Machine for textile processing, method of operating machine, and related computer program and computer readable medium

Abstract

A machine for processing textile products, comprising:-a drum (1) configured for receiving textile products and extending longitudinally between a first end (11) and a second end (12); -a plurality of contact elements (4) attached to the inner surface (3) of the drum (1) and configured such that, when the drum is rotated at a rotational speed within a predetermined initial range, the contact elements (4) cause the textile product to move within the drum towards a predetermined end of the drum according to the direction of rotation of the drum; and-a plurality of chambers (6, 7) configured to be controllably and selectively filled with liquid upon rotation of the drum (1), each chamber (6, 7) being arranged such that, when the respective chamber (6, 7) contains liquid, the center of mass thereof is radially separated from the axis of rotation of the drum.

Description

Technical Field

[0001] The present invention relates to a machine (or system) for textile processing and an associated method of operating the machine. The method may also be considered as a method for controlling rotating unbalance or rotating imbalance in the machine. The present invention also relates to software for use in such a machine or system, and associated computer readable media. Background Art

[0002] There are several known types of machines for processing textiles (e.g. washing machines or dryers) comprising a rotatable drum (tumbler) in which the textile to be processed is placed. Typically, in such machines, the drum (also referred to as a drum) may become unbalanced or unbalanced when the drum rotates (especially when rotating at high speeds), i.e., it may exhibit a rotational imbalance due to an uneven distribution and / or movement of the textiles in the drum. The rotational imbalance may lead to vibrations of the drum, uncontrolled variations in the speed of rotation of the drum or even damage to the machine, in particular to the transmission and / or the motor usually used to rotate the drum. This imbalance and any uncontrolled variations in the speed of rotation of the drum may in turn affect the processing or finishing of the textile in the drum and lead to the formation of undesirable defects and unevenness on the textile.

[0003] Various attempts have been made to balance rotating drum machines for processing textile products. However, these prior art solutions encounter severe limitations that compromise their effectiveness and overall performance.

[0004] One traditional approach is to use fixed weights attached to the drum or appliance frame. While weights can partially reduce vibration, they are often not optimally balanced due to the inherent limitations of static weight. This can result in residual vibration during operation, causing excessive noise, wear and tear, and reduced washing or drying efficiency.

[0005] Another common technique is to use suspension springs to minimize drum imbalance. Although suspension springs provide a degree of dynamic balance, they cannot completely eliminate vibration (especially when faced with an unevenly distributed load). Therefore, a washing machine or tumble dryer equipped with suspension springs may still experience significant vibrations that affect its stability and performance.

[0006] Some prior art solutions suggest using adjustable feet or leveling legs to compensate for an unbalanced drum. However, these mechanisms primarily address the problem of static imbalance and are not effective in dynamically balancing the drum during rotation. As a result, vibrations generated during operation remain largely unaddressed, leading to suboptimal performance and potential damage to the appliance or surroundings.

[0007] Some prior art designs utilize passive damping systems (e.g., rubber or foam pads) to absorb vibrations. While these solutions can attenuate vibrations to some extent, they often do not provide adequate balance (especially when handling heavy or irregular loads). Additionally, passive damping systems may degrade over time, resulting in reduced efficiency and the need for frequent maintenance.

[0008] In general, the aforementioned prior art solutions have deficiencies in achieving effective dynamic balancing during drum rotation. Therefore, they show limited success in reducing vibrations, optimizing performance and ensuring the longevity of the washing machine or tumble dryer.

[0009] The present invention aims to overcome these drawbacks and provide an improved balancing mechanism for a rotating drum of a washing machine or tumble dryer.By addressing the deficiencies of the prior art, the present invention seeks to enhance stability, minimize vibrations and optimize the overall performance of these appliances.

[0010] Therefore, there is a need to control this rotational imbalance. The present invention provides a solution to this problem. Summary of the invention

[0011] The present invention provides a solution to the problem of how to control the rotational imbalance in a textile processing machine. Some non-limiting examples of such machines are washing machines, tumble dryers, dryers or machines that use liquids, chemical compounds, sprays, gases, solids (e.g., stones), compounds or other media to arrange textiles. The drum can be a cylinder. The machine comprising the drum can be used to process one or more textiles (i.e., textile products). Some non-limiting examples of textiles that can be processed with the machine are clothing, clothes, cloth, towels, home textiles, leather, fabric, denim, clothing or other.

[0012] The drum can be a cylinder. The machine comprising the drum can be used to process one or more textiles (i.e., textile products). Some non-limiting examples of textiles that can be processed with the machine are clothing, clothes, cloth, towels, home textiles, leather, fabric, denim, clothing or other.

