends. A '-' sign in front of each axis direction (-X-axis direction, -Y-axis direction, -Z-axis direction) means the negative direction, which is the other direction among both directions in which each axis extends.

The expression referring to directions such as “front (+Y) / back (-Y) / left (+X) / right (-X) / top (+Z) / bottom (-Z)” mentioned below is XYZ It is defined according to the coordinate axis, but this is only for explanation so that the present disclosure can be clearly understood, and each direction may be defined differently depending on where the reference is placed.

The use of terms with expressions such as 'first, second, third' in front of the components mentioned below is only to avoid confusion between the components referred to, and the order, importance or master-servant relationship between the components, etc. is irrelevant For example, an invention including only the second component without the first component can be implemented.

Singular expressions used herein include plural expressions unless the context clearly dictates otherwise.

1 shows an example of a laundry treatment apparatus 1000 . A laundry treatment apparatus 1000 according to an embodiment of the present disclosure includes a cabinet 150, a first chamber 100 positioned inside the cabinet 150 to accommodate clothes, and an interior of the first chamber 100. It includes a hanger 610 and a motor 651 which are provided on and hold the clothes. In addition, the laundry treatment apparatus 1000 generates a driving unit 650 for reciprocating the hanger 610 by the rotational motion of the motor 651 and a driving speed command for controlling the driving speed of the motor 651. and a control unit 270 for applying current to the motor 651 according to the driving speed command.

The laundry handling apparatus 1000 may include a clothing support unit 600 provided inside the first chamber 100 to hang clothes or hangers. The clothes support unit 600 includes a hanger 610 provided to hang clothes or hangers, driving

units

650 and 750 that transmit power so that the hanger 610 can reciprocate in a preset movement direction, and the driving unit 650 ) It may include a support member (640, 770) for supporting.

The hanger 610 may be provided in a bar shape. Reciprocating movement is possible along the width direction of the cabinet 150, and the length of the hanger 610 may be shorter than the length of the cabinet 150 in the width direction. The hanger 610 may further include one or more grooves capable of holding clothes hangers (H).

The laundry treatment apparatus 1000 is located inside the second chamber 200 and includes a blower unit 220 (refer to FIG. 2) that sucks air from the first chamber 100 and dehumidifies the sucked air. It may further include a heat pump unit (230, see FIG. 2) that heats and then discharges the heat to the first chamber 100.

The cabinet 150 may be made of a metal material, and may be made of a plastic material as long as it can maintain strength. Also, the first chamber 100 may be made of a polymer material. can be integrally formed. The first chamber 100 may form the first chamber 100 by combining an upper body and a lower body.

The front of the cabinet 150 may include an inlet 120. The first chamber 100 may accommodate clothes through the inlet 120 .

The first chamber 100 may be coupled to the cabinet 150 by a frame (not shown). Alternatively, foamed plastic such as polyurethane is filled between the cabinet 150 and the first chamber 100 or between the cabinet 150 and the second chamber 200 so that the foamed plastic can be used without a frame. The cabinet 150 and the first chamber 100 may be combined and the cabinet 150 and the second chamber 200 may be supported. If foamed plastic is used, a box-shaped second chamber forming part for forming the second chamber 200 may be further provided separately.

Clothing including upper and lower garments may be placed in the first chamber 100, and a blowing unit 220 (see FIG. 2) located inside the second chamber 200, and a heat pump unit 230 (FIG. 2) 2) and the steam unit 250 (see FIG. 2), the clothes can be managed to be refreshed. That is, through the blower unit 220 (see FIG. 2), the heat pump unit 230 (see FIG. 2) and the steam unit 250 (see FIG. 2) located inside the second chamber 200, steam and/or Using heated air, clothes can be sterilized and deodorized, wrinkles formed by use can be removed, and clothes can be dried.

The first chamber 100 may include a clothes support part 600 for holding clothes on top of the first chamber 100 . The clothes support part 600 may accommodate hangers on which clothes are hung. The clothes support part 600 includes a hanger 610 provided in a bar shape to shake the clothes placed thereon, a driving part 650 that reciprocates the hanger 610, and a support member that supports and fixes the clothes support part to the cabinet 150. (770). The hanger 610 includes a hanger 610 provided in the width direction of the cabinet 150 and capable of holding the hanger H, and a hanger support part 620 movably supporting both ends of the hanger 610. can do. The hanger 610 may include a groove-shaped hanger groove 611 to hold a hanger.

The driving unit 650 generates a rotational motion using a motor 651 provided in the driving unit 650, and the power conversion unit 680 converts the rotational movement to a linear reciprocation through the power conversion unit 680. can be converted into motion. Eventually, the clothes T mounted on the hanger 610 will be shaken. Through this, the clothes placed on the clothes support part 600 can be shaken to remove foreign substances including dust adhering to the clothes, and to perform clothes care functions such as removing hair and wrinkles from clothes. can

When clothes are placed on the clothes support part 600, they can be placed in an unfolded state by their own weight inside the first chamber 100. A plurality of hanger grooves 611 located in the hanger 610 may be provided at a predetermined distance from each other, which is applied to the surface of clothes by dehumidified and heated air and/or steam supplied from the second chamber 200. This can be made evenly exposed.

In general, water boils at 100 ℃ under atmospheric pressure. At this time, the generated water vapor can be referred to as steam. In contrast, moisture refers to a form in which water droplets of less than 1 mm in size are suspended in the air at room temperature. For example, it is similar to fog. In general, steam generated by heating and boiling water has excellent sterilizing power due to a temperature higher than moisture, and since water molecules move more actively at a higher temperature, it has excellent permeability of clothes, so steam can be used more than moisture to refresh clothes.

The first chamber bottom surface 101 forming the bottom surface of the first chamber 100 is steam generated by the steam unit 250 inside the second chamber 200 and the heat pump unit 230 An air supply port 1011 and a steam supply port 1012 for supplying air dehumidified and heated by the air to the first chamber 100, and the air of the first chamber 100 is blown by a blowing unit 220 An air intake port 1013 for re-inhalation using may be located.

The air intake port 1013 may also be used to discharge condensed water in which steam is condensed in the first chamber 100 . That is, the condensed water generated on the inner circumferential surface of the first chamber 100 will flow or fall to the bottom surface 101 of the first chamber due to its own weight. Since the bottom surface 101 of the first chamber forms an inclined surface toward the air intake port 1013, condensed water will naturally move toward the air intake port 1013. The condensed water discharged through the air intake port 1013 eventually flows down through the inlet duct 221 (see FIG. 2) and is temporarily stored in a sump (not shown) located in the lower part of the inside of the inlet duct.

Referring to FIG. 1, the air supply port 1011 and the steam supply port 1012 may be provided at the same height, but this is only an example, and the steam supply port 1012 is higher than the air supply port 1011. It can be located in the back or top.

The air intake port 1013 may be located close to the inlet 120 on the bottom surface 101 of the first chamber. Accordingly, a circulation structure may be formed in which air inside the first chamber 100 is discharged through the air supply port 1011 and sucked in through the air intake port 1013 . After the steam is discharged through the steam supply port 1012, it is condensed and sucked through the air intake port 1013, and then the condensed water is collected in a sump (not shown).

In order to more smoothly discharge the condensed water condensed inside the first chamber 100 to the second chamber 200 through the air intake port 1013, the first chamber bottom surface 101 is It may be inclined in the direction of the air intake port 1013 from the rear surface of the 100.

As shown in FIG. 1 , the laundry treatment apparatus 1000 includes a water supply tank 310 for supplying water to the steam unit 250 and a drain tank for discharging and storing condensed water collected in the sump (not shown). 330 may be provided in the front part of the second chamber 200 . In addition, the laundry treatment apparatus 1000 may further include a tank module frame (not shown) for mounting the water supply tank 310 and the drain tank 330 thereon. The steel tank module frame forms a tank installation space in which the water supply tank 310 and the drainage tank are installed, and the tank installation space (not shown) may be separated from the second chamber 200 .

That is, a tank installation space divided by the tank module frame and the second chamber 200 may be positioned below the first chamber 100 . The tank installation space may be located closer to the door 800 than the second chamber 200 . A second chamber 200 may be located behind the tank installation space.

The water supply tank 310 and the drain tank 330 may be provided to be detachable from a tank module frame (not shown), respectively. Alternatively, the water supply tank 310 and the drain tank 330 may be combined into one and provided detachably at the same time.

When the door 800 is closed, the door 800 may include a rear surface of the door 800 or an inner surface 801 located in a direction from the door 800 toward the first chamber 100. . The door 800 is rotatably connected to the cabinet 150 in a hinged manner to open and close the inlet 120. To this end, the door 800 may include door hinges 8091 and 8092 for rotational coupling.

When the user closes the door 800, the front of the water supply tank 310 and the front of the drain tank 330 face the inner surface 801 of the door, and when the user opens the door 800, the water supply tank The front of the 310 and the front of the drain tank 330 may be exposed to the outside.

Front surfaces of the water supply tank 310 and the drain tank 330 are made of a light-transmitting material such as transparent or translucent, and when the door 800 is opened, the water supply tank 310 and the drain tank 330 You can check the water level right away. Unlike this, the water supply tank 310 and the drain tank 330 include a water supply tank window (not shown) and a drain tank window (not shown) for checking the water level on a part of each front surface, The level of water stored in the tank 310 and the drainage tank 330 may be checked.

The front surface of the water supply tank 310 and the front surface of the drain tank 330 may include a water supply tank handle 315 and a drain tank handle 335, respectively. When the user pulls the water supply tank handle 315 and the drain tank handle 335, respectively, the water supply tank 310 and the drain tank 330 are separated from the front end of the water supply tank and the front surface of the drain tank, respectively. It can be separated from the tank module frame (not shown) by rotating about the end. Also, when mounted on the tank module frame (not shown), the water supply tank 310 and the drain tank 330 will be seated on the tank module frame (not shown) through rotation in the same manner.

The door 800 is provided on the inner surface 801 of the door 801 and a sealing part (not shown) for preventing steam supplied to the first chamber 100 by the steam unit 250 (see FIG. 2) from escaping. A door liner (not shown) may be further included to guide condensed water generated on the inner surface 801 of the door to be discharged through the air intake port 1013 .

When the door 800 is closed, the sealing unit seals a space between the door 800 and the cabinet 150 to prevent leakage of steam or condensed water to the outside. The sealing part may be provided in a form surrounding an edge of the inner surface 801 of the door. The sealing part may also perform a function of mitigating an impact between the cabinet 150 and the door 800 when the door is closed.

In the inner surface of the door 801 or the inside of the first chamber 100, a clothes holder (not shown) for holding the pants hanger after lowering (or pants P) is mounted on the trouser hanger, and the clothes holder A pressing part (not shown) for pressing the pants P fixed by the may be positioned.

Meanwhile, the laundry treatment apparatus 1000 may further include a shelf 190 for holding small items such as a hat or a bag inside the first chamber 100 . In order to smoothly supply and circulate steam and hot air to small items mounted on the shelf 190, the shelf 190 has a hole communicating the upper and lower parts of the shelf 190, or several bars ( bar) may be provided as a frame.

Referring to FIGS. 1 and 2 , the laundry treatment apparatus 1000 is a blower fan (not shown) located inside the second chamber 200 and circulating air in the first chamber 100. A blower unit 220 including a compressor (not shown) for compressing the refrigerant, and a heat exchange unit (not shown) for heat-exchanging air sucked through the blower unit 220 with the refrigerant, the blower unit 220 ) and a heat pump unit 230 for discharging dehumidified and heated air through the heat exchanger (not shown) to the first chamber 100, located inside the second chamber 200, steam A steam unit 250 generating and supplying water, a water supply tank 310 located in front of the second chamber 200 and supplying water to the steam unit 250, and a front side of the second chamber 200 It may further include a drain tank 330 located in the first chamber 100 and storing the condensed water generated in the heat pump unit 230 .

2 is an example of a mechanism located inside the second chamber. Inside the second chamber 200, a blower unit 220 for sucking air in the first chamber 100, receiving water from the water supply tank 310 to generate steam, and then moving the first chamber ( 100) may include a steam unit 250 that supplies steam, and a heat pump unit 230 that dehumidifies and heats the air sucked by the blower unit 220 and then discharges it to the first chamber 100. . The steam unit 250 , the blowing unit 220 and the heat pump unit 230 may be installed on the base part 210 . The base part 210 may include a plate-shaped base made of a metal material.

The mechanical device including the blower unit 220, the steam unit 250, and the heat pump unit 230 installed on the base unit 210 and the base unit 210 may be referred to as a cycle assembly. . The cycle assembly may be drawn out of the second chamber 200 or drawn into the second chamber 200 through the rear surface of the cabinet 150 . This is for maintenance.

A supporter part 265 supporting the steam unit 250 and the heat pump unit 230 may be coupled to the base part 210 . The supporter unit 265 may include a first supporter (or front supporter) located closer to the blowing unit 220 and a second supporter (or rear supporter) located farther from the blowing unit 220. there is.

The heat pump unit 230 is located on the upper part of the supporter part 265, in a kind of accommodation area S formed inside the supporter part 265, that is, between the supporter part 265 and the base part 210. A steam unit 250 may be located. Also, a control unit 270 for controlling the blowing unit 220 , the steam unit 250 , and the heat pump unit 230 may be located in the receiving area S.

However, this is only an example, and the control unit 270 may be located at the rear of the second chamber 200. When located at the rear of the second chamber 200, communication with the second chamber 200 And the controller 270 can be attached or detached through a rear panel (not shown) located on the rear side of the cabinet. Unlike this, the second chamber 200 may be located elsewhere in the second chamber 200, inside the door 800, or between the upper surface of the first chamber 100 and the cabinet 150. can also be

The control unit 270 may also control the reciprocating motion of the clothes support unit 600 (see FIG. 1 ) through the motor 651 .

The steam unit 250 is provided to sterilize, deodorize, and remove wrinkles from clothes placed in the first chamber 100, and the blower unit 220 and the heat pump unit 230 operate in the first chamber 100. It may be provided to circulate the air of 100 and dehumidify through heat exchange.

Referring to FIG. 2 , the blowing unit 220 may include a blowing fan and an inlet duct 221 . When the direction in which the inlet 120 is located is referred to as the front, and the direction in which the rear surface of the first chamber is located is referred to as the rear, the inlet duct 221 is provided in front of the blowing fan, and in the front of the inlet duct 221 A tank module frame may be provided. Accordingly, the tank module frame may form a tank installation space and separate the tank installation space from the second chamber 200 .

The water supply tank 310 and the drain tank 330 seated on the tank module frame may be located close to one side of both sides of the cabinet 150 . For example, in the water supply tank 310, the right side of the cabinet 150 may be located closer than the left side of the cabinet in the tank installation space, and the drain tank 330, on the contrary, the left side of the cabinet 150 may be located in the cabinet ( 150) may be located closer than the right side.

Similarly to the location of the water supply tank 310, the right side of the cabinet 150 may be located closer to the left side of the cabinet 150 inside the second chamber 200 in the steam unit 250. This is to arrange the steam unit 250 at the rear of the water supply tank 310 to simplify a connection passage through which water moves from the water supply tank 310 to the steam unit 250 .

The steam unit 250 may include a storage body (not shown) that forms the outer shape of the steam unit 250 and stores water, and a heater (not shown) positioned inside the storage body to heat water. . In addition, a steam temperature sensor (not shown) for measuring the temperature of the water stored in the storage body may be further included.

Water located in the storage body may be heated through the heater (not shown). Steam generated through heating may be supplied to the first chamber 100 through a steam supply port 1012 provided on the bottom surface 101 of the first chamber along a steam flow path (not shown).

