CN109706681B

CN109706681B - Washing machine and control method thereof

Info

Publication number: CN109706681B
Application number: CN201910130644.5A
Authority: CN
Inventors: 张俊雄; 王习文; 阳康; 汪随; 陈鍚鍚
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2019-02-21
Filing date: 2019-02-21
Publication date: 2020-07-17
Anticipated expiration: 2039-02-21
Also published as: CN109706681A

Abstract

The present application provides a washing machine and a control method thereof. The washing machine comprises an outer barrel (1) and a spherical inner barrel (2), wherein an electromagnetic acting force is formed between the outer barrel (1) and the spherical inner barrel (2), and the spherical inner barrel (2) rotates along a preset track under the action of the electromagnetic acting force. According to the washing machine, the washing effect of the washing machine can be improved, the energy utilization rate is improved, and the washing cost is reduced.

Description

Washing machine and control method thereof

Technical Field

The application belongs to the technical field of laundry equipment, and particularly relates to a washing machine and a control method thereof.

Background

The conventional washing machines mainly comprise a pulsator washing machine and a roller washing machine, both adopt a motor belt driving mode, and can only wash clothes through forward rotation and reverse rotation in one direction, wherein the washing time of the roller washing machine is too long due to insufficient cleaning capability, and the pulsator washing machine has short washing time but large wear degree of clothes. In addition, the conventional washing machine has large noise and obvious vibration in the operation process, and the condition of cylinder collision and even displacement is easy to occur.

The spherical washing machine comprises a thin-wall spherical drum, an upper outer spherical shell, a lower outer spherical shell, a plurality of motors, a plurality of driving impellers, a plurality of driving elastic rings, a plurality of magnetic driving rings, a plurality of centering impellers, a plurality of centering elastic rings, a vacuum pump and an electric heating element.

The spherical washing machine has the advantages that the roller is spherical, enough friction force needs to be generated between the magnetic force effect of the magnetic driving ring and the driving elastic ring, the roller is driven to rotate through the friction force, however, the driving mode is unstable, the friction force cannot be effectively transmitted to the roller, the structure is complex, the control program is more complex, the friction force is easily distributed and is not uniform, the acting force transmitted to the roller is small, most of kinetic energy generated by the driving motor is wasted, the washing effect of the washing machine is poor, the energy utilization rate is low, and the washing cost is increased.

Disclosure of Invention

Therefore, an object of the present invention is to provide a washing machine and a control method thereof, which can improve the washing effect of the washing machine, improve the energy utilization rate, and reduce the washing cost.

In order to solve the above problems, the present application provides a washing machine, which includes an outer cylinder and a spherical inner cylinder, wherein an electromagnetic force is formed between the outer cylinder and the spherical inner cylinder, and the spherical inner cylinder rotates along a preset track under the action of the electromagnetic force.

Preferably, the preset track comprises a first preset track and a second preset track, and the spherical inner barrel can selectively rotate along the first preset track or the second preset track.

Preferably, the first preset track and the second preset track are perpendicular to each other.

Preferably, an electromagnetic driving block is arranged on the inner wall of the outer cylinder, a first electromagnetic rail and a second electromagnetic rail which are matched with the electromagnetic driving block are arranged on the outer wall of the spherical inner cylinder, the first electromagnetic rail is matched with the electromagnetic driving block to drive the spherical inner cylinder to rotate along a first preset rail, and the second electromagnetic rail is matched with the electromagnetic driving block to drive the spherical inner cylinder to rotate along a second preset rail.

Preferably, two ends of the first electromagnetic rail with the same diameter are respectively provided with a mounting hole, the inner wall of the outer cylinder is provided with a driving device corresponding to the mounting hole, a positioning shaft is arranged between the driving device and the mounting hole, the positioning shaft is provided with a first position for connecting the driving device and the mounting hole so as to enable the spherical inner cylinder to rotate around the positioning shaft, and a second position for disconnecting the driving device and the mounting hole, and the driving device is used for driving the positioning shaft to be located at the first position or the second position.

Preferably, two ends of the second electromagnetic rail with the same diameter are respectively provided with a mounting hole, the inner wall of the outer cylinder is provided with a driving device corresponding to the mounting hole, a positioning shaft is arranged between the driving device and the mounting hole, the positioning shaft is provided with a first position for connecting the driving device and the mounting hole so as to enable the spherical inner cylinder to rotate around the positioning shaft, and a second position for disconnecting the driving device and the mounting hole, and the driving device is used for driving the positioning shaft to be located at the first position or the second position.

