Washing machine

Abstract

The disclosed washing machine includes a control unit. The control unit performs a switching process for moving the operation portion in the axial direction so as to switch from a start state in which the operation portion is interlocked with any one of the rotor-side fixed portion and the stator-side fixed portion to an end state in which the operation portion (65) is interlocked with the other one of the rotor-side fixed portion and the stator-side fixed portion. The control unit performs a control operation before the switching process reaches the end state. For the control operation, the control unit performs a control operation for controlling the interlocked position by changing the rotational phase of the rotor so that the interlocked position of the operation portion with respect to the other one of the rotor-side fixed portion and the stator-side fixed portion becomes a target interlocked position.

Description

Technical Field

[0001] This disclosure relates to a washing machine. Background Technology

[0002] Japanese Patent Application Publication No. 2020-124381 discloses a drive unit for a washing machine. The drive unit includes a shaft, a motor for rotating the shaft, a clutch disposed between the shaft and the motor, and a reducer using a planetary gear system. The clutch has a movable portion that slides along the rotation axis, a pair of fixed portions that are separated and positioned along the rotation axis, and a drive portion for switching the engagement state of the reducer by connecting the movable portion to one of the fixed portions through sliding the movable portion. Summary of the Invention

[0003] Technical solution

[0004] The washing machine has a rotatable tub and a drive unit configured to drive the rotatable tub. The drive unit includes: a shaft; a motor having a stator and a rotor; a reducer disposed between the shaft and the rotor; a clutch configured to switch between a first mode and a second mode, wherein in the first mode, rotation of the rotor is transmitted to the shaft via the reducer, and in the second mode, rotation of the rotor is transmitted to the shaft without passing through the reducer; and a controller. The clutch has: a rotor-side fixed portion configured to rotate by interoperating with the rotation of the rotor; a stator-side fixed portion fixed to the stator and configured to face the rotor-side fixed portion in the axial direction of the shaft, with a gap between the stator-side fixed portion and the rotor-side fixed portion; and a movable portion configured to move axially between the rotor-side fixed portion and the stator-side fixed portion. The clutch can also be configured to switch to the first mode when the stator-side fixed portion and the movable portion are engaged with each other; and to switch to the second mode when the rotor-side fixed portion and the movable portion are engaged with each other. The controller is also configured to perform a switching process by moving the moving part axially, so as to switch the moving part from an initial state in which one of the rotor-side fixed part and the stator-side fixed part is engaged with the moving part to an end state in which the other of the rotor-side fixed part and the stator-side fixed part is engaged with the moving part. The controller is also configured to perform an adjustment operation by changing the rotation phase of the rotor before the end state begins, so that the engagement position of the moving part relative to the other of the rotor-side fixed part and the stator-side fixed part becomes the target engagement position. By doing so, engagement errors at the clutch can be suppressed. Attached Figure Description

[0005] Figure 1 This is a schematic diagram of the configuration of a washing machine according to an embodiment of the present disclosure.

[0006] Figure 2This is a schematic side view of an embodiment of the drive unit.

[0007] Figure 3 This is a schematic exploded perspective view of an embodiment of the drive unit.

[0008] Figure 4 This is a schematic cross-sectional view of an embodiment of the drive unit.

[0009] Figure 5 This is a schematic partial sectional perspective view of an embodiment of the stator.

[0010] Figure 6 This is a schematic partial sectional perspective view of an embodiment of the rotor.

[0011] Figure 7 This is a schematic partial sectional exploded perspective view of an embodiment of the speed reducer.

[0012] Figure 8 This is a schematic partial sectional exploded perspective view of an embodiment of the speed reducer and clutch.

[0013] Figure 9 This is a schematic partial sectional exploded perspective view of an embodiment of the speed reducer and clutch.

[0014] Figure 10 This is a schematic partial sectional perspective view of an embodiment of the clutch.

[0015] Figure 11 This is a schematic diagram used to describe the switching of the clutch.

[0016] Figure 12 This is a circuit diagram illustrating an embodiment of the drive circuit.

[0017] Figure 13 This is a schematic diagram illustrating an embodiment of the first adjustment operation.

[0018] Figure 14 This is a schematic diagram illustrating an embodiment of the first adjustment operation.

[0019] Figure 15 This is a schematic diagram illustrating an embodiment of the second adjustment operation.

[0020] Figure 16 This is a schematic diagram illustrating an embodiment of the second adjustment operation.

[0021] Figure 17 This is a flowchart illustrating an embodiment of the operation of a washing machine.

[0022] Figure 18 This is a flowchart of an embodiment of the process of performing clutch switching.

[0023] Figure 19This is a timing diagram used to describe an embodiment of a switching process performed prior to the dehydration process.

[0024] Figure 20 This is a circuit diagram illustrating an embodiment of the drive circuit.

[0025] Figure 21 This is a schematic diagram illustrating an embodiment of the first adjustment operation.

[0026] Figure 22 This is a schematic diagram illustrating an embodiment of the first adjustment operation.

[0027] Figure 23 This is a schematic diagram illustrating an embodiment of the second adjustment operation.

[0028] Figure 24 This is a schematic diagram illustrating an embodiment of the second adjustment operation.

[0029] Figure 25 This is a schematic diagram used to describe the gap of the rotor end retaining claw.

[0030] Figure 26 This is a schematic diagram used to describe the gap of the stator end retaining claw.

[0031] Figure 27 This is a timing diagram used to describe an embodiment of a switching process performed prior to the dehydration process.

[0032] Figure 28 This is a circuit diagram illustrating an embodiment of the drive circuit.

[0033] Figure 29 This is a graph illustrating an example of the change in clutch current when the moving part moves in the axial direction as power is supplied to the clutch coil.

[0034] Figure 30 This is a graph illustrating an example of how the clutch current changes when power is supplied to the clutch coil but the moving part does not move in the axial direction.

[0035] Figure 31 This is a flowchart illustrating an embodiment of the operation of the controller during mobile operation.

[0036] Figure 32 This is a schematic diagram illustrating an example of the movement of a rotating drum when the motor is stopped and the position of the unbalanced mass of the clothes in the rotating drum is not the target mass position.

[0037] Figure 33 This is a schematic diagram illustrating an example of the movement of a rotating drum when the motor is stopped and the position of the unbalanced mass of the clothes in the rotating drum is the target mass position.

[0038] Figure 34 This is a schematic diagram illustrating an example of the relationship between the rotational speed of the rotating drum and the position of the unbalanced mass of the clothing within the rotating drum.

[0039] Figure 35 This is a schematic diagram illustrating an embodiment of the mover of the driving section.

[0040] Figure 36 This is a schematic cross-sectional view of an embodiment of the actuator.

[0041] Figure 37 The relationship between the actuator's state and the driving force is shown.

[0042] Figure 38 An example of a magnetic flux diagram obtained by magnetic field analysis is shown when the moving member is displaced from a first position to a second position.

[0043] Figure 39 , Figure 40 and Figure 41 This is a partial sectional perspective view of an embodiment of the speed reducer and clutch.

[0044] Figure 42 This is a diagram illustrating an embodiment of clutch switching.

[0045] Figure 43 This is a timing diagram of an embodiment of the braking process.

[0046] Figure 44 This is a flowchart of an embodiment of the switching determination process. Detailed Implementation

[0047] Although the terminology used in this specification has been selected as far as possible from currently widely used general terms in consideration of the functionality obtained according to this disclosure, these terms may be replaced by other terms based on the intent, practice, or emergence of new technologies of those skilled in the art. Furthermore, in certain cases, the terminology may be arbitrarily chosen by the applicant of this disclosure, and the meaning of these terms will be described in detail in the corresponding sections of the detailed embodiments. Therefore, the terminology used in this disclosure is not merely a designation of terms, but is defined based on the meaning of the terms and throughout the content of this disclosure. Throughout the specification, when a component "comprises" or "contains" an element, unless specifically described to the contrary, the component may also include other elements, without excluding other elements.

[0048] In the following description, embodiments will now be described more fully with reference to the accompanying drawings to enable those skilled in the art to perform this disclosure without difficulty. However, this disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Furthermore, for the sake of clarity in describing this disclosure, portions irrelevant to the description will be omitted from the drawings, and similar reference numerals will denote similar elements throughout this specification. The following description is for illustrative purposes only and is not intended to limit this disclosure, its application, or its purpose. Additionally, in the drawings, the same or corresponding elements are denoted by the same reference numerals, and their repeated description is not provided herein.

[0049] (Example 1)

[0050] Figure 1 This is a schematic diagram illustrating the configuration of a washing machine 1 according to an embodiment of the present disclosure. In this embodiment, the washing machine 1 is a front-loading washing machine. Alternatively, the washing machine 1 may be a fully automatic washing machine configured to automatically perform a series of washing processes, including washing, rinsing, and spin-drying. (Reference) Figure 1 The washing machine 1 may include a housing 2, a fixed tub 3, a rotatable tub 4, a water supply device 5, a drain pump 6, a drive unit 10, and a controller 15. In the following description, for convenience, the vertical direction may be used with reference to the corresponding accompanying drawings. Furthermore, in the following description, the direction in which the axis of rotation extends is described as the "axial direction," the circumferential direction around the axis of rotation is described as the "circumferential direction," and the direction perpendicular to the axis of rotation (diameter or radial direction) is described as the "diameter direction."

[0051] 〔case〕

[0052] The housing 2 is a box-shaped container including a panel, frame, etc., and forms the exterior of the washing machine 1. A circular inlet 2a for loading or unloading clothes is located at the front of the housing 2. A door 2b with a transparent window is installed at the inlet 2a. The inlet 2a is opened or closed through the door 2b. An operating part 2c with a switch for user operation is located above the inlet 2a in the housing 2.

[0053] [Fixed bucket]

[0054] A fixed bucket 3 is installed in the housing 2 to communicate with the inlet 2a. The fixed bucket 3 is a cylindrical container with a bottom capable of storing water, and its opening is connected to the inlet 2a. The fixed bucket 3 is supported by a damper (not shown) installed in the housing 20, so that the fixed bucket 3 remains stable while its centerline (axis) is inclined upward from the horizontal line. That is, the fixed bucket 3 is arranged with its axis in a direction intersecting the vertical direction.

[0055] [Rotating Bucket]

[0056] The rotatable tub 4 is a cylindrical container, slightly smaller in diameter than the fixed tub 3, and housed within the fixed tub 3 in such a manner that its centerline (axis) is aligned with the centerline (axis) of the fixed tub 3. In this example, the rotatable tub 4 is capable of rotating while its centerline (axis) is tilted upwards from the horizontal. That is, the rotatable tub 4 is positioned such that its axis intersects the vertical direction. A circular opening 4a facing the circular inlet 2a is formed at the front of the rotatable tub 4. Clothes are placed into the rotatable tub 4 via the circular inlet 2a and the circular opening 4a. Multiple dehydration holes 4b ( Figure 1 (Only some of them are shown in the diagram) are formed in all sides of the rotatable tank 4. Additionally, a stirring lift 4c is installed at multiple locations inside the rotatable tank 4. The front of the rotatable tank 4 is supported so that it can rotate relative to the circular inlet 2a.

[0057] [Water supply equipment]

[0058] A water supply device 5 is installed at the top of the fixed tub 3. The water supply device 5 includes a water supply pipe 5a, a water supply valve 5b, and a chemical feeder 5c. The upstream end of the water supply pipe 5a is exposed to the outside of the washing machine 1 and connected to a water source (not shown). The downstream end of the water supply pipe 5a is connected to a water supply hole 3a that opens in the top of the fixed tub 3. The water supply valve 5b and the chemical feeder 5c are sequentially installed in the middle of the water supply pipe 5a. The chemical feeder 5c contains chemicals such as detergent, fabric softener, etc. The chemicals are mixed with the water supplied to the chemical feeder 5c and then fed into the fixed tub 3.

[0059] [Drainage pump]

[0060] The drain section 3b is located at the lower part of the fixed tub 3. The drain section 3b is connected to the drain pump 6. The drain pump 6 discharges the wastewater stored in the fixed tub 3 to the outside of the washing machine 1 via the drain pipe 6a.

[0061] [Drive Unit]

[0062] Figure 2 This is a schematic side view of an example of drive unit 10. (Reference) Figure 1 and Figure 2The drive unit 10 is mounted at the bottom of the fixed barrel 3. The drive unit 10 may include a unit base 20, a shaft 30, a motor 40, etc. The shaft 30 passes through the bottom of the fixed barrel 3 and then protrudes into the fixed barrel 3. The front end of the shaft 30 is fixed at the center of the bottom of the rotatable barrel 4. That is, the bottom of the rotatable barrel 4 is supported by the shaft 30. The drive unit 10 directly drives the rotatable barrel 4. Therefore, the rotatable barrel 4 rotates about the center of the rotation axis J by the drive of the motor 40. In this example, the rotation axis J is aligned with the center line of the fixed barrel 3, the center line of the rotatable barrel 4, and the axis of the shaft 30. In addition, the rotation axis J is arranged to extend in a direction inclined relative to the horizontal direction or in a generally horizontal direction. The configuration of the drive unit 10 will now be described in detail.

[0063] [Controller]

[0064] Controller 15 typically controls the operation of washing machine 1. Specifically, controller 15 controls drive unit 10. In this example, drive unit 10 and controller 15 form drive unit 7. Controller 15 has processor 16 and drive circuit 17. Processor 16 is connected to each part of washing machine 1 to communicate and control each part of washing machine 1. For example, processor 16 may include at least one central processing unit and memory for storing programs and data for operating the central processing unit. Power is supplied to drive circuit 17 from a power source (not shown). Additionally, drive circuit 17 is electrically connected to drive unit 10 and supplies power to drive unit 10. Therefore, drive unit 10 is driven, and the rotating drum 4 rotates. The configuration of drive circuit 17 will now be described in detail.

[0065] [Details of the drive unit]

[0066] Now refer to Figures 3 to 11 Describe the drive unit 10. Figure 3 This is a schematic exploded perspective view of an embodiment of the drive unit 10. Figure 4 This is a schematic cross-sectional view of an embodiment of the drive unit 10. (See reference...) Figure 3 and Figure 4 The drive unit 10 may include a unit base 20, a shaft 30, a motor 40, a reducer 50, and a clutch 60. In this example, the motor 40, reducer 50, and clutch 60 are generally aligned in the vertical direction relative to the axis of rotation J.

[0067] <Unit Base>

[0068] like Figure 3As shown, the unit base 20 can be a circular plate-shaped metal or resin component mounted at the bottom of the fixed barrel 3. A cylindrical shaft insertion hole 21 extending along the axis of rotation J is formed in the central portion of the unit base 20. A pair of ball bearings (main bearing 22 and auxiliary bearing 23) are mounted at both ends of the shaft insertion hole 21. Figure 3 The diagram shows the state in which shaft 30 and secondary bearing 23 are mounted at motor 40. Motor 40 is mounted at the rear of unit base 20.

[0069] <axis>

[0070] The shaft 30 can be a circular metal component with a diameter smaller than that of the shaft insertion hole 21. The shaft 30 is inserted into the shaft insertion hole 21 with its front end protruding from it. The shaft 30 is supported by the unit base 20 via ball bearings 22 and 23. Therefore, the shaft 30 is capable of rotating relative to the axis of rotation J. Figure 4 As shown, the base end of shaft 30 protrudes from the secondary bearing 23. The bracket of the reducer 50, which will be described below (see...) Figure 7 The main frame 51m of shaft 30 is fixed to the base end of shaft 30. Specifically, a thread 30s extending along the axis of rotation J is formed in the base end of shaft 30. A serration extending along the axis of rotation J (see...) Figure 7 The 30t) is formed on the outer peripheral surface of the base end of the shaft 30. Then, the base end of the shaft 30 is inserted into the shaft fixing part of the main frame 51m, which will be described below (see Figure 7 In step 51b), the bolt BT is coupled to the thread 30s of the shaft 30 via a fixing device.

[0071] <Electric motor>

[0072] Figure 5 This is a schematic partial sectional perspective view of an embodiment of the stator. Figure 6 This is a schematic partial sectional perspective view of an embodiment of the rotor. (Reference) Figure 4 and Figure 5 The motor 40 has a stator 41 and a rotor 45. The rotor 45 faces the stator 41, with a predetermined gap between them. Furthermore, the rotor 45 is rotatable relative to the shaft 30. In this embodiment, the motor 40 is an external rotor type motor in which the rotor 45 is located on the outer side in the diametrical direction. Additionally, the motor 40 is a three-phase motor.

[0073] "stator"

[0074] like Figure 5As shown, the stator 41 has an annular stator core 42. The surface of the stator core 42 is coated with an insulating material. The stator core 42 has an annular core portion 42a, a plurality of teeth 42b protruding outward from the core portion 42a in the diametrical direction, and a fixed flange portion 42c mounted on the inner side of the core portion 42a. The stator 41 is fixed to the unit base 20 via the fixed flange portion 42c. Wires are wound in a predetermined order around each of the plurality of teeth 42b to form a plurality of motor coils. A portion of the stator core 42 is exposed on the top surface of the plurality of teeth 42b. The exposed portion of the stator core 42 faces the magnet 47 of the rotor 45, which will be described below, in the diametrical direction, with a predetermined gap between them.

[0075] In this example, multiple motor coils include three-phase motor coils. Specifically, as... Figure 12 As shown, the multiple motor coils include the U-phase motor coil 43u, the V-phase motor coil 43, and the W-phase motor coil 43w. In the following text, the motor coils are collectively referred to as "motor coils" (see [link to documentation]). Figure 12 (43). The energization of the motor coil 43 is controlled by the controller 15. When the motor coil 43 is energized, it generates a magnetic field that causes the rotor 45 to rotate. Specifically, when alternating current is supplied to the motor coil 43, a magnetic field is formed between the motor coil 43 and the rotor 45. Due to the action of the magnetic field, the rotor 45 rotates around the rotation axis J.

[0076] Rotor

[0077] like Figure 6 As shown, the rotor 45 has a rotor housing 46 and a plurality of magnets 47. The rotor housing 46 is a bottomed cylindrical member whose centerline is aligned with the axis of rotation J. In this example, the rotor housing 46 houses the stator 41. The rotor housing 46 has a disc-shaped bottom wall 46a and a cylindrical peripheral wall 46b surrounding the bottom wall 46a, the central portion of which has a circular hole formed therein. Alternatively, the bottom wall 46a can be formed from multiple components or a single component. The rotor housing 46 is formed in such a way that the bottom is thinner (smaller thickness) and the height of the peripheral wall 46b is less than the radius of the bottom wall 46a. The circular hole is formed in the central portion of the bottom wall 46a. The rotor housing 46 has a cylindrical shaft support portion 46c formed around the circular hole in the bottom wall 46a. The shaft support portion 46c faces the peripheral wall 46b in the diametrical direction.

[0078] Each of the plurality of magnets 47 is formed as a square permanent magnet, which is bent into an arc shape. The plurality of magnets 47 are fixed to the inner surface of the peripheral wall 46b of the rotor housing 46, so as to stand continuously along the circumferential direction. The plurality of magnets 47 are arranged and magnetized to configure the magnetic poles of the rotor 45 in such a way that the S pole and N pole alternate with each other. For example, four magnetic poles are formed at one magnet 47.