Water used in the steam unit 250 may be supplied through the water supply tank 310 . When the water supply tank 310 is seated in the tank installation space, a water supply check valve (not shown) provided on the bottom surface of the water supply tank 310 is opened, and is supplied to the storage body through a water supply passage connected to the water supply check valve. Water will be supplied.

If the water supply tank 310 is located closer to the left side of the cabinet 150 than the right side of the cabinet 150, correspondingly, the position of the steam unit 250 is also located on the left side of the cabinet 150 rather than the right side of the cabinet 150. It can be located close to the surface. This is to reduce the length of the water supply passage (not shown) connecting the water supply tank 310 and the steam unit 250 and simplify it as much as possible.

The blowing unit 220 may suck air through the air intake port 1013 and the inlet duct 221 located on the bottom surface 101 of the first chamber 100 to circulate the air in the first chamber 100. there is. The inlet duct 221 includes an inlet duct inlet 2213 provided in a shape corresponding to the air intake port 1013, an inlet duct body 2211 for moving the sucked air to the blowing unit 220, and a blowing unit ( 220) may include an inlet duct outlet 2215 connected to the inlet.

A blowing fan (not shown) provided in the blowing unit 220 is a type of centrifugal blower and may discharge sucked air using centrifugal force. The blowing fan may be connected to the heat pump unit 230 through a blowing housing (not shown) forming an outer shape of the blowing unit and protecting the blowing fan. Therefore, the air sucked through the blowing fan will be connected to the air inlet of the heat pump unit 230 connected to the blowing outlet (not shown) of the blowing unit 220 .

The heat pump unit 230 has a duct-shaped outer shape, a duct housing (not shown) forming a passage through which air moves, and located at one end of the duct housing to suck air from the blowing unit 220. An air inlet 2311 and an air outlet 2312 disposed at the other end of the duct housing to discharge air into the first chamber 100 may be included.

The heat pump unit 230 may further include a first heat exchanger (not shown) and a second heat exchanger (not shown) positioned inside the duct housing to exchange heat with the sucked air. In addition, the heat pump unit 230 is located outside the duct housing, compresses and circulates the refrigerant, and supplies the refrigerant to the first heat exchanger (not shown) and the second heat exchanger (not shown) (not shown). ) may further include.

The compressor may be located on the side of the supporter part 265 . The water supply tank 310 is located close to one side of the cabinet 150, and the steam unit 250 and the supporter part 265 are also located inside the second chamber 200 on one side of the cabinet 150. Since it is located close to , the compressor may be located close to the other side of the cabinet 150 on one side of the cabinet 150 . For example, referring to FIG. 2 , the compressor is hidden from view by the heat pump unit 230 and the blowing unit 220, but the compressor is located on the right side (located closer to the right side than the left side of the cabinet). can On the other hand, the supporter part 265 and the steam unit 250 may be located on the left side (closer to the left side of the cabinet than the right side).

In addition, the inlet duct 221 includes an inlet duct inlet 2213 that communicates with the air intake port 1013 provided on the first chamber bottom surface 101 to suck air from the first chamber 100. can do. In addition, the inlet duct inlet 2213 may form an inclined passage. This means that the condensed water generated in the first chamber 100 and the door 800 passes through the inlet duct inlet 2213 through which the first chamber bottom surface 101 communicates, passes through the inclined flow path, and flows to the inner lower part of the inlet duct 221. This is for easy movement to the provided sump (not shown).

An inlet duct 221 may be located in front of the blowing fan, and a steam unit 250 and a heat pump unit 230 may be disposed behind the blowing fan. Also, the heat pump unit 230 may be supported by the supporter part 265 . The supporter part 265 may be coupled to the base part 210 forming the bottom of the second chamber 200 . Therefore, the supporter part 265 forms a predetermined spaced distance between the base part 210 and the heat pump unit 230, and between the supporter part 265 and the base part 210 A predetermined accommodating area S may be formed.

The steam unit 250 is located in the accommodating area (S) and can be combined with the supporter part 265 in the accommodating area (S). In addition, the steam unit 250 may be spaced apart from the base part 210 and coupled to the supporter part 265 .

Unlike that shown in FIG. 2 , the blower unit 220 may be provided inside the duct housing of the heat pump unit 230 to circulate air in the first chamber 100 . Alternatively, it may be installed between the air outlet 2312 and the second heat exchanger (or condenser).

In the heat pump unit 230, condensed water may be generated through heat exchange between the first heat exchanger (or evaporator) and the sucked air. The condensed water generated in the heat pump unit 230 may be discharged to the drain tank 330 by moving to a sump (not shown) through a lower surface of the heat pump unit 230, specifically, a bottom surface of a duct housing. .

Air and/or steam supplied by the heat pump unit 230 and the steam unit 250 may be applied to clothes stored in the first chamber 100 to affect physical or chemical properties of the clothes. For example, the tissue structure of clothing is relaxed by hot air or steam, and wrinkles are smoothed out, and odor molecules embedded in clothing react with steam to remove unpleasant odors. In addition, the hot air and/or steam supplied by the heat pump unit 230 and the steam unit 250 can sterilize bacteria parasitic on clothes.

FIG. 3 is an example of the clothes support part 600, and FIG. 4 is an exploded view of the clothes support part 600. The clothes support part 600 includes a hanger 610 for supporting clothes hung on the hanger H, and

hanger support parts

621 and 622 for supporting both ends of the hanger 610. The hanger supports 621 and 622 may be provided above the first chamber 100, and both ends of the hanger 610 may be connected to the hanger supports 621 and 622.

Therefore, in the laundry treatment apparatus 1000 according to the present disclosure, since the stored clothes are placed on the hanger, a superior effect can be expected in terms of refreshing and drying efficiency compared to the conventional laundry treatment apparatus.

On the other hand, the clothes support part 600 is for converting the hanger 610, the drive part 650 including the motor 651, and the rotational motion provided by the motor 651 into the linear reciprocating motion of the hanger 610. A power conversion unit 680 may be included. In addition, the clothing support unit 600 may further include a power transmission unit for transmitting power provided from the motor 651 to the power conversion unit 680 and a support member 640 for supporting the driving unit 650. can

The power transmission unit includes a main pulley 655 provided in the motor 651, a driven pulley 657 connected to the main pulley 655 and a belt 656, and a rotating member coupled to the center of the driven pulley 657. (683).

The power converter 680 may include a guide member 684 orthogonal to the direction in which the hanger extends. For example, if the hanger 610 is provided in the width direction of the cabinet 150, the guide member 684 may further include a guide groove or a guide hole extending along the front-back direction of the cabinet.

In addition, the power converter 680 includes a connecting member 681 inserted into a guide groove or a guide hole provided in the guide member 684, a coupling member for coupling the connecting member 681 and the rotating member 683 ( 682) may be provided. Since the connection member 681 is spaced apart from the rotation member 683 by the coupling member 682, the rotation member 683 rotates so that the connection member 681 moves along the rotation member 683. It will be spaced a certain distance from and will make a circular motion with a certain radius.

The connection member 681 and the coupling member 682 are not directly coupled to the rotation member 683, but may be coupled to the rotation member 683 through a shaft coupling part (not shown).

The clothing supporting part 600 may further include a bearing housing 690 for supporting rotation of the rotating member 683 between the shaft coupling part and the driven pulley 657 . In addition, the clothing support unit 600 may further include a protective cover 685 covering at least a portion of the power conversion unit 680 to prevent the power conversion unit 680 from being exposed to the outside for aesthetics. there is.

The protective cover 685 is positioned between the hanger 610 and the upper surface of the first chamber 100 to prevent the driving unit 650 and the power conversion unit 680 from being exposed to a user. .

On the other hand, the guide groove or guide hole of the guide member 684 provided in the hanger 610 is provided to be orthogonal to the longitudinal direction of the hanger 610, and its length is greater than the diameter of the rotational trajectory of the connecting member 681. provided for longer Accordingly, the guide member 684 will make a linear motion in the horizontal direction even if the connecting member 681 does a circular motion.

Accordingly, the hanger 610 coupled to the guide member 684 may perform reciprocating and linear motion in the horizontal direction.

Referring to FIG. 4 , the hanger 610 is provided in a bar shape, and the hanger 610 further includes a protrusion (not shown) protruding from the hanger 610 to support the guide member 684. can do. At least one hanger groove 611 may be positioned between the protrusions.

The support member 640 may be provided in the shape of a frame. The support member 640 may be positioned between an upper surface of the first chamber 100 and an upper surface of the cabinet 150 . Preferably, the support member 640 is provided between the first chamber 100 and the cabinet 150 and is coupled to the first chamber 100 and the cabinet 150, and the first chamber 100 And it may be coupled to a frame (not shown) supporting the cabinet 150 . This is to minimize vibration transmitted through the driving unit 650 .

Both ends of the support member 640 may be bent one or more times so that a surface supporting the motor 651 is located close to the upper surface of the first chamber. As the surface supporting the motor 651 is located below the surface coupled to the frame, the motor 651 may be located in a predetermined accommodation space formed by the support member 640 . Since the motor 651 is located in the accommodating space, the support member 640 supports the motor 651 and prevents damage to the motor 651 due to deformation of the cabinet 150 .

5 is another example of the driving unit 750 provided in the clothing support unit 600. 6 is an exploded view of the driving unit. Since the driving unit 650 described with reference to FIGS. 3 and 4 simply converts the rotation of the motor 651 through the power conversion unit 680, the amplitude of the hanger 610 does not change even if the rotational speed of the motor changes. Therefore, there is a problem in that the amplitude of the hanger 610 is uniformly the same regardless of the material of the clothes placed inside the first chamber 100 . Unlike this, FIG. 5 shows a driving unit 750 capable of changing the amplitude of the hanger 610 according to the rotational speed of the motor.

In the present specification, the amplitude of the hanger 610 means the maximum distance from the initial position when the hanger 610 moves in the width direction (or movement direction (+X, -X)) of the cabinet from the initial position. The number of oscillations of the hanger 610 means the number of reciprocations until the hanger 610 returns to the initial position after reciprocating once in the motion direction from the initial position for a predetermined time. Similarly, the number of rounds per second (Hz) or the number of rounds per minute (RPM) can be used as a unit. In this specification, unless otherwise specified, RPM means the number of reciprocations per minute of the hanger 610, and amplitude also means the amplitude of the hanger 610.

In addition, the time taken for one round trip of the hanger 610 can be expressed as a period, which can generally be expressed as a reciprocal number of a frequency.

Referring to FIG. 5 , the drive unit 750 may cause a reciprocating motion (vibration motion) of the hanger 610 (see FIG. 3 ). The driving unit 750 may be connected to the hanger 610 and transmit vibration of the driving unit 750 to the hanger 610 .

That is, the hanger 610 can reciprocate while hanging from the upper part of the first chamber 100 by the hanger support part 620 (see FIG. 3). Since FIG. 5 is an example in which only the driving unit 750 of the clothes support unit 600 is changed, the hanger 610 and the hanger support unit 620 may be the same.

In addition, the protective cover 685 described in FIG. 3 and the guide member 684 coupled to the hanger 610 may also have the same shape.

3 and 5 show that the hanger 610 extends in the width direction (X/−X direction) of the cabinet. However, this is only an example, and the hanger 610 may extend in the front-back direction (Y/-Y direction) of the cabinet and perform reciprocating linear motion along the front-back direction of the cabinet.

The driving unit 750 includes a power conversion unit 780 connected to the hanger 610 . In particular, as described above, the power converter 780 may include a guide member 684 (see FIG. 4 ) coupled to the hanger 610 to guide the reciprocating motion of the hanger 610 . In addition, the clothing support part 600 may include a protective cover 685 for protecting the power conversion part 780 .

Referring to FIGS. 5 and 6 , the driving unit elastic member 735 may be elastically deformed or elastically restored when the driving unit 750 rotates around the central axis Oc. The driving unit elastic member 735 may be elastically deformed or elastically restored when the vibrating

bodies

731, 732, 733, and 758 rotate about the central axis Oc (see FIG. 6).

The driving unit elastic member 735 may limit the driving unit 750 to vibrate within a predetermined angular range. Specifically, the elastic force of the elastic member 735 of the driving part and the centrifugal force of the first eccentric part (7314.7315) and the second eccentric part (7324.7325) determine the vibration pattern (amplitude and frequency) of the driving part 750. can This is because the driving unit 750 can implement 2nd order harmonic oscillation determined by a mass, a spring, and a damper.

The vibration pattern of the driving unit 750 may be determined by the amplitude of the driving unit 750 and the frequency of the driving unit 750 . The frequency of vibration of the driving unit 750 is a reciprocating cycle in which the driving unit rotates in the first rotational direction from the initial position for a predetermined time, rotates in the second rotational direction opposite to the first rotational direction, and then returns to the initial position. means number of times. As a unit, the number of round trips per second (Hz) or the number of round trips per minute (RPM) is often used. The amplitude of the driving unit 750 may refer to a predetermined angle at which the driving unit 750 rotates.

The vibration pattern of the driving unit 750 is changed into a reciprocating motion of the hanger 610 by the power conversion unit 780, and eventually the vibration pattern of the driving unit 750 determines the amplitude and frequency of the hanger 610. It will be. The amplitude of the hanger 610 means the maximum distance from the initial position when the hanger 610 moves in the movement directions (+X, -X) from the initial position.

One end of the driving unit elastic member 735 may be fixed to the

vibration bodies

731 , 732 , 733 , and 758 and the other end may be fixed to the support member 770 . The driving unit elastic member 735 may include a spring or the like.

The drive unit 750 supports a motor 751 generating rotational force and the motor 751, and alternately rotates in a first rotational direction and a second rotational direction opposite to the first rotational direction by rotation of the motor. The vibrating

bodies

731, 732, 733, and 758 and the

vibration bodies

731, 732, 733, and 758 rotate in unison, and are connected to the hanger 610 so that the

vibration bodies

731, 732, 733, 758) may include a power converter 780 that converts the vibration of the hanger 610 to reciprocate along a predetermined movement direction.

The support member 770 may rotatably support the

vibration bodies

731 , 732 , 733 , and 758 . Also, the

vibration bodies

731, 732, 733, and 758 may be rotatably provided only within a predetermined angular range. For example, the support member 770 is a limiter that can come into contact with the

vibration bodies

731, 732, 733, and 758 to limit the rotation range of the

vibration bodies

731, 732, 733, and 758. not shown) may be included. Unlike this, without a separate limit (not shown), as the

vibration bodies

731, 732, 733, and 758 further rotate, the elastic force of the driving unit elastic member 735 increases, so that the

vibration body

731, 732, 733, 758) may limit the rotation range.

Referring to FIG. 6, the

vibration bodies

731, 732, 733, and 758 are connected to the motor 751 and are eccentric with respect to a first rotation axis Ow1 parallel to the motor rotation axis (or central axis Oc). The first eccentric part (7314, 7315) in which the weight rotates is connected to the motor 751, and the first rotation axis Ow1 is connected to the rotation axis 7512 of the motor along the width direction of the cabinet 10. It may further include a second eccentric portion (7324, 7325) located in the opposite direction of the rotation axis 7512 of the motor and rotating the eccentric weight based on the second rotation axis Ow2 parallel to the rotation axis 7512 of the motor.

The

vibration bodies

731, 732, 733, and 758 rotatably support the motor 751, the first

eccentric parts

7314 and 7315, and the second

eccentric parts

7324 and 7325, and The eccentric part (7314. 7315) and the second eccentric part (7324. 7325) rotate according to the rotation of the motor 751, respectively, to move the vibration body (731, 732, 733, 758) in the first rotational direction and It can vibrate alternately in a second rotation direction opposite to the first rotation direction.