[0013] A first aspect of the present invention relates to a machine for processing textile products, the machine comprising a drum, a plurality of contact elements and a plurality of chambers (i.e. compartments). The drum comprises a surface configured to define (i.e. delimit) an internal compartment, the internal compartment being configured to receive textile products. The surface comprises an inner / inner face (also referred to as an inner surface) and an outer / external face, wherein the inner face is a face facing the internal compartment for receiving textiles. The drum is configured to extend longitudinally along a longitudinal geometric axis between a first end and a second end of the drum and is suitable for rotating around the longitudinal geometric axis. The drum may include or may be connected to a rotating device configured to rotate the drum (e.g., a motor). Each end corresponds to the front of the drum or the rear of the drum, respectively. For example, the first end may correspond to the front of the drum, and the second end may correspond to the rear, and vice versa.

[0014] The plurality of contact elements (e.g., comprising 2 to 8 contact elements, preferably 3 to 6, more preferably 4 or 5) are attached to the inner surface of the drum, wherein the contact elements are configured to interact with the textile product so that when the drum rotates at a rotational speed within a predetermined initial range, the textile product moves along at least a portion of the length of the drum, wherein the longitudinal advancement direction depends on the rotational direction of the drum. In other words, the contact elements may be configured such that when the drum rotates in a first rotational direction at a rotational speed within a predetermined initial range, the contact elements cause the textile product to move within the drum along a longitudinal direction aligned with the longitudinal geometric axis toward the first end of the drum; and / or the contact elements may be configured such that when the drum rotates in a second rotational direction opposite to the first rotational direction at a rotational speed within a predetermined initial range, the contact elements cause the textile product to move within the drum along a longitudinal direction aligned with the longitudinal geometric axis toward the second end of the drum.

[0015] The term "preferably" should be interpreted throughout this specification as referring to optional features of the invention.

[0016] Thus, the predetermined initial range includes rotational speeds configured such that when the drum rotates at said speed, the textile products are subjected to centrifugal forces that cause the textile products to rock within the drum and / or to come into contact with the inner surface of the drum through contact forces (e.g., forces perpendicular to the drum surface extending substantially radially from the longitudinal center axis), thereby allowing the textile products to move relative to the inner surface due to interaction with the contact elements. Thus, the predetermined initial range is configured such that when the drum rotates at a rotational speed within the predetermined initial range, the contact forces to which the textile products are subjected (i.e., the forces with which the textile products are pressed against the inner surface of the drum and the contact elements) are not high enough to cause them to be in a stable position within the drum (i.e., get stuck / stuck on the inner surface).

[0017] In some embodiments, the predetermined initial range may include a plurality of presets suitable for ensuring that for different loads / weights (e.g., loads / weights of textile products) introduced into the drum of the machine (i.e., within the internal compartment), the textile products are allowed to move along the drum. The diameter of the drum (which is a parameter of the design of the machine and has an impact on the volume of the internal compartment) is also a decisive factor in determining the rotational speed contained in the predetermined initial range. According to some embodiments, the machine may be sized / configured so that the predetermined initial range may include a rotational speed lower than 50 rpm (preferably lower than 40 rpm). In some embodiments, the machine may further include a device configured to detect / sense the load in the compartment inserted into the drum, so that the predetermined initial range can be adapted to the detected / sensed load.

[0018] The multiple chambers are configured to be controllably and selectively filled with liquid (preferably when the drum is rotating). In the context of the present invention, "selective filling" means that each chamber is (i.e. individually) configured to be at least partially filled with a certain amount of liquid. Optionally, the multiple chambers can be further configured to selectively drain (e.g., at least partially drain) the liquid. Preferably, the liquid is water. The multiple chambers are arranged so that when the corresponding chamber is partially or completely filled with liquid, its center of mass is radially separated from the longitudinal geometric axis. Therefore, each chamber is configured as a variable mass, which is arranged at a certain distance (i.e., radial distance) from the axis of rotation of the drum (i.e., the longitudinal geometric axis), and the variable mass can be selectively activated.

[0019] In preferred embodiments, the plurality of chambers may comprise: a first chamber group arranged at a first end of the drum, preferably arranged inside the drum (e.g. arranged in contact with the inner surface of the drum); and / or a second chamber group arranged at a second end of the drum (preferably arranged inside the drum). In preferred embodiments, the plurality of chambers may comprise a group (first or second group) arranged at an end of the drum corresponding to the rear of the drum, i.e. a portion arranged opposite to the front end, which may comprise a door. In those embodiments, the chamber group (first or second group) is arranged at the end where the door is arranged (this end is usually the front end of the drum) to allow the introduction of textiles into the inner compartment of the drum. The chamber group is arranged around the door, thereby allowing the normal process of loading the textile products into the inner compartment through the corresponding door. Preferably, the chambers of the first and / or second chamber group may be arranged so that at least a portion of the chambers of the same group (i.e. belonging to the same group) have equal size and / or volume capacity.

