JP7605638B2 - Dishwasher - Google Patents

Description

This disclosure relates to a tableware processing machine for washing or drying items to be processed, such as tableware.

There is a dishwasher that can be installed in the cabinet of a system kitchen (see, for example, Patent Document 1). The housing of the dishwasher/dryer described in Patent Document 1 is open at the front and houses a washing tub inside that can be freely inserted and removed.

JP 2016-168204 A

Previously, users had to consider where and in what order to place the dishes in the dishwasher/dryer basket.

This disclosure provides technology to improve the convenience of dishwashing machines.

The tableware processing machine of the present disclosure comprises a housing having an opening, a processing tank provided within the housing for containing objects to be washed or dried, and a transfer device provided within the housing for transferring the objects. The transfer device is at least partially movable outside the housing, and transfers the objects contained in the processing tank to the outside of the processing tank, or places the objects outside the processing tank in the processing tank.

This disclosure can improve the convenience of dishwashing machines.

FIG. 1 is an external view of a system kitchen in which a dishwasher according to a first embodiment is installed; Schematic cross-sectional view of a dishwasher according to a first embodiment. Schematic cross-sectional view of a dishwasher according to a first embodiment. Dishwasher appearance Dishwasher appearance Robot arm detail Detailed view of the first link FIG. 1 shows the operating principle of the first link FIG. 13 is a diagram illustrating the operation principle of another example of the first link; Detailed view of the second link Detail of the rectangular portion of FIG. 7A Detailed view of the third link Detailed view of the hand part Detailed view of the 4th link Detailed view of the fifth link Detailed view of the 6th link Another example of a robot arm Another example of a robot arm Side view of the inside of the retractable telescopic mechanism Top view of the inside of the retractable telescopic mechanism Another example of a robot arm Another example of a robot arm Another example of a robot arm Another example of a robot arm FIG. 1 is a configuration diagram of a control unit for controlling a dishwasher according to a first embodiment.

Below, the embodiments will be described in detail with reference to the drawings. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters or duplicate explanation of substantially the same configuration may be omitted.

The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

(Embodiment 1)
Hereinafter, the first embodiment will be described with reference to FIGS.

The dishwasher according to the first embodiment is equipped with a robot arm, which is an example of a transfer device that automatically transfers objects to be washed or dried. The robot arm is stored within the housing of the dishwasher, and at least a portion of it can move outside the housing when transferring objects. When the dishwasher is not in use, the robot arm is stored within the housing of the dishwasher so as not to interfere with work in the kitchen, allowing efficient use of the work space. This improves user convenience.

In the following explanation, a dishwasher will be used as an example of a dish processing machine, but the same applies to a dish dryer.

[1-1. Configuration]
FIG. 1 shows the appearance of a system kitchen in which a dishwasher according to the first embodiment is installed. Dishwasher 40 is stored inside system kitchen 50. A robot arm 60 and a camera 53 are installed in system kitchen 50. Robot arm 60 is controlled by a drive control unit (described later) based on an image captured by camera 53. Robot arm 60 automatically places an article to be washed 8 placed on a worktop 55 or in a sink 56 of system kitchen 50 inside dishwasher 40. Robot arm 60 also automatically removes the article to be washed 8 placed inside dishwasher 40. Robot arm 60 may be installed inside the housing of dishwasher 40.

2 and 3 show a schematic cross section of the dishwasher 40 according to the first embodiment. 2 and 3 show the configuration other than the robot arm 60. The main body 1 of the dishwasher 40 is a housing having a front opening, and has a washing tank 2 inside. The washing tank 2 is supported so that it can be pulled out from the front opening of the main body 1 back and forth by means such as a pull-out rail (not shown). The washing tank 2 has an opening at the top, and the items 8 to be washed, such as dishes, can be put in and taken out from the opening. A basket 14 is installed inside the washing tank 2. In the example shown in this figure, one tier of baskets 14 is installed, but two or more tiers of baskets may be installed. In addition, a drive unit (not shown) may be provided in the main body 1 to automatically pull out the washing tank 2 without the user having to pull out the washing tank 2.