The

vibration bodies

731 , 732 , 733 , and 758 may support the motor 751 . The vibration body (731, 732, 733, 758) and the power conversion unit 780 may be coupled to rotate integrally with each other. The

vibration bodies

731, 732, 733, and 758 may support

weight shafts

7318 and 7328.

In addition, the

vibration bodies

731, 732, 733, and 758 may support the first

eccentric parts

7314 and 7315 and the second

eccentric parts

7324 and 7325. The vibrating

bodies

731, 732, 733, and 758 may accommodate first

eccentric parts

7314 and 7315 and second

eccentric parts

7324 and 7325 therein.

The

vibration bodies

731, 732, 733, and 758 include a vibration base 758 supporting the motor 751, the first

eccentric parts

7314 and 7315, and the second

eccentric parts

7324 and 7325;

Vibration cases

731 and 732 may be combined with the vibration base 758 to form spaces accommodating the first

eccentric parts

7314 and 7315 and the second

eccentric parts

7324 and 7325. . In addition, the

vibration bodies

731, 732, 733, and 758 may further include a connection arm 733 that connects the vibration cases and supports them to rotate integrally.

The driving part 750 may include a first

eccentric part

7314, 7315 which rotates so that the weight is eccentric about a predetermined first rotational shaft Ow1 spaced apart from the central axis Oc. The first

eccentric parts

7314 and 7315 may rotate with their weight eccentric about the first rotation shaft Ow1. The driving unit 750 may include second

eccentric units

7324 and 7325 that rotate so that the weight is eccentric around a predetermined second rotational shaft Ow2 spaced apart from the central axis Oc. The second

eccentric parts

7324 and 7325 may rotate with their weight eccentric about the second rotation shaft Ow2.

The first rotation shaft Ow1 and the second rotation shaft Ow2 may be the same as or different from each other. The second rotation axis Ow2 may be the same as or parallel to the first rotation axis Ow1. 5 and 6 show an example in which the first rotation axis Ow1 and the second rotation axis Ow2 are parallel to each other.

Referring to FIG. 5 , the support member 770 may include a support base plate 771 disposed below the

vibration bodies

731 , 732 , 733 , and 758 . The support base plate 771 may be formed in a horizontal plate shape. The support base plate 771 has a support base plate through-hole (not shown) formed on the central axis Oc, and a rotating member 783 may be inserted and passed through the support base plate through-hole. A bearing (not shown) is disposed in the through hole (not shown) of the support base plate, so that the rotating member 783 can be rotatably supported.

The support member 770 includes a support upper plate 772 disposed above the vibrating

bodies

731, 732, 733, and 758 and a support extension connecting the support upper plate 772 and the support base plate 771. A unit 773 may be further included.

The support upper plate 772 may be formed in a horizontal plate shape. The support member 770 may include a central axis portion (not shown) protruding from the support upper plate 772 along the central axis Oc. The central shaft portion (not shown) may protrude downward from the lower surface of the upper support plate 772 . A lower end of the central shaft portion (not shown) may be inserted into a rotation shaft connection groove (not shown) formed through the connection box. The central shaft portion (not shown) may rotatably support the

vibration bodies

731, 732, 733, and 758 through bearings (not shown).

The support extension part 773 extends in the height direction of the cabinet, and may couple the support upper plate 772 and the support base plate 771 to each other. A pair of support extensions 773 may be disposed at both ends of the support upper plate 772 .

The support member 770 may include an elastic member seating portion (not shown) to which one end of the driving unit elastic member 735 is engaged.

The power conversion unit 780 may be coupled to the

vibration bodies

731 , 732 , 733 , and 758 to rotate together with the

vibration bodies

731 , 732 , 733 , and 758 . The power converter 780 may be spaced apart from the central axis Oc by a predetermined distance and connected to the hanger 610 through a guide member 684 .

Therefore, the power conversion unit 780 may transfer the alternating rotational motion of the vibrating

bodies

731 , 732 , 733 , and 758 to the hanger 610 . That is, the power conversion unit 780 will transmit the vibration of the

vibration bodies

731, 732, 733, and 758 to the hanger 610 on the connecting shaft Oh.

The power converter 780 may include a rotating member 783 protruding along the connecting shaft Oh. The rotating member 783 may protrude parallel to the central axis Oc toward the hanger 610 from the vibrating

bodies

731 , 732 , 733 , and 758 . The connection member 781 may protrude along the connection axis Oh. Also, the rotation member 783 and the connection member 781 may be connected by a coupling member 782 .

One end of the connection member 781 may be inserted into the guide member 684 . As a result, the power conversion unit 780 converts the vibration motion of the drive unit 610 to reciprocate the hanger 610 in a preset motion direction or vibration direction.

6 is an exploded view of the driving unit 750. As described above, the driving unit 750 supports the motor 751 and the motor 751 and vibrates alternately in clockwise and counterclockwise directions by the rotation of the motor 751 (731, 732, 733, 758) and the vibration body (731, 732, 733, 758) rotate simultaneously, and are connected to the hanger 610 to vibrate the vibration body (731, 732, 733, 758). A power conversion unit 780 may be included to convert the hanger 610 to reciprocate along the set movement direction.

The driving unit 750 may further include a driving unit elastic member 735 so that the amplitude and frequency of the hanger 610 can be varied by using the characteristic of harmonic excitation.

The vibrating

bodies

731, 732, 733, and 758 are connected to the motor 751, and the eccentric weight rotates on the basis of the first rotation axis Ow1 parallel to the motor rotation axis (or central axis Oc). The eccentric part (7314, 7315) is connected to the motor 751 and is located in a direction opposite to the first rotation shaft Ow1 with respect to the rotation shaft 7512 of the motor along the width direction of the cabinet 10, , A second eccentric portion (7324, 7325) in which an eccentric weight rotates based on a second rotation axis (Ow2) parallel to the rotation axis (7512) of the motor may be further included.

The

vibration bodies

731, 732, 733, and 758 rotatably support the motor 751, the first

eccentric parts

7314 and 7315, and the second

eccentric parts

The first

eccentric parts

7314 and 7315 may be supported by the

vibration bodies

731 , 732 , 733 , and 758 . The first

eccentric parts

7314 and 7315 may be rotatably supported by the first weight shaft 7318 disposed on the vibrating

bodies

731 , 732 , 733 , and 758 . The second

eccentric parts

7324 and 7325 are supported by

vibration bodies

731, 732, 733 and 758. The second

eccentric parts

7324 and 7325 may be rotatably supported by the second weight shaft 7328 disposed on the vibrating

bodies

731 , 732 , 733 , and 758 .

The centers of gravity of the first eccentric part (7314.7315) and the second eccentric part (7324.7325) have a phase difference of 180 degrees (degree, degree) with respect to each other, and the first eccentric part ( 7314. 7315) and the second eccentric part (7324. 7325) will rotate in the same direction. That is, when the first eccentric part (7314.7315) rotates in the first rotational direction, the second eccentric part (7324.7325) also rotates in the first rotational direction, and the first eccentric part (7314.7315) When is rotated in a second rotational direction opposite to the first rotational direction, the second eccentric portion (7324, 7325) will also rotate in the second rotational direction.

The vibrating

bodies

731 , 732 , 733 , and 758 may alternately rotate in both directions by the rotation transfer unit 745 . The rotation transmission part 745 is provided on both sides of the gear-shaped center transmission part 7453 and the center transmission part 7453, and the first eccentric part 7314.7315 and the second eccentric part 7324.7325 ) may include a gear-shaped first transmission part 7451 and a second transmission part 7452 for rotating in the same direction.

Therefore, the centers of gravity of the first eccentric part (7314. 7315) and the second eccentric part (7324. 7325) have a phase difference of 180 degrees (°) with respect to each other, and the first eccentric part (7314. 7315) and the rotation direction of the second eccentric part (7324.7325) may be the same.

Since the center transmission unit 7453, the first transmission unit 7451, and the second transmission unit 7452 rotate in meshing gears, the rotation direction of the center transmission unit 7453 determines the first transmission unit 7453. The rotating direction of the part 7451 and the second transmission part 7452 will rotate in the same direction.

Unlike this, the center transmission part 7453, the first rotation part 7315, and the second rotation part 7325 are gear type or pulley type without the first transmission part 7451 and the second transmission part 7452. can also be directly connected to

The first

eccentric parts

7314 and 7315 may include a first rotation part 7315 that contacts the rotation transfer part 745 and rotates about the first rotation shaft Ow1. The first rotation unit 7315 can receive the rotational force of the rotation transfer unit 745, and is located on the outer circumferential surface of the first rotation unit and has a gear-shaped first rotation provided to engage with the first transmission unit 7451. This can be done through the ring gear 73151. The first rotating part 6371 may be formed in a cylindrical shape with the first rotating shaft Ow1 as a center.

The first

eccentric parts

7314 and 7315 may include a first weight member 7314 fixed to the first rotating part 7315. remind. The first weight member 7314 may rotate integrally with the first rotation unit 7315. The first weight member 7314 may be formed of a material having a higher specific gravity than that of the first rotating part 6371. This is to induce the eccentricity of the weight of the first

eccentric parts

7314 and 7315 by placing the first weight member 7314 on one side of the first rotating shaft Ow1.

The first weight member 7314 may be formed in a columnar shape with a semicircular bottom as a whole. The first weight member 7314 may be disposed in an angular range of 180 degrees or less with respect to the first rotational axis Ow1 at any time during rotation of the first

eccentric part

7314 or 7315.

The second

eccentric parts

7324 and 7325 may include a second rotation part 7325 that contacts the rotation transmission part 745 and rotates about the second rotation shaft Ow2. The second rotation unit 7325 may receive the rotational force of the rotation transmission unit 745, and is positioned on an outer circumferential surface of the second rotation unit 7325 and has a gear shape provided to engage with the second transmission unit 7452. can be achieved through the second rotational ring gear 73251 of The second rotating part 7325 may be formed in a cylindrical shape with the second rotating shaft Ow2 as a center.

The second

eccentric parts

7324 and 7325 include a second weight member 7324 fixed to the second rotating part 7325. The second weight member 7324 rotates integrally with the second rotating part 7325. The second weight member 7324 is made of a material having a higher specific gravity than the second rotating part 7325. This is to induce the eccentricity of the weight of the second

eccentric parts

7324 and 7325 by placing the second weight member 7324 on one side around the second rotating shaft Ow2.

The second weight member 7324 may be formed in a columnar shape with a semicircular bottom as a whole. The second weight member 7324 may be disposed in an angular range of 180 degrees or less with respect to the second rotational axis Ow2 at any time point during rotation of the second

eccentric part

7324 or 7325.

The first rotating part 7315 and the second rotating part 7325 may be formed to have the same weight as long as an error in the manufacturing process is allowed. Similarly, the first weight member 7314 and the second weight member 7324 may be formed to have the same weight within an allowable error.

The driving part 750 may include a motor 751 generating rotational force of the first

eccentric parts

7314 and 7315 and the second

eccentric parts

7324 and 7325. The motor 751 may be disposed in the

vibration bodies

731, 732, 733, and 758. That is, the motor 751 may be located between the first

eccentric parts

7314 and 7315 and the first

eccentric parts

7314 and 7315. The motor 751 includes a rotating shaft 7512 of a rotating motor. For example, the motor 751 may include a rotor (rotor) and a stator (stator), and a rotating shaft 7512 of the motor may rotate integrally with the rotor. The rotation shaft 7512 of the motor will transmit rotational force to the rotation transfer unit 745 .

That is, the drive unit 750 may include a rotation transmission unit 745 that transmits the rotational force of the motor 751 to the first

eccentric units

7314 and 7315 and the second

eccentric units

7324 and 7325, respectively. The rotation transfer unit 745 may include gears, belts, and/or pulleys.

The driving unit 750 may include a weight shaft 638 providing functions of the first and second rotation shafts Ow1 and Ow2. The weight shaft 638 may include a first weight shaft 7318 forming the first rotation axis Ow1 and a second weight shaft 7328 forming the second rotation axis Ow2. The

weight shafts

7318 and 7328 may be fixed to the vibrating

bodies

731 , 732 , 733 and 758 . The

weight shafts

7318 and 7328 are disposed on the first rotation shaft Ow1 and/or the second rotation shaft Ow2, and the

weight shafts

7318 and 7328 include first

eccentric parts

7314 and 7315 and/or It may be disposed passing through the second eccentric part (7324, 7325).

The

vibration bodies

731, 732, 733, and 758 may further include a vibration base 758 forming an outer shape of the lower portion. Lower ends of the

weight shafts

7318 and 7328 may be fixed to the vibration base 758. Also, the first

eccentric parts

7314 and 7315 and the second

eccentric parts

7324 and 7325 may be accommodated between the

vibration cases

731 and 732 and the vibration base 758. A first eccentric part (7314, 7315) may be positioned between the first vibration case 731 and the vibration base 758, and between the first vibration case 732 and the vibration base 758, a first eccentric part may be positioned. Two eccentric parts (7324, 7325) may be located.

The

vibration bodies

731, 732, 733, and 758 may include

vibration cases

731 and 732 accommodating the first

eccentric parts

7314 and 7315 and the second

eccentric parts

7324 and 7325 therein. The

vibration cases

731 and 732 may form an outer shape of the upper portion of the driving unit 750 . The motor 751 may also be accommodated inside the

vibration cases

731 and 732 .

Upper ends of the

weight shafts

7318 and 7328 may be fixed to the

vibration cases

731 and 732 . The

vibration cases

731 and 732 include a first vibration case 731 covering the upper part of the first eccentric part 7314. 7315 and a second vibration case covering the upper part of the second eccentric part 7324. 7325 ( 732) may be included. An upper end of the first weight shaft 7318 may be fixed to the first vibration case 731 . An upper end of the second weight shaft 7328 may be fixed to the second vibration case 732 . A motor case 7511 may be positioned between the second vibration case 732 and the first vibration case 712 .

The

vibration bodies

weight shafts

7318 and 7328 may be fixed to the vibration base 758. Also, the first

eccentric parts

7314 and 7315 and the second

eccentric parts

7324 and 7325 may be accommodated between the

vibration cases

The

vibration bodies

731 , 732 , 733 , and 758 may include a motor support part (not shown) supporting the motor 751 . The motor support unit may support one surface of the motor 52 positioned in a direction in which the rotation shaft 7512 of the motor protrudes. The motor support unit may be deployed between the first vibration case 731 and the first vibration case 732 . The rotation shaft 7512 of the motor may be disposed passing through the motor support unit.

The motor support part may be fixed to the

vibration cases

731 and 732 . Alternatively, it may be integrally formed with the

vibration cases

731 and 732.

The vibrating

bodies

731 , 732 , 733 , and 758 may include a connection arm 633 to which one end of the driving unit elastic member 735 is hooked.

The connection arm 633 may be fixed to upper ends of the first vibration case 731 and the first vibration case 732 . The connection arm 633 may be disposed crossing the central axis Oc. The central axis portion (not shown) may be disposed while penetrating the connection arm 633 .

The motor 751 may be disposed on the central axis Oc. The motor 52 may be located between the first eccentric part (7314.7315) and the second eccentric part (7324.7325). The motor 52 may include a rotation shaft 7512 of the motor disposed on the central axis Oc. The rotation shaft 7512 of the motor protrudes downward and is connected to the rotation transfer unit 745. Through this, it is possible to prevent the phenomenon of being eccentric to one side by the weight of the motor 52 about the central axis Oc.

The first weight shaft 7318 and the second weight shaft 7328 may be formed as separate members. The first weight shaft 7318 may be disposed on the first rotation shaft Ow1, and the second weight shaft 7328 may be disposed on the second rotation shaft Ow2.