[0020] The first chamber group and / or the second chamber group may include a plurality of chambers in the range of 3 to 40, preferably 6 to 20, more preferably 8 to 12.

[0021] Preferably, the chambers of the first and / or second chamber groups may be arranged to at least partially surround (i.e. at least partially encircle) the longitudinal geometric axis. Preferably, at least some of the chambers may be in transverse contact with each other (i.e. adjacent to each other) such that when all chambers in a group are configured in this manner, they completely surround the longitudinal geometric axis, for example, the chambers in at least one group may be configured to include a disc-like volume of multiple chambers / compartments, the chambers being positioned adjacent to each other around the longitudinal geometric axis, and the drum being configured to rotate around the longitudinal geometric axis. In some embodiments, at least some of the chambers of the first and / or second chamber groups may be arranged around the longitudinal geometric axis, but spaced apart from each other (i.e. having a transverse separation space between each other), wherein preferably the separation space may be arranged around the longitudinal geometric axis describing / defining a regular pattern.

[0022] In a preferred embodiment of the present invention, the plurality of chambers may further include at least one auxiliary chamber group, the auxiliary chamber group including one or more chambers (e.g., 1 to 30 chambers, preferably 3 to 15, more preferably 5 to 10). Each auxiliary chamber group may be arranged in one of the contact elements, wherein preferably, each contact element including one of the auxiliary chamber groups is configured as an elongated body (e.g., a paddle) extending longitudinally at least partially along a longitudinal direction aligned with the longitudinal geometric axis, so that when the auxiliary group includes a plurality of chambers, the chambers are arranged as one or more chamber sequences (e.g., arranged continuously or spaced apart) along the corresponding elongated body.

[0023] It should be noted that the multiple configurations of the contact elements are compatible with the functional definition of the elements provided in claim 1 and the aforementioned disclosure. The invention cannot be defined more precisely without unduly limiting the scope of the claims and the interpretation of the contact elements. Thus, the contact elements may be configured as any type of protruding (i.e., configured to protrude from the inner surface of the drum) element, which is arranged on the inner surface of the drum and has a geometry / shape configured to cause the textile product to move (e.g., pushed by a lateral contact force) in the longitudinal direction toward a predetermined end of the drum in the internal compartment of the drum according to the rotation direction of the drum (assuming that the rotation speed is not so high that the centrifugal force can prevent any movement). In a preferred embodiment, the contact elements are configured as elongated elements / bodies (e.g., paddles), i.e., each elongated body may be configured to extend longitudinally at least a component parallel to the longitudinal geometric axis. The elongated bodies (e.g., paddles) may be configured to be straight or curved (e.g., spiral), or a combination of both.

[0024] The paddles connected to the inner surface of the drum are also commonly referred to as baffles. Optionally, the paddles are arranged in radially symmetrical positions across the circumference of the inner surface, for example, when three paddles are provided and the inner surface is cylindrical, it is preferred that the arc across the circumference of the inner surface and between two paddles is 120 degrees at the central angle of the circle. Therefore, optionally, the drum with paddles is rotationally symmetrical around the longitudinal and rotational axes of the drum, because this characteristic facilitates the rotation of the drum. Clearly, in this process, the front mouth and / or the rear mouth of the drum can be closed, or partially or completely open, so the term "inner / inner surface" mentioned herein refers to the surface of the inside of the drum, on which the paddles are arranged, i.e., the surface of any cap arranged to cover any mouth of the drum is not included, because any of the mouths can be partially or completely opened / exposed. Preferably, one mouth is sealed / closed and the other mouth is open.

[0025] The paddle is basically a long rod that is attached to the inner surface of the drum and placed in the length direction. In some examples, the shape of the paddle cross section perpendicular to the longitudinal axis of the paddle is a triangle or a quadrilateral or an orthogonal or a circle or an ellipse or a polygon or a more complex shape. In some other examples, the shape and size of the above cross section are the same over the entire length of the paddle, and in some other examples, the shape and / or size do not change over the entire length of the paddle. Another preferred option is that the shape of the paddle is twisted on the longitudinal axis of the paddle, because this changes the force that the paddle applies to the clothes and air in contact with the paddle on the axis, and the change can provide additional control over the movement of the clothes and air moved by the paddle when the drum rotates. This will be further explained below.