When washing the object 8 to be washed, cold or hot water is supplied from the outside into the washing tank 2 via the water supply valve 3. The washing water supplied into the washing tank 2 is drained from the drain hole 4 provided at the bottom of the washing tank 2, and then sprayed from the washing nozzle 7 onto the object 8 to be washed by the washing pump 5 connected to the drain hole 4, and circulates inside the washing tank 2. A heater 9 for heating the washing water is provided between the washing nozzle 7 and the bottom of the washing tank 2. A residue filter 6 for collecting residue is provided in the drain hole 4. The control unit 12 controls electrical components such as the water supply valve 3 and the washing pump 5.

The cage 14 is configured to be raised and lowered by the lifting means when the cleaning tank 2 is pulled out from the main body 1. The lifting means includes a fixed plate fixed to the bottom of the cleaning tank 2 and X-shaped lifting links 18, 19. The lifting links 18, 19 have the same length and are installed so as to intersect at the central axis 17. At least one lower end of the lifting links 18, 19 is pivoted to a long hole provided at the left and right ends of the fixed plate. The lower end of the lifting link 18 or 19 slides through the long hole, causing the upper end of the lifting links 18, 19 to rise and fall, and the cage 14 placed and supported on the lifting links 18, 19 to rise and fall. Figure 2 shows the cage 14 in a lowered state, and Figure 3 shows the cage 14 in a raised state. The cage 14 may be raised and lowered using an actuator such as a ball screw, a belt, or an air cylinder as the lifting means.

The cage 14 may be provided so that it can be raised and lowered automatically. In this case, the lifting means includes a driving means such as a motor for raising and lowering the lifting links 18, 19, and a control unit for controlling the driving means. The control unit may raise and lower the cage 14 in response to a button operation by the user, or may raise and lower the cage 14 automatically when a sensor or the like detects that the cleaning tank 2 has been pulled out of the main body 1. The cage 14 may be provided so that it can be raised and lowered manually by the user. In this case, the lifting means includes a lifting mechanism such as a rotating shaft for raising and lowering the lifting links 18, 19, and an operating means such as a handle for operating the lifting mechanism. The lifting mechanism may be a mechanism for raising and lowering the lifting links 18, 19 by a spring or the like when the cleaning tank 2 is pulled out of the main body 1.

Figures 4A and 4B show the appearance of the dishwasher 40. Figure 4A shows the state in which the robot arm 60 is stored in the main body 1, and Figure 4B shows the state in which the robot arm 60 is deployed from the main body 1. The robot arm 60 is installed on the side wall of the washing tank 2 of the dishwasher 40, and is pulled out together with the washing tank 2 when the washing tank 2 is pulled out from the main body 1. When the washing tank 2 is pulled out from the main body 1, the robot arm 60 is moved upward by the lifting means 61. At this time, the arm portion 62 is deployed, and at least a part of the arm portion 62 and the hand portion 63 are moved above the worktop 55. This allows the hand portion 63 to grasp the object to be washed 8 placed on the worktop 55 and move it into the washing tank 2. When the washing tank 2 is stored in the main body 1, the arm portion 62 is folded and the robot arm 60 is moved downward by the lifting means 61. The robot arm 60 is stored in the main body 1 together with the washing tank 2. In the example shown in FIG. 4A, the arm unit 62 is stored between the right side wall of the cleaning tank 2 and the main body 1, and between the front side wall of the cleaning tank 2 and the main body 1, and the hand unit 63 and the robot hand 78 are stored between the front side wall of the cleaning tank 2 and the main body 1. By employing a Cartesian coordinate type robot arm 60, it is possible to easily store the robot arm 60 around the rectangular parallelepiped cleaning tank 2.