[0079] A cylindrical oil-immersed sintered bearing 48 is fixed to the inner side of the shaft support portion 46c in the diametrical direction. The shaft support portion 46c is supported by the oil-immersed sintered bearing 48 so that it can slide relative to the shaft 30 (more specifically, the main frame 51m fixed to the shaft 30). Therefore, the rotor housing 46 can rotate relative to the shaft 30.

[0080] <Speed ​​Reducer>

[0081] Figure 7 This is a schematic partially sectional exploded perspective view of an embodiment of the speed reducer. (Reference) Figure 7 The reducer 50 is disposed between the shaft 30 and the rotor 45. The reducer 50 is arranged around the shaft support portion 46c. The reducer 50 is housed in the rotor housing 46. The reducer 50 is a reducer using a planetary gear system. The reducer 50 has a bracket 51, a sun gear 52, an internal gear 53, and a plurality of (four in this example) planetary gears 54.

[0082] "bracket"

[0083] The bracket 51 is fixed to the shaft 30. In this example, the bracket 51 has a main frame 51m and a secondary frame 51s. The secondary frame 51s is an annular member having multiple (four in this example) lower bearing recesses corresponding to multiple planetary gears 54 respectively. The secondary frame 51s is mounted on the rotor housing 46 via an annular guide plate 55. An annular first sliding member 56 is fixed to the inner side of the guide plate 55 in the diametrical direction. The guide plate 55 is mounted on the bottom wall 46a of the rotor housing 46, and the guide plate 55 is rotatable by means of the first sliding member 56 disposed between the guide plate 55 and the shaft support portion 46c.

[0084] The main frame 51m may have: a bottomed cylindrical base 51a with a thin bottom; and a cylindrical shaft fixing portion 51b protruding from the center of the base 51a in a rearward direction. The rear surface of the base 51a faces the sub-frame 51s. A plurality of (four in this example) upper bearing recesses are formed on the rear surface of the base 51a, each facing a plurality of lower bearing recesses formed on the sub-frame 51s. A serration 51t coupled to the base end of the shaft 30 is formed in the inner circumferential surface of the shaft fixing portion 51b. When the base end of the shaft 30 is inserted into the shaft fixing portion 51b, the main frame 51m is non-rotatably fixed to the shaft 30. Figure 4 and Figure 6 As shown, the shaft support portion 46c of the rotor 45 is supported around the shaft fixing portion 51b via an oil-immersed sintered bearing 48.

[0085] The Sun Gear

[0086] The sun gear 52 is capable of rotating together with the rotor 45. In this example, the sun gear 52 is formed on the outer peripheral surface of the shaft support portion 46c.

[0087] Internal Gears

[0088] The internal gear 53 surrounds the sun gear 52. In this example, the internal gear 53 is formed as a generally cylindrical member with a diameter larger than that of the sun gear 52. A gear portion 53a is mounted on the lower part of the inner circumferential surface of the internal gear 53. Gear teeth are formed in all sides of the gear portion 53a. Additionally, a plurality of internal sliding guides 53b, as linear protrusions extending in the direction of the rotation axis, are formed at equal angles throughout the periphery of the outer circumferential surface of the internal gear 53. The internal gear 53 is disposed around the sun gear 52 relative to the rotation axis J. The lower part of the internal gear 53 is disposed on the guide plate 55. An annular second sliding member (see...) Figure 4 The bracket 57 is fixed to the upper inner side of the internal gear 53. The bracket 51 (main frame 51m) is supported by the second sliding member 57 so that it can rotate relative to the internal gear 53.

[0089] Planetary Gear

[0090] Each of the plurality of planetary gears 54 is supported to be rotatable on the carrier 51 and is positioned between the sun gear 52 and the internal gear 53 to mesh with both the sun gear 52 and the internal gear 53. In this example, each of the plurality of planetary gears 54 is a gear member with a small diameter. A pin hole passes through the center of the planetary gear 54. The two ends of the pin 54p inserted into the pin hole are supported by the upper bearing recess of the main frame 51m and the lower bearing recess of the sub-frame 51s. Teeth are formed throughout the periphery of the outer circumferential surface of the planetary gear 54. The teeth mesh with both the sun gear 52 and the internal gear 53. With this configuration, when the sun gear 52 rotates at a preset speed while the internal gear 53 is fixed (non-rotatable), the plurality of planetary gears 54 rotate (rotate) while circling (encircling) the sun gear 52. Therefore, the carrier 51 and the shaft 30 rotate at a reduced speed.

[0091] Clutch

[0092] Figure 8 and Figure 9 This is a schematic partial sectional perspective view of an embodiment of the speed reducer and clutch. Figure 10 This is a schematic partial sectional perspective view of an embodiment of the clutch. Figure 11 This is a schematic diagram used to illustrate clutch switching. (Reference) Figures 8 to 11The clutch 60 is housed in the rotor housing 46 and is disposed around the reducer 50. The clutch 60 can switch between a first mode and a second mode. In the first mode, the rotation of the rotor 45 is transmitted to the shaft 30 via the reducer 50. In the second mode, the rotation of the rotor 45 is transmitted to the shaft 30 without passing through the reducer 50. The clutch 60 has a rotor-side fixed portion 61, a stator-side fixed portion 62, a moving portion 65, and a drive portion 66. The drive portion 66 has a mover 67 and a stator 68.

[0093] Rotor-side fixed part

[0094] The rotor-side fixing portion 61 is formed annularly around the shaft 30 and is rotatable by interoperating with the rotation of the rotor 45. In this example, the rotor-side fixing portion 61 is fixed to the rotor 45. The rotor-side fixing portion 61 may be located at a portion that rotates at the same speed as the rotor 45. For example, the rotor-side fixing portion 61 may be integrally formed with the rotor housing 46. In this example, the rotor-side fixing portion 61 has a rotor end base 61a and a plurality of rotor end fixing claws 61r. The rotor end base 61a is formed annularly around the axis of rotation J and is mounted on the bottom wall 46a of the rotor housing 46. The plurality of rotor end fixing claws 61r are arranged annularly around the axis of rotation J and protrude axially from the rotor end base 61a toward the moving portion 65 described below. Figure 10 As shown, the multiple rotor end retaining claws 61r may include multiple protrusions arranged at equal angles across the entire periphery. The multiple protrusions protrude upwards.

[0095] Stator Side Fixing Part

[0096] The stator-side fixed portion 62 is formed annularly around the shaft 30 and fixed to the stator 41. The stator-side fixed portion 62 faces the rotor-side fixed portion 61, with a gap between them in the axial direction of the shaft 30. The length of the gap between the rotor-side fixed portion 61 and the stator-side fixed portion 62 in the axial direction is longer than the length of the moving portion 65 in the axial direction.

[0097] In this example, the stator-side fixing portion 62 is directly fixed to the stator 41. The stator-side fixing portion 62 can also be indirectly fixed to the stator 41. For example, similar to the stator 41, the stator-side fixing portion 62 can be located at a non-rotating portion. Specifically, the stator-side fixing portion 62 can be integrally formed with the unit base 20 or the stator core 42. That is, the state of "fixed to the stator 41" includes not only the state of "directly fixed to the stator 41" but also the state of "indirectly fixed to the stator 41". Examples of the state of "indirectly fixed to the stator 41" can include a state where it is located at a non-rotating portion (e.g., the unit base 20) similar to the stator 41, or a state where it is integrally formed with a non-rotating portion similar to the stator 41, etc.

[0098] In this example, the stator-side fixing portion 62 has a stator end base 62a and a plurality of stator end fixing claws 62s. The stator end base 62a is formed annularly around the rotation axis J and is mounted to the core portion 42a of the stator core 42. The plurality of stator end fixing claws 62s are arranged annularly around the rotation axis J and protrude axially from the stator end base 62a toward the moving portion 65 described below. Figure 10 As shown, the multiple stator end retaining claws 62s may include multiple protrusions arranged at equal angles across the entire periphery. The multiple protrusions protrude downwards.

[0099] The Moving Section

[0100] The movable portion 65 is formed annularly around the shaft 30. The movable portion 65 is axially movable between the rotor-side fixed portion 61 and the stator-side fixed portion 62. In this example, the movable portion 65 is mounted on the outer side of the internal gear 53. The movable portion 65 is rotatable with the internal gear 53. The movable portion 65 is a cylindrical member whose diameter is larger than the diameter of the internal gear 53. Additionally, multiple external sliding guides (see [reference needed]) are included, including linear protrusions extending in the axial direction. Figure 8 The outer sliding guide 65a is formed at equal angles throughout the periphery of the inner circumferential surface of the moving portion 65. The outer sliding guide 65a and a plurality of inner sliding guides formed in the outer circumferential surface of the internal gear 53 (see [reference]) Figure 11 The moving part 65 is disposed around the internal gear 53, and the outer sliding guide 65a engages with the inner sliding guide 53b of the internal gear 53. Therefore, the moving part 65 is able to slide in the axial direction.

[0101] The moving part 65 has multiple rotor end moving claws (see...) Figure 8 (65r) and multiple stator end moving claws (see 65r) Figure 8 (65s). Multiple rotor end moving claws 65r are arranged in a ring around the rotation axis J and protrude axially toward the rotor-side fixed portion 61. Reference Figure 11 Multiple rotor-end movable claws 65r can engage with multiple rotor-end fixed claws 61r of the rotor-side fixed portion 61. More specifically, the multiple rotor-end movable claws 65r may include multiple protrusions arranged at equal angles across the entire periphery. The multiple protrusions project downwards. The multiple stator-end movable claws 65s are arranged annularly around the axis of rotation J and project axially toward the stator-side fixed portion 62. Reference Figure 11 Multiple stator end moving claws 65s can engage with multiple stator end fixing claws 62s of the stator side fixing portion 62. Specifically, the multiple stator end moving claws 65s may include multiple protrusions arranged at equal angles across the entire perimeter. The multiple protrusions project upwards.

[0102] The movable part 65 has a mover receiving part (see Figure 9 (65b).

[0103] The moving part receiving portion 65b opens outward in the diametrical direction to the moving part 65. The moving part receiving portion 65b receives the moving part 67.

[0104] Furthermore, the axial length of the gap between the rotor-side fixed portion 61 and the stator-side fixed portion 62 is longer than the axial length of the moving portion 65. Therefore, when the rotor-side fixed portion 61 and the moving portion 65 are engaged (connected), the stator-side fixed portion 62 and the moving portion 65 are not engaged with each other, and the stator-side fixed portion 62 and the moving portion 65 face each other with a gap in the axial direction. When the stator-side fixed portion 62 and the moving portion 65 are engaged (connected), the rotor-side fixed portion 61 and the moving portion 65 are not engaged with each other, and the rotor-side fixed portion 61 and the moving portion 65 face each other with a gap in the axial direction.

[0105] Driver section

[0106] The drive section 66 drives the moving section 65. (For example...) Figure 9 As shown, the mover 67 of the drive portion 66 has a slider core 67a and a clutch magnet 67b, and is mounted at the moving portion 65. The slider core 67a is a cylindrical metal member with magnetism and is mounted on the inner surface of the mover receiving portion 65b. The clutch magnet 67b comprises a permanent magnet. The clutch magnet 67b, which contacts the surface of the slider core 67a, is mounted on the entire periphery of the mover receiving portion 65b. For example, the clutch magnet 67b comprises a plurality of magnetic components formed from a sheet of permanent magnet with an arcuate shape. Each of the plurality of magnetic components has a plurality of magnetic poles, the N pole and the S pole of which alternate with each other in the axial direction. For example, when the magnetic component is viewed in the cross-sectional direction, the magnetic component has a central magnetic pole portion (e.g., S pole) at its center along its axial direction and end magnetic poles (e.g., N poles) at both ends.

[0107] like Figure 10 As shown, the stator 68 of the drive section 66 has a clutch coil 68a, a coil retainer 68b, and a retainer support 68c. The coil retainer 68b is an insulating annular member with a generally C-shaped cross-section that opens outward in the diametrical direction. When a wire is wound around the coil retainer 68b, the clutch coil 68a is formed. The retainer support 68c includes a pair of upper and lower annular members into which the coil retainer 68b is inserted. The retainer support 68c is fixed to the stator 41. Therefore, the clutch coil 68a (stator 68) faces the clutch magnet 67b (moving element 67) in the diametrical direction with a small gap between them. The energization of the clutch coil 68a is controlled by the controller 15. When the clutch coil 68a is energized, the clutch coil 68a generates a magnetic field for moving the clutch magnet 67b in the axial direction. Specifically, due to the energization of the clutch coil 68a, a magnetic field is generated between the clutch coil 68a and the clutch magnet 67b. As a result, the moving part 65 moves in the axial direction.

[0108] Clutch Operation

[0109] like Figure 11 As shown, when the moving part 65 moves in the axial direction, the clutch 60 switches between a first mode and a second mode. Specifically, when the stator-side fixed part 62 and the moving part 65 are engaged with each other, the clutch 60 switches to the first mode, and when the rotor-side fixed part 61 and the moving part 65 are engaged with each other, the clutch 60 switches to the second mode.

[0110] In the first mode, the internal gear 53 is supported to the stator 41 via the moving part 65. Therefore, the rotation of the rotor 45 and the sun gear 52 is transmitted to the shaft 30 and the bracket 51 via the reducer 50. Thus, the drive unit 10 outputs high torque rotational power at a low speed.

[0111] In the second mode, the internal gear 53 is supported on the rotor 45 via the moving part 65. Therefore, the rotation of the rotor 45 and the sun gear 52 is transmitted to the shaft 30 and the bracket 51 without passing through the reducer 50. That is, when the rotor 45, the sun gear 52, and the internal gear 53 rotate as a whole, the multiple planetary gears 54 do not rotate (twist). Therefore, the shaft 30 and the bracket 51 also rotate as a whole with them. Thus, the drive unit 10 outputs low-torque rotational power at high speed.

[0112] [Driver Circuit]

[0113] Figure 12 This is a circuit diagram illustrating an embodiment of the drive circuit. Figure 12 The configuration of the drive circuit 17 in Embodiment 1 is shown. (See reference...) Figure 12 The drive circuit 17 includes a motor drive circuit 70 and a clutch drive circuit 80.

[0114] <Motor drive circuit>

[0115] The motor drive circuit 70 drives the motor 40 by supplying power to the motor coil 43. The motor drive circuit 70 operates in response to control by the processor 16. In this example, the motor drive circuit 70 may include an inverter. Specifically, the motor drive circuit 70 has three output lines (U-phase output line 74u, V-phase output line 74v, and W-phase output line 74w), three arms (U-phase arm 75u, V-phase arm 75v, and W-phase arm 75w), and a first bus 72 and a second bus 73 connected to a DC power supply 71. For example, the DC power supply 71 may include a converter configured to convert alternating current (AC) supplied from a commercial power source (not shown) to DC current.

[0116] The U-phase motor coil 43u, V-phase motor coil 43v, and W-phase motor coil 43w are connected in a star (Y-connection). The connection point of the U-phase motor coil 43u, V-phase motor coil 43v, and W-phase motor coil 43w is the neutral point 43c.

[0117] The U-phase output line 74u, V-phase output line 74v, and W-phase output line 74w are connected to the U-phase motor coil 43u, V-phase motor coil 43v, and W-phase motor coil 43w, respectively. The U-phase output line 74u, V-phase output line 74v, and W-phase output line 74w are connected in parallel between the first bus 72 and the second bus 73. The center point of the U-phase arm 75u is connected to the U-phase output line 74u. The center point of the V-phase arm 75v is connected to the V-phase output line 74v. The center point of the W-phase arm 75w is connected to the W-phase output line 74w.

[0118] The U-phase arm 75u has a first switching device SW1 and a second switching device SW2. The first switching device SW1 and the second switching device SW2 are connected in series between the first bus 72 and the second bus 73. The first switching device SW1 is connected between the first bus 72 and the U-phase output line 74u. The second switching device SW2 is connected between the U-phase output line 74u and the second bus 73. A freewheeling diode is connected to each of the first switching device SW1 and the second switching device SW2 in a back-to-back connection or an anti-parallel connection. The connection point of the first switching device SW1 and the second switching device SW2 constitutes the center point of the U-phase arm 75u.

[0119] The configuration of each of the V-phase arm 75v and the W-phase arm 75w is the same as that of the U-phase arm 75u. The V-phase arm 75v has a third switching device SW3 and a fourth switching device SW4. The W-phase arm 75w has a fifth switching device SW5 and a sixth switching device SW6.

[0120] In response to a switching operation that turns the first switching device SW1 to the sixth switching device SW6 ON or OFF, the motor drive circuit 70 converts the DC current supplied from the DC power supply 71 into AC current and supplies this AC current to the motor coils 43 (in this example, U-phase motor coil 43u, V-phase motor coil 43v, and W-phase motor coil 43w). Therefore, the rotor 45 rotates. Furthermore, the switching operation of the motor drive circuit 70 is controlled by the processor 16. For example, the processor 16 controls the switching operation of the motor drive circuit 70 via pulse width modulation (PWM) control so that the rotor 45 rotates at a preset speed.

[0121] Furthermore, the relationship between the "combination of ON and OFF states of the first switching device SW1 to the sixth switching device SW6 of the motor drive circuit 70" and the "state of the motor current flowing to the motor coil 43 (in which direction does the motor current flow to which motor coil 43)" is uniquely determined. Additionally, the relationship between the "state of the motor current flowing to the motor coil 43" and the "rotation phase of the rotor 45" is uniquely determined. Therefore, the rotation phase of the rotor 45 can be uniquely determined by determining the combination of ON and OFF states of the first switching device SW1 to the sixth switching device SW6 of the motor drive circuit 70.

[0122] In this example, the motor drive circuit 70 performs an operation (current control operation) to supply power to the motor coil 43 so that the motor current state flowing to the motor coil 43 is in a target state. The target state is set to a state where the rotational phase of the rotor 45 becomes a target phase. Therefore, by switching the motor current state flowing to the motor coil 43 to the target state, the rotational phase of the rotor 45 can become the target phase. Furthermore, the current control operation of the motor drive circuit 70 is controlled by the processor 16. For example, the processor 16 controls the ON and OFF states of the first switching device SW1 to the sixth switching device SW6 so that the combination of ON and OFF states of the first switching device SW1 to the sixth switching device SW6 of the motor drive circuit 70 becomes a target combination. The target combination is set to the combination when the rotational phase of the rotor 45 becomes the target phase (the combination of ON and OFF states of the first switching device SW1 to the sixth switching device SW6).

[0123] <Clutch drive circuit>

[0124] The clutch drive circuit 80 drives the clutch 60 by supplying power to the clutch coil 68a. The clutch drive circuit 80 operates in response to control by the processor 16. In this example, the clutch drive circuit 80 does not use power supplied from the motor drive circuit 70 and supplies power to the clutch coil 68a. The clutch drive circuit 80 has a first wiring 85, a second wiring 86, a switching section 800, and a first power line 81a and a second power line 81b connected to a DC power supply 81. The first wiring 85 is connected to one end of the clutch coil 68a. The second wiring 86 is connected to the other end of the clutch coil 68a. Furthermore, the DC power supply 81 is a different power source than the DC power supply 71. For example, the DC power supply 81 may include a converter configured to convert alternating current (AC) supplied from a commercial power source (not shown) to DC current.