[0026] In a preferred embodiment, the contact element is configured as a blade, at least a portion of its length extending longitudinally between two respective opposite ends of the respective blade, the respective opposite ends being arranged at a distance relative to each other along a longitudinal axis, the longitudinal axis being configured to form an angle (e.g., a first angle) between 5 and 85 degrees with a geometrically orthogonal projection of the longitudinal axis of the blade on a first geometric plane perpendicular to the longitudinal axis of the drum. More preferably, the angle formed between the longitudinal axis and the geometric projection of the longitudinal axis of the blade on the first geometric plane perpendicular to the longitudinal axis of the drum is between 50 and 80 degrees.

[0027] In some embodiments of the present invention compatible with any of the foregoing embodiments, the machine may include a liquid management system. The liquid management system includes a device configured to selectively introduce liquid into each of the plurality of chambers, preferably while the drum is rotating. Optionally, the liquid management system may further include a device configured to selectively remove a certain amount of liquid from each of the plurality of chambers, preferably while the drum is rotating. In the absence of the device configured to selectively remove liquid, when the drum is rotating at a low speed (i.e., when the chamber is at the highest point of the rotation path, the centrifugal force to which the liquid in the chamber is subjected is not high enough to avoid the speed at which the water leaves the chamber due to gravity through an outlet arranged at a lower position of the corresponding chamber), the chamber may be partially or completely emptied due to gravity. Additionally or alternatively, the machine may also include an unbalance measurement system, the unbalance measurement system being configured to measure one or more characteristics (i.e., data) of the unbalance of the drum while rotating. The unbalance measurement system may preferably be a vibration measurement / detection system for measuring vibrations of the drum while it is rotating. More preferably, the one or more characteristics preferably include vibration amplitude and / or vibration phase, so that the unbalance measurement system may include one or more devices (eg sensors) configured to monitor said characteristics.

[0028] In a preferred embodiment, the machine may further include a controller configured to control the rotation speed of the drum and / or the rotation direction of the drum. Preferably, the controller may be further configured to control the liquid management system based on the characteristics (i.e., data) of the drum imbalance measured by the imbalance measurement system when the drum rotates. Therefore, the controller can determine how much liquid is needed in each chamber and instruct the liquid management system to inject the amount of liquid into the corresponding chamber, wherein, for the purpose of this technology, the controller compares the measured imbalance data with a predetermined balance threshold (i.e., a predetermined balance condition to be met).

[0029] In a preferred embodiment of the present invention, the machine may be configured to monitor at least one parameter related to the energy provided to the drum to rotate the drum at a certain speed (i.e., at any rotational speed compatible with the machine). The machine may include a controller (the same as the controller previously described or another controller) configured to monitor the at least one parameter. Preferably, the one or more parameters may include parameters configured to be an indicator of the power provided to the drum for rotation (e.g., a parameter directly related to power or a parameter related to the operating characteristics of the motor, such as the strength, frequency or DC braking current of the motor), and / or the one or more parameters may include parameters configured to be an indicator of the torque provided to the drum for rotation. The role and importance of this monitoring capability will be further explained in conjunction with the method described below.

[0030] A second aspect of the present invention relates to a method for balancing a machine according to the above disclosure. The method comprises the following steps:

[0031] a) rotating a drum of a textile processing machine about a longitudinal geometric axis of the drum at a first rotational speed within a predetermined main range, the first rotational speed being configured such that when the drum rotates at a rotational speed within the predetermined main range, a textile product previously inserted into the drum is pressed against an inner surface of the drum with a force that prevents the textile product from moving in the longitudinal direction;

[0032] b) obtaining / measuring imbalance data of the drum while the drum is rotating and comparing said data with a predetermined balance threshold, wherein preferably the obtained / measured imbalance data is an indicator of vibration of the drum while it is rotating;

[0033] c) determining, for each of the plurality of chambers, an amount of liquid required in each of the plurality of chambers to meet a predetermined balance threshold based on the imbalance data as the drum rotates; and

[0034] d) selectively filling each of the plurality of chambers according to a predetermined corresponding amount of liquid as the drum rotates.

[0035] Step b), step c) and step d) are all performed during step a). For example, step a) is performed during a corresponding time period, so that step b), step c) and step d) are performed during the time period (preferably in the order provided).

[0036] The first speed can be configured as a constant speed within the predetermined main range. The predetermined main range includes multiple speeds, which are higher than the speed of the previously disclosed predetermined initial range. The predetermined main range is configured so that when the drum rotates at a speed within the predetermined main range, the contact force (i.e., the force that the textile product is pressed against the inner surface of the drum and the contact element) to which the textile product is subjected is high enough to keep them in a stable position in the drum (i.e., stuck / sticked on the inner surface), thereby preventing the textile product from moving longitudinally. In some embodiments, the machine implementing the method can be sized / configured so that the predetermined main range can start at a speed within the range of 30rpm to 50rpm (i.e., its minimum value can be within the range of 30rpm to 50rpm), preferably within the range of 40 to 45rpm. The first speed can be configured as a speed within the range of 100rpm to 200rpm (preferably within the range of 120rpm to 180rpm).