Preferably, the driving device comprises a driving motor, and the positioning shaft is arranged in the driving device, is in driving connection with the driving motor, and extends into the mounting hole or is separated from the mounting hole under the driving action of the driving motor.

Preferably, a damper is disposed between the driving motor and the positioning shaft.

Preferably, a bearing is disposed in the mounting hole.

Preferably, the driving device comprises an annular electric brush which is fixedly arranged on the positioning shaft and is electrically connected or disconnected with an electric terminal of the electromagnetic track corresponding to the driving device under the action of the positioning shaft.

Preferably, an insulating and sealing device is further arranged at the connecting position of the driving device and the electromagnetic track.

Preferably, the number of the driving devices is four, the driving devices are uniformly arranged along the circumferential direction of the inner wall of the outer cylinder, electromagnetic driving blocks are respectively arranged between the adjacent driving devices, and the electromagnetic driving blocks between the adjacent driving devices are independently controlled.

Preferably, the spherical inner and outer cylinders each include a door located in an area between the first and second predetermined tracks.

According to another aspect of the present application, there is provided a control method of the above washing machine, including:

supplying power to the spherical inner cylinder and the spherical outer cylinder;

the spherical inner cylinder is driven to rotate along the preset track by the electromagnetic acting force.

Preferably, the step of driving the spherical inner cylinder to rotate along the preset track by electromagnetic force comprises:

acquiring a movement direction instruction of the spherical inner cylinder;

and adjusting the direction of the electromagnetic acting force according to the movement direction instruction of the spherical inner cylinder, so that the spherical inner cylinder moves according to the instruction direction.

Preferably, the step of adjusting the direction of the electromagnetic acting force according to the movement direction command of the spherical inner cylinder so that the spherical inner cylinder moves according to the command direction comprises:

when an instruction that the spherical inner cylinder moves according to a first preset track is received, controlling a driving device e to drive a positioning shaft to be inserted into a mounting hole of the first electromagnetic track, and enabling an annular electric brush of the driving device e to be in contact with an electric connection terminal of the first electromagnetic track;

controlling a driving device f to drive the positioning shaft to retract from the mounting hole inserted into the second electromagnetic track and enabling the annular electric brush of the driving device f to be separated from the second electromagnetic track;

controlling the first electromagnetic track to be electrified;

the control electromagnetic driving block a and the electromagnetic driving block d are both first magnetic poles, the electromagnetic driving block b and the electromagnetic driving block c are both second magnetic poles, and the first magnetic poles and the second magnetic poles are opposite magnetic poles.

Preferably, the step of adjusting the electromagnetic acting force direction according to the movement direction command of the spherical inner cylinder so that the spherical inner cylinder moves according to the command direction further comprises:

acquiring a control instruction when the spherical inner cylinder rotates along a first preset track;

and adjusting the current magnitude and direction of the first electromagnetic track according to the control instruction, so that the spherical inner cylinder rotates along the first preset track according to the control instruction.

when an instruction that the spherical inner cylinder moves according to a second preset track is received, controlling a driving device f to drive a positioning shaft to be inserted into a mounting hole of a second electromagnetic track, and enabling an annular electric brush of the driving device f to be in contact with an electric connection terminal of the second electromagnetic track;

controlling a driving device e to drive the positioning shaft to retract from the mounting hole inserted into the first electromagnetic track and enabling an annular electric brush of the driving device e to be separated from the first electromagnetic track;

controlling the second electromagnetic track to be electrified;

acquiring a control instruction when the spherical inner cylinder rotates along a second preset track;

and adjusting the current magnitude and direction of the second electromagnetic track according to the control instruction, so that the spherical inner cylinder rotates along the second preset track according to the control instruction.

The application provides a washing machine, including urceolus and spherical inner tube, form electromagnetic force between urceolus and the spherical inner tube, spherical inner tube rotates along predetermineeing the track under the electromagnetic force effect. This washing machine adopts urceolus and spherical inner tube matched with structure, can make washing machine's overall structure compacter, and the volume is smaller and more exquisite, through electromagnetic force interact between spherical inner tube and the urceolus simultaneously, provides and supplies spherical inner tube pivoted drive power, can make full use of electromagnetic energy, improves energy utilization and work efficiency for the rotation effort of spherical inner tube is more stable, and the drive effort is bigger, can improve washing machine's cleaning performance, reduces the cost of doing washing. Meanwhile, due to the adoption of an electromagnetic driving mode, the vibration and noise of the washing machine in the working process can be greatly reduced, the cylinder collision accident is avoided, and the working reliability and safety of the washing machine are improved.