Figure 5 shows the details of the robot arm 60. The arm portion 62 of the robot arm 60 includes a first link 62a, a second link 62b, and a third link 62c. The third link 62c moves the hand portion 63 in the width direction (X-axis direction) of the cleaning tank 2. The second link 62b moves the third link 62c and the hand portion 63 in the height direction (Z-axis direction). The first link 62a moves the second link 62b, the third link 62c, and the hand portion 63 in the depth direction (Y-axis direction) of the cleaning tank 2. When the robot arm 60 is stored in the main body 1, the second link 62b or the third link 62c may be rotated or folded so as to overlap the first link 62a. In this case, when the cleaning tank 2 is pulled out from the main body 1 and the robot arm 60 is moved upward, the second link 62b and the third link 62c may be deployed as shown in Figure 5.

Figure 6A shows the details of the first link 62a. The first link 62a has a multi-stage telescopic mechanism using a belt pulley mechanism. This allows the hand unit 63 to move up to the worktop 55 at the back of the cleaning tank 2. The first link 62a has a lower link 64a, a middle link 64b, an upper link 64c, a motor 65, a ball screw 66, a ball screw nut 67, a timing belt 68, and a linear guide 69. When the ball screw 66 is rotated by the motor 65, the ball screw nut 67 moves. Since the ball screw nut 67 and the middle link 64b are fixed, the middle link 64b moves along the linear guide 69 with the movement of the ball screw nut 67. Since the timing belt 68 of the lower link 64a and the middle link 64b is fixed, when the middle link 64b moves relative to the lower link 64a, the timing belt 68 of the middle link 64b rotates. Because the timing belt 68 of the middle link 64b and the upper link 64c are fixed, the upper link 64c moves along the linear guide 69 as the timing belt 68 of the middle link 64b rotates. In this way, the lower link 64a, the middle link 64b, and the upper link 64c expand and contract in unison, and the second link 62b fixed to the upper link 64c moves in the Y-axis direction.

Figure 6B shows the operating principle of the first link 62a. When the ball screw nut 67 is moved in the positive direction from the center contraction, it expands in the positive direction as shown on the right. When the ball screw nut 67 is moved in the negative direction, it expands in the negative direction as shown on the left.

Figure 6C shows the operating principle of another example of the first link 62a. In the example shown in Figure 6C, the lower link 64a also has a timing belt and a pulley, and by rotating the pulley of the lower link 64a with a motor 65, the lower link 64a, the middle link 64b, and the upper link 64c expand and contract in unison.

Figure 7A shows the details of the second link 62b. Figure 7B shows the details of the rectangular portion of Figure 7A. The second link 62b includes a motor 70, a timing belt 71, a ball screw 72, a ball screw nut 73, and a linear guide 74. The rotation of the motor 70 is transmitted to the ball screw 72 by the timing belt 71, and the third link 62c fixed to the ball screw nut 73 moves in the Y-axis direction along the linear guide 74.

Figure 8 shows the details of the third link 62c. The third link 62c includes a motor 75, a timing belt 76, and a connecting part 77. The timing belt 76 is rotated by the rotation of the motor 75, and the connecting part 77 to which the hand part 63 is connected moves in the X-axis direction.

Figure 9 shows the details of the hand unit 63. The hand unit 63 of the robot arm 60 includes a fourth link 62d, a fifth link 62e, and a sixth link 62f. The sixth link 62f rotates the robot hand 78 around the T axis (wrist turning). The fifth link 62e rotates the sixth link 62f and the robot hand 78 around the B axis (wrist bending). The fourth link 62d rotates the fifth link 62e, the sixth link 62f, and the robot hand 78 around the R axis (wrist rotation).

Figure 10 shows the details of the fourth link 62d. The fourth link 62d includes a motor 79 and a harmonic drive (registered trademark) reducer 80. The rotation of the motor 79 is reduced by the harmonic drive reducer 80, causing the fifth link 62e to rotate around the R axis.

Figure 11 shows the details of the fifth link 62e. The fifth link 62e includes a motor 81, a timing belt 82, a worm 83, and a worm wheel 84. The rotation of the motor 81 is transmitted to the worm 83 by the timing belt 82, and is decelerated by the worm 83 and the worm wheel 84, causing the sixth link 62f to rotate around the B axis.