The first weight shaft 7318 and the second weight shaft 7328 may be located in opposite directions about the central axis Oc. Accordingly, the first weight shaft 7318 and the second weight shaft 7328 may be disposed symmetrically with respect to the mandrel Oc. The first weight shaft 7318 and the second weight shaft 7328 may be fixed to the

vibration bodies

731 , 732 , 733 , and 758 .

The first weight shaft 7318 may pass through the first rotating part 7315 and the second weight shaft 7328 may pass through the second rotating part 7325.

The first

eccentric parts

7314 and 7315 and the second

eccentric parts

7324 and 7325 may be located in opposite directions about the central axis Oc. That is, the first

eccentric parts

7314 and 7315 and the second

eccentric parts

7324 and 7325 may be disposed to face each other horizontally. The first

eccentric parts

7314 and 7315 may be disposed on one side (+X) of the vibration directions (+X and -X) and the second

eccentric parts

7324 and 7325 may be disposed on the other side (-X).

The first

eccentric parts

7314 and 7315 may include the first weight member 7314 and the first rotating part 7315. The first rotating part 7315 may include a central part (not shown) rotatably contacting the first weight shaft 7318 . The first weight shaft 7318 is disposed penetrating the center. The central portion extends along the first rotation axis Ow1. The central part may form a hole in the center along the first rotation axis Ow1. That is, the central portion may be formed in a pipe shape.

The first rotating part 7315 may include a peripheral part (not shown) seated in the central part. The central portion may be disposed penetrating the peripheral portion. The peripheral portion may be formed in a cylindrical shape extending along the first rotation axis Ow1 as a whole. A weight seating groove 6371c in which the first weight member 7314 is seated may be formed in the peripheral portion. The upper side of the weight seating groove 6371c may be formed to be open. A side surface of the weight seating groove 6371c in a centrifugal direction based on the first rotational axis Ow1 may be blocked. The peripheral portion and the first weight member 7314 may rotate integrally.

The

core parts

7324 and 7325 may include a second weight member 7324 and a second rotating part 7325. The second rotating part 7325 may include a center part 6372a rotatably contacting the second weight shaft 7328. The second weight shaft 7328 may be disposed passing through the central portion 6372a. The central portion 6372a may extend along the second rotation axis Ow2. The central part 6372a may have a hole formed at the center along the second rotation axis Ow2. That is, the central portion 6372a may be formed in a pipe shape.

The second rotating part 7325 may include a peripheral part 6372b seated on the central part 6372a. The central portion 6372a may be disposed passing through the peripheral portion 6372b. The peripheral portion 6372b may be formed in a cylindrical shape extending along the second rotation axis Ow2 as a whole. A weight seating groove 6372c in which the second weight member 7324 is seated may be formed in the peripheral portion 6372b. The upper side of the weight seating groove 6372c may be formed to be open. A side surface of the weight seating groove 6372c in a centrifugal direction based on the second rotational axis Ow2 may be blocked. The peripheral portion 6372b and the second weight member 7324 may rotate integrally.

The power converter 780 may include a rotating member 783 fixed to the

vibration bodies

731 , 732 , 733 , and 758 . The upper end of the rotating member 783 may be fixed to the lower part of the

vibration bodies

731, 732, 733, and 758. Accordingly, the rotation member 783 rotates integrally with the

vibration bodies

731, 732, 733, and 758.

The rotating member 783 may be disposed passing through the support base plate 771 along the central axis Oc. A bearing (not shown) may be disposed between the rotating member 783 and the support base plate 771 . Thus, the rotating member 783 can be rotatably supported by the support base plate 771 . The rotating member 783 may transfer the rotational force of the vibrating

bodies

731 , 732 , 733 , and 758 to the hanger 610 through the coupling member 782 and the connecting member 781 .

The coupling member 782 may rotate integrally with the rotating member 783 . A connection member 781 formed apart from the rotation member 783 may be connected to one end of the coupling member 782 . The connection member 781 may be inserted into the guide member 684 to convert vibration of the

vibration bodies

731 , 732 , 733 , and 758 into reciprocating motion of the hanger 610 .

The movement direction or vibration direction (+X, -X) of the hanger 610 used herein refers to a predetermined direction for the hanger 610 to reciprocate, and in this embodiment, the left and right directions are the vibration direction (+ X, -X) is shown.

In addition, the central axis (Oc), the first rotation axis (Ow1), the second rotation axis (Ow2), and the connection axis (Oh) mentioned throughout this description are virtual axes for explaining the present disclosure, and are actual parts of the device. does not refer to

The central axis Oc means an imaginary straight line serving as a rotational center of the driving unit 750 . The central axis Oc is an imaginary straight line that maintains a fixed position relative to the frame 10 . The central axis Oc may extend along the height direction of the cabinet 10 .

The first rotating shaft Ow1 means an imaginary straight line serving as the center of rotation of the first

eccentric parts

7314 and 7315. The first rotating shaft Ow1 maintains a fixed position with respect to the

vibration bodies

731, 732, 733, and 758. That is, even if the

vibration bodies

731, 732, 733, and 758 move, the first rotating shaft Ow1 moves integrally with the

vibration bodies

731, 732, 733, and 758, and the

vibration bodies

731, 732, and 733 , 758). The first rotation shaft Ow1 may extend along the height direction of the cabinet 10 .

In order to provide the function of the first rotation shaft Ow1, a first weight shaft 7318 disposed on the first rotation shaft Ow1 may be provided as in the present embodiment. In order to provide the function of the first rotation shaft Ow1, as another embodiment, one of the first

eccentric parts

7314 and 7315 and the vibrating

bodies

731, 732, 733, and 758 along the first rotation shaft Ow1. A protruding protrusion may be formed and a groove in which the protrusion rotatably engages may be formed on the other side.

The second rotation axis Ow2 means an imaginary straight line serving as the center of rotation of the second

eccentric parts

7324 and 7325. The second rotating shaft Ow2 maintains a fixed position with respect to the

vibration bodies

731, 732, 733, and 758. That is, even if the

vibration bodies

731, 732, 733, and 758 move, the second rotation shaft Ow2 moves integrally with the

vibration bodies

731, 732, 733, and 758, and the

vibration bodies

731, 732, 733, and 758 ) maintains its position relative to The second rotation shaft Ow2 may extend along the height direction of the cabinet 10 .

In order to provide the function of the second rotation shaft Ow2, a second weight shaft 7328 disposed on the second rotation shaft Ow2 may be provided as in the present embodiment, but in another embodiment, the second eccentric unit (7324. 7325) and the vibrating body (731, 732, 733, 758), a projection protruding along the second rotation shaft (Ow2) is formed, and a groove in which the projection is rotatably engaged is formed in the other one. may be

In this way, when the

vibration bodies

731, 732, 733, and 758 alternately change rotational directions by the motor 751 and rotate along an arc, the connecting member 771 also alternately rotates. It will change direction and rotate. At this time, the rotational motion is changed into the rotational motion of the hanger 610 by the guide member 684 .

In the driving unit 650 shown in FIG. 3 , the reciprocating period or the oscillation period of the hanger may be changed according to the change in the rotational speed of the motor, but the amplitude of the hanger may not be changed. On the other hand, in the drive unit 750 shown in FIG. 5, the amplitude and vibration period (or reciprocation period) of the hanger may be changed according to the change in the rotational speed of the motor, which is harmonious in terms of dynamic analysis of the drive unit 650. This is because it represents motion (Harmonic Oscillation). Therefore, it can be divided into a region below the resonance frequency (or resonance period) and a region above it according to the rotational speed of the motor.

As described above, a mechanism that converts rotational motion into reciprocating linear motion is called a scotch yoke mechanism. In the scotch yoke mechanism, the rotation of the motor is constantly rotated, but the hanger 610 is driven in a discontinuous manner by reciprocating linear motion. Discontinuous driving, that is, the direction of force or torque applied to the hanger 610 is changed, causing vibration of the cabinet.

Regardless of the shape of the

drive units

650 and 750, rotational motion is converted into reciprocating linear motion, so both of the two drive units mentioned above have the same problem.

7(a) to 7(d) illustrate how the scotch yoke mechanism is applied using the

power converters

680 and 780 provided in the laundry treatment apparatus 100 according to the present disclosure.

7(a) to 7(d) show a series of processes in which the connecting

members

681 and 781 are guided by the guide member 684. The guide member 684 may vertically cross the hanger 610 . In FIG. 7 , the guide member 684 is indicated by a groove or hole extending along the front and rear sides of the cabinet, and the hanger 610 is indicated by a bar perpendicular to the guide member 684 .

The connecting

members

681 and 781 inserted into the guide member 684 will make a circular motion with a predetermined radius as indicated by the rotation of the motor. Although FIG. 7 shows a state in which the connecting

members

681 and 781 rotate in a counterclockwise direction when viewed from above, they may be rotated in the opposite direction. Although the connecting member shown in FIG. 7 has been described with the connecting member 681 provided in the driving unit 650 described using FIG. 3, it alternates only the rotational direction with the driving unit 750 described using FIG. The principle can be applied in the same way.

FIG. 7( a ) shows a case in which the connecting

members

681 and 781 are positioned closest to the rear surface of the cabinet 150 . At this time, the hanger 610 may be located at an initial position (or a central position). That is, the hanger 610 may be located in the center of the first chamber 100 in the width direction without being biased on either side of both side surfaces of the cabinet 150 .

Then, the connection member 681 will rotate upward, and accordingly, the hanger 610 will move toward one side of the cabinet 150 . FIG. 7( b ) shows a state when the hanger 610 moves to one side of both sides of the cabinet 150 as much as possible through rotation of the connecting

members

681 and 781 . If the position at this time is called the first moving position (Z1), the position when the center of the hanger 610 is most inclined toward one side of the cabinet 150 based on the width direction of the hanger 610 may be referred to as the first movement position Z1.

7(c) shows a case in which the

connection members

681 and 781 are positioned closest to the inlet 120 through rotation. Unlike FIG. 7(a), the connecting

members

681 and 781 are located in opposite directions, but the center of the hanger 610 will be located at the same initial position (or central position). After that, the hanger 610 will move in the opposite direction through the rotation of the connecting

members

681 and 781 . That is, the hanger 610 will move toward the other side of the cabinet. 7(d) shows a position when the hanger 610 is closest to the other side of the cabinet 150. At this time, the position of the hanger 610 is referred to as a second moving position Z2.

The location of the hanger 610 may be described based on the center of the hanger 610 or both ends of the hanger 610 . That is, when both ends of the hanger 610 located inside the first chamber 100 are separated by the same distance from both sides of the first chamber 100, the hanger 610 is at the center position or the initial position. can be described as having In addition, the first moving position (Z1) is defined as a time when one end of the hanger 610 is closest to one of both side surfaces of the first chamber 100 located in the same direction as one end of the hanger 610. The second moving position (Z2) is a position when the other end of the hanger 610 is closest to the other side surface of the first chamber 100 located in the same direction as the other end of the hanger 610. can be defined

Although the

connection members

681 and 781 only rotate with a predetermined radius, the hanger 610 can reciprocate along one direction by the guide member 684 . Referring to FIG. 7 , considering that the hanger 610 extends along the width direction of the cabinet 150 and is disposed, the connecting

members

681 and 781 are of the cabinet 150. When approaching toward one side, the hanger 610 will also approach toward one side of the cabinet 150 .

When the connecting

members

681 and 781 pass the first moving position Z1, the connecting

members

681 and 781 move away from one side of the cabinet 150, and similarly, the hanger 610 also moves away. You will lose and move back towards the center position.

When the hanger 610 passes the central position, the connecting

members

681 and 781 move toward the other side of the cabinet 150, and similarly, the hanger 610 also moves toward the other side of the cabinet 150. It will move closer to the other side.

When the connecting

members

681 and 781 pass the second moving position Z2, the connecting

members

681 and 781 move away from the other side of the cabinet 150, and similarly the hanger 610 moves away from the other side. You will lose and move back towards the center position.

Based on both ends of the hanger 610, when the hanger 610 is located at the center position, the hanger 610 moves from one end of both ends of the hanger 610 to the first position or the second position. When positioned at , the distance to the end may be defined as the amplitude of the hanger 610 .

In addition, the time taken from the central position to return to the central position may be defined as a vibration cycle or a reciprocating cycle of the hanger.

When the movement of the hanger 610 is expressed as a graph against time, it can be expressed as shown in FIG. 8 .

FIG. 8 is a graph showing displacement, acceleration, and speed of a point of the hanger 610 versus time when the motor 751 rotates at a constant rotational speed. A, B, C, and D indicate the position of the hanger 610 corresponding to the position where the connecting

members

681 and 781 are located in FIGS. 7(a) to 7(d).

Since acceleration is the result of the second derivative of displacement with respect to time, the theoretical level of time lag between acceleration and displacement is 90 degree lead of velocity with respect to displacement, and acceleration is 90 degree lead with respect to velocity. ) becomes Therefore, displacement and acceleration theoretically show a characteristic of having a phase difference of 180 degrees. Of course, the acceleration of the hanger 610 may not have a perfect sinusoidal waveform shape because harmonic wave components are caused by factors of the shape (length/material) of the clothing. Even so, the physical component of the hanger 610 can be approximated in the form of a sine wave as shown in FIG. 8 .

In FIG. 7(a), when the connecting

members

681 and 781 are positioned at A, the hanger 610 is positioned at the center, so the relative displacement will be zero. Acceleration is 0, but velocity will have a maximum value when one direction (upward direction in FIG. 7) is taken as +.

In FIG. 7( b ), since the hanger 610 is located at the first position, the relative displacement value has the maximum value and the acceleration value has the minimum value, while the velocity will be zero. If FIGS. 7(c) and 7(d) are analyzed in the same way, the displacement, velocity, and acceleration of the hanger 610 will have a sinusoidal waveform as shown in FIG. 8 .

8, when the speed and acceleration direction of the hanger 610 do not coincide with each other, the hanger 610 rotates the connecting

members

681 and 781 and the motor connected to the connecting

members

681 and 781. can interfere On the other hand, when the speed and acceleration of the hanger 610 do not match, the hanger 610 assists the movement of the connecting

members

681 and 781.

Therefore, during one period in which the connecting

members

681 and 781 rotate one time, the change in acceleration also appears over one time.

Meanwhile, according to the rotational motion of the

drive units

650 and 750, the direction of movement and the direction of acceleration of the hanger are changed at the first position and the second position, which causes vibration of the laundry treatment apparatus 1000. element to do it. If the vibration of the laundry treatment apparatus 1000 is not reduced, this is related to the separation force, which is the ability to shake off fine dust from the clothes held on the hanger 610, thereby improving the performance of the laundry treatment apparatus 1000. To do this, it is necessary to control the speed or acceleration of the hanger.

One way to reduce the vibration of the cabinet 150 is to reduce the amplitude of the reciprocating motion of the hanger 610 or to reduce the number of reciprocating rotations (number of reciprocating movements per second) of the hanger 610, the motor 651, 751) to lower the RPM. However, since this is also related to the performance of the laundry treatment apparatus 1000, it may be an undesirable method.

According to the present disclosure, in order to maintain or improve the performance of the clothes handling apparatus 1000, specifically, the separation force of the hanger 610, and to reduce the vibration displacement of the cabinet 150, the speed of the motor is instantaneously varied. That is, according to the present disclosure, the vibration of the laundry treatment apparatus 1000 is reduced by operating at a variable speed according to the reciprocating cycle of the hanger 610 or the vibration cycle of the cabinet 150 instead of driving the motor at a preset speed. , To provide a control method for improving clothes processing capacity.