Drawings

Fig. 1 is a first sectional view schematically illustrating a washing machine according to an embodiment of the present application;

fig. 2 is a second sectional view schematically illustrating a washing machine according to an embodiment of the present application;

fig. 3 is a flowchart illustrating a control method of a washing machine according to an embodiment of the present application.

The reference numerals are represented as:

1. an outer cylinder; 2. a spherical inner barrel; 3. an electromagnetic drive block; 4. a first electromagnetic track; 5. a second electromagnetic track; 6. mounting holes; 7. positioning the shaft; 8. a drive motor; 9. a shock absorber; 10. a bearing; 11. an annular brush; 12. an insulating and sealing device; 13. a door; 14. and (6) connecting the electric terminals.

Detailed Description

Referring to fig. 1 and 2 in combination, according to an embodiment of the present application, a washing machine includes an outer tub 1 and a spherical inner tub 2, an electromagnetic force is formed between the outer tub 1 and the spherical inner tub 2, and the spherical inner tub 2 rotates along a predetermined track under the electromagnetic force.

This washing machine adopts urceolus 1 and spherical inner tube 2 matched with structure, can make washing machine's overall structure compacter, the volume is smaller and more exquisite, through electromagnetic force interact between spherical inner tube 2 and the urceolus 1 simultaneously, provide and supply spherical inner tube 2 pivoted drive power, can make full use of electromagnetic energy, improve energy utilization and work efficiency, make spherical inner tube 2's rotation effort more stable, drive effort is bigger, can improve washing machine's cleaning performance, reduce the cost of doing washing. Meanwhile, due to the adoption of an electromagnetic driving mode, the vibration and noise of the washing machine in the working process can be greatly reduced, the cylinder collision accident is avoided, and the working reliability and safety of the washing machine are improved.

Preferably, the preset track comprises a first preset track and a second preset track, and the spherical inner barrel 2 can selectively rotate along the first preset track or the second preset track. The spherical inner barrel 2 can be switched between two rotation states of rotating along a first preset track and rotating along a second preset track, so that the spherical inner barrel 2 can rotate along different directions, the inner barrel of the washing machine can rotate around different axes, multi-directional rotation of the washing machine is realized, and the cleaning capacity of the washing machine is effectively improved.

The washing machine may also include more preset rails, so that the washing machine can rotate in more directions, further improving the washing capacity of the washing machine.

Preferably, in this embodiment, the first preset track and the second preset track are perpendicular to each other, so that when the spherical inner barrel 2 rotates along the first preset track and the second preset track, the electromagnetic force can be balanced conveniently, the design difficulty is reduced, and the stability of the washing machine during operation can be improved effectively.

In this embodiment, an electromagnetic driving block 3 is disposed on an inner wall of the outer cylinder 1, a first electromagnetic rail 4 and a second electromagnetic rail 5 which are matched with the electromagnetic driving block 3 are disposed on an outer wall of the spherical inner cylinder 2, the first electromagnetic rail 4 is matched with the electromagnetic driving block 3 to drive the spherical inner cylinder 2 to rotate along a first preset rail, and the second electromagnetic rail 5 is matched with the electromagnetic driving block 3 to drive the spherical inner cylinder 2 to rotate along a second preset rail.

The electromagnetic driving block 3 can be matched with the first electromagnetic track 4, so that the first electromagnetic track 4 drives the spherical inner barrel 2 to rotate along the first preset track under the driving action of the electromagnetic driving block, and the electromagnetic driving block 3 can also be matched with the second electromagnetic track 5, so that the second electromagnetic track 5 drives the spherical inner barrel 2 to rotate along the second preset track under the driving action of the electromagnetic driving block. When the electromagnetic driving block 3 is used in cooperation with the first electromagnetic track 4, the second electromagnetic track 5 is not powered at this time, so that the interaction between the second electromagnetic track 5 and the electromagnetic driving block 3 is avoided, the influence on the rotation of the spherical inner cylinder 2 along the first preset track is avoided, and the stability of the spherical inner cylinder 2 along the rotation of the first preset track is ensured. When the electromagnetic driving block 3 is used in cooperation with the second electromagnetic track 5, the first electromagnetic track 4 is not powered at this time, so that the interaction between the first electromagnetic track 4 and the electromagnetic driving block 3 is avoided, the spherical inner barrel 2 is prevented from being influenced by the rotation of the second preset track, and the stability of the spherical inner barrel 2 in the rotation of the second preset track is ensured.