Figure 12 shows the sixth link 62f in detail. The sixth link 62f includes a motor 85, a timing belt 86, a worm 87, and a worm wheel 88. The rotation of the motor 85 is transmitted to the worm 87 by the timing belt 86 and is decelerated by the worm 87 and the worm wheel 88, causing the robot hand 78 to rotate around the T axis.

By using a worm reduction mechanism in the rotary joints of the fifth link 62e and the sixth link 62f, where a moment due to gravity acts, it is possible to prevent the rotary joints from rotating due to gravity in the event of a power outage, which would cause an object grasped by the robot hand 78 to fall off.

In this way, the robot arm 60 in embodiment 1 has a Cartesian coordinate type movement mechanism, and each degree of freedom is independent, so the accumulation of errors is suppressed. This makes it possible to improve the accuracy of control of the movement and posture of the robot hand 78.

Figure 13 shows another example of the robot arm 60. The arm portion 62 of the robot arm 60 shown in this figure includes a first link 89a, a second link 89b, and a third link 89c. The third link 89c moves the hand portion 63 in the height direction (Z-axis direction). The second link 89b moves the third link 89c and the hand portion 63 in the width direction (X-axis direction) of the cleaning tank 2. The first link 89a moves the second link 89b, the third link 89c, and the hand portion 63 in the depth direction (Y-axis direction) of the cleaning tank 2. The movement mechanism of the first link 89a is the same as that of the first link 62a. The movement mechanisms of the second link 89b and the third link 89c may be the same as that of the second link 62b or the third link 62c.

Figure 14A shows another example of a robot arm 60. In the robot arm 60 shown in this figure, the second link 89b has a retractable extension mechanism 90. The rest of the configuration is the same as the robot arm 60 shown in Figure 13.

Figure 14B is a side view of the inside of the winding type telescopic mechanism 90, and Figure 14C is a top view of the winding type telescopic mechanism 90. The telescopic mechanism 90 includes multiple blocks 91, and the blocks 91 are extended and retracted by pushing out and winding them up. This makes it possible to eliminate the protrusion of the second link 89b in the width direction of the cleaning tank 2.

Figure 15 shows another example of a robot arm 60. The robot arm 60 shown in this figure has a cylindrical coordinate type movement mechanism. The robot arm 60 includes a first link 92a, a second link 92b, and a third link 92c. The third link 92c moves the hand unit 63 in the height direction. The second link 92b moves the third link 92c and the hand unit 63 in the radial direction. The first link 92a moves the second link 92b, the third link 92c, and the hand unit 63 in the circumferential direction. This allows the structure of the arm unit 62 to be simplified, thereby increasing the rigidity and reducing the weight of the arm unit 62.

Figures 16A, 16B, and 16C show another example of the robot arm 60. The robot arm 60 shown in Figure 16A has an arm section 62 of an orthogonal joint type. In this case, the robot arm 60 may be installed on the side wall of the cleaning tank 2. The robot arm 60 shown in Figure 16B has an arm section 62 of a vertical multi-joint type. In this case, the robot arm 60 may be installed on the side wall or top surface of the main body 1. The robot arm 60 shown in Figure 16C has an arm section 62 of a horizontal multi-joint type. In this case, the robot arm 60 may be installed on the upper part, side wall, or upper part of the cleaning tank 2.

Figure 17 shows the configuration of a control unit for controlling the dishwasher according to embodiment 1. The control unit 12 is realized by hardware such as a microcomputer, a microcontroller, or an integrated circuit.

The control unit 12 comprises a process control unit 23, a drive control unit 24, and a memory 25. In terms of hardware, these components are realized by the CPU, memory, and other LSIs of any computer, and in terms of software, by programs loaded into memory, but here we depict functional blocks realized by the cooperation of these components. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways, such as by hardware alone or a combination of hardware and software.