Various methods may be used to control the vibration of the entire system, such as the laundry treatment apparatus 1000, by controlling the speed of the

motors

651 and 751 in the vibration type load system such as the clothes support unit 600.

For example, according to Equation 2 above, signals that change sinusoidally, such as the speed of the

motors

651 and 751 and the current or torque value applied to the motors, may be added and injected. First, this signal must be interlocked with or synchronized with the vibration period of the laundry handling apparatus 1000 or the cabinet 150 (or the reciprocating period or vibration period of the hanger. Second, the magnitude of the added signal depends on the start and end times of the vibration). Third, the frequency of the signal added and injected should be the same as the vibration frequency of the laundry treatment device 1000 or the cabinet 150, and it would be desirable to control it to be related to the position of the hanger. Therefore, the vibration frequency based on the acceleration is the same as the vibration frequency of the clothes handling apparatus 1000 or the cabinet 150 (or the vibration frequency of the hanger 610 (the reciprocal of the vibration period)), and the vibration frequencies based on the displacement are also different. will match

As another example, the magnitude of the driving speed command applied at a constant speed in Equation 1 may be varied. By increasing or decreasing the constant speed, an effect similar to that of adding the control signal can be obtained.

To this end, the controller 270 selects a section in which the driving speed of the motor is maintained at a predetermined constant speed and a section in which the driving speed of the motor is maintained at a speed different from the constant speed according to the driving speed command during the reciprocating motion of the hanger 610. Including can reduce the vibration of the cabinet ().

In other words, the control method of the present disclosure relates to a method of reducing the vibration of the cabinet 150 by setting the variable degree of the driving speed command applied at the constant speed and the phase angle of the driving speed command.

9(a) shows a waveform of current according to a typical constant speed driving speed command. 9(b) shows optimized current waveforms obtained through instantaneous variable speed control of

motors

651 and 751 according to the control method of the present disclosure. The current waveform described in this specification has been described on the premise that it has a sinusoidal waveform for theoretical explanation.

The waveform of the current may be a current waveform of any one phase current among the currents applied to the motor. In this specification, unless otherwise noted, current may refer to a plurality of phase currents applied to the motor or any one of the plurality of phase currents. In general, three phase currents may be applied to the motor, and each phase current may have a phase difference of 120 degrees.

In this specification, any one phase current may refer to at least one phase current among a plurality of phase currents applied to the motor.

After the optimum size and optimum phase angle described below are obtained through one phase current, the same can be applied to other phase currents. Alternatively, the optimum size and optimum phase angle of each phase current may be simultaneously determined and applied. This is because the current waveform applied to each phase current is determined by the driving speed command.

FIG. 9( a ) shows a schematic diagram of phase currents flowing in an arbitrary phase flowing into the

motors

651 and 751 when controlled by the conventional constant speed driving technique. That is, the phase current will be applied to the

motors

651 and 751 with a constant magnitude of the driving speed command. Here, the driving speed command having a constant size means that the amplitude of the current waveform applied to the

motors

651 and 751 is constant. That is, it means that the amplitude of the phase current in the form of a sine wave is always constant as shown in FIG. 9(a).

Assuming that the phase current shown in FIG. 9(a) is phase A, the phase currents of phases B and C are defined as leading or lagging by a phase of 120 degrees, and this phase relationship will be reversed depending on the rotation direction.

The frequency of the phase current is the same as the frequency of the hanger 610 (the reciprocal number of the oscillation period), and the maximum value of each period will be controlled at a relatively similar level. To this end, the speed of the motor may be controlled based on the vibration period of the hanger 610 . In addition, the vibration period of the cabinet 150 or the laundry handling apparatus 1000 may be similar to or the same as the vibration period of the hanger 610 .

9(b) shows the current flowing in any one phase of the

motors

651 and 751 when the instantaneous variable speed operation (vibration reduction control method - variable drive speed, control signal injection technique) of the

motors

651 and 751 is performed. represents an example of At this time, the time between the arbitrary maximum point (a) and the adjacent maximum point (b) of the phase current cycle, that is, the period of the envelope, is the vibration period or reciprocation period of the hanger 610 and the vibration period of the cabinet 150 , or the vibration period of the laundry treatment apparatus 1000 should be matched to maximize the vibration reduction effect.

To this end, the control method of the present disclosure reduces vibration of the cabinet 150 by continuously changing the speed of the

motors

651 and 751 according to the reciprocating period of the hanger 610 or the vibration period of the cabinet 150 . However, specifically, unlike FIG. 9(b), vibration of the cabinet 150 is reduced by stepwise changing the driving speed command having a constant speed command size.

10 to 13 are examples of a control method according to the present disclosure. As described above, an object of the control method of the present disclosure is to change the size of each phase current applied to the

motors

651 and 751 step by step. That is, the control method of the present disclosure does not continuously change the magnitude or maximum amplitude of the phase current, but instead changes it in a stepwise manner so that the hair history of the hanger 610 and the laundry treatment apparatus 1000 or the cabinet 150 are reduced. is to reduce the vibration of

To this end, the laundry handling apparatus 1000 includes a cabinet 150, a first chamber 100 positioned inside the cabinet 150 to accommodate clothes, and a hanger provided inside the first chamber to hold the clothes. 610, including

motors

651 and 751, driving

units

650 and 750 for reciprocating the hanger 610 by rotational motion of the

motors

651 and 751 and driving the

motors

651 and 751 and a controller 270 generating a driving speed command for controlling speed and applying current to the

motors

651 and 751 according to the driving speed command. In addition, the control unit maintains the driving speed of the

motors

651 and 751 at a predetermined constant speed according to the driving speed command during the reciprocating motion of the hanger 610 and maintains a speed different from the constant speed. Vibration of the cabinet 150 may be reduced by including the section.

In other words, the control unit 270 controls the

motors

651 and 751 during a vibration period according to the vibration of the cabinet 150 due to the reciprocating motion of the hanger 610 or a reciprocating period according to the reciprocating motion of the hanger 610. Vibration of the cabinet 150 can be reduced by changing the driving speed of the

motors

651 and 751, including a section in which the driving speed of ) is maintained at a predetermined constant speed and a section in which the driving speed is maintained at a speed different from the constant speed. there is.

In addition, the control unit 270 maintains the driving speed of the

motors

651 and 751 at a predetermined constant speed according to the driving speed command during the reciprocating motion of the hanger 610, and at a speed different from the constant speed. The driving speed of the

motors

651 and 751 may be changed in a step-type manner, including a holding period.

The control unit 270 may change the driving speed of the

motors

651 and 751 from an arbitrary value in a stepwise manner during the reciprocating period or the oscillation period and then return to an arbitrary value.

And, the control unit 270 will repeatedly perform this change for every reciprocating period or every vibration period.

Through this, the control unit 270 may repeatedly increase or decrease the envelope of any one of the phase currents during the reciprocating motion of the hanger 610 .

At this time, the control unit 270 matches the cycle of the envelope with the reciprocating cycle, which is a cycle according to the reciprocating motion of the hanger 610, or the vibration cycle, which is a cycle according to the vibration of the cabinet 150.

That is, the control unit ( ) changes the driving speed of the motor ( ) in a stepwise manner by a predetermined speed size according to a predetermined time interval within the vibration period or the reciprocating period, It is possible to control the driving speed of the motor ( ) to decrease within a period and then return to the constant speed.

On the other hand, the driving

units

650 and 750 include

rotation members

681 and 781 rotated by the

motors

651 and 751, connecting

members

683 and 783 spaced apart in parallel with the

rotation members

681 and 781, Coupling

members

682 and 782 coupling the rotating

members

681 and 781 and the connecting

members

683 and 783, and rotation of the connecting

members

683 and 783 by combining with the connecting

members

683 and 783 Accordingly, a guide member 684 for reciprocating the hanger 610 may be further included.

In addition, the guide member 684 may further include a groove-shaped guide groove or a hole-shaped guide hole extending in a direction perpendicular to the longitudinal direction of the hanger 610 .

10 shows an example of the control method of the present disclosure. Briefly, the control method of the present disclosure measures the vibration of the cabinet 150, and based on this, the optimal size, which is the optimized size of the driving speed command, and the optimized phase angle to reduce the vibration of the cabinet 150 to find the optimal phase angle. Thereafter, the control unit may change the driving speed command based on the optimal size and the optimal phase angle.

Referring to FIG. 10 , the user may select a course including a process of shaking the clothes by applying vibration to the hanger 610 through the

drive units

650 and 750 to remove foreign substances including dust adhering to the clothes. there is.

When the user selects the course, the control unit 270 will start a process of applying vibration to the hanger 610 . That is, the controller 270 may start driving the hanger 610 by driving the motors 651 and 751 (S100). That is, the hanger 610 will perform a reciprocating linear motion according to the rotation of the

motors

651 and 751 .

After driving of the hanger 610 is started (S100), the

motors

651 and 751 will rotate at a constant speed. At this time, the control method of the present disclosure may measure or estimate (S300) a variable frequency related to vibration of the cabinet 150 in response to a driving speed command of the

motors

651 and 751. Even if the motor rotates at a constant speed, since the frequency of the cabinet may have a variable vibration frequency due to various factors, the control method of the present disclosure does not need to measure or estimate the variable frequency (S300). there is. This is to utilize the assumption that the frequency of the secondary vibration caused by the operating speed of the

motors

651 and 751 is proportional to each other.

Thereafter, the control method of the present disclosure may detect the magnitude and phase angle of vibration, which are the magnitude and phase angle of vibration of the cabinet 150, based on the above assumption (S500).

Unlike this, the laundry handling apparatus 1000 may further include a vibration sensor 910 provided inside the cabinet 150 to measure vibration of the cabinet. If the vibration sensor 910 is provided, the control unit 270 may measure the vibration through the vibration sensor 910 and detect the vibration amplitude and the vibration phase angle (S500).

Vibration of the cabinet 150 may be represented by a unit of frequency. That is, the number of vibrations per second can be expressed using frequency.

Then, based on this, an optimal phase angle and an optimal size for optimizing the driving speed command (A) can be calculated (S700).

That is, the control method of the present disclosure includes the steps of measuring or estimating the variable frequency of the cabinet ( ), which is the vibration frequency caused by the vibration of the cabinet ( ) when the hanger ( ) reciprocates (S300); detecting the magnitude and phase angle of the vibration of the cabinet (S500); And the driving speed of the motor ( ) is set at a predetermined constant speed so that the magnitude of the vibration is minimized at intervals of the vibration period, which is a period according to the vibration of the cabinet ( ), or the reciprocating period, which is a period according to the reciprocating motion of the hanger ( ). An optimization step (S700) of calculating the optimal magnitude of the driving speed command for controlling the speed of the motor and the optimal phase angle of the driving speed command, including a section maintained and a section maintained at a speed different from the constant speed. can include

In the control method of the present disclosure, after the optimization step (S700), the driving speed of the

motors

651 and 751 is continuously changed by changing the current applied to the

motors

651 and 751 according to the optimal size and the optimal phase angle. It may further include a current applying step (S900) for changing to . Through this, it is possible to reduce vibration of the clothes handling apparatus 1000 currently being operated.

The control method of the present disclosure may further include optimizing the resolution (S800) between the current applying step (S900) and the optimizing step (S700). The resolution refers to the size of a phase angle step or the size of a size step, which will be described later. That is, the resolution can be used to determine how much of a phase angle change is required to find the optimal phase angle or how much of a size difference should be used to change the size to find the optimal phase angle. .

The optimization step (S700) may include a step of finding an optimal phase angle (S710) and a step (S750) of finding an optimal phase angle and an optimal size of the driving speed command.

The order of finding the optimal phase angle (S710) and finding the optimal size (S750) may be reversed. That is, although FIG. 10 shows an example in which the step of finding the optimal phase angle (S710) is performed first and then the step of finding the optimal phase (S750) is performed, the order may be reversed.

Referring to FIG. 10, after finding the optimal phase angle, fixing it to the phase angle of the driving speed command, the optimal size can be found. If it is performed in reverse order, after finding the optimal size, fixing it to the size of the driving speed command, the optimal phase angle will be found. However, considering the effect of the magnitude and phase angle of the driving speed command on the vibration of the cabinet, it may be desirable to find the optimal phase angle and then the optimal magnitude.

Referring to FIG. 10, the step of finding the optimal phase angle (S710) is the step of measuring the magnitude of the vibration of the cabinet 150 according to the change in the phase angle of the driving speed command (S711), A phase comparison step (S715) of comparing the size of the vibration of the cabinet 150 according to the phase angle, and an optimal phase angle that minimizes the vibration of the cabinet 150 through the phase comparison step (S715), and the driving A phase setting step (S719) of setting the phase angle of the speed command may be included.

Similarly, the step of finding the optimum size (S750) includes measuring the size of the vibration of the cabinet 150 according to the change in the size of the driving speed command set to the optimum phase angle (S751); A size comparison step (S755) of comparing the size of the vibration of the cabinet 150 according to the size of the driving speed command, and an optimal size that minimizes the vibration of the cabinet 150 through the size comparison step (S755), and the above A size setting step (S759) of setting the size of the driving speed command may be included.

11 shows an example of a specific control method for the step of finding the optimal phase angle (S710). 12 shows an example of a specific control method for the step of finding the optimal size (S750).

Referring to FIG. 11, in step S711 of measuring the magnitude of the vibration of the cabinet 150 according to the change in the phase angle of the driving speed command, the magnitude and phase angle of the driving speed command are set to a predetermined signal level and a predetermined signal level. is set as the first phase angle of (S711a) to obtain the detailed time obtained by dividing the vibration period or the reciprocating period by twice the preset resolution, and the driving speed every time the detailed time elapses during half of the vibration period or the reciprocating period. The size of the command is discontinuously reduced by a preset deceleration size interval so as to reach a negative value of the signal level from the signal level, and the signal level is reduced every time the detailed time elapses during the oscillation period or the other half of the round trip period. Measuring the amplitude N1 of the vibration of the cabinet 150 at the first phase angle during the vibration period or the reciprocating period by discontinuously increasing the signal level at a negative value by a predetermined increasing speed interval to reach the signal level. In a first phase measurement step (S711c) of performing the driving speed command, the magnitude and phase angle of the driving speed command are set to a second phase angle changed by a predetermined phase angle step from the signal magnitude and the first phase angle to set the vibration period or the reciprocating cycle. The magnitude of the driving speed command is discontinuously reduced by a preset deceleration magnitude interval so as to reach a negative value of the signal magnitude from the signal magnitude whenever the detailed time elapses during half of the period, and the vibration period or the reciprocating period During the other half of the period, the vibration period or the reciprocating period is discontinuously increased by a predetermined speed increasing period to reach the signal level from the negative value of the signal level whenever the detailed time elapses. a second phase measurement step (S711e) of measuring the vibration magnitude (N2) at the second phase angle while the vibration magnitude (N2) at the second phase angle and the vibration magnitude (N1) at the first phase angle A phase comparison step (S715) of determining whether the vibration difference value during phase change, which is the difference between , increases, and when the vibration difference value during phase change increases in the phase comparison step, the first phase angle is converted to the optimal phase angle. It may include a phase setting step (S719) to set.

The signal magnitude refers to the magnitude of a driving speed command having a preset magnitude, and the phase angle may mean a phase angle of the driving speed command. In addition, this will mean the phase angle of the current waveform of any one phase current according to the driving speed command. The signal magnitude and the first phase angle may be preset to an arbitrary magnitude and an arbitrary phase angle.