[0125] The switching section 800 switches the connection state of the first power line 81a and the second power line 81b relative to the first wiring 85 and the second wiring 86. In this example, the switching section 800 has four switching devices SWA, SWb, SWc, and SWd. Switching device SWA is connected between the first power line 81a and the first wiring 85, and switching device SWb is connected between the first wiring 85 and the second power line 81b. Switching device SWc is connected between the first power line 81a and the second wiring 86, and switching device SWd is connected between the second wiring 86 and the second power line 81b. By switching the connection state of the first power line 81a and the second power line 81b relative to the first wiring 85 and the second wiring 86, the direction of the clutch current flowing to the clutch coil 68a can be controlled.

[0126] Additionally, in this example, when the absolute value of the clutch current flowing to the clutch coil 68a is equal to or greater than a threshold, the moving part 65 moves axially due to the magnetic field generated in the clutch coil 68a. Furthermore, when the direction of the clutch current flowing to the clutch coil 68a changes, the direction of movement of the moving part 65 (the direction of movement along the axial direction) changes. Specifically, when the clutch current flows from one end of the clutch coil 68a to the other end (e.g., ...), ... Figure 12 When the current flows from the left to the right (e.g., from the rotor-side fixed portion 61 to the stator-side fixed portion 62), the moving portion 65 moves axially from one end to the other (e.g., from the rotor-side fixed portion 61 to the stator-side fixed portion 62). Additionally, when the clutch current flows from one end of the clutch coil 68a to the other end (e.g., from the left to the right), the moving portion 65 moves axially from one end to the other. Figure 12 When the flow moves from the right side to the left side, the moving part 65 moves from one end to the other end in the axial direction (for example, from the stator-side fixed part 62 to the rotor-side fixed part 61).

[0127] The clutch drive circuit 80 supplies power to the clutch coil 68a, causing the clutch current flowing to the clutch coil 68a to flow in a target direction, and the absolute value of the clutch current flowing to the clutch coil 68a to become equal to or greater than a threshold. The target direction is set to the direction of the clutch current when the axial direction of movement becomes the target direction. The threshold is set to the absolute value of the clutch current required to generate the magnetic field for moving the moving part 65. Therefore, by making the direction of the clutch current the target direction and making the absolute value of the clutch current equal to or greater than the threshold, the moving part 65 can move axially in the target direction.

[0128] The operation of the clutch drive circuit 80 is controlled by the processor 16. For example, when the processor 16 attempts to move the moving part 65 axially from one end to the other (e.g., from the rotor-side fixed part 61 to the stator-side fixed part 62), the processor 16 switches the switching devices SWA and SWd to the ON state and switches the switching devices SWb and SWc to the OFF state in the clutch drive circuit 80. Therefore, the first power line 81a and the first wiring 85 are connected to each other, the second power line 81b and the second wiring 86 are connected to each other, and the clutch current flows from one end of the clutch coil 68a to the other (e.g., in…). Figure 12 (The flow is from left to right). Therefore, the moving part 65 moves from one end to the other in the axial direction (e.g., from the rotor-side fixed part 61 to the stator-side fixed part 62).

[0129] [Switching Process]

[0130] In order to switch the clutch 60 between the first mode and the second mode, the controller 15 performs a switching process. In the switching process, the controller 15 moves the moving part 65 in the axial direction to switch the moving part 65 from an initial state in which one of the rotor-side fixed part 61 and stator-side fixed part 62 is engaged with the moving part 65 to an end state in which the other of the rotor-side fixed part 61 and stator-side fixed part 62 is engaged with the moving part 65.

[0131] Additionally, during the switching process, the controller 15 performs an adjustment operation before the end state begins. In this adjustment operation, the controller 15 adjusts the engagement position by changing the rotation phase of the rotor 45, so that the engagement position of the moving part 65 relative to the other of the rotor-side fixed part 61 and the stator-side fixed part 62 becomes the target engagement position. Hereinafter, the engagement position (rotation phase) of the moving part 65 attempting to engage with the moving part 65 relative to the rotor-side fixed part 61 (or stator-side fixed part 62) is simply referred to as the "engagement position." The adjustment operation will be described in detail later.

[0132] Furthermore, the target engagement position of the moving part 65 relative to the rotor-side fixed part 61 is the position where the gap between the plurality of rotor-end fixed claws 61r of the rotor-side fixed part 61 and the plurality of rotor-end moving claws 65r of the moving part 65 face each other in the axial direction. The target engagement position of the moving part 65 relative to the stator-side fixed part 62 is the position where the gap between the plurality of stator-end fixed claws 62s of the stator-side fixed part 62 and the plurality of stator-end moving claws 65s of the moving part 65 face each other in the axial direction.

[0133] In this example, during the switching process, controller 15 performs a movement operation after the adjustment operation. In the movement operation, controller 15 moves the moving portion 65 along the axial direction. The movement operation will be described in detail later.

[0134] [Relationship between the rotor's rotational phase and engagement position]

[0135] When the rotor 45 rotates, the rotor-side fixed portion 61, which is fixed to the rotor 45, rotates together with the rotor 45. However, even when the rotor 45 rotates, the stator-side fixed portion 62, which is fixed to the stator 41, does not rotate. Therefore, when the rotation phase of the rotor 45 changes, the rotation phase of the rotor-side fixed portion 61 relative to the stator-side fixed portion 62 changes, causing the relationship between the rotation phase of the "moving portion 65 that engages with one of the rotor-side fixed portion 61 and the stator-side fixed portion 62" and the rotation phase of the "other of the rotor-side fixed portion 61 and the stator-side fixed portion 62" to change. That is, the engagement position changes. In this way, the relationship between the rotation phase of the rotor 45 and the engagement position is uniquely determined.

[0136] [Details of the adjustment operation]

[0137] In this example, during the adjustment operation, the controller 15 supplies power to the motor coil 43 so that the rotational phase of the rotor 45 is at a target phase. The target phase of the rotor 45 is set to the rotational phase of the rotor 45 when the engagement position becomes the target engagement position. Therefore, by making the rotational phase of the rotor 45 the target phase, the engagement position can become the target engagement position.

[0138] In detail, in this example, the rotor-side fixed portion 61, the stator-side fixed portion 62, and the moving portion 65 are designed such that when the rotational phase of the rotor 45 becomes the target phase, the engagement position becomes the target engagement position. The target phase of the rotor 45 is set to the rotational phase of the rotor 45 uniquely determined by the combination of ON and OFF states of the switching devices SW1 to SW6 of the motor drive circuit 70. With this configuration, during adjustment operations, the rotational phase of the rotor 45 can be adjusted so that the engagement position becomes the target engagement position without detecting the rotational phase of the rotor 45.

[0139] In addition, in this example, the rotor-side fixed portion 61, the stator-side fixed portion 62, and the moving portion 65 are designed such that when the rotation phase of the rotor 45 becomes the target phase, the engagement position becomes the target engagement position while the rotation phase of the rotor-side fixed portion 61 and the rotation phase of the stator-side fixed portion 62 are synchronized with each other.

[0140] In detail, in this example, each of the plurality of rotor end fixing claws 61r of the rotor side fixing portion 61, each of the plurality of stator end fixing claws 62s of the stator side fixing portion 62, each of the plurality of rotor end moving claws 65r of the moving portion 65, and each of the plurality of stator end moving claws 65s of the moving portion 65 are arranged at equal angular intervals that are integer multiples of 360° of electrical angle.

[0141] For example, when the number of poles of motor 40 is "P" and the angle of the gap between the rotor end fixed claws 61r (expressed as a mechanical angle) is "θm", the following equation is achieved: The gap between the stator end fixed claws 62s, the gap between the rotor end moving claws 65r, and the gap between the stator end moving claws 65s are all equal to the gap between the rotor end fixed claws 61r.

[0142] θm=k×720 / P

[0143] Here, "k" is an integer equal to or greater than 1.

[0144] Additionally, the plurality of rotor end fixing claws 61r may include a plurality of first rotor end fixing claws arranged at equal angles with a gap θm, and a plurality of second rotor end fixing claws arranged at equal angles between the plurality of first rotor end fixing claws. The same applies to the stator end fixing claws 62s, rotor end moving claws 65r, and stator end moving claws 65s.

[0145] Furthermore, in this example, the number of rotor-end moving claws 65r of the moving part 65 is the same as the number of rotor-end fixing claws 61r of the rotor-side fixed part 61. The number of stator-end moving claws 65s of the moving part 65 is the same as the number of stator-end fixing claws 62s of the stator-side fixed part 62. The number of stator-end fixing claws 62s of the stator-side fixed part 62 is the same as the number of rotor-end fixing claws 61r of the rotor-side fixed part 61. That is, the number of rotor-end fixing claws 61r, stator-end fixing claws 62s, rotor-end moving claws 65r, and stator-end moving claws 65s are all the same.

[0146] In detail, in this example, k is "1", the number of poles (P) of motor 40 is "48", the number of rotor end fixed claws 61r, stator end fixed claws 62s, rotor end moving claws 65r and stator end moving claws 65s is "24", and the respective gaps (θm) between rotor end fixed claws 61r, between stator end fixed claws 62s, between rotor end moving claws 65r and between stator end moving claws 65s is "15°".

[0147] <Specific example of adjustment operation: First adjustment operation>

[0148] Figure 13 and Figure 14 This is a schematic diagram illustrating an embodiment of the first adjustment operation. First, refer to... Figure 13 The first adjustment operation will now be described. This first adjustment operation is performed during a switching process to switch the moving part 65 from an initial state where the stator-side fixed part 62 is engaged with the moving part 65 to an end state where the rotor-side fixed part 61 is engaged with the moving part 65 by moving the moving part 65 axially. Furthermore, the angles used below are electrical angles. Figure 13 An example is shown where the rotational phase of rotor 45 changes from "-120°" to "0°" as the target phase.

[0149] When the stator-side fixed portion 62 engages with the moving portion 65 and the rotor 45 rotates, the rotor-side fixed portion 61 rotates relative to the stator-side fixed portion 62. Therefore, the relationship of the rotational phase between the rotor-side fixed portion 61 and the moving portion 65 engaged with the stator-side fixed portion 62 changes, and the relationship (engagement position) of the rotational phase of the moving portion 65 relative to the rotor-side fixed portion 61 changes.

[0150] Furthermore, when the stator-side fixed portion 62 engages with the moving portion 65, the rotational power of the rotor 45 is transmitted to the moving portion 65 via the sun gear 52, planetary gear 54, and internal gear 53. Due to this rotational power, the moving portion 65 rotates, and the stator-end moving claw 65s of the moving portion 65 contacts the stator-end fixed claw 62s of the stator-side fixed portion 62. In this example, the moving portion 65 rotates in the opposite direction to the rotation direction of the rotor 45.

[0151] like Figure 13As shown, in the motor drive circuit 70, the controller 15 sets the first switching device SW1, the fourth switching device SW4, and the sixth switching device SW6 to the ON state, and sets the second switching device SW2, the third switching device SW3, and the fifth switching device SW5 to the OFF state. Therefore, the motor current output from the first switching device SW1 is input to the neutral point 43c via the U-phase motor coil 43u. The motor current input to the neutral point 43c is divided into the V-phase motor coil 43v and the W-phase motor coil 43w, and input to the fourth switching device SW4 and the sixth switching device SW6.

[0152] When the motor current flows to the motor coil 43 in the manner described above, the rotor 45 rotates, causing the rotation phase of the rotor 45 to become "0°". Therefore, the rotation phase of the rotor 45 and the rotor-side fixed portion 61 becomes the target phase (0° in this example). The engagement position of the moving portion 65 relative to the rotor-side fixed portion 61 becomes the target engagement position.

[0153] Additionally, due to the position of rotor 45 before the motor current is applied (the rotation phase of rotor 45 before rotation), rotor 45 is in the positive direction ( Figure 13 (in the example, the right direction) or along the opposite direction ( Figure 13 In the example, the rotor 45 rotates to the left, causing the rotation phase of the rotor 45 to become the target phase. Additionally, as the rotor 45 rotates, the moving part 65 rotates in either the opposite or forward direction.

[0154] For example, such as Figure 13 As shown, when the rotational phase of rotor 45 before rotation is "-120°", rotor 45 is in the positive direction ( Figure 13 In the example, rotating to the right causes the rotation phase of rotor 45 to change from "-120°" to "0°". For example... Figure 14 As shown, when the rotational phase of rotor 45 before rotation is "120°", rotor 45 rotates in the opposite direction ( Figure 14 The leftward rotation (as in the example) causes the rotation phase of rotor 45 to change from "120°" to "0°".

[0155] In this way, the rotation direction of rotor 45 is changed during the first adjustment operation due to the rotation phase of rotor 45 before rotation. Furthermore, in this example, when the rotation phase of rotor 45 is the target phase, the rotation phase of rotor-side fixed portion 61 is synchronized with the rotation phase of stator-side fixed portion 62. Additionally, the number of rotor-end fixed claws 61r is the same as the number of stator-end fixed claws 62s. With this configuration, even when rotor 45 rotates in either the forward or reverse direction during the first adjustment operation, the rotation phase of rotor 45 is set to the target phase, such that the engagement position of moving portion 65 relative to rotor-side fixed portion 61 can be set to the target engagement position.

[0156] <Specific example of adjustment operation: Second adjustment operation>

[0157] Figure 15 and Figure 16 This is a schematic diagram illustrating an embodiment of the second adjustment operation. First, refer to... Figure 15 The second adjustment operation will now be described, which is an adjustment operation performed in a switching process for switching the moving part 65 from an initial state where the rotor-side fixed part 61 is engaged with the moving part 65 to an end state where the stator-side fixed part 62 is engaged with the moving part 65 by moving the moving part 65 in the axial direction. Furthermore, the angles used below are electrical angles. Figure 15 An example is shown where the rotational phase of rotor 45 changes from "-120°" to "0°", which is the target phase. In this example, the target phase in the second adjustment operation is the same as the target phase in the first adjustment operation.

[0158] When the rotor-side fixed portion 61 engages with the moving portion 65, and the rotor 45 rotates, the moving portion 65, which engages with the rotor-side fixed portion 61, also rotates. Specifically, when the rotor-side fixed portion 61 rotates together with the rotor 45, the rotor-end fixing claw 61r of the rotor-side fixed portion 61 contacts the rotor-end moving claw 65r of the moving portion 65, and the rotational power of the rotor-side fixed portion 61 is transmitted to the moving portion 65. Therefore, the rotor-side fixed portion 61 and the moving portion 65 rotate together. Consequently, the rotational phase relationship between the stator-side fixed portion 62 and the moving portion 65, which engages with the rotor-side fixed portion 61, changes, and the rotational phase relationship (engagement position) of the moving portion 65 relative to the stator-side fixed portion 62 changes.

[0159] like Figure 15As shown, in the motor drive circuit 70, the controller 15 sets the first switching device SW1, the fourth switching device SW4, and the sixth switching device SW6 to the ON state, and sets the second switching device SW2, the third switching device SW3, and the fifth switching device SW5 to the OFF state. Therefore, the motor current output from the first switching device SW1 is input to the neutral point 43c via the U-phase motor coil 43u. The motor current input to the neutral point 43c is divided into the V-phase motor coil 43v and the W-phase motor coil 43w, and input to the fourth switching device SW4 and the sixth switching device SW6.

[0160] When the motor current flows to the motor coil 43 in the manner described above, the rotor 45 rotates, causing the rotation phase of the rotor 45 to become "0°". Therefore, the rotation phase of the rotor 45 and the rotor-side fixed portion 61 becomes the target phase (0° in this example). In addition, the rotation phase of the moving portion 65 becomes the phase according to the target phase. The engagement position of the moving portion 65 relative to the stator-side fixed portion 62 becomes the target engagement position.

[0161] Additionally, due to the position of rotor 45 before the motor current is applied (the rotation phase of rotor 45 before rotation), rotor 45 is in the positive direction ( Figure 15 (in the example, the right direction) or along the opposite direction ( Figure 15 In the example, the rotor 45 rotates to the left, causing the rotation phase of the rotor 45 to become the target phase. Additionally, as the rotor 45 rotates, the moving part 65 rotates in either the positive or negative direction.

[0162] For example, such as Figure 15 As shown, when the rotational phase of rotor 45 before rotation is "-120°", rotor 45 is in the positive direction ( Figure 15 In the example, rotating to the right causes the rotation phase of rotor 45 to change from "-120°" to "0°". For example... Figure 16 As shown, when the rotational phase of rotor 45 before rotation is "120°", rotor 45 rotates in the opposite direction ( Figure 16 The leftward rotation (as in the example) causes the rotation phase of rotor 45 to change from "120°" to "0°".

[0163] In this way, the rotation direction of rotor 45 is changed during the second adjustment operation due to the rotation phase of rotor 45 before rotation. Furthermore, in this example, when the rotation phase of rotor 45 is the target phase, the rotation phase of rotor-side fixed portion 61 is synchronized with the rotation phase of stator-side fixed portion 62. Additionally, the number of rotor-end fixed claws 61r is the same as the number of stator-end fixed claws 62s. With this configuration, even when rotor 45 rotates in either the forward or reverse direction during the second adjustment operation, the rotation phase of rotor 45 is set to the target phase, allowing the engagement position of moving portion 65 relative to rotor-side fixed portion 61 to be set to the target engagement position.

[0164] [Details of mobile operation]

[0165] As described above, in the switching process, the controller 15 performs a movement operation that moves the moving part 65 axially after the adjustment operation. In this example, during the movement operation, the controller 15 supplies power to the clutch coil 68a such that the absolute value of the clutch current flowing to the clutch coil 68a is equal to or greater than a threshold, and the direction of the clutch current flowing to the clutch coil 68a becomes the target direction (the current direction corresponding to the direction in which the moving part 65 attempts to move). Therefore, the moving part 65 moves axially and switches from a starting state where one of the rotor-side fixed part 61 and the stator-side fixed part 62 is engaged with the moving part 65 to a ending state where the other of the rotor-side fixed part 61 and the stator-side fixed part 62 is engaged with the moving part 65.

[0166] Furthermore, during the movement operation, the controller 15 maintains (fixes) the rotational phase of the rotor 45 so that the engagement position is maintained at the target engagement position. Specifically, power is supplied to the motor coil 43 so that the motor current state flowing to the motor coil 43 is maintained at the target state (based on the target phase state of the rotor 45).

[0167] [Clearance length of the rotor end fixing claw]

[0168] Additionally, in this example, the circumferential length between the plurality of rotor end fixing claws 61r in the rotor-side fixing portion 61 is ( Figure 15 and Figure 16 L61 in the middle is greater than the circumferential length of the rotor end moving claw 65r of the moving part 65. Figure 15 and Figure 16 The L65r in the text refers to this. Therefore, when the engagement position of the moving part 65 relative to the rotor-side fixed part 61 is the target engagement position, the gap between the multiple rotor-end fixed claws 61r and the multiple rotor-end moving claws 65r can face each other in the axial direction. Thus, engagement errors between the rotor-side fixed part 61 and the moving part 65 can be avoided.

[0169] [Clearance length of the stator end fixing claw]

[0170] Additionally, in this example, the circumferential length between the plurality of stator end fixing claws 62s of the stator-side fixing portion 62 ( Figure 13 and Figure 14 L62 in the middle is greater than the stator end moving claw of the moving part 65. Figure 13 and Figure 14 The circumferential length (L65s) of the moving part 65 relative to the stator-side fixed part 62 is specified. According to this configuration, when the engagement position of the moving part 65 relative to the stator-side fixed part 62 is the target engagement position, the gap between the plurality of stator-end fixed claws 62s and the plurality of stator-end moving claws 65s can face each other in the axial direction. Therefore, engagement errors between the stator-side fixed part 62 and the moving part 65 can be avoided.