[0037] In some embodiments, the predetermined balance threshold may be configured as a minimum value or percentage of improvement in imbalance that is tolerable / sufficient for the machine to operate properly (e.g., without risk of damage or reduced reliability / service life) at a given rotational speed, while in other embodiments, the predetermined balance threshold may include more than one threshold (e.g., a set of thresholds) that describes a progression at a given rotational speed (e.g., from an initial threshold representing a minimum imbalance target to a final threshold representing a higher or maximum desired balance target). Thus, when the predetermined balance threshold is configured as a set of thresholds, the method may further include performing one or more cycles (i.e., one or more times) including step b), step c), and step d), wherein for each cycle, the predetermined balance threshold is adapted to adopt a more restrictive threshold (i.e., a higher level of balance is required to meet the threshold). Furthermore, the predetermined balance threshold may include a corresponding threshold or a corresponding progressive set of thresholds for each rotational speed. These configurations of the method are broadly compatible with any of the disclosed embodiments of the method, as no substantial modifications to the machine or the remaining method steps are required. The predetermined balance threshold may be configured as one or more thresholds related to the vibration amplitude and / or vibration phase of the drum when it rotates (preferably at a constant speed). Thus, the predetermined balance threshold may include different values ​​for different rotational speeds.

[0038] In step b), obtaining / measuring the imbalance data of the drum as the drum rotates may be performed by the imbalance measurement system previously described for the machine (e.g., a device for measuring the vibration of the drum as it rotates), and comparing the obtained / measured data with a predetermined balance threshold may be performed by the controller previously described for the machine.

[0039] In step c), while the drum is rotating, for each of the plurality of chambers, determining based on the imbalance data, the amount of liquid required in each of the plurality of chambers to satisfy a predetermined balance threshold may be performed by a controller of the machine. It should be noted that in the event that the controller detects that the balance of the rotating drum satisfies the predetermined balance threshold, no amount of liquid will be injected to fill any chamber.

[0040] In a preferred embodiment of the present invention, before starting the method with step a), the method may further include:

[0041] e) rotating the drum of a textile processing machine around the longitudinal geometric axis of the drum at a rotational speed within a predetermined initial range, the predetermined initial range including a speed lower than a predetermined main range, the predetermined initial range being configured such that when the drum rotates at a speed within the predetermined initial range, if the drum rotates in a first rotational direction, the contact element moves the textile product in the drum along a longitudinal direction aligned with the longitudinal geometric axis toward a first end of the drum, or, if the drum rotates in a second direction opposite to the first rotational direction, the contact element moves the textile product toward a second end of the drum.

[0042] The predetermined initial range described in step e) corresponds to the predetermined initial range previously described for the machine. Depending on the direction of rotation of the drum, step e) is performed to allow the textile product in the drum to be agitated (i.e., shaken) and the textile product to move along the length of the drum toward a predetermined end of the drum (the predetermined end may be configured as a front end or a rear end) (caused by the interaction of the textile product with the contact element). In a preferred embodiment, when step e) is performed for the first time during the execution of the method, the direction of rotation is selected so that the textile product moves toward the rear end. However, as described below, in some cases the direction of rotation may be reversed.

[0043] Thus, when step e) is performed, the textile product is moved and repositioned inside the drum.

[0044] Preferably, the method may further include performing the following steps after step e) and before step a):

[0045] f) accelerating the drum for a period of time so that the drum rotates at a speed within a predetermined main range (e.g., a constant speed), the speed being lower than or equal to the first speed;

[0046] obtaining data related to the energy supplied to the drum for rotation during the period of time, and comparing the data with a predetermined energy threshold, wherein preferably the data comprises at least one parameter configured as an indicator of the power and / or torque supplied to the drum for rotation; and

[0047] It is verified whether the previously obtained data relating to the energy supplied to the drum for rotation meets a predetermined energy threshold and if so, step a) is started.

[0048] Step f) serves the technical purpose of detecting critical situations in which increasing the rotational speed to a higher rotational speed could be dangerous for the machine. Therefore, the method can be configured so that the machine monitors (for example, by a controller) at least one parameter related to the energy supplied to the drum, the energy being used to rotate the drum at a rotational speed compatible with the machine (that is, at any rotational speed, for example, any constant rotational speed). Preferably, according to the description provided for this same feature of the machine, the one or more parameters may include a parameter configured as an indicator of the power supplied to the drum for rotation (for example, a parameter related to the power or operating characteristics of the motor, such as the strength, frequency or DC braking current of the motor) and / or a parameter configured as an indicator of the torque supplied to the drum for rotation. Preferably, the predetermined energy threshold may include multiple thresholds for each parameter, each of these thresholds corresponding to a different rotational speed.