The vibration period refers to the vibration period of the cabinet 150, and the reciprocating period refers to the hanger 610. Theoretically, the phases between the two may be the same, but even if there is a slight difference, the phases between the two may be assumed to be the same and controlled. The second phase angle means a phase angle having a difference between the first phase angle and a predetermined phase angle step. The smaller the phase angle step, the more precisely optimized phase angle can be found. However, it is preferable to set the phase angle step to a certain level or more for instantaneous variable speed control.

The first phase measuring step (S711c) and the second phase measuring step (S711e) refer to steps of measuring the vibration of the cabinet at preset first phase angles and second phase angles, respectively. Referring to FIG. 13(a) , unlike the typical laundry handling apparatus in which the maximum size of a driving speed command applied to a motor is always constant, the control method of the present disclosure increases or decreases the size of the driving speed command while moving the cabinet (). The phase angle that can reduce the vibration of can be calculated.

Referring to FIG. 13(a), between a point (a) which is the maximum magnitude of the driving speed command during the reciprocating period or the oscillation period and a point (b) which is the maximum magnitude of the driving speed command during an adjacent reciprocating period or oscillation period , it can be seen that the magnitude of the driving speed command decreases and then increases. The control method according to the present disclosure may measure the amplitude of vibration of the cabinet per reciprocating period by decreasing and then increasing the magnitude of the driving speed command stepwise during the reciprocating period or the vibration period.

The number of times the magnitude of the driving speed command changes during the reciprocating period or the oscillation period may be determined by resolution. That is, the resolution may have a preset value as an index for determining how many times the magnitude of the driving speed command changes during the vibration period.

Referring to FIG. 13(a), in order to express various examples of the resolution, the resolution is shown to change every reciprocating period or every vibration period, but otherwise, the same resolution may be obtained.

Referring to FIG. 13 (a), the resolution is 4 in the first oscillation period or the first reciprocating period. In this case, the time interval is a value obtained by dividing the first oscillation period or the first reciprocating period by a value twice the resolution. In general, the time interval in one oscillation period or one reciprocating period may be the same interval.

Referring to FIG. 13 (a), an example in which the resolution is set to 6 in the second oscillation period or the second reciprocating period is illustrated. Therefore, the time interval will be set as a value obtained by dividing the second oscillation period or the second reciprocating period by 12, which is twice the resolution.

Similarly, in the third vibration period or the third reciprocating period, since the resolution is 5, the time interval will be set by dividing the third vibration period or the third reciprocating period by 10, which is twice the resolution.

As the resolution increases, the time interval will be set to a more compact interval. That is, as the time interval becomes tighter, the number of stepwise changes according to the magnitude interval increases, which divides the magnitude more finely within one reciprocating cycle or one vibration cycle, so that a more accurate vibration magnitude can be obtained. Therefore, it will be possible to find a more accurate optimal phase angle.

To summarize the terms defined in this specification, the time interval refers to a subdivided time interval determined according to the resolution in the reciprocating cycle of the hanger 610 or the vibration cycle of the cabinet 150. Referring to FIG. 13(a), the time interval may be set as a value obtained by dividing the reciprocating period or the oscillation period by twice the resolution.

The magnitude interval refers to the amount of change in magnitude of the driving speed command at each time interval. Referring to FIG. 13 (a), since the time interval is determined according to the resolution, the drive speed command is set by the size interval until the maximum value (b) of the adjacent reciprocating period or the next vibration period is reached. The size (a) of will decrease and then increase. Therefore, half of the number of total time intervals within the reciprocating period will decrease the size of the driving speed command stepwise according to the size interval, and the other half of the number of total time intervals will decrease according to the size interval. The size of the drive speed command will increase stepwise.

The deceleration size interval, which is the size interval when decreasing, and the increase size interval, which is the size interval when increasing, may be the same. However, the reduction size interval and the speed increase interval may be different in size.

In addition, in this specification, the size step refers to the amount of change in size for each reciprocating period in order to obtain an optimized size based on a driving speed command. This is the amount of change in magnitude of at least one phase current according to the driving speed command.

Further, the phase angle step refers to the amount of change in the phase angle of the driving speed command that changes stepwise during the time interval based on the driving speed command. This is the amount of change in the phase angle of at least one phase current according to the driving speed command.

Strictly speaking, the graph shown with time in FIG. 13 (a) is a line connecting the envelope of any one phase current value. That is, when any one of the phase currents changes in the form of a sine wave, if the driving speed command has a constant magnitude, a straight line should appear over time regardless of the reciprocating period and the oscillation period. In the meantime, since the control method of the present disclosure changes the amplitude of any one phase current value according to the time interval, the envelope of any one phase current value will appear as if it changes stepwise (see FIG. 15(b)). ).

In this specification, the envelope is a shape surrounding the current waveform of the phase current and means a curve that is in contact with the current waveform of the phase current. It may be a curve obtained by connecting the maximum value of each cycle of the phase current or connecting the minimum value.

The envelope will repeatedly increase and decrease according to the current waveform, and the time taken for the envelope to return from an arbitrary value to an arbitrary value may be set as the cycle of the envelope. For example, the time taken to return from the specific maximum value (a) of the envelope to the maximum value (b) may be set as the cycle of the envelope.

In detail, FIG. 13(a) explains that the driving speed command is changed in a stepwise manner according to a preset magnitude interval in order to find the optimal magnitude, which is the optimal value of the signal magnitude, at a fixed phase angle. However, the process of finding the optimal phase angle is also changed in a stepwise manner according to a predetermined size interval from a fixed size.

In FIG. 13(a), after one round trip period ends, the value changes in the next round trip period. However, when the optimal phase angle is found, only the phase angle changes by the phase angle step at a fixed signal level, so that the adjacent next The maximum value of the period will always be the same.

After the first phase measuring step (S711c) and the second phase measuring step (S711e), the control method of the present disclosure calculates the vibration magnitude (N2) at the second phase angle and the second phase angle in the phase comparing step (S715). It may be determined whether the vibration difference value increases when the phase changes, which is the difference between the vibration magnitude N1 at one phase angle (S715). The vibration difference value upon phase change (or the vibration difference value upon phase angle change) may mean an absolute value.

The second phase angle may be a value increased by a predetermined phase angle step from the first phase angle. Also, the phase angle step may be set to a positive value. Accordingly, the second phase angle will be greater than the first phase angle.

If the phase angle step is set to a negative value, the second phase angle will be smaller than the first phase angle.

That is, the magnitude of the vibration of the cabinet 150 may be measured or estimated while increasing the phase angle of the driving speed command by adding a phase angle step having a positive value to the first phase angle. Alternatively, the magnitude of the vibration of the cabinet 150 may be measured or estimated while reducing the phase angle of the driving speed command by adding a phase angle step having a negative value to the first phase angle.

In general, considering that the vibration of the cabinet increases as the phase angle increases, it is preferable to set the phase angle step to a positive value and measure the magnitude of vibration of the cabinet 150 while gradually increasing the phase angle. something to do. This is because unnecessary vibration can be reduced.

If the vibration difference value increases during the phase change, the control method according to the present disclosure may set this as the optimal phase angle (S719) because the vibration of the cabinet 150 is further reduced when the first phase angle occurs.

If the vibration difference value decreases during the phase change, it means that the vibration of the cabinet 150 is further reduced at the second phase angle, so for comparison with other phase angles, the cabinet at the second phase angle ( The second phase measuring step (S711e) of measuring the magnitude of vibration of 150) may be repeatedly performed.

At this time, the control method of the present disclosure may replace the existing vibration amplitude N1 at the first phase angle with the existing vibration amplitude N2 at the second phase angle.

And, in the control method of the present disclosure, after changing the value of the first phase angle to the existing value of the second phase angle (S758), the second phase measuring step (S711e) is performed as a vibration difference value when the phase angle is changed. This will be done repeatedly until it increases.

To this end, in the control method of the present disclosure, the magnitude of vibration of the cabinet 150 is measured by changing the value of the second phase angle to a value obtained by adding the value of the existing second phase angle to the value of the phase angle step (S718). After the second phase measurement step (S711e) is repeatedly performed, the phase comparison step (S715) may be performed again.

Through this, the control method of the present disclosure can find an optimal phase value, which is an optimized phase value based on the arbitrary signal level.

Then, referring to FIG. 12, the control method of the present disclosure sets the optimal phase value as the phase value of the driving speed command, and then performs a step (S750) of finding the optimal size, which is the optimal size of the driving speed command. can do.

Referring to FIG. 12, in the step of finding the optimum size (S750), after setting the phase angle of the driving speed command to the optimum phase angle (S751a), the detailed time period is half of the vibration period or the reciprocating period. The magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration magnitude interval so as to reach a negative value of the first magnitude from a predetermined first magnitude at each elapse of this time, and during the other half of the vibration period or the reciprocating period Discontinuously increases the size of the driving speed command by a predetermined speed increase interval to reach a second size that is changed by a preset size step from the first size at a negative value of the first size whenever the detailed time elapses A first magnitude measuring step (S751c) of measuring the vibration magnitude when the vibration period or the reciprocating period is changed from the first magnitude to the second magnitude during the vibration period or the reciprocating period, the detailed time during half of the vibration period or the reciprocating period The magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration size interval so as to reach a negative value of the second magnitude from the second magnitude at each elapse, and during the other half of the vibration period or the reciprocating period, the Whenever the detailed time elapses, the magnitude of the driving speed command is discontinuously increased by a preset speed increasing interval so as to reach a third magnitude changed by a preset magnitude step from the second magnitude from the negative value of the second magnitude. A second magnitude measuring step (S751e) of measuring the magnitude of vibration when the magnitude changes from the second magnitude to the third magnitude during the vibration period or the reciprocating cycle, and when the magnitude changes from the first magnitude to the second magnitude, the vibration magnitude and the A size comparison step (S755) of determining whether the vibration difference value upon size change, which is the difference between the vibration levels when changing from the second size to the third size, has increased, and the vibration difference value upon size change in the size comparison step When increasing, a size setting step (S759) of setting the first size to an optimal size may be included.

First of all, the reason why the phase angle of the driving speed command is set to the optimal phase angle (S751a) is that since the optimal phase angle has already been found, there is no need to use an arbitrary phase angle as the phase angle of the driving speed command. .

The first size measuring step (S751c) and the second size measuring step (S751e) measure the vibration of the cabinet ( ) at the first and second sizes, respectively, which are preset driving speed command magnitudes at the optimum phase angle. means the steps Referring to FIG. 13(a) , unlike the typical laundry handling apparatus in which the maximum size of a driving speed command applied to a motor is always constant, the control method of the present disclosure increases or decreases the size of the driving speed command while moving the cabinet (). It is possible to calculate the optimal size, which is the size that can reduce the vibration of

As the resolution increases, the time interval will be set to a more compact interval. That is, as the time interval becomes tighter, the number of stepwise changes according to the magnitude interval increases, which divides the magnitude more finely within one reciprocating cycle or one vibration cycle, so that a more accurate vibration magnitude can be obtained. Therefore, it will be possible to find a more optimized optimal size.

In FIG. 13 (a), the graph shown with time is a line connecting the envelope of one phase current value. That is, when any one of the phase currents changes in the form of a sine wave, if the driving speed command has a constant magnitude, a straight line should appear over time regardless of the reciprocating period and the oscillation period. In the meantime, since the control method of the present disclosure changes the amplitude of any one phase current value according to the time interval, the envelope of any one phase current value will appear as if it changes stepwise (see FIG. 15(b)). ).

FIG. 13(a) shows that after one reciprocating period ends, the second size changes from the first size by a size step in the next reciprocating period. However, the size of the driving speed command may be changed from the first size to the second size after a plurality of predetermined reciprocating cycles. This is because it is possible to more accurately measure the vibration level by measuring the vibration level of the cabinet ( ) for a plurality of cycles at one level.

Then, in the control method of the present disclosure, in the magnitude comparison step (S755), whether the vibration difference value, which is the difference between the vibration magnitude (M2) at the second magnitude and the vibration magnitude (M1) at the first magnitude, increases when the magnitude is changed. can judge

As described above, the second size may be a value increased by a predetermined size step from the first size. Also, the vibration difference value at the time of size change may mean an absolute value.

Also, the size step may be set to a positive value. Accordingly, the second size will be greater than the first size.

If the size step is set to a negative value, the second size will be smaller than the first size.

That is, the magnitude of the vibration of the cabinet 150 may be measured or estimated while increasing the magnitude of the driving speed command by adding a magnitude step having a positive value to the first magnitude. Alternatively, the magnitude of the vibration of the cabinet 150 may be measured or estimated while reducing the magnitude of the driving speed command by adding a magnitude step having a negative value to the first magnitude.

In general, considering that the vibration of the cabinet increases as the magnitude of the driving speed command increases, the magnitude step is set to a positive value to gradually increase the magnitude of the driving speed command while increasing the magnitude of the vibration of the cabinet 150. It would be desirable to measure This is because unnecessary vibration can be reduced.

If the vibration difference value increases when the size is changed, the control method according to the present disclosure can set this value to an optimal size (S759) since the vibration of the cabinet 150 is further reduced when the vibration difference value is the first size.

If the vibration difference value decreases when the size is changed, it means that the vibration of the cabinet 150 is further reduced when the size is the second size, so once again for comparison with other sizes, the cabinet 150 ) may be repeatedly performed in the second magnitude measuring step (S751e) of measuring the magnitude of vibration.

At this time, the control method of the present disclosure may replace the existing vibration level M1 in the first size with the existing vibration level M2 in the second size.

And, in the control method of the present disclosure, after changing the value of the first size to the value of the existing second size (S758), the second size measuring step (S751e) is performed when the vibration difference value increases when the size is changed. It will be done repeatedly until

To this end, the control method according to the present disclosure changes the value of the second magnitude to a value obtained by adding the value of the second magnitude to the value of the magnitude step (S718) to measure the magnitude of the vibration of the cabinet 150. After the step S751e is repeatedly performed, the size comparison step S755 may be performed again.

After changing the second size to a value obtained by adding the size step to the existing second size (S758), the second phase measurement step (S751e) of measuring the vibration level of the cabinet 150 may be repeatedly performed. there is. After that, the control method of the present disclosure may perform the phase comparison step (S755) again.

Through this, the control method of the present disclosure can find an optimum phase value, which is an optimized phase value based on the arbitrary signal level (S759).

As described above, the vibration of the cabinet 150 can be estimated through variable frequencies applied to the

motors

651 and 751.

Unlike this, the vibration of the cabinet 150 may also be measured through the vibration sensor 910 provided in the cabinet 150 .

The phase angle step and the magnitude step may be set to arbitrary values. When the interval between the phase angle step and the magnitude step is tight, the optimal phase angle and the optimal size can be found more accurately, but considering the time required for control, the phase angle step and the magnitude step can be set. there is.

Also, the size interval and the time interval may be determined by resolution. Therefore, since the optimum size and the optimum phase angle can be set more accurately according to the resolution, the control method of the present disclosure changes the resolution before setting the optimum size and the optimum phase angle and applying them to the motor (S900). The optimal size and the optimal phase angle can be more accurately calculated (S800).

13(a) and 13(b) show an example of changing the magnitude of the driving speed command to find the optimal magnitude and the optimal phase angle. 13(a) and 13(b) explain the relationship between resolution, time interval, and size interval.

If the time interval is determined, it may be determined at what size interval the size of the driving speed command should be changed.

For example, when the resolution is 3, the time interval will be a value obtained by dividing the reciprocating period or the oscillation period by 6, and the size interval must decrease the size of the driving speed command stepwise for 6 time intervals and then increase it again. Therefore, the size interval can be determined.