Preferably, both ends of the same diameter of the first electromagnetic rail 4 are respectively provided with a mounting hole 6, a driving device is arranged on the inner wall of the outer cylinder 1 corresponding to the mounting hole 6, a positioning shaft 7 is arranged between the driving device and the mounting hole 6, the positioning shaft 7 is provided with a first position for connecting the driving device and the mounting hole 6 so as to enable the spherical inner cylinder 2 to rotate around the positioning shaft 7, and a second position for disconnecting the driving device and the mounting hole 6, and the driving device is used for driving the positioning shaft 7 to be located at the first position or the second position.

Mounting holes 6 are respectively formed in two ends of the second electromagnetic rail 5, which are of the same diameter, driving devices are arranged on the inner wall of the outer barrel 1 corresponding to the mounting holes 6, a positioning shaft 7 is arranged between the driving devices and the mounting holes 6, the positioning shaft 7 is provided with a first position for connecting the driving devices and the mounting holes 6, so that the spherical inner barrel 2 rotates around the positioning shaft 7, and a second position for disconnecting the driving devices and the mounting holes 6, and the driving devices are used for driving the positioning shaft 7 to be located at the first position or the second position.

Through setting up location axle 7 and with the drive arrangement that location axle 7 matches and drive location axle 7 motion, can realize the rotation of urceolus 1 and spherical inner tube 2 through the operating position of control location axle and connect, perhaps make the location axle deviate from mounting hole 6 in, avoid the connection of location axle 7 to cause the interference to spherical inner tube 2 along first predetermined orbit or the orbital rotation of second predetermined.

When the first electromagnetic track 4 is connected with the driving device through the positioning shaft 7, the positioning shaft 7 limits other rotation modes of the spherical inner cylinder 2, so that the spherical inner cylinder 2 can only rotate around the positioning shaft 7, and the rotation along the first preset track is realized. At this time, the positioning shaft 7 between the second electromagnetic track 5 and the driving device needs to be retracted, so as to avoid interference on the rotation of the spherical inner cylinder 2 along the first preset track. Similarly, when the second electromagnetic track 5 is connected with the driving device through the positioning shaft 7, the positioning shaft 7 limits other rotation modes of the spherical inner cylinder 2, so that the spherical inner cylinder 2 can only rotate around the positioning shaft 7, and the rotation along the second preset track is realized. At this time, the positioning shaft 7 between the first electromagnetic track 4 and the driving device needs to be retracted, so as to avoid interference on the rotation of the spherical inner cylinder 2 along the second preset track.

In the present embodiment, the first predetermined track is a circular track concentric with the second electromagnetic track 5 and located on the same plane as the second electromagnetic track 5, and the second predetermined track is a circular track concentric with the first electromagnetic track 4 and located on the same plane as the first electromagnetic track 4.

In the embodiment, the driving device comprises a driving motor 8, and the positioning shaft 7 is arranged in the driving device and is in driving connection with the driving motor 8, and extends into the mounting hole 6 or is separated from the mounting hole 6 under the driving action of the driving motor 8. The driving motor 8 is in driving connection with the positioning shaft 7, and can drive the positioning shaft 7 to extend into the mounting hole 6 or be separated from the mounting hole 6, so that the automatic shaft changing function can be conveniently realized, and further, the switching of the rotating state of the spherical inner barrel 2 along the first preset track and the second preset track is realized.

Preferably, a damper 9 is arranged between the driving motor 8 and the positioning shaft 7, so that the damping effect between the driving motor 8 and the positioning shaft 7 can be realized through the damper, and the vibration effect of the spherical inner barrel 2 is prevented from being transmitted to the driving motor 8 through the positioning shaft 7 and further transmitted to the outer barrel 1 through the driving motor 8 to cause vibration noise.

The driving motor 8 can also adopt a driving coil, and the movement position of the positioning shaft 7 is driven by the electromagnetic action between the driving coil and the positioning shaft 7, so that the position of the positioning shaft 7 is adjusted.