[0049] Preferably, the rotation speed achieved in step f) may be in the range of 30 rpm to 50 rpm (preferably in the range of 35 rpm to 40 rpm), which is a rotation speed within the predetermined main range and is lower than or equal to the first rotation speed.

[0050] In a preferred embodiment, the method may further comprise, if in step f) the previously obtained data relating to the energy supplied to the drum for rotation does not satisfy a predetermined energy threshold (wherein the predetermined energy threshold is configured as a predetermined energy condition to be satisfied), repeating the sequence comprising steps e) and f) one or more times until the data obtained in step f) satisfies the predetermined energy threshold or until a predetermined number of sequence repetitions have been performed. Preferably, wherein, before performing step e) in at least one of the sequences comprising steps e) and f), the rotation direction of the drum is reversed and / or the rotation of the drum is paused / stopped (e.g., such that the drum is stopped for a period of time before starting to rotate again).

[0051] According to a preferred embodiment compatible with any of the disclosed embodiments described above, the method may further comprise:

[0052] - If a predetermined balance threshold is met after performing steps c) and d), then:

[0053] g) accelerating the rotation of the drum from the first rotational speed of step a) to a second rotational speed (preferably a constant rotational speed), the second rotational speed being within a predetermined main range and being higher than the first rotational speed of step a), wherein preferably the second rotational speed resulting from the acceleration is configured as a centrifugal speed of the textile product;

[0054] - If the predetermined balance threshold is not reached after performing steps c) and d), then:

[0055] h) performing step e) as an initial step of restarting the method of any of the above embodiments.

[0056] Therefore, step g) and step h) may implicitly include verifying whether the predetermined balance threshold is met after performing step c) and step d) (eg, at any time during the performance of step c) and step d)).

[0057] In a preferred embodiment, the method may be further configured such that in step g), accelerating the rotation of the drum from the first rotation speed of step a) to the second rotation speed further comprises rotating the drum at one or more intermediate rotation speeds (e.g., one or more constant rotation speeds) for a corresponding period of time, and performing steps b), c) and d) for each of the one or more intermediate rotation speeds during the corresponding period of time, wherein the one or more intermediate rotation speeds are between the first rotation speed and the second rotation speed. Preferably, if after performing steps c) and d) for any intermediate rotation speed, a predetermined balance threshold is not satisfied, step e) is performed as an initial step to restart the method; and / or if after performing steps c) and d) for any intermediate rotation speed, a predetermined balance threshold is satisfied, the drum is accelerated so that the drum rotates at the second rotation speed or an intermediate rotation speed higher than the current intermediate rotation speed.

[0058] A third aspect of the invention relates to a computer program comprising instructions which, when executed by a machine according to the present disclosure, cause the machine to perform a method according to the present invention. In addition, a fourth aspect of the invention relates to a computer readable medium data carrier having the above-mentioned computer program stored thereon. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figures 1A to 1D Four different views of a first embodiment of a drum are shown relating to the first and second aspects of the invention.

[0060] FIG. 2A to FIG. 2C The figures respectively show front views of a drum according to a second embodiment of the present invention.

[0061] FIG. 3A to FIG. 3C They are shown respectively FIG. 2A to FIG. 2C Rear view of the drum shown.

[0062] Figure 4 A perspective view showing a third embodiment of a drum relating to the first and second aspects of the present invention is shown.

[0063] Figure 5 A cross section of a drum relevant to the first and second aspects of the present invention is shown, wherein the cross section is perpendicular to the longitudinal geometrical axis of the drum.

[0064] Figure 6 A perspective view of another embodiment of a drum according to the first and second aspects of the present invention is shown, wherein only one of the drum's paddles is shown to illustrate how the angle "a" is defined.

[0065] Figure 7 A cross section of another embodiment of the drum of the first and second aspects of the invention is shown, wherein only one of the drum's blades is shown to illustrate how angle "b" is defined, and wherein the cross section is perpendicular to the longitudinal axis of the blade.

[0066] Figure 8 A cross section of another embodiment of the drum of the first and second aspects of the invention is shown, wherein only one of the drum's blades is shown to illustrate how angle "b" is defined, and wherein the cross section is perpendicular to the longitudinal axis of the blade.

[0067] Fig. 9 is a flow chart of an embodiment of a method according to the present invention.