In other words, the resolution refers to a level of discriminating individual detailed steps for controlling the driving speed command in the vibration period or the reciprocating period. That is, it means a step of subdividing the range of the maximum value and minimum value of the driving speed command within the reciprocating period of the hanger 610 . In addition, the size step means the amount of increase or decrease of the magnitude of the driving speed command in the reciprocating period or the vibration period.

When the optimization step (S700) is completed and the optimal size and the optimal phase angle are calculated, the driving speed command is applied (S900) so that the motor has the optimal size and the optimal phase angle. will be 0. And the size interval will be fixed.

Referring to FIG. 13(a), it is shown that the size increases by the size step whenever each reciprocating period passes in the first size measuring step (S751c) and the second size measuring step (S751e). Unlike this, referring to FIG. 13(b), in the first size measuring step (S751c) and the second size measuring step (S751e), the magnitude of vibration of the cabinet Another example of measurement is shown.

That is, referring to FIG. 13(a), when one reciprocating period or oscillation period ends, the envelope of the current waveform of the phase current starts at the first magnitude (a) and the time interval is Each time it passes, it can be reduced to the size interval and then increased again to finally reach the second size (b).

13(b), the control unit 270 determines that, when one reciprocating period or oscillation period ends, the envelope of the current waveform of the phase current starts at the first magnitude (a), and the time interval Each time it passes, it may be reduced by the size interval and then increased again to finally reach the second size (b). In addition, the controller 270 may change the size (c) to another size (c) after a plurality of reciprocating cycles have elapsed.

This is because the timing at which the driving speed command is varied may be arbitrarily determined instead of every round trip cycle, taking into consideration the variability of the definition of the zero-crossing timing of vibration. In addition, this is because the resolution and the size interval may not maintain a linear relationship with each other, and may be determined by different ratios and standards for each of the oscillation cycles or the oscillation cycles.

The resolution may be maximized in consideration of the time margin for maintaining individual detailed steps within the vibration cycle of the cabinet or the reciprocating cycle of the hanger 610 or the limit of the computing power of the control unit 270. It can also be determined as a level at which a vibration damping effect of a threshold level or higher occurs.

Therefore, strictly, the resolution and the size interval may be factors determined by the reciprocating period or the oscillation period and the computing capability of the control unit 270 .

Unlike FIG. 10, FIG. 14 shows another example in which the step of finding the optimal phase angle (S7500) is performed after first performing the step of finding the optimal size (S7100). Referring to FIG. 13, after finding the optimum size, fixing it to the size of the driving speed command, the optimum phase angle will be found. The description of each other step (S7100, S7500) is the same as that of FIGS. 11 and 12.

15A) shows a current waveform of one of the phase currents applied to the motor when the motor runs at constant speed. 15(b) shows an example of a current waveform of any one of the phase currents for controlling the motor according to an example of the control method described in the present disclosure.

FIG. 15(a) shows a waveform of one phase current among currents applied to the

motors

651 and 751 for controlling the motor traveling at constant speed according to Equation 1 above. Here, although it is in the form of a sine wave, this is theoretical and the actual waveform may have a different current waveform shape due to noise and harmonics.

In this specification, other unnecessary variables such as noise and harmonics are removed when describing the current waveform during constant speed driving and the current waveform of one phase current during instantaneous variable speed control for explanation.

The rotation speed of the

motors

651 and 751 may be faster than the rotation speed of the hanger 610 . For example, while the reciprocating frequency (reciprocal number of the reciprocating period) of the hanger 610 is 200 rpm, the number of revolutions of the

motors

651 and 751 may be greater than this. Therefore, when the

motors

651 and 751 travel at constant speed, an integer multiple of one period of the driving speed command may be the reciprocating period (or vibration period) of the hanger 610 or the vibration period of the cabinet 150 . Accordingly, the vibration period or the reciprocating period shown in FIG. 15 (a) shows an example of the vibration period of the cabinet 150 or the reciprocating period of the hanger 610.

In order to minimize the vibration of the cabinet 150, the vibration period of the cabinet 150 or the reciprocating period of the hanger 610 should be considered even when controlling the instantaneous variable speed of the

motors

651 and 751. That is, when the

motors

651 and 751 are controlled according to the control method of the present disclosure, as shown in FIG. can be increased or decreased with In this case, the time interval from the maximum value (a) to the adjacent maximum value (b) of the magnitude of the phase current may be the vibration period of the cabinet 150 or the reciprocating period of the hanger 610. That is, the cycle of the envelope of any one of the phase currents applied to the

motors

651 and 751 may be the vibration cycle of the cabinet 150 or the reciprocating cycle of the hanger 610 . If the two do not coincide, the vibration of the cabinet 150 may rather increase due to the phase difference between the two.

The envelope will repeatedly increase and decrease according to the current waveform, and the time taken for the envelope to return from an arbitrary value to an arbitrary value may be set as the cycle of the envelope. For example, the time taken to return from a specific maximum value of the envelope to the corresponding maximum value may be set as the cycle of the envelope.

That is, in the control method of the present disclosure, the current waveform applied to the motor uses the optimal magnitude and optimal phase angle of the driving speed command obtained in the optimization step (S700) to set the cycle of the envelope to the oscillation cycle or the reciprocating cycle. can match

That is, the controller 290 controlling the

motors

651 and 751 may control the envelope of the current (or current waveform) to repeat increase and decrease during the reciprocating motion of the hanger.

Also, according to Equation 2 above, the envelope of the current (or current waveform) may be in the form of a sine wave.

At this time, the control unit 290 may reduce the vibration of the cabinet 150 by matching the period of the envelope with the period of reciprocating motion of the hanger or the period of vibration of the cabinet.

Referring to FIG. 15(b), the period of the envelope may mean from the maximum value (a) of the envelope to the maximum value (b) adjacent to the maximum value (a). The control unit 290 will match the cycle of the envelope with the reciprocating cycle of the hanger 610 (or the oscillation cycle of the hanger 610).

Referring to the envelope, the control unit 270 will stepwise change the size of the driving speed command from the optimal size to a preset size interval or a size interval according to an optimized resolution.

Based on both sides of the cabinet 150, the first position of the hanger 610 is determined when one end of the hanger 610 is closest to one side of the cabinet 150 close to one end of the hanger 610. The second position of the hanger 610 may be set to a position when the other end of the hanger 610 is closest to the other side surface of the cabinet 150. .

For example, when the hanger 610 extends along the width direction of the cabinet 150, the left end of the hanger 610 moves along a predetermined reciprocating linear motion to the left side of the cabinet 150. A position when moved as close to as possible may be referred to as a first position. Also, a position when the right end of the hanger 610 moves as close as possible to the right side of the cabinet 150 according to the reciprocating linear motion may be referred to as the second position.

If the

motors

651 and 751 perform constant speed control, the acceleration and torque of the hanger 610 will have maximum values when the cabinet 150 is located in the first position or the second position. The speed of the hanger 610 will have a minimum value. On the other hand, when the hanger 610 is in the center position or the initial position, the acceleration and torque of the hanger 610 will have a minimum value, and the speed of the hanger 610 will have a maximum value.

Unlike this, referring to FIG. 15(b), when the instantaneous variable speed control of the

motors

651 and 751 is performed according to the control method of the present disclosure, the control unit 290 determines the current value at the first position and the The current value at the second position can be controlled to be different.

For example, the control unit 290 controls that the current value of any one of the phase currents applied to the

motors

651 and 751 at the first position has a maximum value, whereas at the second position the current value of the phase current applied to the

motors

651 and 751 The current value of any one of the applied phase currents may be controlled to have a minimum value.

A current value of one of the phase currents applied to the

motors

651 and 751 at the initial position or the central position may have an average value of a current value at the first position and a current value at the second position.

That is, the control unit 290 sets the absolute value of the current value at the first position to be maximum and the absolute value of the current value at the second position to be smaller than the absolute value of the current value at the first position. can

Specifically, the controller 290 determines that the absolute value of the current value of any one phase current (hereinafter referred to as phase current or current) is maximum at the first position and the current value of any one phase current at the second position. An absolute value of may be set to be smaller than an absolute value of the current value at the first position.

Even so, it can be seen from FIGS. 15(a) and 15(b) that the average torque values generated by the

motors

651 and 751 are controlled to the same level. This is because the instantaneously applied current value is different, but the average value of the current value corresponding to the torque axis (q-axis) of the

motors

651 and 751 per reciprocating cycle of the hanger 610 does not change.

Accordingly, the value of the phase current at the first position may be greater than or equal to the average value of the phase current per reciprocating period of the hanger 610 or per vibration period of the cabinet 150 . On the other hand, the value of the phase current at the second position may be equal to or less than the average value of the phase current per reciprocating period of the hanger 610 or per vibration period of the cabinet 150 .

Therefore, the magnitude of vibration, which is the magnitude of vibration measured in the cabinet 150, is the first position where the hanger 610 moves maximum along one direction of the cabinet in a stopped state and the maximum along the direction opposite to the one direction. It may be largest at any one of the moving second positions.

16( a ) shows an example of the vibration displacement of the hanger 610, the clothes mounted on the hanger 610, and the cabinet 150 when the

motors

651 and 751 run at constant speed. FIG. 16( b ) shows the vibration displacement of the hanger 610, clothes mounted on the hanger 610, and the cabinet 150 when the

motors

651 and 751 are controlled according to the control method described in the present disclosure. is an example of

FIG. 17( a ) shows an example of the acceleration of the hanger 610, clothes mounted on the hanger 610, and the cabinet 150 when the

motors

651 and 751 run at constant speed. FIG. 17( b ) shows the acceleration of the hanger 610, clothes mounted on the hanger 610, and the cabinet 150 when the

motors

651 and 751 are controlled according to the control method described in the present disclosure. It shows an example.

The unit shown in FIGS. 16 and 17 compares the relative size of each variable, and the unit is indicated as an arbitrary unit (a.u).

Referring to FIG. 16 (a) , when the

motors

651 and 751 are rotated at constant speed, the vibration displacement that is the displacement caused by the vibration of the hanger 610 will appear in a form similar to a sine wave. Therefore, the vibration displacement due to the motion of the clothes and the vibration displacement due to the vibration of the cabinet 150 will have a shape similar to that of the hanger 610 .

That is, in theory, when the hanger 610 is provided in the width direction of the cabinet 150, the left and right movement of the hanger 610 is symmetrical, and the movement of the cabinet 150 due to vibration is also symmetrical. do. However, referring to FIG. 16(a), it can be seen that the vibration displacement of the hanger 610 and the vibration displacement of the cabinet 150 are substantially symmetrical with respect to the reference point. Here, a reference point, an initial position of the hanger 610, or a static position of the cabinet before driving the

motors

651 and 751 may be meant.

If, in theory, the hanger 610 is provided in the forward and backward directions of the cabinet 150, the forward and backward movement of the hanger 610 will be symmetrical, and the forward and backward movement due to the vibration of the cabinet 150 will also be symmetrical. .

Referring to FIG. 16(b), it can be seen that the vibration displacement of the hanger 610 and the vibration displacement of the cabinet 150 are reduced compared to FIG. 16(a). On the other hand, it can be seen that the vibration displacement of the clothing is similar compared to FIG. 16(a).

Accordingly, it can be seen that the vibration of the cabinet 150 is reduced even though the movement of the clothing is similar. That is, the control method of the present disclosure can reduce the vibration of the cabinet 150 without reducing the vibration of the clothes.

Referring to FIG. 17(a), when the

motors

651 and 751 rotate at constant speed, the acceleration of the hanger 610 will also appear in a symmetrical form. It can be seen that the maximum value of the acceleration according to the vibration of the cabinet 150 also has a relatively larger value compared to when the

motors

651 and 751 are instantaneously shifted. It can be seen that the minimum value of the acceleration according to the vibration of the cabinet 150 has a value similar to the magnitude of the maximum value of the acceleration, only with a different sign.

For example, when the hanger 610 moves from the first position to the second position, and when the hanger 610 moves in reverse, the separation force applied to the clothes is applied equally. However, in general, clothing has a front side and a back side, and the shape of the front side and the back side are different. Therefore, a case where the separation force when moving in one direction is greater than when moving in another direction may be more effective for dusting than when the maximum value of the separation force is the same.

Referring to FIG. 17(b) , it can be seen that the acceleration value of the hanger 610 is asymmetric when the

motors

651 and 751 are controlled according to the control method of the present disclosure. That is, it can be seen that accelerations when moving from the first position to the second position and when moving from the second position to the first position are different. It can be seen that if one of the first position and the second position has the maximum acceleration, the other position has a smaller acceleration value. Therefore, in the controlled ice rice of the present disclosure, one of the separation force applied to the front side and the separation force applied to the rear side of the clothing can be increased, and the other separation force can be reduced.

FIG. 18 shows whether each component operates in various processes that can be performed by the laundry treatment apparatus 1000.

The user may select a course including a process of shaking the clothes by applying vibration to the hanger 610 through the

drive units

650 and 750 to remove foreign substances including dust adhering to the clothes.

When the user selects the course, the control unit 270 will start a process of applying vibration to the hanger 610 . 18 shows one embodiment of the course. The course is a preheating cycle for heating water supplied to the steam unit 250 to generate steam to be injected into the first chamber 100, and the steam unit 250 passes through the steam supply port 1012. A steam supply process for supplying steam to the first chamber (100), a standby process for waiting for a predetermined time after supplying the steam, and cooling the inside of the first chamber to a predetermined set temperature or less after the standby process has elapsed. It may include a cooling process and a drying process of drying the clothes by supplying hot air to the clothes placed in the first chamber 100 through the air supply port 1011 using the heat pump unit 230. there is.

According to each stroke, the control unit 270 rotates the motor to perform reciprocating linear motion of the hanger 610, operates the blowing fan provided in the blowing unit 220, and operates the heat pump unit 230. For the operation of, a compressor (not shown) may be operated and the steam unit 250 may be operated.

In the control method of the present disclosure, vibration of the cabinet 150 is reduced by instantaneous variable speed control of the

motors

651 and 751 according to the reciprocating period of the hanger 610 or the vibration period of the cabinet 150 . Therefore, in at least one of the preheating process, the standby process, the cooling process, and the drying process in which the hanger 610 operates, the control unit 270 controls the motor 651 according to the control method of the present disclosure. , 751) will be applied with a driving speed command.

That is, one of the objects of the present disclosure is to reduce vibration of the cabinet 150 by varying a driving speed command having a constant speed, which is a constant speed, with an optimal magnitude and an optimal phase angle. To this end, the control method of the present disclosure calculates the optimal phase angle and the optimal size to vary the driving speed command of the constant magnitude applied to drive the motor at the constant speed, and then calculates the optimal phase angle and the optimal magnitude accordingly. The rotation speed of the

motors

651 and 751 can be controlled by applying the driving speed command thereto. The driving speed command may be repeatedly changed according to the reciprocating period of the hanger 610 or the vibration period of the cabinet 150 .

On the other hand, the present disclosure shows an example of a control method applied to reducing vibration generated due to the reciprocating motion of the hanger, but the control method of the present disclosure can be applied to other devices to which the Scotch yoke mechanism is applied.

The scope of the present disclosure is not limited to the above-described embodiment, which may be implemented in various forms. Therefore, if the modified embodiment includes the elements of the claims of the present disclosure, it should be regarded as belonging to the scope of the present disclosure.