[0171] [Operating the washing machine]

[0172] Figure 17 This is a flowchart illustrating an example of how a washing machine operates. Figure 18 This is a flowchart of an embodiment of the clutch switching process. First, refer to... Figure 17 An example of the operation of washing machine 1 will now be described.

[0173] When the washing machine 1 is operated, firstly, the clothes are placed into the swivel drum 4 (step S1). In this example, detergent is also added to the chemical feeder 5c when the clothes are placed in. Then, due to the operation of the control part 2c, an instruction to start washing is input to the controller 15 (specifically, the processor 16) ("Yes" in step S2). Therefore, the controller 15 automatically starts a series of washing processes including washing, rinsing, spin-drying, etc.

[0174] Before the washing process, the controller 15 measures the weight of the clothes in order to set the water supply (step S3). The controller 15 sets an appropriate water supply based on the measured weight of the clothes (step S4).

[0175] When the water supply setting is complete, controller 15 starts the washing process (step S5). When the washing process starts, controller 15 controls water supply valve 5b and supplies the set amount of water to the fixed tank 3. At this time, detergent and water contained in chemical feeder 5c are injected into the fixed tank 3.

[0176] Then, controller 15 drives drive unit 10 and begins the rotation of rotatable barrel 4. Before the rotation of rotatable barrel 4 begins, as... Figure 18As shown in step S10, the controller 15 can determine whether it is a washing process or a rinsing process. When it is a washing process or a rinsing process, the controller 15 sets the clutch 60 to the first mode (step S11). However, when it is not a washing process or a rinsing process (i.e., when it is a spin-drying process), the controller 15 sets the clutch 60 to the second mode (step S12).

[0177] When it is the washing process (step S5), the controller 15 sets the clutch 60 to the first mode. Therefore, the drive unit 10 outputs high torque rotational power at low speed. Thus, the relatively heavy rotatable tub 4 can rotate effectively at low speed.

[0178] When the washing process ends, the controller 15 begins the rinsing process (step S6). During the rinsing process, the washing water accumulated in the fixed tub 3 is drained due to the drive of the drain pump 6. Afterwards, as in the washing process, the controller 15 performs water supply or agitation. During the rinsing process, the drive unit 10 is driven, while the clutch 60 remains in the first mode.

[0179] When the rinsing process ends, the processor 16 begins the dehydration process (step S7). During the dehydration process, the rotatable drum 4 rotates at high speed for a preset time. Specifically, before the dehydration process begins, the controller 15 switches the clutch 60 to a second mode. When the clutch 60 is set to the second mode, the drive unit 10 outputs low-torque rotational power at high speed. Therefore, the relatively light rotatable drum 4 can rotate efficiently at high speed.

[0180] Due to centrifugal force, the clothes adhere to the inner surface of the rotatable drum 4. Water from the clothes is discharged from the rotatable drum 4. Thus, the clothes are dehydrated. Due to the dehydration, the water accumulated in the fixed drum 3 is discharged by the drive of the drain pump 6. When the dehydration is finished, the controller 15 notifies the end of the wash by emitting a buzzer (not shown) or similar sound. Then, the operation of the washing machine 1 is complete.

[0181] [Switching process before dehydration]

[0182] Figure 19 This is a timing diagram illustrating an embodiment of a switching process performed prior to the dehydration process. (Reference) Figure 19 The switching process performed before the dehydration process will now be described. In the switching process performed before the dehydration process, the moving part 65 is moved in the axial direction to perform a switching process from the initial state in which the stator-side fixed part 62 engages with the moving part 65 to the final state in which the rotor-side fixed part 61 engages with the moving part 65.

[0183] In the embodiment of the switching process performed before the spin-drying process of the washing machine 1 in Example 1, the controller 15 can perform adjustment operations, maintenance operations, and movement operations.

[0184] During the maintenance operation, the controller 15 maintains the rotational phase of the rotor 45, which has been adjusted by the adjustment operation. Specifically, during the maintenance operation, the controller 15 supplies power to the motor coil 43 to maintain the motor current state flowing to the motor coil 43 at a target state (based on the target phase state of the rotor 45). Therefore, the rotational phase of the rotor 45 is maintained at the target phase, and the state where the rotatable drum 4 does not rotate is maintained. Consequently, the clothes in the rotatable drum 4 move downwards due to their weight.

[0185] Additionally, in this example, the time period from time t0 to time t1 is the adjustment period P11 for performing adjustment operations. The time period from time t1 to time t2 is the imbalance correction period P12 for performing maintenance operations. The time period from time t2 to time t3 is the movement period P13 for performing movement operations.

[0186] At time t0, controller 15 begins adjustment operation. Therefore, power is supplied to motor coil 43, and the motor current (im) flowing to motor coil 43 gradually increases. During adjustment period P11, the rotational phase of rotor 45 is adjusted, and the engagement position (X) becomes closer to the target engagement position (Xt).

[0187] At time t1, the engagement position (X) becomes the target engagement position (Xt), and the adjustment operation ends. Then, the controller 15 begins the maintenance operation. Therefore, during the imbalance correction period P12, the rotatable drum 4 is kept in a non-rotating state. In the rotatable drum 4, the clothing adhering to the peripheral wall of the rotatable drum 4 moves downward due to its weight. When the clothing gathers on the bottom of the rotatable drum 4, it is easy to maintain the non-rotating state of the rotatable drum 4.

[0188] When time t2 is reached, the holding operation ends. Controller 15 begins the moving operation. Therefore, power is supplied to clutch coil 68a, and the clutch current (ic) flowing to clutch coil 68a gradually increases. When the clutch current (ic) reaches the threshold (ith), the moving part 65 moves axially from the stator-side fixed part 62 to the rotor-side fixed part 61.

[0189] Additionally, during the movement period P13, the controller 15 fixes the rotational phase of the rotor 45 so that the engagement position becomes the target engagement position. Specifically, the state of the motor current flowing to the motor coil 43 is maintained at the target state (based on the state of the target phase of the rotor 45). Therefore, the rotational phase of the rotor 45 is maintained at the target phase, and the engagement position is maintained at the target engagement position.

[0190] When the time is t3, the movement operation ends, power supply to motor coil 43 stops, and power supply to clutch coil 68a also stops.

[0191] [Clutch engagement error]

[0192] During the switching process, when the engagement position deviates from the target engagement position, an engagement error may occur between the rotor-side fixed portion 61 (or stator-side fixed portion 62) and the moving portion 65. For example, in a switching process that switches the moving portion 65 from the initial state of engagement between the stator-side fixed portion 62 and the moving portion 65 to the final state of engagement between the rotor-side fixed portion 61 and the moving portion 65 by moving the moving portion 65 in the axial direction, if the gap between the plurality of rotor-end fixed claws 61r of the rotor-side fixed portion 61 and the plurality of rotor-end moving claws 65r of the moving portion 65 do not face each other in the axial direction, the plurality of rotor-end moving claws 65r of the moving portion 65 will contact the plurality of rotor-end fixed claws 61r of the rotor-side fixed portion 61 when the moving portion 65 moves in the axial direction toward the rotor-side fixed portion 61. Therefore, when an engagement error occurs relative to the clutch 60, the knocking noise that occurs during the switching of the clutch 60 increases.

[0193] As described above, in the embodiments of this disclosure, the controller 15 performs an adjustment operation before the end state. During the adjustment operation, the controller 15 adjusts the engagement position by changing the rotational phase of the rotor 45 so that the engagement position becomes the target engagement position. This configuration prevents engagement errors relative to the clutch 60. Therefore, knocking noises occurring during clutch 60 switching can be reduced. Furthermore, the reliability of engagement relative to the clutch 60 can be improved. For example, even if the engagement position deviates due to backlash in the various gears constituting the reducer 50, the adjustment operation can adjust the engagement position, thereby preventing engagement errors relative to the clutch 60 caused by backlash in the various gears of the reducer 50.

[0194] Furthermore, in embodiments of this disclosure, during the switching process, the controller 15 performs a movement operation that moves the moving portion 65 after the adjustment operation. With this configuration, after the engagement position becomes the target engagement position, the controller 15 can initiate the termination state by moving the moving portion 65 in the axial direction. Therefore, engagement errors relative to the clutch 60 can be definitively prevented.

[0195] Furthermore, in the embodiments of this disclosure, during the switching process performed before the spin-drying process of the washing machine 1, the controller 15 performs a maintenance operation to maintain the rotational phase of the rotor 45, which has been adjusted by the adjustment operation. Due to this maintenance operation, the rotatable tub 4 can be kept in a non-rotating state. Therefore, by causing the clothes in the rotatable tub 4 to move downwards due to their weight, the clothes can be collected at the bottom of the rotatable tub 4, thereby easily maintaining the non-rotating state of the rotatable tub 4. Thus, the engagement position can be stabilized.

[0196] Furthermore, the adjustment operation is effective not only for switching from the washing process to the spin-drying process of washing machine 1, but also for switching from the spin-drying process to the washing process. For example, when switching from the spin-drying process to the washing process of washing machine 1, it may be impossible to remove the clothes from the rotatable drum 4. In this case, since the engagement position can easily deviate from the target engagement position, performing the adjustment operation during the switching process is effective.

[0197] According to Japanese Patent Application Publication No. 2020-124381, a gap (the gap between magnetic poles) of a predetermined size is formed between the magnetic components mounted to the mover of a clutch. Multiple slits are installed at the mover of the clutch, each facing the gap between the magnetic poles in the diametrical direction. When the gap between the magnetic poles faces the slits in the diametrical direction, a non-uniform magnetic effect occurs between the mover and the stator along the circumferential direction. By detecting this non-uniform magnetic effect, the position of the mover can be determined. As described above, according to Japanese Patent Application Publication No. 2020-124381, a device for detecting the non-uniform magnetic effect to determine the position of the mover is required. According to the embodiments of this disclosure, even without a device for detecting the non-uniform magnetic effect, the engagement position can be set as a target engagement position. Therefore, the risk of target position discrepancies due to detection errors can be eliminated.

[0198] In this embodiment, the rotation phase of the rotor 45 at the target engagement position can be the rotation phase when the cogging torque of the motor 40 reaches a stable point. The stable point of the cogging torque indicates a state where the cogging torque remains below a preset stable value (a value of cogging torque considered to be approximately zero). As described above, by making the rotation phase of the rotor 45 at the target engagement position the rotation phase when the cogging torque of the motor 40 reaches a stable point, the rotation of the rotor 45 caused by the cogging torque can be suppressed. Therefore, engagement position difference caused by the cogging torque can be suppressed.

[0199] (Example 2)

[0200] The configuration of the controller 15 and drive circuit 17 in the washing machine 1 according to this embodiment differs from that of the washing machine 1 in Embodiment 1. Other configurations in Embodiment 2 are the same as those in the washing machine 1 of Embodiment 1. In the drive circuit 17 according to this embodiment, the clutch drive circuit 80 electrically connects the motor coil 43 to the clutch coil 68a, thereby providing power supplied from the motor drive circuit 70 to the clutch coil 68a. The clutch drive circuit 80 operates in response to the control of the processor 16. In this embodiment, the impedance of the clutch coil 68a is lower than the impedance of the motor coil 43.

[0201] Figure 20 This is a circuit diagram illustrating an embodiment of the drive circuit. (As shown) Figure 20 As shown, the clutch drive circuit 80 of this embodiment has a first wiring 85, a second wiring 86, and a relay 82. The first wiring 85 connects the W-phase motor coil 43w to one end of the clutch coil 68a. The second wiring 86 connects the V-phase motor coil 43v to the other end of the clutch coil 68a. The relay 82 is located in one of the first wiring 85 and the second wiring 86. Figure 20 In the example, this is the first wiring 85). When the relay 82 is in the ON state, the clutch coil 68a is electrically connected to the V-phase motor coil 43v and the W-phase motor coil 43w.

[0202] When the motor drive circuit 70 performs a switching operation (for rotating the rotor 45 at a preset speed), the clutch drive circuit 80 of this embodiment electrically disconnects the motor coil 43 and the clutch coil 68a. Specifically, the processor 16 sets the relay 82 of the clutch drive circuit 80 to the OFF state.

[0203] Furthermore, when power is supplied to the clutch coil 68a without performing the switching operation of the motor drive circuit 70, the clutch drive circuit 80 of this embodiment electrically connects the motor coil 43 and the clutch coil 68a. Specifically, the processor 16 switches the relay 82 of the clutch drive circuit 80 to the ON state.

[0204] Furthermore, when the motor coil 43 is electrically connected to the clutch coil 68a, the processor 16 changes the absolute value of the motor current flowing to the motor coil 43, thereby changing the absolute value of the clutch current flowing to the clutch coil 68a. For example, the absolute value of the motor current flowing to the motor coil 43 can be changed by altering the ratio of the ON time periods of the switching devices SW1 to SW6 in the motor drive circuit 70 (the ratio of the time the switching devices are in the ON state within a preset time period), thus changing the absolute value of the clutch current flowing to the clutch coil 68a. Additionally, when the motor coil 43 is electrically connected to the clutch coil 68a, the direction of the clutch current flowing to the clutch coil 68a can be changed by altering the direction of the motor current flowing to the motor coil 43.

[0205] When the motor coil 43 and the clutch coil 68a are electrically connected to each other via the clutch drive circuit 80, the motor drive circuit 70 of this embodiment performs a first current control operation. In this first current control operation, the motor drive circuit 70 supplies power to the motor coil 43 and the clutch coil 68a, causing the motor current state flowing to the motor coil 43 to become the target state, and keeping the absolute value of the clutch current flowing to the clutch coil 68a below a threshold. By performing the first current control operation, the rotational phase of the rotor 45 can become the target phase without causing the moving part 65 to move in the axial direction.

[0206] Furthermore, when the motor coil 43 and the clutch coil 68a are electrically connected to each other via the clutch drive circuit 80, the motor drive circuit 70 of this embodiment performs a second current control operation. In this second current control operation, the motor drive circuit 70 supplies power to the motor coil 43 and the clutch coil 68a, causing the motor current state flowing to the motor coil 43 to become the target state, the absolute value of the clutch current flowing to the clutch coil 68a to remain above a threshold, and the direction of the clutch current flowing to the clutch coil 68a to become the target direction. By performing the second current control operation, the rotational phase of the rotor 45 can be maintained at the target phase, and the moving part 65 can be moved to the target engagement position.

[0207] The first current control operation and the second current control operation of the motor drive circuit 70 are controlled by the processor 16. During the switching process, the first current control operation of the motor drive circuit 70 is executed during the adjustment operation. During the switching process, the second current control operation of the motor drive circuit 70 is executed during the movement operation.

[0208] [Details of the adjustment operation]

[0209] As in the previous embodiments, the controller 15 in this embodiment supplies power to the motor coil 43 so that the rotational phase of the rotor 45 becomes the target phase. The target phase of the rotor 45 is set to the rotational phase of the rotor 45 when the engagement position becomes the target engagement position. Therefore, by making the rotational phase of the rotor 45 the target phase, the engagement position can become the target engagement position.

[0210] In this embodiment, as in Embodiment 1, a first adjustment operation (which is an adjustment operation performed in a switching process, which is used to switch the moving part 65 from the initial state where the stator-side fixed part 62 is engaged with the moving part 65 to the final state where the rotor-side fixed part 61 is engaged with the moving part 65 by moving the moving part 65 in the axial direction) and a second adjustment operation (which is an adjustment operation performed in a switching process, which is used to switch the moving part 65 from the initial state where the rotor-side fixed part 61 is engaged with the moving part 65 to the final state where the stator-side fixed part 62 is engaged with the moving part 65 by moving the moving part 65 in the axial direction) are performed.

[0211] Furthermore, in this embodiment, the "target phase in the first adjustment operation" is different from the "target phase in the second adjustment operation." For example, the "target phase in the first adjustment operation" and the "target phase in the second adjustment operation" are separated by an electrical angle of 180°. With this configuration, it is easy to make the "direction of the clutch current flowing to the clutch coil 68a in the movement operation performed after the first adjustment operation" opposite to the "direction of the clutch current flowing to the clutch coil 68a in the movement operation performed after the second adjustment operation."

[0212] Furthermore, in this embodiment, the rotor-side fixed portion 61, the stator-side fixed portion 62, and the moving portion 65 are designed such that when the rotational phase of the rotor 45 becomes the target phase, the engagement position can become the target engagement position even though the rotational phase of the rotor-side fixed portion 61 and the rotational phase of the stator-side fixed portion 62 are asynchronous. Specifically, in this example, each of the plurality of rotor-end fixed claws 61r of the rotor-side fixed portion 61, each of the plurality of stator-end fixed claws 62s of the stator-side fixed portion 62, each of the plurality of rotor-end moving claws 65r of the moving portion 65, and each of the plurality of stator-end moving claws 65s of the moving portion 65 are arranged at equal angular intervals of integer multiples of 180° electrical angles. For example, when the number of poles of the motor 40 is “P” and the angle of the gap between the rotor-end fixed claws 61r (expressed as a mechanical angle) is “θm”, the following equation is achieved. The gaps between the stator end fixed claws 62s, the gaps between the rotor end moving claws 65r, and the gaps between the stator end moving claws 65s are all equal to the gaps between the rotor end fixed claws 61r.

[0213] θm=k×360 / P

[0214] Here, "k" is an integer equal to or greater than 1.

[0215] Additionally, the plurality of rotor end fixing claws 61r may include a plurality of first rotor end fixing claws arranged at equal angles with a gap θm, and a plurality of second rotor end fixing claws arranged at equal angles between the plurality of first rotor end fixing claws. The same applies to the stator end fixing claws 62s, rotor end moving claws 65r, and stator end moving claws 65s.

[0216] Furthermore, similar to Embodiment 1, in this example, the number of rotor-end moving claws 65r of the moving portion 65 is the same as the number of rotor-end fixing claws 61r of the rotor-side fixed portion 61. The number of stator-end moving claws 65s of the moving portion 65 is the same as the number of stator-end fixing claws 62s of the stator-side fixed portion 62. The number of stator-end fixing claws 62s of the stator-side fixed portion 62 is the same as the number of rotor-end fixing claws 61r of the rotor-side fixed portion 61. That is, the number of rotor-end fixing claws 61r, stator-end fixing claws 62s, rotor-end moving claws 65r, and stator-end moving claws 65s are all the same.

[0217] Specifically, in this example, k is "2", the number of poles (P) of motor 40 is "48", the number of rotor end fixed claws 61r, stator end fixed claws 62s, rotor end moving claws 65r, and stator end moving claws 65s are each "24", and the respective gaps (θm) between rotor end fixed claws 61r, between stator end fixed claws 62s, between rotor end moving claws 65r, and between stator end moving claws 65s are each "15°". Additionally, when k is "1", the adjustment operation as in Embodiment 1 can be performed (see...). Figures 13 to 16 The same adjustment operation.