[0068] Fig.10 is a flow chart of an embodiment of a method according to the present invention. DETAILED DESCRIPTION

[0069] A preferred embodiment of the drum 1 of a machine for processing textile products according to the invention is Figure 1A-Figure 1D , each of these figures shows a different view / perspective of the drum 1 . Figure 1A is a rear view of the drum 1 and shows the rear end 12 of the drum 1 (at Figure 1B As indicated, the drum 1 of this particular embodiment is oriented longitudinally, parallel to the ground level, and is supported by a support base 10 which also holds a rotating device 5 configured to rotate the drum. Figure 1B The outer surface 2 of the drum is shown, as well as the front end 11 (ie the front of the drum) and the rear end 12 of the drum 1 . Figure 1C is a perspective view of a drum 1 showing the inner surface 3 of the drum on which four contact elements configured as corresponding paddles 4 are arranged (it should be noted that Figure 1A-Figure 1DThe drum is also compatible with other configurations of contact elements according to the above description), wherein the longitudinal axis of one paddle (not shown) forms an angle of 70 degrees (this angle is chosen as an example, although the angle can be configured as an angle in the range of 5 degrees to 85 degrees). The mouth (i.e. the opening for accessing the internal compartment) is arranged at the front end 11 of the drum, which is perpendicular to the longitudinal geometric axis of the drum (not shown), so that this 70 degree angle is angle 'a'. It should be noted that since the drum 1 shown is cylindrical (an optional feature, as the drum can be configured to have other geometric shapes) and has a corresponding front circular mouth, a corresponding rear circular mouth (i.e. at the front end 11 and the rear end 12 respectively) and a disc-shaped cover 13 covering the rear mouth, the longitudinal geometric axis about which the drum 1 rotates is perpendicular to the cylindrical cover 13. It should also be noted that the cross-section of each paddle 4 shown has a triangular shape and does not vary along the length of the paddle. The outer surface 2 of the drum 1 is also Figure 1C Shown in. Figure 1D is a front view of the drum and shows that the four paddles 4 of the drum 1 are positioned in symmetrical positions around the circumference of the inner surface 3 of the drum 1, so that the drum 1 has rotational symmetry. In this case, the central angle (not shown) subtended by the arc passing through the circumference of the inner surface 3 and between each two adjacent paddles is 90 degrees (however, this angle may be different for a different number of contact elements). Although Figure 1C-Figure 1D The embodiment of the present invention does not explicitly depict any plurality of chambers, but it should be noted that the drum is configured with a plurality of chambers configured to be controllably and selectively filled with liquid (preferably as the drum 1 rotates). The plurality of chambers are arranged such that when a corresponding chamber is partially or fully filled with liquid, its center of mass is radially separated from the longitudinal geometric axis. Figure 1C-Figure 1D In some embodiments of the present invention compatible with the drum 1 shown, the plurality of chambers may be configured as one or more of the following:

[0070] - a (first / front) group of chambers is arranged at a first end 11 (ie the front 11 ) of the drum 1 , preferably inside the drum 1 ; and / or

[0071] - a (second / rear) group of chambers 6 is arranged at the second end 12 (ie the rear end 12) of the drum 1, preferably inside the drum 1; and / or

[0072] at least one auxiliary chamber group comprising one or more chambers 7 , each auxiliary chamber group being arranged within one of the contact elements 4 .

[0073] Figure 2A-2C Three different front views (with Figure 1A-Figure 1D ), while Figure 3A-3C Shows Figure 2A-2CThree different rear views of the same drum. Figure 2A-2C and Figure 3A-3C The drum 1 includes a (second) chamber group 6 arranged at the second / rear end of the drum 1 and an auxiliary chamber group arranged in one of the paddles 4, the auxiliary chamber group including three chambers arranged in sequence. It should be noted that the number of chambers 7 of the auxiliary group is merely exemplary, but in other embodiments, the number of chambers 7 of the auxiliary group can be adapted to be less (e.g. 1 or 2) or more (e.g. 1 to 20). The same applies to the arrangement of the chambers, which can be arranged according to the description provided in the Summary of the Invention.

[0074] The (second) chamber group 6 is shown to include eight chambers, wherein a respective chamber having a first size is arranged to be aligned with a respective longitudinal axis of a respective contact element configured as a paddle (so that there are four respective smaller chambers), and wherein a respective chamber having a second size (the second size is larger than the first size, wherein the size refers to the volume capacity and the second size may be 1.5 to 3 times, preferably 2 times, the first size) is arranged in the space between two respective paddles arranged in succession in the drum 1. However, Figure 2A-2C and Figure 3A-3C The drum 1 shown in FIG. 1 is compatible with other configurations (eg number, size, arrangement, etc.) of the chambers of one or more auxiliary chamber groups and of the chambers of the first and / or second chamber groups.

[0075] Furthermore, for simplicity, Figure 2A-2C and Figure 3A-3C The embodiment of is shown not comprising any (first / front) set of chambers arranged at the first / front end 11 of the drum 1. However, it should be noted that this embodiment is compatible with this feature.