The driving device can also comprise other telescopic structures, such as a telescopic push rod and the like, and the positioning shaft 7 is driven to move by the telescopic structure, so that the operation of inserting into the mounting hole 6 or extracting from the mounting hole 6 is realized.

Preferably, a bearing 10 is arranged in the mounting hole 6, when the positioning shaft 7 is inserted into the mounting hole 6, the bearing 10 is rotatably connected with the mounting hole 6, so that the rotation resistance of the spherical inner cylinder 2 can be reduced, the abrasion of the positioning shaft 7 is reduced, and the service life of the positioning shaft 7 is prolonged.

Preferably, the driving device comprises an annular brush 11, and the annular brush 11 is fixedly arranged on the positioning shaft 7 and is electrically connected or disconnected with an electric terminal 14 of the electromagnetic track corresponding to the driving device under the action of the positioning shaft 7. Since the annular brush 11 is arranged on the positioning shaft 7, the annular brush 11 can extend or retract along with the positioning shaft 7, when the annular brush 11 extends along with the positioning shaft 7, the annular brush can be connected with the electric connection terminal 14 of the corresponding electromagnetic track, and the washing machine can be connected and electrified between the annular brush 11 and the corresponding electromagnetic track, so that the electromagnetic driving block 3 interacts with the electromagnetic track to drive the spherical inner barrel 2 to rotate along the preset track. When the annular brush 11 is retracted with the positioning shaft 7, it can be disconnected from the electric terminals 14 of the corresponding electromagnetic tracks, thus avoiding the obstruction to the rotation of the spherical inner cylinder 2.

Preferably, in order to facilitate the automatic shaft changing operation, a positioning device is arranged between each driving device and the corresponding electromagnetic rail, and the driving devices and the electromagnetic rails can be corresponding when the washing machine is stopped, so that the positioning shafts 7 and the mounting holes 6 can be aligned when the washing machine is stopped, and the positioning shafts 7 can be conveniently switched.

The positioning device may also be activated when an alignment control command is obtained.

Preferably, an insulating sealing device 12 is further disposed at a connection position of the driving device and the electromagnetic track, so as to form an insulating seal at a connection position of the annular brush 11 and the electric terminal 14, avoid an electric leakage phenomenon, and improve the safety of the washing machine during operation.

In the embodiment, four driving devices are arranged on the same circumference of the outer cylinder 1 and are uniformly arranged along the circumferential direction of the inner wall of the outer cylinder 1, and the included angle between two adjacent driving devices is 90 degrees. The electromagnetic driving blocks 3 are respectively arranged between the adjacent driving devices, and the electromagnetic driving blocks 3 between the adjacent driving devices are independently controlled. For convenience of description, the view shown in fig. 2 is taken as an example to be defined with each driving device and electromagnetic driving block, wherein two driving devices at two ends of the same diameter of the first electromagnetic track are driving devices e, two driving devices at two ends of the same diameter of the second electromagnetic track are driving devices f, the central axes of two positioning shafts 7 connected with the first electromagnetic track 4 form an X-axis, the central axes of two positioning shafts 7 connected with the second electromagnetic track 5 form a Y-axis, the X-axis and the Y-axis are perpendicularly intersected, the electromagnetic driving block 3 is divided into four quadrants, the electromagnetic driving block in the first quadrant is an electromagnetic driving block a, the electromagnetic driving block in the second quadrant is an electromagnetic driving block d, the electromagnetic driving block in the third quadrant is an electromagnetic driving block c, and the electromagnetic driving block in the fourth quadrant is an electromagnetic driving block b. The electromagnetic driving blocks a, b, c and d are all independently controlled, the first electromagnetic track 4 or the second electromagnetic track 5 can be driven by adjusting the electrodes of the four electromagnetic driving blocks, the driving structure is simpler, the control strategy is simpler, and the rotation control of the spherical inner barrel 2 is easier.