[0218] <Specific example of adjustment operation: First adjustment operation>

[0219] Figure 21 and Figure 22 This is a schematic diagram illustrating an embodiment of the first adjustment operation. Reference will now be made to... Figure 21 and Figure 22 An example of the first adjustment operation is described below. In the first adjustment operation of this embodiment, the following four processes are performed sequentially. Furthermore, the angles used below are electrical angles. Figure 21 and Figure 22 An example is shown where the rotational phase of rotor 45 gradually changes from "-60°" to "120°" as the target phase.

[0220] The First Process

[0221] First, such as Figure 21As shown, in the motor drive circuit 70, controller 15 sets the first switching device SW1, the fourth switching device SW4, and the fifth switching device SW5 to the ON state, and sets the second switching device SW2, the third switching device SW6, and the sixth switching device SW6 to the OFF state. Therefore, the motor current output from the first switching device SW1 is input to the neutral point 43c via the U-phase motor coil 43u. The motor current output from the fifth switching device SW5 is input to the neutral point 43c via the W-phase motor coil 43w. The motor current input to the neutral point 43c flows in the V-phase motor coil 43v and is then input to the fourth switching device SW4.

[0222] When the motor current flows to the motor coil 43 in the manner described above, the rotor 45 rotates, causing the rotational phase of the rotor 45 to become "-60°". Therefore, the rotational phase of the rotor 45 and the rotor-side fixed portion 61 becomes the initial phase (-60° in this example).

[0223] Furthermore, in the first process, due to the position (rotation phase) of the rotor 45 before the motor current is applied, the rotor 45 moves in the positive direction ( Figure 21 (in the example, the right direction) or the opposite direction ( Figure 21 In the example, the rotor 45 rotates to the left, causing its rotation phase to become the initial phase. Additionally, as the rotor 45 rotates, the moving part 65 rotates in the opposite or forward direction. Due to the rotation of the moving part 65, the stator end moving claw 65s of the moving part 65 moves in the opposite direction to the stator-side fixed part 62 (in the left direction). Figure 21 (left side of the example) or positive direction ( Figure 21 (In the example on the right) the stator end retaining claw 62s contacts the stator end. Figure 21 In the example, the rotor 45 rotates in the positive direction, and therefore the moving part 65 rotates in the opposite direction, such that the stator end moving claw 65s of the moving part 65 contacts the stator end fixing claw 62s in the opposite direction of the stator side fixing part 62.

[0224] The Second Process

[0225] After that, as Figure 21 As shown, in the motor drive circuit 70, the controller 15 sets the first switching device SW1, the fourth switching device SW4, and the sixth switching device SW6 to the ON state, and sets the second switching device SW2, the third switching device SW3, and the fifth switching device SW5 to the OFF state. Therefore, the motor current output from the first switching device SW1 is input to the neutral point 43c via the U-phase motor coil 43u. The motor current input to the neutral point 43c is divided into the V-phase motor coil 43v and the W-phase motor coil 43w, and input to the fourth switching device SW4 and the sixth switching device SW6.

[0226] When the motor current flows to the motor coil 43 in the manner described above, the rotor 45 rotates, causing the rotation phase of the rotor 45 to become "0°". Therefore, the rotation phase of the rotor 45 and the rotor-side fixed part 61 changes from "-60°" to "0°".

[0227] Additionally, in the second process, when rotor 45 is in the positive direction ( Figure 21 When rotating to the right (as in the example), a direction opposite to the rotation direction of the rotor 45 is applied to the moving part 65. Figure 21 The force applied (the reaction force of the internal gear 53) is in the left direction in the example. Therefore, the stator end moving claw 65s of the moving part 65 is always in the opposite direction to the stator side fixed part 62 (in the example to the left). Figure 21 The left side of the example contacts the stator end retaining claw 62s. This also applies to the third and fourth processes described below.

[0228] The Third Process

[0229] After that, as Figure 22 As shown, in the motor drive circuit 70, controller 15 sets the first switching device SW1, the third switching device SW3, and the sixth switching device SW6 to the ON state, and sets the second switching device SW2, the fourth switching device SW4, and the fifth switching device SW5 to the OFF state. Therefore, the motor current output from the first switching device SW1 is input to the neutral point 43c via the U-phase motor coil 43u. The motor current output from the third switching device SW3 is input to the neutral point 43c via the V-phase motor coil 43v. The motor current input to the neutral point 43c is input to the sixth switching device SW6 via the W-phase motor coil 43w.

[0230] When the motor current flows to the motor coil 43 in the manner described above, the rotor 45 rotates, causing the rotation phase of the rotor 45 to become "60°". Therefore, the rotation phase of the rotor 45 and the rotor-side fixed part 61 changes from "0°" to "60°".

[0231] The Fourth Process

[0232] After that, as Figure 22 As shown, in the motor drive circuit 70, controller 15 sets the second switch SW2, the third switch SW3, and the sixth switch SW6 to the ON state, and sets the first switch SW1, the fourth switch SW4, and the fifth switch SW5 to the OFF state. Therefore, the motor current output from the third switch SW3 is input to the neutral point 43c via the V-phase motor coil 43V. The motor current input to the neutral point 43c is divided into the U-phase motor coil 43u and the W-phase motor coil 43w, and then input to the second switch SW2 and the sixth switch SW6.

[0233] When the motor current flows to the motor coil 43 in the manner described above, the rotor 45 rotates, causing the rotation phase of the rotor 45 to become "120°". Therefore, the rotation phase of the rotor 45 and the rotor-side fixed portion 61 becomes the target phase (120° in this example). The engagement position of the moving portion 65 relative to the rotor-side fixed portion 61 becomes the target engagement position.

[0234] <Specific example of adjustment operation: Second adjustment operation>

[0235] Figure 23 and Figure 24 This is a schematic diagram illustrating an embodiment of the second adjustment operation. (Reference) Figure 23 and Figure 24 An example of the second adjustment operation will now be described. In the second adjustment operation of this embodiment, the following four processes are performed sequentially. Furthermore, the angles used below are electrical angles. Figure 23 and Figure 24 An example is shown where the rotational phase of rotor 45 gradually changes from "60°" to "240°" as the target phase.

[0236] The First Process

[0237] First, such as Figure 23 As shown, in the motor drive circuit 70, controller 15 sets the first switching device SW1, the third switching device SW3, and the sixth switching device SW6 to the ON state, and sets the second switching device SW2, the fourth switching device SW4, and the fifth switching device SW5 to the OFF state. Therefore, the motor current output from the first switching device SW1 is input to the neutral point 43c via the U-phase motor coil 43u. The motor current output from the third switching device SW3 is input to the neutral point 43c via the V-phase motor coil 43v. The motor current input to the neutral point 43c is input to the sixth switching device SW6 via the W-phase motor coil 43w.

[0238] When the motor current flows to the motor coil 43 in the manner described above, the rotor 45 rotates, causing the rotational phase of the rotor 45 to become "60°". Therefore, the rotor 45 and the rotor-side fixed portion 61 have an initial phase (60° in this example). In addition, the rotational phase of the moving portion 65 is based on the initial phase of the rotor-side fixed portion 61.

[0239] Furthermore, in the first process, due to the position (rotation phase) of the rotor 45 before the motor current is applied, the rotor 45 moves in the positive direction ( Figure 23 (in the example, the right direction) or the opposite direction ( Figure 23In the example, the rotor 45 rotates to the left, causing its rotation phase to become the initial phase. Additionally, as the rotor 45 rotates, the rotor-side fixed portion 61 rotates in either the forward or reverse direction. Due to the rotation of the rotor-side fixed portion 61, the rotor-end moving claw 65r of the moving portion 65 moves in the opposite direction to the rotor-side fixed portion 61. Figure 23 (left side of the example) or positive direction ( Figure 23 The example on the right side contacts the rotor end fixing claw 61r. Figure 23 In the example, the rotor 45 rotates in the positive direction, and therefore the rotor-side fixed portion 61 rotates in the positive direction, such that the rotor-end moving claw 65r of the moving portion 65 contacts the rotor-end fixed claw 61r in the opposite direction of the rotor-side fixed portion 61.

[0240] The Second Process

[0241] After that, as Figure 23 As shown, in the motor drive circuit 70, controller 15 sets the second switch SW2, the third switch SW3, and the sixth switch SW6 to the ON state, and sets the first switch SW1, the fourth switch SW4, and the fifth switch SW5 to the OFF state. Therefore, the motor current output from the third switch SW3 is input to the neutral point 43c via the V-phase motor coil 43V. The motor current input to the neutral point 43c is divided into the U-phase motor coil 43u and the W-phase motor coil 43w, and then input to the second switch SW2 and the sixth switch SW6.

[0242] When the motor current flows to the motor coil 43 in the manner described above, the rotor 45 rotates, causing the rotation phase of the rotor 45 to become "120°". Therefore, the rotation phase of the rotor 45 and the rotor-side fixed part 61 changes from "60°" to "120°". In addition, the rotation phase of the moving part 65 is based on the "120°" phase.

[0243] Additionally, in the second process, when rotor 45 is in the positive direction ( Figure 23 When the rotor rotates (in the right direction in the example), the rotor-side fixed portion 61 rotates in the positive direction. Therefore, the rotor-end moving claw 65r of the moving portion 65 is always in the opposite direction to the rotor-side fixed portion 61. Figure 23 The left side of the example contacts the rotor end retaining claw 61r. This also applies to the third and fourth processes described below.

[0244] The Third Process

[0245] After that, as Figure 24As shown, in the motor drive circuit 70, controller 15 sets the second switch SW2, the third switch SW3, and the fifth switch SW5 to the ON state, and sets the first switch SW1, the fourth switch SW4, and the sixth switch SW6 to the OFF state. Therefore, the motor current output from the third switch SW3 is input to the neutral point 43c via the V-phase motor coil 43V. The motor current output from the fifth switch SW5 is input to the neutral point 43c via the W-phase motor coil 43W. The motor current input to the neutral point 43c is input to the second switch SW2 via the U-phase motor coil 43U.

[0246] When the motor current flows to the motor coil 43 in the manner described above, the rotor 45 rotates, causing the rotation phase of the rotor 45 to become "180°". Therefore, the rotation phase of the rotor 45 and the rotor-side fixed part 61 changes from "120°" to "180°". In addition, the rotation phase of the moving part 65 is based on the "180°" phase.

[0247] The Fourth Process

[0248] After that, as Figure 24 As shown, in the motor drive circuit 70, the controller 15 sets the second switch device SW2, the fourth switch device SW4, and the fifth switch device SW5 to the ON state, and sets the first switch device SW1, the third switch device SW3, and the sixth switch device SW6 to the OFF state. Therefore, the motor current output from the fifth switch device SW5 is input to the neutral point 43c via the W-phase motor coil 43w. The motor current input to the neutral point 43c is divided into the U-phase motor coil 43u and the V-phase motor coil 43v, and then input to the second switch device SW2 and the fourth switch device SW4.

[0249] When the motor current flows to the motor coil 43 in the manner described above, the rotor 45 rotates, causing the rotation phase of the rotor 45 to become "240°". Therefore, the rotation phase of the rotor 45 and the rotor-side fixed portion 61 becomes the target phase (240° in this example). In addition, the rotation phase of the moving portion 65 becomes the phase according to the target phase. The engagement position of the moving portion 65 relative to the stator-side fixed portion 62 becomes the target engagement position.

[0250] [Details of mobile operation]

[0251] The movement operation in this embodiment is the same as the movement operation in Embodiment 1.

[0252] [Clearance length of the rotor end fixing claw]

[0253] Figure 25 This is a schematic diagram used to describe the clearance of the rotor end retaining claws. For example... Figure 25As shown, in this example, the circumferential length L61 between the plurality of rotor end fixing claws 61r in the rotor side fixing portion 61 is greater than the sum of "ΔL" and "the circumferential length L65r of the rotor end moving claw 65r of the moving portion 65", where "ΔL" is the circumferential length based on the rotational phase difference between the rotor side fixing portion 61 and the stator side fixing portion 62 at the target engagement position.

[0254] Therefore, when the engagement position of the moving part 65 relative to the rotor-side fixed part 61 is the target engagement position, the gap between the plurality of rotor-end fixed claws 61r and the plurality of rotor-end moving claws 65r can face each other in the axial direction. Thus, engagement errors between the rotor-side fixed part 61 and the moving part 65 can be avoided.

[0255] [Clearance length of the stator end fixing claw]

[0256] Figure 26 This is a schematic diagram used to describe the clearance of the stator end retaining claws. For example... Figure 26 As shown, in this example, the circumferential length L62 between the plurality of stator end fixing claws 62s in the stator side fixing portion 62 is greater than the sum of "ΔL" and the circumferential length L65s of the stator end moving claw 65s of the moving portion 65. "ΔL" is the circumferential length based on the rotational phase difference between the rotor side fixing portion 61 and the stator side fixing portion 62 at the target engagement position.

[0257] According to this configuration, when the engagement position of the moving part 65 relative to the stator-side fixed part 62 is the target engagement position, the gap between the plurality of stator-end fixed claws 62s and the plurality of stator-end moving claws 65s can face each other in the axial direction. Therefore, engagement errors between the stator-side fixed part 62 and the moving part 65 can be avoided.

[0258] [Switching process before dehydration]

[0259] Figure 27 This is a timing diagram illustrating an embodiment of a switching process performed prior to the dehydration process. (Reference) Figure 27 The switching process performed before the spin-drying process of the washing machine 1 in this embodiment will now be described.

[0260] In the switching process performed before the spin-drying process of the washing machine 1 in this embodiment, the controller 15 performs a pre-adjustment operation, a maintenance operation, a switching operation, and a movement operation. The pre-adjustment operation in this embodiment is the same as the adjustment operation in embodiment 1. The maintenance operation in this embodiment is the same as the maintenance operation in embodiment 1. The switching operation is performed to switch the relay 82 of the clutch drive circuit 80 from the OFF state to the ON state.

[0261] Additionally, in this example, the period from time t0 to time t1 is the pre-adjustment period P21 for performing pre-adjustment operations. The period from time t1 to time t2 is the imbalance correction period P22 for performing maintenance operations. The period from time t2 to time t4 is the switching period P23 for performing switching operations. The period from time t4 to time t5 is the adjustment period P24 for performing adjustment operations. The period from time t5 to time t6 is the movement period P25 for performing movement operations.

[0262] When the time is t0, the controller 15 begins the pre-adjustment operation. The pre-adjustment period P21 is the same as the adjustment period P11 in Example 1.

[0263] At time t1, the engagement position (X) becomes the target engagement position (Xt), and the adjustment operation ends. Controller 15 begins the maintenance operation. The imbalance correction period P22 is the same as the imbalance correction period P12 in Example 1.

[0264] At time t2, the maintenance operation ends. Controller 15 begins the switching operation. During the switching operation, controller 15 stops supplying power to motor coil 43. Therefore, during the switching period P23, the motor current (im) flowing to motor coil 43 becomes zero. At time t3, controller 15 electrically connects motor coil 43 to clutch coil 68a. Specifically, relay 82 of clutch drive circuit 80 is switched from the OFF state to the ON state.

[0265] Furthermore, when the motor current (im) becomes zero during the switching period P23, the rotatable barrel 4 is not kept in a non-rotating state. Therefore, the rotatable barrel 4 and the rotor 45 rotate together, and thus, as Figure 27 As shown, there is a possibility that the engagement position (X) deviates from the target engagement position (Xt).

[0266] When time t4 is reached, the switching operation ends. Controller 15 begins the adjustment operation. In the adjustment operation of this embodiment, the first current control operation is performed by the motor drive circuit 70. Therefore, during the adjustment period P24, the rotational phase of rotor 45 is adjusted, and the engagement position (X) becomes closer to the target engagement position (Xt). Furthermore, during the adjustment period P24, due to the first current control operation, the absolute value of the clutch current (ic) flowing to clutch coil 68a remains below the threshold value (ith). Therefore, the moving part 65 does not move in the axial direction.

[0267] When time t5 is reached, the adjustment operation ends. Controller 15 begins the movement operation. In the movement operation of this embodiment, the second current control operation is performed by the motor drive circuit 70. Therefore, during the movement period P25, the clutch current (ic) flowing to the clutch coil 68a reaches the threshold (ith), and the moving part 65 moves axially from the stator-side fixed part 62 toward the rotor-side fixed part 61. In addition, during the movement period P25, due to the second current control operation, the rotation phase of the rotor 45 is maintained at the target state, and the engagement position is maintained at the target engagement position.

[0268] This embodiment achieves the same effect as Embodiment 1. Furthermore, in this embodiment, during adjustment, the controller 15 gradually adjusts the engagement position by progressively changing the rotational phase of the rotor 45 towards the target state. This control prevents the rotor 45 from rotating in an undesirable direction during adjustment. Additionally, in this embodiment, the impedance of the clutch coil 68a is lower than that of the motor coil 43. This configuration easily ensures the clutch coil 68a required to move the moving part 65 axially.

[0269] Figure 28 This is a circuit diagram illustrating an embodiment of the drive circuit 17. The configuration of the clutch drive circuit 80 in this embodiment of the drive circuit 17 differs from that of the drive circuit 17 in Embodiment 2. Other configurations of the drive circuit 17 in this embodiment are the same as those in Embodiment 2. In the clutch drive circuit 80 of this embodiment, the first wiring 85 connects the neutral point 43c (the connection point of the motor coils 43u, 43v, 43w) to one end of the clutch coil 68a. The second wiring 86 connects the potential point 71a of the DC power supply 71 to the other end of the clutch coil 68a. The potential point 71a of the DC power supply 71 is the point where the potential of the DC power supply 71 is divided into two halves. According to this embodiment, the same effect as in Embodiment 2 can be obtained. Furthermore, in the clutch drive circuit 80 of this embodiment, the relay 82 can be omitted.

[0270] (Example 3)

[0271] The operation of the controller 15 in the washing machine 1 of this embodiment differs from that of the washing machine 1 of Embodiment 1. Other configurations of the washing machine 1 in this embodiment are the same as those in the washing machine 1 of Embodiment 1. In this embodiment, the controller 15 is configured to supply power to the clutch coil 68a to generate a magnetic field for moving the clutch magnet 67b mounted at the moving part 65 in the axial direction. During the axial movement of the moving part 65, after the controller 15 begins supplying power to the clutch coil 68a (power to generate the magnetic field for moving the clutch magnet 67b in the axial direction), the controller 15 determines whether the moving part 65 moves based on whether the power is distorted.

[0272] [The relationship between electrical distortion and the movement of moving parts]

[0273] Figure 29 This is a graph illustrating an example of the change in clutch current when the moving part moves in the axial direction as power is supplied to the clutch coil. Figure 30 This is a graph illustrating an example of the change in clutch current when power is supplied to the clutch coil but the moving part does not move axially. (Reference) Figure 29 and Figure 30 The relationship between the distortion of the power supplied to the clutch coil 68a and the movement of the moving part 65 will now be described. Figure 29 and Figure 30 In the example, during the time period from time t1 to time t2, power is continuously supplied to the clutch coil 68a, and the clutch current (ic) flows continuously to the clutch coil 68a.

[0274] like Figure 29 As shown, when power is supplied to the clutch coil 68a, and the moving part 65 moves axially as a result, an induced electromotive force is generated at the clutch coil 68a by the movement of the clutch magnet 67b mounted at the moving part 65, and due to this induced electromotive force, the power supplied to the clutch coil 68a ( Figure 29 In the example, the clutch current (ic) is distorted. When the clutch current (ic) is distorted, the clutch current (ic) alternately increases (changes in the positive direction) and decreases (changes in the negative direction). Therefore, as... Figure 29 As shown, the differential value (di) of the clutch current (ic) can be not only positive but also negative.