The process control unit 23 controls the washing operation of the dishwasher 40. The process control unit 23 receives instructions from the user from the operation unit 22, which is composed of buttons, switches, etc., provided on the main body 1 of the dishwasher 40, and controls the washing operation according to the instructions. The process control unit 23 may execute the washing process, rinsing process, and drying process consecutively, may execute only one of the processes, or may execute a combination of two or more of the processes in any order.

The drive control unit 24 controls the robot arm 60. The drive control unit 24 controls the movement of the arm unit 62 and the hand unit 63 based on the image captured by the camera 53, and causes the robot hand 78 to grasp the object 8 to be cleaned. The drive control unit 24 controls the deployment and storage of the arm unit 62 or the hand unit 63 of the robot arm 60.

[1-2. Operation]
The operation and function of the dishwasher 40 constructed as above will now be described.

When the user pulls the washing tank 2 forward from the main body 1 of the dishwasher 40 and moves the basket 14 upward, the drive control unit 24 moves the robot arm 60 upward. At this time, the drive control unit 24 moves the robot arm 60 so that at least a part of the robot arm 60 is outside the main body 1 and the washing tank 2, and deploys the arm unit 62. The drive control unit 24 controls the robot arm 60 to grasp the object 8 to be washed that is on the worktop 55 or the like and place it inside the washing tank 2. When the movement of the object 8 to be washed is completed, the drive control unit 24 returns the arm unit 62 to its original position and returns the robot arm 60 to its original position. The user pours detergent into the washing tank 2, stores the washing tank 2 in the main body 1, and starts washing. The robot arm 60 is stored in the main body 1 together with the washing tank 2.

The process control unit 23 opens the water supply valve 3 to supply cold or hot water into the cleaning tank 2. The cleaning water supplied to the cleaning tank 2 passes through the residue filter 6 and is sucked into the cleaning pump 5 through the drain hole 4, which then supplies it to the cleaning nozzle 7 provided at the inner bottom of the cleaning tank 2. The cleaning water sprayed from the cleaning nozzle 7 cleans the object 8 to be cleaned, and then circulates back to the drain hole 4. At this time, residues that have fallen off the object 8 to be cleaned flow into the residue filter 6 together with the cleaning water, and residues too large to pass through the residue filter 6 are collected by the residue filter 6.

When removing the items 8 to be washed after washing, the user pulls the washing tank 2 forward from the main body 1 of the dishwasher and moves the basket 14 upward, and the drive control unit 24 moves the robot arm 60 upward. The drive control unit 24 controls the robot arm 60 to remove the items 8 to be washed from the basket 14 and place them on the worktop 55 or the like. When the movement of the items 8 to be washed has finished, the drive control unit 24 returns the arm unit 62 to its original position and returns the robot arm 60 to its original position.

[1-3. Effects, etc.]
As described above, in this embodiment, the dishwasher 40 includes the main body 1 having an opening, the washing tank 2 provided in the main body 1 and containing the objects to be washed or dried, and the robot arm 60 provided in the main body 1 for transporting the objects, at least a part of which can move outside the main body 1, and transports the objects contained in the washing tank 2 to the outside of the washing tank 2, or contains the objects outside the washing tank 2 in the washing tank 2. This allows the robot arm 60 to automatically take in and out the objects to be washed, improving the convenience of the user. In addition, when the dishwasher is not in use, the robot arm 60 is stored in the main body 1 of the dishwasher 40, allowing the working space to be used efficiently.

In addition, in this embodiment, the cleaning tank 2 is provided so as to be freely inserted and removed within the main body 1, and when at least a part of the cleaning tank 2 is removed from the main body 1, at least a part of the robot arm 60 is moved to the outside of the main body 1, and when the cleaning tank 2 is stored within the main body 1, the robot arm 60 is stored within the main body 1. This allows the dishwasher 40 to be made smaller, and the working space to be used efficiently.

In addition, in this embodiment, the robot arm 60 is installed on the side wall of the washing tank 2. This allows the dishwasher 40 to be made smaller, and the working space can be used more efficiently. Also, since the robot arm 60 is not provided inside the washing tank 2, there is no need for waterproofing, heat resistance, or detergent resistance, making it possible to provide an inexpensive dishwasher.