Preferably, the spherical inner tub 2 and the outer tub 1 each include a door 13, and the door 13 is located in an area between the first preset track and the second preset track, so that interference of the tracks with the door is avoided, and the doors 13 of the spherical inner tub 2 and the outer tub 1 are conveniently opened, so that laundry is put into or taken out of the spherical inner tub 2. In order to ensure that the positions of the doors 13 on the spherical inner cylinder 2 and the spherical outer cylinder 1 correspond to each other and facilitate the opening of the doors 13 on the spherical inner cylinder 2, door positioning sensors or other positioning devices can be arranged on the spherical inner cylinder 2 and the spherical outer cylinder 1, the door positioning sensors or other positioning devices do not work in normal operation, and the rotating position of the spherical inner cylinder 2 can be controlled only when the washing machine is stopped, so that the spherical inner cylinder 2 rotates to the position corresponding to the positions of the doors 13 on the spherical inner cylinder 2 and the spherical outer cylinder 1, and the operation is convenient for a user.

Preferably, in the embodiment, the outer cylinder 1 is a spherical structure matched with the spherical inner cylinder 2, so that the material consumption of the outer cylinder 1 can be reduced to the maximum, the cost is reduced, the whole structure of the washing machine can be more compact, and the miniaturization and the portability of the washing machine are more convenient to realize.

In this embodiment, similar to the motor driving principle, the annular electromagnetic track of the spherical inner cylinder 2 can be regarded as a driving rotor, and the electromagnetic driving block of the outer cylinder can be regarded as a driving stator. When the power is on, the electromagnetic track is opposite to the magnetic pole generated by the electromagnetic driving block, and the spherical inner cylinder 2 is pushed to rotate around the positioning shaft 7. The arrangement of the two electromagnetic tracks can drive the spherical inner barrel 2 to rotate in the front-back direction and the left-right direction.

Referring to fig. 3 in combination, according to an embodiment of the present application, the control method of the washing machine includes: supplying power to the spherical inner barrel 2 and the spherical outer barrel 1; the spherical inner barrel 2 is driven to rotate along a preset track by electromagnetic acting force. In this embodiment, by adopting the structure of the spherical inner cylinder 2 and adopting the driving mode that the electromagnetic acting force drives the spherical inner cylinder 2 to rotate along the preset track, the spherical inner cylinder 2 and the preset track can be combined, so that the driving acting force in the rotation process of the spherical inner cylinder 2 can be improved, the energy utilization efficiency can be improved, the electromagnetic acting load can be reduced, the acting efficiency can be improved, and the cleaning capability of the washing machine can be improved.

The annular electromagnetic track, the electromagnetic driving block and the driving device are all controlled by a controller. After electrification, fault detection is firstly carried out, and whether the position of the electromagnetic track is an initial position or not and whether the four fixed shafts are fixed in the inner cylinder connector or not are mainly detected. If the condition is satisfied, the next operation is allowed, and if an abnormality is detected, the controller alarms and stops operating.

The step of driving the spherical inner cylinder 2 to rotate along the preset track through electromagnetic acting force comprises the following steps: acquiring a motion direction instruction of the spherical inner cylinder 2; and adjusting the direction of the electromagnetic acting force according to the movement direction instruction of the spherical inner cylinder 2, so that the spherical inner cylinder 2 moves according to the instruction direction.

The method comprises the following steps of adjusting the direction of the electromagnetic acting force according to the movement direction instruction of the spherical inner cylinder 2, so that the spherical inner cylinder 2 moves according to the instruction direction: when receiving an instruction that the spherical inner barrel 2 moves according to a first preset track, controlling a driving device e to drive a positioning shaft 7 to be inserted into a mounting hole 6 of the first electromagnetic track and enabling an annular electric brush 11 of the driving device e to be in contact with an electric connection terminal of the first electromagnetic track; controlling a driving device f to drive the positioning shaft 7 to retract from the mounting hole 6 inserted into the second electromagnetic track and enabling an annular electric brush 11 of the driving device f to be separated from the second electromagnetic track; controlling the first electromagnetic track to be electrified; the control electromagnetic driving block 3a and the electromagnetic driving block 3d are both first magnetic poles, the electromagnetic driving block 3b and the electromagnetic driving block 3c are both second magnetic poles, and the first magnetic poles and the second magnetic poles are opposite magnetic poles.

The electromagnetic acting force direction is adjusted according to the movement direction instruction of the spherical inner cylinder 2, so that the step of the spherical inner cylinder 2 moving according to the instruction direction further comprises the following steps: acquiring a control instruction when the spherical inner cylinder 2 rotates along a first preset track; and adjusting the current magnitude and direction of the first electromagnetic track 4 according to the control instruction, so that the spherical inner barrel 2 rotates along the first preset track according to the control instruction.