[0275] like Figure 30 As shown, when power is supplied to the clutch coil 68a, but the moving part 65 does not move in the axial direction, no induced electromotive force is generated at the clutch coil 68a, so that the power supplied to the clutch coil 68a ( Figure 30In the example, the clutch current (ic) does not distort. When the clutch current (ic) does not distort, the clutch current (ic) increases steadily over time. Therefore, as... Figure 30 As shown, the differential value (di) of the clutch current (ic) is only positive.

[0276] [Controller Operation]

[0277] Figure 31 This is a flowchart illustrating an embodiment of the controller's operation during mobile operation. (Reference) Figure 31 The operation of controller 15 during the movement operation will now be described. During the movement operation, controller 15 performs the following procedures.

[0278] The controller 15 begins supplying power to the clutch coil 68a to generate a magnetic field for moving the clutch magnet 67b in the axial direction. In this example, the controller 15 supplies power to the clutch coil 68a such that the absolute value of the clutch current flowing to the clutch coil 68a becomes a threshold or greater, and the direction of the clutch current flowing to the clutch coil 68a becomes the target direction (the current direction corresponding to the direction in which the moving part 65 attempts to move).

[0279] Subsequently, during the period from the start of power supply to clutch coil 68a to the end of power supply, controller 15 determines whether the power supplied to clutch coil 68a has been distorted (step S32). In this example, controller 15 receives the output of a current sensor (not shown) to detect the clutch current (ic) and determines whether the clutch current (ic) flowing to clutch coil 68a has been distorted. Specifically, when the derivative value (di) of the clutch current (ic) remains below a threshold (dth) less than zero (see [link to relevant documentation]). Figure 29 and Figure 30 The controller 15 determines that the clutch current (ic) has been distorted.

[0280] When the power supplied to the clutch coil 68a is distorted ("Yes" in step S32), the controller 15 determines that the movement of the moving part 65 is successful in the movement operation and ends the movement operation.

[0281] When the power supplied to the clutch coil 68a has not yet been distorted (No in step S32), the controller 15 determines that the movement of the moving part 65 has failed during the movement operation (step S33). Then, the controller 15 restarts supplying power to the clutch coil 68a (step S31).

[0282] As described above, in this embodiment, during the movement operation, the controller 15 begins to supply power to the clutch coil 68a, and then determines whether there is movement of the moving part 65 based on whether the power is distorted. Therefore, the controller 15 can identify that the movement of the moving part 65 was successful during the movement operation.

[0283] (Example 4)

[0284] The operation of the controller 15 in the washing machine 1 of this embodiment before the switching process is different from that of the washing machine 1 in Embodiment 1. Other configurations in this embodiment are the same as in Embodiment 1.

[0285] In this embodiment, the controller 15 performs an imbalance correction operation before performing the switching process. Furthermore, the switching process refers to the following: moving the moving part 65 axially to switch the moving part 65 from an initial state where one of the rotor-side fixed part 61 and the stator-side fixed part 62 is engaged with the moving part 65 to an end state where the other of the rotor-side fixed part 61 and the stator-side fixed part 62 is engaged with the moving part 65.

[0286] In the imbalance correction operation, in order to bring the position of the unbalanced concentrated mass (or unbalanced particle) of the clothes in the rotatable drum 4 close to the target particle position, the controller 15 controls the motor 40 to rotate the rotatable drum 4, thereby correcting the position of the unbalanced particle of the clothes in the rotatable drum 4. Furthermore, in the imbalance correction operation, the rotational speed of the rotatable drum 4 is set to a speed at which the clothes in the rotatable drum 4 can move without adhering to the inner wall of the rotatable drum 4. In the following text, the unbalanced particle of the clothes in the rotatable drum 4 is simply referred to as the "unbalanced particle".

[0287] The target mass position is the position of the unbalanced mass when the engagement position becomes the target engagement position, which is the lowest position in the rotatable barrel 4. In addition, the engagement position is the engagement position of the moving part 65 relative to the rotor-side fixed part 61 (or stator-side fixed part 62) to which the moving part 65 is to engage.

[0288] In this example, controller 15 measures (hypothetically) the position of the unbalanced mass based on the rotational speed of the rotating rotatable barrel 4. The measurement of the unbalanced mass position will be described in detail later.

[0289] [The movement of the rotatable barrel after the motor is turned off]

[0290] Figure 32 This is a schematic diagram illustrating an example of the movement of a rotating drum when the power to the motor is stopped and the position of the unbalanced mass of the clothes in the rotating drum is not the target mass position. Figure 33This is a schematic diagram illustrating an example of the movement of a rotating drum when the power to the motor is stopped and the position of the unbalanced mass of the clothes in the rotating drum is the target mass position. (Reference) Figure 32 and Figure 33 The movement of the rotatable barrel 4 after power to the motor 40 is stopped will now be described. (See reference...) Figure 32 and Figure 33 The state in which the black arrow inside the rotatable barrel 4 is aligned with the black arrow outside indicates that the engagement position is the target engagement position, and the state in which the black arrow inside the rotatable barrel 4 is not aligned with the black arrow outside indicates that the engagement position is not the target engagement position.

[0291] like Figure 32 As shown, when the position of the unbalanced mass (the unbalanced mass of the clothing W in the rotatable drum 4) is not the target mass position, when the power to the motor 40 is stopped, the rotation of the rotatable drum 4 stops, and the engagement position is not the target engagement position. Therefore, it is difficult to make the engagement position close to the target engagement position.

[0292] like Figure 33 As shown, when the position of the unbalanced mass point (the unbalanced mass point of the clothing W in the rotatable drum 4) is the target mass point position, when the power supply to the motor 40 is stopped, the rotation of the rotatable drum 4 stops, and the engagement position is the target engagement position. Therefore, it is easy to make the engagement position close to the target engagement position.

[0293] [Measurement of the location of unbalanced material points in clothing within a rotating drum]

[0294] Figure 34 This is a schematic diagram illustrating an example of the relationship between the rotational speed of the rotating drum and the position of an unbalanced mass of clothing within the rotating drum. (Reference) Figure 34 The method of measuring the position of unbalanced particles based on the rotational speed of the rotatable barrel 4 will now be described.

[0295] like Figure 34As shown, when the motor 40 is controlled so that the rotational speed Vr of the rotatable drum 4 becomes the target rotational speed Vrt, the rotational speed Vr of the rotatable drum 4 can be minimized when the position of the unbalanced mass (the unbalanced mass of the clothing W in the rotatable drum 4) is the highest position in the rotating rotatable drum 4, and the rotational speed Vr of the rotatable drum 4 can be maximized when the position of the unbalanced mass is the lowest position in the rotating rotatable drum 4. Furthermore, the relationship between the "rotation phase of the rotatable drum 4" and the "rotation phase of the rotor 45" is uniquely determined, and the relationship between the "rotation phase of the rotor 45" and the "engagement position" is uniquely determined. Therefore, by specifying the rotation phase of the rotor 45 when the rotational speed Vr of the rotatable drum 4 is minimum, the position (rotation phase) of the unbalanced mass can be specified. Therefore, it can be determined whether the position of the unbalanced mass is the target mass position (the position of the unbalanced mass when the engagement position becomes the target engagement position, which is the lowest position in the rotatable drum 4).

[0296] In this example, controller 15 specifies the position (rotation phase) of the unbalanced mass point based on the rotation phase of rotor 45 when the rotational speed Vr of rotatable drum 4 is at its minimum. Then, controller 15 continuously performs an imbalance correction operation (the operation of correcting the position of the unbalanced mass point of the clothes in rotatable drum 4 by rotating rotatable drum 4) until the difference between the position of the unbalanced mass point and the target mass point position remains below a threshold, and controller 15 stops the imbalance correction operation when the difference between the position of the unbalanced mass point and the target mass point position remains below the threshold.

[0297] As described above, in this embodiment, the controller 15 performs an imbalance correction operation before performing the switching process. In the imbalance correction operation, the controller 15 controls the motor 40 to rotate the rotatable drum 4 to correct the position of the unbalanced mass points of the clothing in the rotatable drum 4, so that the position of the unbalanced mass points of the clothing in the rotatable drum 4 is close to the target mass point position (the position of the unbalanced mass point when the joining position becomes the target joining position, which is the lowest position in the rotatable drum 4). Through this control, the joining position can easily approach the target joining position.

[0298] (Other embodiments)

[0299] In the above description, the case of performing a movement operation after an adjustment operation is described as an example, but this disclosure is not limited thereto. For example, considering the movement time of the moving portion 65 from the start state to the end state in the movement operation, the controller 15 may start the movement operation before the adjustment operation ends. In detail, the controller 15 may start the movement operation during the time period between the end point and the start time, where the end point is the estimated end time when the engagement position becomes the target engagement position and the adjustment operation is expected to end, and the start time is earlier than the estimated end time by "the movement time of the moving portion 65".

[0300] Figure 35 This is a schematic diagram of an embodiment of the mover of the moving part. In the above embodiment, the mover 67 of the driving part 66 may have Figure 35 The configuration shown. In Figure 35 In the example, the slider core 67a of the mover 67 is a cylindrical metal component with a C-shaped cross-section that opens outwards in the diametrical direction. The clutch magnet 67b of the mover 67 is a cylindrical permanent magnet and is mounted on the inner surface of the slider core 67a. A gap is formed between the two ends of the slider core 67a in the axial direction and the clutch magnet 67b. For example, the clutch magnet 67b is magnetized such that the outer side in the diametrical direction becomes the S pole and the inner side in the diametrical direction becomes the N pole. Therefore, the two ends of the slider core 67a in the axial direction become pseudo-N poles. That is, the clutch magnet 67b can be configured as an alternating pole type.

[0301] Furthermore, in the above description, the case where the number of rotor-end fixed claws 61r, stator-end fixed claws 62s, rotor-end movable claws 65r, and stator-end movable claws 65s are each the same is described as an example, but this disclosure is not limited thereto. For example, the number of rotor-end fixed claws 61r and the number of stator-end fixed claws 62s may be different from each other. The number of rotor-end fixed claws 61r and the number of rotor-end movable claws 65r may be different from each other. The number of stator-end fixed claws 62s and the number of stator-end movable claws 65s may be different from each other. The number of rotor-end fixed claws 61r, stator-end fixed claws 62s, rotor-end movable claws 65r, and stator-end movable claws 65s may each be different.

[0302] Furthermore, in the above description, the case where the moving part 65 moves in the axial direction due to the magnetic field generated by the clutch coil 68a is described as an example, but this disclosure is not limited thereto. For example, the drive device (drive part 66) that operates the moving part 65 in the axial direction can be an electronic drive device using a solenoid coil, radial coil, etc., or it can be a mechanical drive device using a spring, motor, etc.

[0303] Furthermore, the above description illustrates an example where the combination of ON and OFF states of the switching devices SW1 to SW6 of the motor drive circuit 70 is set to a target combination (based on the target phase combination of the rotor 45), such that the rotational phase of the rotor 45 is set to the target phase. However, this disclosure is not limited to this. For example, due to PWM control, the ON and OFF states of the switching devices SW1 to SW6 of the motor drive circuit 70 can be controlled to make the rotational phase of the rotor 45 become the target phase.

[0304] Furthermore, the above description illustrates an example of performing the adjustment operation without detecting the rotational phase of the rotor 45, but this disclosure is not limited thereto. The controller 15 can detect the rotational phase of the rotor 45 and can adjust the rotational phase of the rotor 45 so that the detected rotational phase of the rotor 45 becomes the target phase. Moreover, the detection of the rotational phase of the rotor 45 can be performed based on the output of various sensors (not shown) installed, for example, in the drive unit 10.

[0305] Furthermore, as described above, the increase in the motor current flowing to motor coil 43 from its initial value to its target value can be expressed as an increase in a function such as a linear function, a quadratic function, or a sigmoid function. The same applies to the clutch current flowing to clutch coil 68a.

[0306] Furthermore, in the above description, the rotatable tub 4 can be designed such that, when the engagement position is the target engagement position, the central portion between the two lifters 4c (two adjacent lifters 4c in the circumferential direction) installed in the rotatable tub 4 is the lowest part. With this configuration, the portion of the rotatable tub 4 between the lifters 4c on which clothes can be collected can be the lowest part, thus easily maintaining the rotatable tub 4 in a non-rotating state. Therefore, since the rotor 45 is easily maintained in a non-rotating state, the engagement position can be stabilized.

[0307] Furthermore, as described above, the dehydration process can begin when a preset amount of water is contained in the fixed tub 3. With this configuration, during maintenance, the clothes in the rotatable tub 4 can easily move downwards due to their weight, thus easily gathering at the bottom of the rotatable tub 4.

[0308] Furthermore, the above description illustrates an example of performing a sustaining operation during a switching process prior to the dehydration process, but this disclosure is not limited thereto. For example, the sustaining operation may be skipped due to the load (the weight of the clothes in the swivel drum 4).

[0309] Furthermore, while the above description illustrates an example of a three-phase motor for motor 40, this disclosure is not limited thereto. For example, motor 40 may be a single-phase motor, or it may be a multi-phase motor, different from a three-phase motor.

[0310] According to Japanese Patent Application Publication No. 2020-124381, in a drive unit, a moving part and a fixed part engage with each other, thereby connecting the moving part and the fixed part to each other. When the moving part and the fixed part are connected by sliding the moving part in the axial direction, engagement error may occur between the fixed part and the moving part if the engagement position of the moving part relative to the fixed part deviates from the target position. Therefore, this disclosure provides a drive device capable of suppressing engagement error in the clutch, and a washing machine employing this drive device.

[0311] According to an embodiment, a washing machine includes: a rotatable tub; a drive unit configured to rotate the rotatable tub. According to an embodiment, the drive unit may include: a shaft; a motor having a stator and a rotor; a reducer disposed between the shaft and the rotor; a clutch configured to switch between a first mode and a second mode, wherein in the first mode, rotation of the rotor is transmitted to the shaft via the reducer, and in the second mode, rotation of the rotor is transmitted to the shaft without passing through the reducer; and a controller. According to an embodiment, the clutch may have: a rotor-side fixed portion configured to rotate by interoperating with the rotation of the rotor; a stator-side fixed portion fixed to the stator and configured to face the rotor-side fixed portion in the axial direction of the shaft, wherein a gap exists between the stator-side fixed portion and the rotor-side fixed portion; and a movable portion configured to move axially between the rotor-side fixed portion and the stator-side fixed portion. The clutch is further configured to: switch to the first mode when the stator-side fixed portion and the movable portion are engaged with each other; and switch to the second mode when the rotor-side fixed portion and the movable portion are engaged with each other. When the controller performs a switching process by moving the moving part in the axial direction to switch the moving part from a starting state where one of the rotor-side fixed part and the stator-side fixed part is engaged with the moving part to a ending state where the other of the rotor-side fixed part and the stator-side fixed part is engaged with the moving part, the controller can be configured to perform an adjustment operation by changing the rotation phase of the rotor before the beginning of the ending state, so that the engagement position of the moving part relative to the other of the rotor-side fixed part and the stator-side fixed part becomes the target engagement position.

[0312] According to an embodiment, in the switching process, the controller may also be configured to perform a movement operation that moves the moving part in the axial direction after the adjustment operation.

[0313] According to an embodiment, the clutch may have a drive portion configured to drive a moving part. The drive portion may have a clutch magnet mounted on the moving part and a clutch coil configured to generate a magnetic field for moving the clutch magnet in an axial direction. During movement, after the controller begins supplying power to the clutch coil to generate the magnetic field, the controller may also be configured to determine whether the moving part moves based on whether the power is distorted.

[0314] According to an embodiment, the reducer may have: a bracket fixed to a shaft; a sun gear configured to rotate with a rotor; an internal gear configured to surround the sun gear; and a plurality of planetary gears supported to rotate on the bracket and configured to mesh with both the sun gear and the internal gear. A movable part may be mounted on the outside of the internal gear and may be configured to rotate with the internal gear.

[0315] According to an embodiment, the rotor-side fixing portion may have multiple rotor-end fixing claws, the stator-side fixing portion may have multiple stator-end fixing claws, and the moving portion may have multiple rotor-end moving claws configured to engage with the multiple rotor-end fixing claws, and multiple stator-end moving claws configured to engage with the multiple stator-end fixing claws. The target engagement position of the moving portion relative to the rotor-side fixing portion may be the position where the gap between the multiple rotor-end fixing claws and the multiple rotor-end moving claws face each other in the axial direction, and the target engagement position of the moving portion relative to the stator-side fixing portion may be the position where the gap between the multiple stator-end fixing claws and the multiple stator-end moving claws face each other in the axial direction.

[0316] According to an embodiment, the circumferential length between the plurality of rotor-end fixing claws can be greater than the sum of the following two: the circumferential length based on the rotational phase difference between the rotor-side fixing portion and the stator-side fixing portion at the target engagement position; and the circumferential length of the rotor-end moving claw. The circumferential length between the plurality of stator-end fixing claws can be greater than the sum of the following two: the circumferential length based on the rotational phase difference between the rotor-side fixing portion and the stator-side fixing portion at the target engagement position; and the circumferential length of the stator-end moving claw.

[0317] According to an embodiment, the rotational phase of the rotor at the target engagement position can be the rotational phase when the cogging torque of the motor reaches a stable point.

[0318] According to an embodiment, the stator may have motor coils configured to generate a magnetic field for rotating the rotor. The clutch may have a drive portion configured to drive a moving portion. The drive portion may have a clutch magnet mounted on the moving portion and a clutch coil configured to generate a magnetic field for moving the clutch magnet in an axial direction. The controller may have a motor drive circuit configured to supply power to the motor coils and a clutch drive circuit configured to supply power to the clutch coils. The clutch drive circuit may also be configured to supply power from the motor drive circuit to the clutch coils by electrically connecting the motor coils to the clutch coils, and the impedance of the clutch coils may be lower than the impedance of the motor coils.

[0319] According to an embodiment, during the switching process, the controller may also be configured to perform an adjustment operation and a maintenance operation to maintain the rotational phase of the rotor adjusted by the adjustment operation.

[0320] According to an embodiment, the rotatable drum 4 can be arranged with its axis aligned in a direction intersecting the vertical. Before performing the switching process, the controller can also be configured to perform an imbalance correction operation by controlling a motor to rotate the rotatable drum, thereby correcting the position of the unbalanced mass points of the clothing in the rotatable drum to approximate a target mass point position. The target mass point position can be the position of the unbalanced mass point when the engagement position becomes the target engagement position, which is the lowest position in the rotatable drum.

[0321] According to the above embodiments, engagement errors in the clutch can be suppressed.

[0322] Figure 36 This is a schematic cross-sectional view of an embodiment of the actuator 100. (See reference...) Figure 36 The actuator 100 has a fixed member 110 and a movable member 120 that reciprocates along the fixed member 110. Figure 36 The direction indicated by the arrow (Y1) (first direction, axial direction) performs linear reciprocating movement within a preset range. That is, the actuator 100 is linear. The stationary member 110 and the moving member 120 are arranged to face each other in a direction that intersects (approximately perpendicular to) the first direction (second direction, diametrical direction), with a small gap G between them.