In addition, in this embodiment, the robot arm 60 includes a hand unit 63 that holds the workpiece, and an arm unit 62 that moves the hand unit 63 to a predetermined position, and the arm unit 62 has a Cartesian coordinate type movement mechanism. This makes it possible to suppress the accumulation of errors and improve the movement accuracy.

In addition, in this embodiment, the main body 1 is stored in the kitchen, and the robot arm 60 places the objects to be treated placed on the kitchen in the cleaning tank 2. This allows the work space to be used efficiently.

Other Embodiments
As described above, the first embodiment has been described as an example of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made. In addition, it is also possible to combine the components described in the first embodiment to create a new embodiment.

Therefore, other embodiments are given below as examples.

In the first embodiment, an example is shown in which the cleaning tank 2 having an opening at the top is provided so as to be removable from the main body 1 having a front opening at the front, but in another example, a door for opening and closing the cleaning tank 2 may be provided above the cleaning tank 2. In this case, the cleaning tank 2 may be provided so as to be removable from the main body 1 at the front and rear, or may be fixedly stored inside the main body 1.

In the embodiment, an example is shown in which the dishwasher 40 is stored inside the system kitchen 50, but in another example, the dishwasher 40 may be configured as an independent device.

The above-described embodiments are intended to illustrate the technology disclosed herein, and various modifications, substitutions, additions, omissions, etc. may be made within the scope of the claims or their equivalents.

The present invention can be used in a dishwasher for washing or drying items such as dishes.

REFERENCE SIGNS LIST 1 Main body 2 Washing tank 3 Water supply valve 4 Drain hole 5 Washing pump 6 Filter 7 Washing nozzle 8 Object to be washed 9 Heater 12 Control unit 17 Shaft 18 Lifting link 22 Operation unit 23 Process control unit 24 Drive control unit 25 Memory 40 Dishwasher 50 System kitchen 53 Camera 55 Worktop 56 Sink 60 Robot arm 61 Lifting means 62 Arm unit 62a First link 62b Second link 62c Third link 62d Fourth link 62e Fifth link 62f Sixth link 63 Hand unit 64a Lower link 64b Middle link 64c Upper link 65 Motor 66 Ball screw 67 Ball screw nut 68 Timing belt 69 Linear guide 70 Motor 71 Timing belt 72 Ball screw 73 Ball screw nut 74 Linear guide 75 Motor 76 Timing belt 77 Connection portion 78 Robot hand 79 Motor 80 Harmonic drive reducer 81 Motor 82 Timing belt 83 Worm 84 Worm wheel 85 Motor 86 Timing belt 87 Worm 88 Worm wheel 89a First link 89b Second link 89c Third link 90 Telescopic mechanism 91 Block 92a First link 92b Second link 92c Third link.

Claims (4)

A housing that is stored in a kitchen and has an opening;
A treatment tank provided in the housing and configured to accommodate a treatment object to be washed or dried;
A transfer device provided in the housing and configured to transfer the object to be processed;
A drive control unit that controls the movement of the transport device;
Equipped with
The treatment tank is provided in the housing so as to be freely inserted and removed,
The transfer device has a hand unit that holds the object to be treated and an arm unit that moves the hand unit to a predetermined position, and is installed in a space outside a side wall of the treatment tank;
The transfer device is a tableware processing machine that transfers the object to be processed contained in the treatment tank to the outside of the treatment tank, or that receives the object to be processed that is outside the treatment tank into the treatment tank,
The drive control unit controls the transfer device to be pulled out at least partially and then moved outside and above the treatment tank when the treatment tank is pulled out from the housing. The tableware processing machine according to claim 1 , wherein the drive control unit controls the transfer device to be stored in the housing when the processing tank is stored in the housing. 3. The tableware processing machine according to claim 1 , wherein the arm portion has a Cartesian coordinate type movement mechanism. The dish processing machine according to claim 1 , wherein the transport device transfers the objects to be processed placed on the kitchen surface into the processing tank.

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