The method comprises the following steps of adjusting the direction of the electromagnetic acting force according to the movement direction instruction of the spherical inner cylinder 2, so that the spherical inner cylinder 2 moves according to the instruction direction: when an instruction that the spherical inner barrel 2 moves according to a second preset track is received, controlling a driving device f to drive a positioning shaft 7 to be inserted into a mounting hole 6 of a second electromagnetic track, and enabling an annular electric brush 11 of the driving device f to be in contact with an electric connection terminal of the second electromagnetic track; controlling a driving device e to drive a positioning shaft 7 to retract from a mounting hole 6 inserted into the first electromagnetic track and enabling an annular electric brush 11 of the driving device e to be separated from the first electromagnetic track; controlling the second electromagnetic track to be electrified; the control electromagnetic driving block 3a and the electromagnetic driving block 3d are both first magnetic poles, the electromagnetic driving block 3b and the electromagnetic driving block 3c are both second magnetic poles, and the first magnetic poles and the second magnetic poles are opposite magnetic poles.

The electromagnetic acting force direction is adjusted according to the movement direction instruction of the spherical inner cylinder 2, so that the step of the spherical inner cylinder 2 moving according to the instruction direction further comprises the following steps: acquiring a control instruction when the spherical inner cylinder 2 rotates along a second preset track; and adjusting the current magnitude and direction of the second electromagnetic track 5 according to the control instruction, so that the spherical inner barrel 2 rotates along a second preset track according to the control instruction.

It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed. The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present application, and these modifications and variations should also be considered as the protection scope of the present application.

Claims

1. The washing machine is characterized by comprising an outer cylinder (1) and a spherical inner cylinder (2), wherein an electromagnetic acting force is formed between the outer cylinder (1) and the spherical inner cylinder (2), and the spherical inner cylinder (2) rotates along a preset track under the action of the electromagnetic acting force;

the preset tracks comprise a first preset track and a second preset track, and the spherical inner cylinder (2) can selectively rotate along the first preset track or the second preset track;

an electromagnetic driving block (3) is arranged on the inner wall of the outer cylinder (1), a first electromagnetic track (4) and a second electromagnetic track (5) which are matched with the electromagnetic driving block (3) are arranged on the outer wall of the spherical inner cylinder (2), the first electromagnetic track (4) is matched with the electromagnetic driving block (3) to drive the spherical inner cylinder (2) to rotate along a first preset track, and the second electromagnetic track (5) is matched with the electromagnetic driving block (3) to drive the spherical inner cylinder (2) to rotate along a second preset track;

the both ends of the same diameter of first electromagnetism track (4) are provided with mounting hole (6) respectively, correspond to on the inner wall of urceolus (1) mounting hole (6) are provided with drive arrangement, drive arrangement with be provided with location axle (7) between mounting hole (6), location axle (7) have the connection drive arrangement with mounting hole (6), so that spherical inner tube (2) wind location axle (7) pivoted primary importance, and disconnection drive arrangement with the second place of the connection of mounting hole (6), drive arrangement is used for the drive location axle (7) are located primary importance or second place.

2. The washing machine as claimed in claim 1, wherein the first and second preset rails are perpendicular to each other.

3. The washing machine according to claim 1, characterized in that the two ends of the second electromagnetic rail (5) having the same diameter are respectively provided with a mounting hole (6), a driving device is provided on the inner wall of the outer tub (1) corresponding to the mounting hole (6), a positioning shaft (7) is provided between the driving device and the mounting hole (6), the positioning shaft (7) has a first position for connecting the driving device and the mounting hole (6) to rotate the spherical inner tub (2) around the positioning shaft (7), and a second position for disconnecting the driving device and the mounting hole (6), and the driving device is used for driving the positioning shaft (7) to be located at the first position or the second position.

4. The washing machine according to claim 1 or 3, characterized in that the driving device comprises a driving motor (8), and the positioning shaft (7) is arranged in the driving device and is in driving connection with the driving motor (8) and extends into the mounting hole (6) or is separated from the mounting hole (6) under the driving action of the driving motor (8).

5. Washing machine according to claim 4, characterized in that a damper (9) is arranged between the drive motor (8) and the positioning shaft (7).