[0323] (Fixed component 110)

[0324] The fixing member 110 may include an outer core 111, an inner core 112, wiring 113, and two magnets 114a and 114b. The outer core 111 and the inner core 112 may be formed of a soft magnetic material such as a steel plate. The outer core 111 may have a pair of support wall portions 111aa and 111ab facing each other and separated in a first direction, and a connecting wall portion 111b connected to the ends of the support wall portions 111aa and 111ab away from the moving member 120, and the outer core 111 may be integrally formed to have a U-shaped (arched) cross section.

[0325] The opening of the outer core 111 opposite the connecting wall portion 111b faces the gap G. Both magnets 114a and 114b are magnets with square cross-sections and contact the two facing surfaces of the pair of supporting wall portions 111aa and 111ab respectively along the opening of the outer core 111. The two magnets 114a and 114b are parallel in a first direction.

[0326] The pair of magnets 114a and 114b are magnetized to be aligned in a first direction and arranged such that their respective N poles face each other in the first direction. That is, magnets 114a and 114b are arranged such that their S poles face the corresponding support wall portions 111aa and 111ab and their N poles face each other.

[0327] The inner core 112 has a square cross-section and is disposed between magnets 114a and 114b, while the inner core 112 contacts the two magnets 114a and 114b. The two magnets 114a and 114b are integrated with the inner core 112 as a whole, and the opening of the outer core 111 is blocked by this integration.

[0328] Therefore, the ends of the two magnets 114a and 114b, the inner core 112, and the supporting wall portions 111aa and 111ab of the outer core 111 are exposed and face the gap G. The exposed surface formed by the ends of the two magnets 114a and 114b, the inner core 112, and the two supporting wall portions 111aa and 111ab of the outer core 111 is a flat surface parallel to the first direction.

[0329] At least one wiring 113 is included in the space between the two magnets 114a and 114b, the inner core 112, and the connecting wall portion 111b. Since more wiring 113 is better, and multiple wiring 113 are typically arranged, the wiring 113 is referred to as a wiring group. The wiring group is located in a direction that intersects (is substantially perpendicular to) both the first and second directions (i.e., with...). Figure 36 The attached diagram extends in a roughly vertical direction (the plane of the diagram extends in the direction of the plane of the diagram).

[0330] (Moving component)

[0331] The movable member 120 has two salient pole cores 120aa and 120ab, a connecting core 120b, etc., and can be integrally formed into a plate shape from a soft magnetic material. The movable member 120 can be formed from a bent steel plate.

[0332] Two salient pole cores 120aa and 120ab extend parallel to each other in a second direction and are arranged parallel to each other in a first direction, with a predetermined gap between them. The movable member 120 is configured such that when the front of the movable member 120 faces the fixed member 110, the ends of the salient pole cores 120aa and 120ab face the two magnets 114a and 114b, respectively. In the movable member 120, flange portions 121aa and 121ab protrude in opposite directions along the first direction at the corresponding ends of the salient pole cores 120aa and 120ab.

[0333] The base ends of the two salient pole cores 120aa and 120ab, away from the two magnets 114a and 114b, are connected by a connecting core 120b. Therefore, the cross-section of the moving member 120 has a cap shape. Additionally, the connecting core 120b is away from the two magnets 114a and 114b, and its cross-section may have a V or U shape.

[0334] (Actuator operation)

[0335] When the actuator 100 is not energized, the moving member 120 remains in either a first or second position due to the magnetic field formed between the moving member 120 and the stationary member 110. Then, by causing current to flow in the wiring group and switching the flow (energizing direction), the moving member 120 performs reciprocating movement between the first position indicated by the solid line and the second position indicated by the second dashed line. That is, when the energizing direction is switched, the magnetic field between the moving member 120 and the stationary member 110 changes. Therefore, a driving force is generated in the moving member 120, and this driving force changes according to the displacement of the moving member 120.

[0336] Figure 37 The relationship between the state of actuator 100 and the driving force is shown. The horizontal axis indicates the position of the moving member 120 relative to the stationary member 110. The vertical axis indicates the strength of the driving force toward either the first position P1 or the second position P2. Line L1 indicates the change in driving force at each position during non-energized periods. Line L2 indicates the change in driving force when the wiring group is facing from the front. Figure 37 The change in driving force when current is applied to the plane in the direction of current flow (second direction of current flow). Line L3 indicates the change in driving force when the wiring group is in the direction of current flow from... Figure 37 The change in driving force when current is applied from the plane to the front in the current-carrying direction (first current-carrying direction). The second dashed line L4 will be described below.

[0337] During periods without power, when the moving member 120 is in the first position P1, a driving force is generated toward the first position P1, and when the moving member 120 is in the second position P2, a driving force is generated toward the second position P2. Therefore, when the moving member 120 is in either the first or second position, it can be stably maintained in that position even without power. Furthermore, by applying power in the first power direction, a driving force toward the first position is generated, as indicated by line L3. By applying power in the second power direction, a driving force toward the second position is generated, as indicated by line L2. Therefore, by switching between power directions, the moving member 120 can perform reciprocating movement between the first and second positions. For the driving force generated by power, the driving force after the moving member 120 reaches the position P0 (midpoint) facing the fixed member 110 can be less than the driving force before passing the midpoint P0. Because the driving force changes smoothly in the latter half of the displacement of the moving member 120, impact noise is suppressed.

[0338] Figure 38 An example of a magnetic flux diagram obtained via magnetic field analysis is shown as the moving member 120 is displaced from a first position to a second position. The lines in each diagram indicate magnetic flux. Similarly, arrow B indicates the driving force applied to the moving member 120.

[0339] Figure 38 (a) indicates the state in which the moving member 120 is in the first position. Current does not flow in the wiring 113 (non-energized state). When the magnetic flux of the magnet 114a (first magnet 114a) in the first position, one of the two magnets 114a and 114b, flows further in the moving member 120, a driving force is generated toward the first position, and the moving member 120 remains in the first position.

[0340] Figure 38 (b) indicates the state in which the moving member 120 is in the first position. Wiring 113 is energized in the second energizing direction. Due to the energization, the magnetic flux flowing in the moving member 120 of the magnet 114a decreases. Then, the magnetic force of the magnet 114b (the second magnet 114b) located on the second position side generates a driving force toward the second position, and the moving member 120 is displaced from the first position to the second position.

[0341] Figure 38(c) indicates that the moving member 120 is in a switching state of displacement. The magnetic flux generated by the energization and the magnetic flux of the first magnet 114a flow through the core 112 of the fixed member 110 in the moving member 120, and the magnetic flux density of the moving member 120 increases. Therefore, the increase in the gap magnetic flux used to apply the driving force to the moving member 120 is suppressed, causing the driving force to gradually decrease. Thus, the moving member 120 gradually displaces from the first position to the second position while gradually decreasing its acceleration.

[0342] Figure 38 (d) indicates the state in which the moving member 120 has reached the second position. When the magnetic flux density of the moving member 120 increases further, the driving force of the moving member 120 decreases, and therefore the moving member 120 remains in the second position.

[0343] Furthermore, except for the opposite displacement direction, the case where the moving member 120 is displaced from the second position to the first position is the same as the case where it is displaced from the first position to the second position. Therefore, its description will be skipped.

[0344] Figure 37 The second dashed line L4 indicates the driving force when the moving member, used as the comparison object, has a magnet (the magnet on the mover side). In this case, the driving force is maximum near the displacement position and its intensity is high. Therefore, the force or velocity of the moving member's displacement is very strong, resulting in a loud collision sound.

[0345] Conversely, in the actuator 100 of this embodiment, as shown by line L2 or line L3, the driving force decreases in the latter half of the displacement. Therefore, as the target position approaches, the driving force decreases, allowing the force or velocity of the displacement of the moving member 120 to be appropriate. When comparing the actuator 100 of this embodiment with a comparative object, a maximum reduction of 50% in the driving force has been recognized under the same conditions. Therefore, the actuator 100 of this embodiment can effectively suppress impact noise.

[0346] Furthermore, as a comparison, when the moving member 120 has a magnet on the mover side, the magnet on the mover side can separate from the moving member 120 when the moving member 120 rotates at high speed. Conversely, since the actuator 100 of this embodiment does not have a magnet on the mover side, this risk does not exist. Therefore, the moving member 120 can rotate at high speed, which is more beneficial for dehydration, etc.

[0347] Furthermore, the actuator 100 of this embodiment is more advantageous in terms of ease of manufacture compared to the comparison object. That is, typically, instead of assembling the magnet itself onto the object, a hard magnetic material is assembled onto the object and then magnetized to form a magnet. When the magnet itself is assembled onto the object, foreign matter such as iron components adheres to the magnet or its adjacent parts during subsequent manufacturing processes, making manufacturing potentially difficult due to magnetic influences.

[0348] In the case of a mover-side magnet, it is difficult to form a mover-side magnet by magnetizing the hard magnetic material after assembling it to the moving member. However, in the actuator 100 of this embodiment, magnets 114a and 114b are formed relatively easily by performing magnetization after assembling the hard magnetic material to the stationary member 110. Therefore, the actuator 100 of this embodiment can be easily manufactured. In the actuator 100 of this embodiment, the core (iron core) with high processing accuracy is the main magnetic circuit relative to the air gap (i.e., gap G), which reduces the non-uniformity of magnetic flux caused by non-uniform magnetization in the core and suppresses iron loss caused by non-uniform magnetization.

[0349] Furthermore, in the actuator 100 of this embodiment, magnetic flux is difficult to flow in the direction of decreasing magnetization of magnets 114a and 114b (see [reference]). Figure 3 (The distribution of magnetic flux). Therefore, since a low demagnetization intensity is acceptable, inexpensive magnets can be used as magnets 114a and 114b. Furthermore, since the moving member 120 can be formed solely from a thin sheet of iron, the moving member 120 can be lightweight. The energy required to displace the moving member 120 is reduced, and noise can also be reduced.

[0350] <Washing machine drive unit>

[0351] Next, the application of actuator 100 (drive unit of washing machine) will now be described. An embodiment of actuator 100 can be applied to the drive unit 10 of the washing machine 1 described above. Specifically, actuator 100 can be used in the clutch 60 of drive unit 10. The stator 68 (fixed member 110) and mover 67 (moving member 120) of clutch 60 (actuator 100) have a center-aligned circular shape and can be formed annularly. Wiring sets form clutch coil 68a. Structure of washing machine 1 and reference Figures 1 to 8 The structures described are the same. Below, an example of the actuator 100 being applied to the clutch 60 of the drive unit 10 will now be described.

[0352] (Clutch 60)

[0353] The clutch 60 is disposed around the reducer 50. The clutch 60 is housed in the rotor housing 46. Figure 39 , Figure 40 and Figure 41 This is a partial sectional perspective view of an embodiment of the reducer 50 and clutch 60. The clutch 60 may have a moving portion 65, a retaining claw 61r at the rotor end and a retaining claw 62s at the stator end, and a drive portion (clutch driver) 66. The drive portion 66 may have a mover 67 and a stator 68. The mover 67 and the stator 68 are configured using the actuator 100 described above.

[0354] The moving part 65 is a cylindrical component whose diameter is larger than that of the internal gear 53. For example... Figure 39 As shown in the diagram, multiple outer sliding guides 65a, including linear protrusions extending along the rotation axis, are formed at equal angles along the entire periphery of the inner circumferential surface of the moving portion 65. The outer sliding guides 65a engage with multiple inner sliding guides 53b formed in the outer circumferential surface of the internal gear 53. The moving portion 65 is disposed around the internal gear 53, while the outer sliding guides 65a engage with the inner sliding guides 53b of the internal gear 53 respectively. Therefore, the moving portion 65 is capable of sliding along the rotation axis.

[0355] Rotor-end moving claws 65r and stator-end moving claws 65s are formed on the outer peripheral surface of the moving portion 65. Each claw includes a plurality of protrusions (moving-side protrusions) projecting in the direction of the rotation axis, and is formed at equal angles throughout the entire periphery of the outer peripheral surface of the moving portion 65. The rotor-end moving claw 65r is disposed on the lower part of the moving portion 65, and each protrusion projects downwards. The stator-end moving claw 65s is disposed on the upper part of the moving portion 65, and each protrusion projects upwards. A mover-receiving portion 65b for receiving the mover 67 is formed on the outer peripheral surface of the moving portion 65 between the rotor-end moving claws 65r and the stator-end moving claws 65s.

[0356] like Figure 41 As shown, a rotor end fixing claw 61r is formed on an annular rotor end base 61a, which is mounted to the rotor housing 46. The rotor end fixing claw 61r includes a plurality of protrusions (fixed-side protrusions) that project at equal angles along the rotation axis direction throughout the entire periphery of the annular rotor end base 61a. The protrusions project upwards. Additionally, although not shown, when the rotor 45 is integrally formed, the protrusions may be integrally formed with other components constituting the rotor 45, or integrally formed with the rotor housing 46.

[0357] A stator end retaining claw 62s is formed at an annular stator end base 62a, which is mounted on the stator 41. The stator end retaining claw 62s may include a plurality of protrusions (retaining side protrusions) that project at equal angles along the rotation axis direction throughout the entire periphery of the annular stator end base 62a. The protrusions project downwards. In addition, the protrusions may be integrally formed with the insulator.

[0358] The rotor end retaining claw 61r and the stator end retaining claw 62s are positioned facing each other at a distance from each other in the direction of rotation. The rotor end retaining claw 61r is configured to engage with the rotor end moving claw 65r. The stator end retaining claw 62s is configured to engage with the stator end moving claw 65s.

[0359] The gap between the rotor-end fixed claw 61r and the stator-end fixed claw 62s is set to be greater than the gap between the rotor-end movable claw 65r and the stator-end movable claw 65s. Therefore, when the rotor-end fixed claw 61r and the rotor-end movable claw 65r are connected by engaging with each other, the stator-end fixed claw 62s and the stator-end movable claw 65s are not engaged with each other.

[0360] like Figure 40 As shown, the mover 67 of the drive portion 66 has a moving member 120. The moving member 120 is formed at the mover receiving portion 65b. Figure 41 As shown, the stator 68 of the drive section 66 has a fixing member 110. That is, the stator 68 includes a clutch coil 68a, an inner core 112, an outer core 111, and two magnets 114a and 114b. The outer core 111 is formed by a pair of upper annular retainer supports 68c and a lower annular retainer support 68c. The retainer supports 68c are fixed to the stator 41. The inner core 112 and the two magnets 114a and 114b are annular. A moving member 120 located inside the fixing member 110 faces the fixing member 110 in the diametrical direction, with a small gap G between them (see [reference needed]). Figure 36 ).

[0361] Figure 42 This is a diagram illustrating an embodiment of clutch switching. The energization of the clutch coil 68a is controlled by a controller 15. When the controller 15 supplies a switching current in the opposite direction to the clutch coil 68a, the moving member 120 displaces linearly relative to the stationary member 110. Therefore, the controller 15 performs a process (switching process) to cause the moving part 65 to slide in one direction along the rotation axis. Thus, as... Figure 42 As shown, a switching is performed between a first mode in which the stator end fixed claw 62s and the stator end moving claw 65s engage with each other, and a second mode in which the rotor end fixed claw 61r and the rotor end moving claw 65r engage with each other.

[0362] In the first mode, the internal gear 53 is supported to the stator 41 via the moving part 65. Therefore, the rotation of the rotor 45 and the sun gear 52 is transmitted to the shaft 30 and the bracket 51 via the reducer 50. Thus, the drive unit 10 outputs high torque rotational power at a low speed. In the second mode, the internal gear 53 is supported to the rotor 45 via the moving part 65. Therefore, the rotation of the rotor 45 and the sun gear 52 is transmitted to the shaft 30 and the bracket 51 without passing through the reducer 50. That is, when the rotor 45, the sun gear 52, and the internal gear 53 rotate as a whole, the multiple planetary gears 54 do not rotate. Therefore, the shaft 30 and the bracket 51 also rotate as a whole with them. Therefore, the drive unit 10 outputs low torque rotational power at a high speed.

[0363] The drive unit 10 effectively integrates and integrally configures the motor 40, reducer 50, and clutch 60 such that they are arranged in a row in a direction substantially perpendicular to the rotation axis J. Due to the switching of the clutch 60, high-torque rotational power can be output at low speed and low-torque rotational power can be output at high speed via a shaft 30. Furthermore, since the rotational speed and torque value of the motor 40 can be set to relatively close values ​​in the two different output modes (first and second modes), motor efficiency can be optimized. Therefore, the drive unit 10, with its compact size, can output rotational power suitable for a washing machine. The drive unit 10 is suitable for a washing machine.

[0364] In the following text, see references Figure 17 and Figure 18 An example of the operation of washing machine 1 will now be described.

[0365] When the washing machine 1 is operated, firstly, clothes are placed into the rotatable drum 4 (step S1). Detergent and other substances are also placed into the chemical feeder 5c. Then, by operating the control unit 2c, an instruction to start washing is input to the controller 15 ("Yes" in step S2). Therefore, the controller 15 automatically starts a series of washing processes including washing, rinsing, spin-drying, etc.

[0366] Before the washing process, the controller 15 measures the weight of the clothes to set the water supply (step S3). The controller 15 sets an appropriate water supply based on the measured weight of the clothes (step S4). When the water supply setting is complete, the controller 15 starts the washing process (step S5). When the washing process starts, the controller 15 supplies the set amount of water to the fixed tub 3 by controlling the water supply valve 5b. At this time, detergent and water contained in the chemical feeder 5c are injected into the fixed tub 3.

[0367] Then, the controller 15 starts the rotation of the rotatable barrel 4 by driving the drive unit 10. Here, before the rotation of the rotatable barrel 4 begins, as... Figure 18 As shown in step S10, the controller 15 determines whether it is a washing process or a rinsing process. As a result, when it is a washing or rinsing process, the controller 15 performs a switch to the first mode by controlling the clutch 60 (step S11). However, when it is not a washing or rinsing process, but a dehydration process, the controller 15 performs a switch to the second mode by controlling the clutch 60 (step S12).

[0368] Here, during the washing process, the controller 15 switches the clutch 60 to the first mode. Therefore, the drive unit 10 outputs high torque rotational power at a low speed. Thus, the relatively heavy rotatable tub 4 can rotate effectively at a low speed.

[0369] When the washing process ends, the controller 15 begins the rinsing process (step S6). During the rinsing process, the washing water accumulated in the fixed tub 3 is drained due to the drive of the drain pump 6. Afterwards, as in the washing process, the controller 15 performs water supply or agitation. During the rinsing process, the drive unit 10 is driven, while the clutch 60 remains in the first mode.

[0370] When the rinsing process ends, the controller 15 starts the dehydration process (step S7). During the dehydration process, the rotatable drum 4 rotates at high speed for a preset time. Therefore, before the dehydration process begins, the controller 15 switches the clutch 60 to the second mode. When it is in the second mode, it can output low torque rotational power at high speed. Therefore, the relatively light rotatable drum 4 can rotate efficiently at high speed.

[0371] Due to centrifugal force, the clothes adhere to the inner surface of the rotatable drum 4. Water from the clothes is discharged from the rotatable drum 4. Thus, the clothes are dehydrated. Due to the dehydration, the water accumulated in the fixed drum 3 is discharged by the drain pump 6. When the dehydration is complete, a preset buzzer sounds to indicate the end of the wash cycle and that the operation of the washing machine 1 is complete.