Claims

cabinet;

a first chamber located inside the cabinet to accommodate clothes;

a hanger provided inside the first chamber to hold the clothes;

a driving unit including a motor and reciprocating the hanger by the rotational motion of the motor; and

A control unit generating a driving speed command for controlling the driving speed of the motor and applying a current to the motor according to the driving speed command;

The control unit

During the reciprocating motion of the hanger, vibration of the cabinet is reduced by including a section in which the drive speed of the motor is maintained at a preset constant speed according to the drive speed command and a section in which the drive speed is maintained at a speed different from the constant speed. clothes handling device.
According to claim 1,

The control unit

When the hanger reciprocates, an envelope of one of the phase currents repeatedly increases and decreases.
According to claim 2,

The control unit

The clothes handling apparatus according to claim 1, wherein the period of the envelope coincides with a reciprocating period corresponding to the reciprocating motion of the hanger or a vibration period corresponding to the vibration of the cabinet.
According to claim 3,

The control unit

The driving speed of the motor is changed stepwise from the constant speed by a predetermined speed according to a predetermined time interval within the vibration period or the reciprocating period, so that the driving speed of the motor within the vibration period or the reciprocating period is The laundry treatment apparatus characterized in that it is controlled so that it decreases and then returns to the predetermined speed.
According to claim 4,

The control unit

and increasing or decreasing the size of the envelope by a predetermined size interval according to the time interval during the vibration period or the reciprocating period.
According to claim 5,

The control unit

By setting the time interval to an interval obtained by dividing the vibration period or the reciprocating period by twice the resolution, the driving speed of the motor is stepwise by the speed size according to the time interval during half of the vibration period or the reciprocating period. and, during the other half of the vibration period or the reciprocating period, the driving speed of the motor increases stepwise by the speed magnitude.
According to claim 1,

The control unit

When the hanger is at a first position where the hanger moves maximum along one direction of the cabinet in a stopped state and a second position where it moves maximum along a direction opposite to the one direction, the current value of any one of the phase currents is mutually exclusive with each other. A clothes handling apparatus characterized in that the control is different.
According to claim 7,

The control unit

At the first position, the absolute value of the current value of any one phase current is maximum, and at the second position, the absolute value of the current value is smaller than the absolute value of the current value of any one phase current at the first position. A laundry treatment apparatus characterized in that for controlling.
According to claim 1,

The control unit

When the hanger reciprocates, a change in the current value applied to the motor due to the vibration of the cabinet is detected to determine a variable frequency, which is a vibration frequency according to the vibration of the cabinet, and a magnitude of vibration that is a phase angle and magnitude of the vibration of the cabinet. and a vibration phase angle can be detected.
According to claim 9,

The control unit

The phase angle of the driving speed command is changed to change the size of the driving speed command and the timing at which the driving speed command is applied during the vibration period, which is a period according to the vibration of the cabinet, or the reciprocating period, which is a period according to the reciprocating motion of the hanger. while calculating the optimal magnitude and optimal phase angle of the driving speed command for minimizing the magnitude of the vibration, and setting the current waveform of the current to have a magnitude and phase angle corresponding to the optimal magnitude and the optimal phase angle. A clothes handling device made of.
According to claim 10,

The control unit

After setting the phase angle of the drive speed command to a predetermined signal phase angle, the amplitude of the drive speed command is increased or decreased according to a predetermined size step according to the vibration period or the reciprocating period to prevent vibration of the cabinet. and calculating the optimal size to be minimized.
According to claim 10,

The control unit

After setting the magnitude of the driving speed command to a predetermined signal level, the vibration of the cabinet is controlled by increasing or decreasing the phase angle of the driving speed command according to a predetermined phase angle step according to the vibration period or the reciprocating period. and calculating the optimal phase angle that minimizes.
According to claim 12,

The control unit

After setting the phase angle of the driving speed command to the optimal phase angle, minimizing the vibration of the cabinet while increasing or increasing the magnitude of the driving speed command according to a predetermined magnitude step according to the vibration period or the reciprocating period. The laundry treatment apparatus according to claim 1 , wherein the optimal size is calculated.
According to claim 13,

The control unit

and changing the size of the current waveform according to the optimum size at intervals of detailed time obtained by dividing the vibration period or the reciprocating period by twice a preset resolution.
According to claim 14,

The control unit

Setting the magnitude step by dividing the difference by subtracting the minimum value of the magnitude of the current waveform from the maximum value of the magnitude of the current waveform according to the optimum magnitude and the optimal phase angle during the oscillation period or the reciprocating period divided by the resolution A clothes handling device characterized in that.
According to claim 1,

Further comprising a vibration sensor for measuring vibration on the inner surface of the cabinet,

The control unit measures the magnitude of vibration of the cabinet through the vibration sensor.
According to any one of claims 9 or 16,

The vibration amplitude is

The clothes handling apparatus, characterized in that the largest at any one of a first position where the hanger moves maximally along one direction of the cabinet and a second position where it moves maximally along a direction opposite to the one direction while the hanger is stopped. .
According to claim 1,

the drive unit

motor;

a rotating member rotated by the motor;

A connecting member spaced apart in parallel with the rotating member;

a coupling member coupling the rotating member and the connecting member; and

The laundry treatment apparatus further comprising a; guide member coupled to the connecting member to linearly reciprocate the hanger according to rotation of the connecting member.
According to claim 18,

The guide member

The laundry treatment apparatus further comprising a guide groove or a guide hole extending in a direction perpendicular to the longitudinal direction of the hanger.
cabinet;

a first chamber located inside the cabinet to accommodate clothes;

a hanger provided inside the first chamber to hold the clothes;

a driving unit including a motor and reciprocating the hanger by the rotational motion of the motor; and

A control unit generating a driving speed command for controlling the driving speed of the motor and applying a current to the motor according to the driving speed command;

The control unit

During the vibration period according to the vibration of the cabinet due to the reciprocating motion of the hanger or the reciprocating period according to the reciprocating motion of the hanger, the driving speed of the motor is maintained at a predetermined constant speed and maintained at a speed different from the constant speed and reducing vibration of the cabinet by changing a driving speed of the motor including a section.
cabinet;

a first chamber located inside the cabinet to accommodate clothes;

a hanger provided inside the first chamber to hold the clothes;

a driving unit including a motor and reciprocating the hanger by the rotational motion of the motor; and

A control unit generating a driving speed command for controlling the driving speed of the motor and applying a current to the motor according to the driving speed command;

The control unit

During the reciprocating motion of the hanger, the driving speed of the motor is increased in a step-type manner, including a section in which the driving speed of the motor is maintained at a predetermined constant speed according to the driving speed command and a section in which the driving speed is maintained at a speed different from the constant speed. ).
cabinet; a first chamber located inside the cabinet to accommodate clothes; a hanger provided inside the first chamber to hold the clothes; And a driving unit for reciprocating the hanger by the rotational motion of the motor;

measuring or estimating a variable frequency of the cabinet, which is a vibration frequency due to vibration of the cabinet when the hanger reciprocates;

detecting the magnitude and phase angle of vibration of the cabinet, which are the magnitude and phase angle of vibration; and

A section in which the driving speed of the motor is maintained at a predetermined constant speed so that the vibration magnitude is minimized at intervals of the vibration period, which is a period according to the vibration of the cabinet, or the reciprocating period, which is a period according to the reciprocating motion of the hanger, and the constant speed and an optimization step of calculating an optimal size of a driving speed command for controlling the speed of the motor and an optimal phase angle of the driving speed command, including a section in which the speed is maintained at a different speed from the speed of the motor.
The method of claim 22,

After the optimizing step, a current applying step of applying current to the motor to change the driving speed of the motor according to the driving speed command having the optimal size and the optimal phase angle; control of the laundry treatment apparatus further comprising method.
The method of claim 22,

The optimization step is

By setting the magnitude and phase angle of the driving speed command to a predetermined signal magnitude and a predetermined first phase angle, a detailed time obtained by dividing the vibration period or the reciprocating period by twice the preset resolution is obtained, and the vibration period or the reciprocating period is obtained. Every time the detailed time elapses during half of the period, the magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration magnitude interval so as to reach a negative value of the signal magnitude from the signal magnitude, and the vibration period or the reciprocating period During the other half of the time period, the signal level is discontinuously increased by a predetermined increasing speed interval so as to reach the signal level from a negative value of the signal level whenever the detailed time elapses, and at the first phase angle during the oscillation period or the reciprocating period. A first phase measurement step of measuring the amplitude of vibration;

The magnitude and phase angle of the driving speed command are set to a second phase angle that is changed by a preset phase angle step from the signal magnitude and the first phase angle, and each time the detailed time elapses during the oscillation period or half of the reciprocating period. The magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration magnitude interval to reach a negative value of the signal magnitude from the signal magnitude, and the detailed time elapses during the other half of the vibration period or the reciprocating period. The vibration at the second phase angle during the oscillation period or the reciprocating period by discontinuously increasing the magnitude of the driving speed command by a predetermined speed increasing interval to reach the signal magnitude from a negative value of the signal magnitude. a second phase measurement step of measuring the size;

a phase comparison step of determining whether a vibration difference value, which is a difference between the amplitude of vibration at the second phase angle and the amplitude of vibration at the first phase angle, increases when the phase changes; and

and a phase setting step of setting the first phase angle to the optimum phase angle when the vibration difference value during the phase change in the phase comparison step increases.
According to claim 24,

The phase setting step is

When the vibration difference value during the phase change decreases in the phase comparison step, the second phase angle and the vibration magnitude at the second phase angle are set to the first phase angle and the vibration magnitude at the first phase angle, respectively. and then changing the second phase angle to a value obtained by adding the phase angle step to the second phase angle, and repeating the second phase measuring step and the phase comparing step. method.
According to claim 24,

The optimization step is

After the phase angle of the driving speed command is set to the optimal phase angle, the size of the driving speed command is changed from a predetermined first size to the first phase every time the detailed time elapses during the oscillation period or half of the reciprocating period. It discontinuously decreases by a preset deceleration size interval to reach a negative value of the magnitude, and during the other half of the vibration period or the reciprocating period, the magnitude of the driving speed command is reduced to the first magnitude every time the detailed time elapses. In a negative value, the first size is discontinuously increased by a preset increasing size interval to reach the second size, which is changed by a preset size step from the first size, so that the first size is changed to the second size during the vibration period or the reciprocating period. a first magnitude measurement step of measuring the magnitude of the vibration upon change;

Every time the detailed time elapses during the vibration period or half of the reciprocating period, the magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration magnitude interval so as to reach a negative value of the second magnitude from the second magnitude, , During the other half of the oscillation period or the reciprocating period, whenever the detailed time elapses, the size of the driving speed command is changed from a negative value of the second size to a third size that is changed by a predetermined size step from the second size. a second magnitude measurement step of measuring the magnitude of vibration when the second magnitude changes from the second magnitude to the third magnitude during the vibration period or the reciprocating period by discontinuously increasing the speed increasing interval to reach the third level;

a size comparison step of determining whether a vibration difference value upon size change, which is a difference between the vibration size when changing from the first size to the second size and the vibration size when changing from the second size to the third size, increases; and

and a size setting step of setting the first size to an optimal size when the vibration difference value during the size change increases in the size comparison step.
The method of claim 26,

The size setting step

In the size comparison step, when the vibration difference value upon size change decreases, after setting the second size and the vibration size at the second size to the first size and the vibration size at the first size, respectively, the The control method of the clothes handling apparatus, characterized in that the second size is changed to a value obtained by adding the size step to the second size, and the second size measurement step and the size comparison step are repeated.
The method of claim 26,

After setting the optimal phase angle and the optimal size, the method further comprises a resolution step of changing the resolution to find an optimized resolution that minimizes vibration of the cabinet.
The method of claim 22,

The optimization step is

After setting the phase angle of the drive speed command to a predetermined signal phase angle to obtain the detailed time obtained by dividing the vibration period or the reciprocating period by twice the preset resolution, the detailed time during half of the vibration period or the reciprocating period As time elapses, the magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration magnitude interval to reach a negative value of the first magnitude from a predetermined first magnitude, and the other half of the vibration period or the reciprocating period During the period, whenever the detailed time elapses, the driving speed command is discontinuously increased by a predetermined speed increase interval so as to reach a second size that is changed by a predetermined size step from the negative value of the first size. a first magnitude measurement step of increasing the vibration amplitude and measuring the vibration amplitude when the vibration period or the reciprocating period changes from the first amplitude to the second amplitude;

Every time the detailed time elapses during the vibration period or half of the reciprocating period, the magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration magnitude interval so as to reach a negative value of the second magnitude from the second magnitude, , During the other half of the oscillation period or the reciprocating period, whenever the detailed time elapses, the size of the driving speed command is changed from a negative value of the second size to a third size that is changed by a predetermined size step from the second size. a second magnitude measurement step of measuring the magnitude of vibration when the second magnitude is changed to the third magnitude during the vibration period or the reciprocating period by discontinuously increasing the speed increase by a preset size interval to reach the third level;

a size comparison step of determining whether a vibration difference value upon size change, which is a difference between the vibration size when changing from the first size to the second size and the vibration size when changing from the second size to the third size, increases; and

and a size setting step of setting the first size to an optimal size when the vibration difference value during the size change increases in the size comparison step.
According to claim 29,

The size setting step

When the vibration difference value during the size change decreases in the size comparison step, after setting the second size and the vibration size at the second size to the first size and the vibration size at the first size, respectively, The control method of the clothes handling apparatus, characterized in that the second size is changed to a value obtained by adding the size step to the second size, and the second size measurement step and the size comparison step are repeated.
According to claim 29,

The optimization step is

After setting the size of the driving speed command to the optimal size and a predetermined first phase angle, a detailed time obtained by dividing the vibration period or the reciprocating period by twice the preset resolution is obtained, and the vibration period or the reciprocating period The magnitude of the driving speed command is discontinuously reduced by a predetermined deceleration size interval so as to reach a negative value of the optimal magnitude from the optimal magnitude whenever the detailed time elapses for half, and the remainder of the vibration period or the reciprocating period During half of the period, the vibration at the first phase angle during the vibration period or the reciprocating period is discontinuously increased by a predetermined increasing speed interval to reach the optimum amplitude from the negative value of the optimum amplitude whenever the detailed time elapses. A first phase measurement step of measuring the size;

After setting the size of the driving speed command to a second phase angle changed by a predetermined phase angle step from the optimal size and the first phase angle, the vibration period or half of the reciprocating period The magnitude of the driving speed command is discontinuously reduced by a preset deceleration magnitude interval to reach a negative value of the optimal magnitude from the optimal magnitude, and every time the detailed time elapses during the other half of the vibration cycle or the reciprocating cycle The magnitude of the driving speed command is discontinuously increased by a predetermined speed increasing magnitude interval to reach the optimal magnitude from the negative value of the optimal magnitude, thereby increasing the vibration magnitude at the second phase angle during the vibration period or the reciprocating period. a second phase measurement step of measuring;

a phase comparison step of determining whether a vibration difference value, which is a difference between the amplitude of vibration at the second phase angle and the amplitude of vibration at the first phase angle, increases when the phase changes; and

and a phase setting step of setting the first phase angle to the optimum phase angle when the vibration difference value during the phase change in the phase comparison step increases.
According to claim 31,

The phase setting step is

When the vibration difference value during the phase change decreases in the phase comparison step, the second phase angle and the vibration magnitude at the second phase angle are set to the first phase angle and the vibration magnitude at the first phase angle, respectively. and then changing the second phase angle to a value obtained by adding the phase angle step to the second phase angle, and repeating the second phase measuring step and the phase comparing step. method.
According to claim 31,

After setting the optimal phase angle and the optimal size, the method further comprises a resolution step of changing the resolution to find an optimized resolution that minimizes vibration of the cabinet.
According to claim 23,

The current applying step is

A method of controlling a laundry treatment apparatus according to claim 1 , wherein a cycle of an envelope of one of the phase currents is matched with the oscillation cycle or the reciprocating cycle.