6. Washing machine according to claim 1 or 3, characterized in that a bearing (10) is arranged in the mounting hole (6).

7. Washing machine according to claim 1 or 3, characterized in that said drive means comprise an annular brush (11), said annular brush (11) being fixedly arranged on said positioning shaft (7) and being electrically connected or disconnected from the electrical terminals (14) of the electromagnetic tracks corresponding to the drive means under the action of said positioning shaft (7).

8. Washing machine according to claim 1 or 3, characterized in that an insulating sealing device (12) is also provided at the connection location of the driving device and the electromagnetic track.

9. The washing machine according to claim 1 or 3, characterized in that the number of the driving devices is four, the driving devices are uniformly arranged along the circumferential direction of the inner wall of the outer cylinder (1), the electromagnetic driving blocks (3) are respectively arranged between the adjacent driving devices, and the electromagnetic driving blocks (3) between the adjacent driving devices are independently controlled.

10. A washing machine as claimed in any one of claims 1 to 3, characterized in that the spherical drum (2) and the tub (1) each comprise a door (13), the door (13) being located in the region between a first preset track and a second preset track.

11. A control method of a washing machine according to any one of claims 1 to 10, comprising:

supplying power to the spherical inner cylinder (2) and the outer cylinder (1);

the spherical inner cylinder (2) is driven to rotate along a preset track by electromagnetic acting force.

12. The control method according to claim 11, characterized in that the step of driving the spherical inner cylinder (2) to rotate along the preset trajectory by means of electromagnetic force comprises:

acquiring a motion direction instruction of the spherical inner cylinder (2);

and adjusting the direction of the electromagnetic acting force according to the movement direction instruction of the spherical inner cylinder (2) so that the spherical inner cylinder (2) moves according to the instruction direction.

13. The control method according to claim 12, wherein the step of adjusting the electromagnetic force direction according to the movement direction command of the spherical inner cylinder (2) so that the spherical inner cylinder (2) moves according to the command direction comprises:

when receiving an instruction that the spherical inner cylinder (2) moves according to a first preset track, controlling a driving device e to drive a positioning shaft (7) to be inserted into a mounting hole (6) of the first electromagnetic track and enabling an annular electric brush (11) of the driving device e to contact an electric connection terminal of the first electromagnetic track;

controlling a driving device f to drive a positioning shaft (7) to retract from a mounting hole (6) inserted into the second electromagnetic track and enabling an annular electric brush (11) of the driving device f to be separated from the second electromagnetic track;

controlling the first electromagnetic track to be electrified;

the control electromagnetic driving block (3) a and the electromagnetic driving block (3) d are both first magnetic poles, the electromagnetic driving block (3) b and the electromagnetic driving block (3) c are both second magnetic poles, and the first magnetic poles and the second magnetic poles are opposite magnetic poles.

14. The control method according to claim 13, wherein the step of adjusting the electromagnetic force direction according to the movement direction command of the spherical inner cylinder (2) so that the spherical inner cylinder (2) moves according to the command direction further comprises:

acquiring a control instruction when the spherical inner cylinder (2) rotates along a first preset track;

and adjusting the current magnitude and direction of the first electromagnetic track (4) according to the control instruction, so that the spherical inner barrel (2) rotates along the first preset track according to the control instruction.

15. The control method according to claim 11, wherein the step of adjusting the electromagnetic force direction according to the movement direction command of the spherical inner cylinder (2) so that the spherical inner cylinder (2) moves according to the command direction comprises:

when an instruction that the spherical inner cylinder (2) moves according to a second preset track is received, controlling a driving device f to drive a positioning shaft (7) to be inserted into a mounting hole (6) of a second electromagnetic track, and enabling an annular electric brush (11) of the driving device f to contact an electric connection terminal of the second electromagnetic track;

controlling a driving device e to drive a positioning shaft (7) to retract from a mounting hole (6) inserted into the first electromagnetic track and enabling an annular electric brush (11) of the driving device e to be separated from the first electromagnetic track;

controlling the second electromagnetic track to be electrified;

16. The control method according to claim 15, wherein the step of adjusting the electromagnetic force direction according to the movement direction command of the spherical inner cylinder (2) so that the spherical inner cylinder (2) moves according to the command direction further comprises:

acquiring a control instruction when the spherical inner cylinder (2) rotates along a second preset track;

and adjusting the current magnitude and direction of the second electromagnetic track (5) according to the control instruction, so that the spherical inner barrel (2) rotates along a second preset track according to the control instruction.