[0372] (Control of the suppression of collision noise due to the drive unit)

[0373] In washing machine 1, collision noise can be suppressed by using the structure of the drive part (clutch drive) 66 (specifically, actuator 100). In detail, when the controller 15 performs the switching process, immediately before the moving part 65 connects to the fixed claws 61r and 62s, the controller 15 performs a process of stopping the supply of switching current to the clutch 60 (braking process).

[0374] Figure 43 This is a timing diagram of an embodiment of the braking process. (See reference) Figure 43 Graph G1 shows the change in the current flowing in clutch 60. Graph G2 shows the speed of moving part 65. Graph G3 shows the driving force of moving part 65. MP indicates the target position (corresponding to the first position and the second position) where fixed claws 61r and 62s engage with moving claws 65r and 65s.

[0375] During a preset timing before the moving part 65 reaches the target position MP, the controller 15 disconnects the energizer to the clutch coil 68a. Even when the energizer to the clutch coil 68a is disconnected, the moving part 65 displaces due to inertia and the magnetic force of the magnet. When the energizer to the clutch coil 68a is disconnected, the speed of the moving part 65 is suppressed due to the sharp decrease in driving force and the braking caused by regenerative power. Therefore, collision noise can be suppressed. Since only the switching current supplied to the clutch 60 is stopped, it can be easily controlled. Collision noise can be effectively suppressed simply by adjusting the stop timing.

[0376] (Deterministic control of clutch switching due to the drive unit)

[0377] If the clutch 60 is not switched, or if the switching fails due to the clutch 60 not being in the proper position, abnormal noises or malfunctions such as damage to the clutch 60 may occur when the motor 40 is driven in this state. With this in mind, the success or failure of each switching process can be determined.

[0378] Whether the clutch 60 switching was successful can be determined by using the structure of the drive section 66 (specifically, actuator 100). Specifically, immediately after performing the switching process, the controller 15 compares a preset determination value with the current flowing in the clutch coil 68a. By doing so, the controller 15 can perform a process to determine whether the clutch 60 switching was successful (switching determination process).

[0379] When current flows in the same direction before and after the switching process, the magnetic flux density between the moving member 120 and the stationary member 110 is different. Therefore, a difference arises between the inductances, causing a change in the transient response of the current. Based on this change, it can be determined whether the switching process was successful. More specifically, as... Figure 38 As shown in (b), during the energization prior to the switching process, the magnetic flux generated by the current in the moving member 120 weakens the magnetic flux of magnets 114a and 114b. Therefore, the magnetic flux density is lower. Conversely, as... Figure 38As shown in (d), during the energization after the switching process, the direction of the magnetic flux of the current is the same as the direction of the magnetic flux of magnets 114a and 114b. Therefore, the magnetic flux density is high. Consequently, a difference in inductance occurs before and after the switching process, causing a change in the transient response of the current. Based on this change, the controller 15 can determine whether the switching process was successful.

[0380] Furthermore, the determined value can be set to a preset value, or immediately before performing the switching process. The clutch coil 68a is energized based on the preset voltage command value used for determination, and as a result, the current flowing in the clutch coil 68a can be set to the determined value. This determined value can be affected by external factors such as ambient temperature and the operating condition of the clutch 60. In this respect, when such a determined value is set in this manner for each switching determination process, the aforementioned influences can be eliminated. Therefore, the switching determination process can be performed with high precision. Immediately after performing the switching process, the switching determination process can be performed by comparing the determined value with the current flowing in the clutch coil 68a based on the voltage command value used for determination.

[0381] Figure 44 This is a flowchart of an embodiment of the switching determination process. When the controller 15 starts the switching process, the controller 15 energizes the clutch coil 68a immediately before the switching process, based on a preset voltage command value (a voltage command value for causing current to flow with an amplitude that does not affect the state of the clutch 60) for determination. By doing so, the current value (Ia) flowing in the clutch coil 68a is realized, and this current value (Ia) is set to a determined value (step S20). Specifically, the preset voltage is applied for a short period of several milliseconds during which the clutch 60 cannot respond. For example, a PWM voltage modulated to a carrier frequency of tens of kHz using an inverter can be applied, or a voltage of one pulse can be applied.

[0382] Then, the controller 15 performs a switching process (step S21). As a result, the moving part 65 is displaced, and the clutch 60 switches to one of the first mode or the second mode.

[0383] To determine whether the switching of clutch 60 has been properly performed, controller 15 energizes clutch coil 68a based on a voltage command value for determination and obtains a current value (Ib) for comparison (step S22). Then, controller 15 compares whether the current value (Ib) is greater than the determined value (Ia) (step S23).

[0384] like Figure 38The analysis results show that the magnetic field generated by the current flowing in the clutch coil 68a forms a magnetic circuit mainly through the iron core, which has low permeability and low magnetic reluctance. In the configuration of this disclosure, as described above, the magnetic flux varies depending on the position of the clutch mover when the current flows in the same direction. The soft magnetic material used for the iron core has the characteristic that its permeability decreases and its magnetic reluctance increases as the magnetic flux increases. By utilizing this characteristic, when a current is applied, the magnetic reluctance changes according to the position of the clutch 60; therefore, the impedance of the clutch coil 68a changes, and the transient response of the current changes when a voltage is applied.

[0385] As a result, when the current value (Ib) is greater than the predetermined value (Ia), the clutch 60 is determined to have successfully switched (step S24). When the current value (Ib) is equal to or less than the predetermined value (Ia), the clutch 60 is determined to have failed to switch, and the switching of the clutch 60 is retried (step S25). Here, when the current value (Ib) is greater than the predetermined value (Ia), the switching of the clutch 60 is determined to be successful; however, when the direction of current flow is reversed during switching, the relationship between the larger or smaller current value (Ib) and the predetermined value (Ia) is reversed.

[0386] When the absolute values ​​(|Ia|, |Ib|) of the current values ​​(Ia, Ib) are used in the determination, the determination can be made solely based on the relationship between the magnitudes of the absolute values ​​(|Ia|, |Ib|), regardless of the direction of current flow. Furthermore, to prevent incorrect determination, a coefficient is multiplied by the initially obtained determination value (Ia), for example, "|Ib| > |Ia| × coefficient". If a later obtained determination value (Ib) does not exceed the determination value (Ia), the switching of clutch 60 may not be determined as successful.

[0387] The drive unit 10 can appropriately determine whether the clutch 60 switching is successful each time. Therefore, malfunctions caused by incorrect clutch 60 switching can be suppressed.

[0388] Furthermore, the disclosed technology is not limited to the foregoing embodiments and may include other configurations not stated. For example, in the foregoing embodiments, the N poles of the individual magnets are arranged to face each other, but the S poles of the individual magnets may be arranged to face each other. The effects of the embodiments can be obtained by reversing the direction of energizing the coil. Additionally, the magnets of the fixing member 110 may be three or more. The moving member 120 may be disposed inside the fixing member 110 or outside the fixing member 110.

[0389] As an embodiment of the washing machine disclosed herein, the clutch may have a drive portion configured to drive the moving portion. The drive portion may include a fixed member. The fixed member may include: a clutch coil extending in a direction intersecting the axial and diametrical directions; and two magnets, each with its same pole facing each other in the axial direction. The moving portion may include a moving member. The moving member may include: two salient pole cores, the ends of which face the two magnets at close range; and a connecting core, located away from the two magnets and connecting the base ends of the two salient pole cores. The moving portion may be configured to perform reciprocating movement in the axial direction according to switching of the energizing direction relative to the clutch coil.

[0390] According to an embodiment, the movable member can be integrally formed into a plate shape from a soft magnetic material, and the flange portion can protrude in the opposite direction of the axial direction at the corresponding end of the salient pole core.

[0391] According to an embodiment, the controller can also be configured to perform a braking process that stops supplying switching current to the clutch immediately before the end state begins.

[0392] According to an embodiment, the controller can also be configured to perform a switching determination process by comparing a preset determination value with the current flowing in the clutch coil immediately after the switching process is performed, wherein the switching determination process involves determining whether the moving part is connected to one of the rotor-side fixed part and the stator-side fixed part.

[0393] According to an embodiment, the controller may also be configured to perform a switching determination process in such a way that, immediately before the controller performs the switching process, the controller sets the current value flowing in the clutch coil after energizing the clutch coil based on a preset voltage command value for determination as a determined value, and immediately after performing the switching process, the controller compares the determined value with the current flowing in the clutch coil based on the voltage command value for determination.

[0394] The actuator embodiments disclosed herein include a fixed member for use and a movable member that performs reciprocating movement along the fixed member in a predetermined first direction. The fixed member includes: wiring that is separated in a second direction intersecting the first direction and extends in a direction intersecting both the first and second directions; and two magnets parallel to the first direction and disposed between the wiring and the movable member, such that the same poles of the two magnets are positioned facing each other in the first direction. The movable member includes: two salient pole cores parallel to the first direction, with their ends respectively able to face the two magnets at close range; and a connecting core located away from the two magnets and connecting the base ends of the two salient pole cores. The movable member performs reciprocating movement according to the switching of the energizing direction relative to the wiring. In embodiments of the actuator, the movable member performs linear reciprocating movement relative to the fixed member according to the switching of the energizing direction. The movable member has only cores and no magnets. Therefore, even if it rotates at high speed, there is no risk of losing magnets. The movable member has two salient pole cores constituting the magnetic flux path and a connecting core, and has a simple structure that is easy to manufacture. In addition, the fixed component contains wiring that is energized to generate a magnetic field relative to the moving component, and a pair of magnets with like poles facing each other. By installing these magnets in the fixed component, the moving component can be stably held in two positions that form the basis for reciprocating movement when not energized. By energizing the wiring, a smooth and appropriate driving force can be generated. In doing so, the moving component can perform reciprocating movement effectively and appropriately, thereby effectively suppressing collision noise.

[0395] In one embodiment, the movable member can be integrally formed into a plate shape from a soft magnetic material, and the flange portion can protrude in the opposite direction to the first direction at the corresponding end of the salient pole core. The flange portion further stabilizes the operation of the movable member.

[0396] In one embodiment, the fixed member and the movable member may have a center-aligned circular shape, and a coil wound around the periphery of the center can be constructed by wiring. In another embodiment, the movable member may be disposed inside the fixed member. In yet another embodiment, the movable member may be disposed outside the fixed member.

[0397] According to an embodiment, a drive unit for a washing machine includes: a drive shaft rotatably supported relative to a rotation axis; a motor configured to rotate the drive shaft; and a clutch and a reducer disposed between the drive shaft and the motor. The clutch has: a movable portion configured to slide in a rotational direction extending from the drive shaft; a pair of fixed claws separated in the rotational direction; and a drive portion configured to switch the engagement state of the reducer by sliding the movable portion to one of the fixed claws. The drive portion is configured using the aforementioned actuator. Since the aforementioned actuator is used as the drive portion of the clutch configured to switch the engagement state of the reducer, the performance of the washing machine can be improved.

[0398] In an embodiment, the drive unit of the washing machine may further include a controller configured to control the operation of the clutch. The controller can perform a switching process by supplying a preset switching current to the clutch to connect the moving part to one of the fixed claws in the pair of fixed claws, and can perform a braking process to stop supplying the switching current to the clutch immediately before the moving part is connected to a fixed claw. By doing so, stopping the supply of the switching current (i.e., a simple control to disconnect the power) can effectively suppress knocking noise.

[0399] In an embodiment, the controller can perform a switching process to connect the moving part to one of the fixed claws in the pair of fixed claws by supplying a preset switching current to the clutch, and can perform a switching determination process to determine whether the moving part is connected to a fixed claw during the switching process.

[0400] In one embodiment, the controller may perform a switching determination process immediately after performing the switching process by comparing a preset determination value with the current flowing in the coil.

[0401] In an embodiment, immediately before the controller performs the switching process, the controller sets the current value flowing in the coil after energizing the coil based on a preset voltage command value for determination as a determined value, and immediately after performing the switching process, compares the determined value with the current value flowing in the coil based on the voltage command value for determination, thereby performing the switching determination process.

[0402] According to the aforementioned embodiments, the success of clutch switching can be determined with high precision, thereby preventing malfunctions such as abnormal sounds due to incorrect switching.

[0403] According to the actuator, the drive unit of the washing machine, and the disclosed embodiments of the washing machine, the reciprocating movement of the moving part can be performed effectively and appropriately, thereby making it easy to suppress collision noise.

[0404] The above embodiments can be appropriately combined to perform. Although embodiments have been specifically described, the spirit and scope of this disclosure may also include various changes and modifications in form and detail that can be made by those skilled in the art based on the basic concept of this disclosure as defined by the appended claims.

Claims

1. A washing machine, comprising: Rotatable bucket; The drive unit is configured to rotate the rotatable barrel. The driving unit includes: axis; An electric motor has a stator and a rotor; A speed reducer is disposed between the shaft and the rotor; A clutch is configured to switch between a first mode and a second mode, in which rotation of the rotor is transmitted to the shaft via the reducer, and in the second mode, rotation of the rotor is transmitted to the shaft without passing through the reducer; and Controller The clutch has the following characteristics: The rotor-side fixed portion is configured to rotate by interoperating with the rotation of the rotor; A stator-side fixing portion, fixed to the stator, and configured to face the rotor-side fixing portion in the axial direction of the shaft, with a gap between the stator-side fixing portion and the rotor-side fixing portion; and The movable portion is configured to move along the axial direction between the rotor-side fixed portion and the stator-side fixed portion. The clutch is further configured to: switch to the first mode when the stator-side fixed portion and the moving portion are engaged with each other; and switch to the second mode when the rotor-side fixed portion and the moving portion are engaged with each other. Specifically, when the controller performs the switching process, by moving the moving part along the axial direction, the moving part is switched from a starting state where one of the rotor-side fixed part and the stator-side fixed part is engaged with the moving part to a ending state where the other of the rotor-side fixed part and the stator-side fixed part is engaged with the moving part. The controller is configured to perform an adjustment operation by changing the rotation phase of the rotor to adjust the engagement position before the beginning of the ending state, so that the engagement position of the moving part relative to the other of the rotor-side fixed part and the stator-side fixed part becomes the target engagement position. Wherein, the rotational phase of the rotor at the target engagement position is the rotational phase when the cogging torque of the motor reaches a stable point.

2. The laundry machine according to claim 1, wherein, In the switching process, the controller is also configured to perform a movement operation that moves the moving part along the axial direction after the adjustment operation.

3. The washing machine according to claim 2, wherein, The clutch has a drive portion configured to drive the moving portion. The drive section has a clutch magnet mounted on the moving section and a clutch coil configured to generate a magnetic field for moving the clutch magnet along the axial direction. During the movement operation, after the controller begins supplying power to the clutch coil to generate the magnetic field, the controller is also configured to determine whether the moving part moves based on whether the power is distorted.

4. The washing machine according to claim 1, wherein, The reducer has: Bracket, fixed to the shaft; The sun gear is configured to rotate together with the rotor; An internal gear is configured to surround the sun gear; as well as Multiple planetary gears are supported for rotation on the carrier and configured to mesh with both the sun gear and the internal gear. The movable part is mounted on the outside of the internal gear and is configured to rotate together with the internal gear.

5. The washing machine according to claim 1, wherein, The rotor-side fixing portion has multiple rotor-end fixing claws. The stator-side fixing portion has multiple stator end fixing claws. The movable portion has a plurality of rotor end movable claws configured to engage with the plurality of rotor end fixed claws, and a plurality of stator end movable claws configured to engage with the plurality of stator end fixed claws. The target engagement position of the moving part relative to the rotor-side fixed part is the position where the gap between the plurality of rotor-end fixed claws and the plurality of rotor-end moving claws face each other in the axial direction, and The target engagement position of the moving part relative to the stator-side fixed part is the position where the gap between the plurality of stator end fixed claws and the plurality of stator end moving claws face each other in the axial direction.

6. The washing machine according to claim 5, wherein, The circumferential length between the plurality of rotor end fixing claws is greater than the sum of the following two: the circumferential length of the rotational phase difference between the rotor-side fixing portion and the stator-side fixing portion at the target engagement position, and the circumferential length of the rotor end moving claw. The circumferential length between the plurality of stator end fixing claws is greater than the sum of the following two: the circumferential length of the rotational phase difference between the rotor-side fixing portion and the stator-side fixing portion at the target engagement position, and the circumferential length of the stator end moving claw.

7. The washing machine according to claim 1, wherein, The stator has motor coils configured to generate a magnetic field for rotating the rotor. The clutch has a drive portion configured to drive the moving portion. The drive portion includes the clutch magnet mounted on the moving portion and the clutch coil configured to generate a magnetic field for moving the clutch magnet along the axial direction. The controller has a motor drive circuit configured to supply power to the motor coils and a clutch drive circuit configured to supply power to the clutch coils. The clutch drive circuit is also configured to supply power from the motor drive circuit to the clutch coil by electrically connecting the motor coil to the clutch coil, and The impedance of the clutch coil is lower than that of the motor coil.

8. The washing machine according to claim 1, wherein, In the switching process, the controller is also configured to perform the adjustment operation and a maintenance operation to maintain the rotational phase of the rotor adjusted by the adjustment operation.

9. The washing machine according to claim 1, wherein, The rotatable barrel is configured such that its axis runs along a direction intersecting the vertical. Prior to performing the switching process, the controller is also configured to perform an imbalance correction operation by controlling the motor to rotate the rotatable drum. This imbalance correction operation corrects the position of the unbalanced mass points of the clothing in the rotatable drum, bringing the position of the unbalanced mass points of the clothing in the rotatable drum closer to the target mass point position. The target mass position is the position of the unbalanced mass when the engagement position becomes the target engagement position, which is the lowest position in the rotatable barrel.

10. The washing machine according to claim 1, wherein, The clutch has a drive portion configured to drive the moving portion, and The driving part includes a fixing component. The fixing component includes: The clutch coil extends in a direction intersecting the axial and diametrical directions; and Two magnets, each with the same pole facing each other in the axial direction, and The movable part includes a movable component. The movable component includes: Two salient poles, the ends of which face the two magnets at close range; and Connect the core, away from the two magnets, and connect the base ends of the two salient pole cores, and The moving part is configured to perform reciprocating movement in the axial direction according to the switching of the energizing direction relative to the clutch coil.

11. The washing machine according to claim 10, wherein, The movable component is integrally formed into a plate shape from a soft magnetic material, and The flange portion protrudes in the opposite direction to the axial direction at the corresponding end of the salient pole core.

12. The washing machine according to claim 10, wherein, The controller is also configured to perform a braking process that stops supplying switching current to the clutch immediately before the end state begins.

13. The washing machine according to claim 10, wherein, The controller is also configured to perform a switching determination process immediately after the switching process is executed by comparing a preset determination value with the current flowing in the clutch coil, wherein the switching determination process involves determining whether the moving part is connected to one of the rotor-side fixed part and the stator-side fixed part.

14. The washing machine according to claim 13, wherein, The controller is also configured to perform the switching determination process in such a way that: immediately before the controller performs the switching process, the controller sets the current value flowing in the clutch coil after energizing the clutch coil based on a preset voltage command value for determination as the determined value; and immediately after performing the switching process, the determined value is compared with the current flowing in the clutch coil based on the voltage command value for determination.

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