[0076] The chambers 6 of the (second / rear) chamber group are shown with an optional feature, namely, being arranged completely around / encircling the longitudinal geometric axis (not shown), and configured to be arranged in series (e.g., in lateral contact with each other), and the drum 1 is configured to rotate around the longitudinal geometric axis. However, in other embodiments of the present invention, the chambers 6 can be configured to be laterally spaced apart from each other.

[0077] Figure 4 A similar but different embodiment of the drum 1 is shown in which the shape of each paddle 4 is twisted across the longitudinal axis of the paddle 4 (not shown). This configuration is compatible with any of the above-described angles of inclination of the paddles. This feature changes the force through the axis that the paddles apply to the textile product, providing additional control over the movement of the textile product as the drum rotates and the paddles move the textile product.

[0078] Figure 5An embodiment of a drum 1 is shown, with three blades 4 attached to the inner surface of the drum 1, wherein each blade 4 is triangular in shape when viewed from the plane of the figure, and as shown in the figure, the drum has rotational symmetry because the central angle of the arc across the circumference of the inner surface 3 and between each two blades is 120 degrees.

[0079] Figure 6 1 shows how the angle "a" related to the direction of the longitudinal axis LP of the blade is defined. It should be noted that for the sake of clarity, Figure 6 4 is shown. The paddle 4 is shown attached to the inner surface 3 of the drum 1, the portion of the paddle behind the outer surface 2 of the drum 1 being drawn with dashed lines, wherein the rest of the paddle 4 is drawn with solid lines. Also shown are the longitudinal geometric axis LD of the drum 1 (i.e. the axis about which the drum 1 is configured to rotate) and a plane N perpendicular to this longitudinal geometric axis LD of the drum 1. The orthogonal projection OP of the longitudinal axis LP of the paddle 4 onto this plane N is indicated by a corresponding dashed line. The angle "a" is the angle formed between the longitudinal axis LP of the paddle and this orthogonal projection OP.

[0080] Figure 7 It is shown how the angle "b" is defined in relation to the direction of the outer surface 8 of the blade according to another embodiment of the drum 1 (wherein this feature is broadly compatible with the features previously defined for the previous embodiment). Figure 7 As shown, the paddle 4 is attached to the inner surface 3 of the drum 1, and the outer surface 2 of the drum 1 is also shown. The longitudinal axis LP (not shown) of the paddle 4 is perpendicular to the plane NB shown, which is parallel to the Figure 7 The outer surface 8 of the blade 4 has a straight line segment defined by two end points S and D. The end points S and D can be connected by a straight line SD, which does not pass through the outer surface 8 of the blade 4 between the end points S and D. Also shown is the center point B of the interface between the blade 4 and the inner surface 3 of the drum 1, and a plane T tangent to the inner surface 3 at the center point B. The tangent plane T is perpendicular to the normal plane NB, so that Figure 7 The median section plane T is represented by a dotted line defined by the intersection of the section plane T and the normal plane NB. Figure 7 In FIG. 1 , there is also shown an orthogonal projection SD′ of the straight line SD on the tangent plane T. Angle “b” is the angle formed between the straight line SD and its orthogonal projection SD′.

[0081] Similar to Figure 7 , Figure 8 It also shows how the angle "b" is defined, where the main difference between the two figures is that Figure 8 In the figure, the shape of the cross section of the blade is orthogonal, while in Figure 7 , the corresponding shape is a triangle.

[0082] Although the embodiment shown in the figures depicts only the drum 1 and the plurality of chambers, it should be noted that the machine for processing textile products according to the present invention may also include a liquid management system (not shown) and / or an unbalance measurement system (not shown in the figures). The liquid management system comprises a device configured to selectively introduce liquid into each of the plurality of chambers, preferably when the drum 1 rotates. The unbalance measurement system is configured to measure one or more characteristics of the unbalance of the drum 1 when rotating, and the unbalance measurement system is preferably a vibration measurement / detection system for measuring the vibration of the drum when rotating, wherein more preferably, the one or more characteristics preferably include vibration amplitude and / or vibration phase.

[0083] Furthermore, the machine for processing textile products comprising a drum according to any of the preceding figures may further comprise a controller configured to control the rotational speed of the drum and the rotational direction of the drum, wherein the controller is preferably further configured to control the liquid management system based on the unbalance characteristics of the drum measured by the unbalance measurement system when the drum rotates. The controller may be further configured to monitor at least one parameter related to the energy provided to the drum for rotating the drum at the rotational speed, wherein preferably, the at least one parameter is configured: as an indicator of the power provided to the drum for rotating at a constant or variable rotational speed; and / or as an indicator of the torque provided to the drum for rotating the drum at a constant or variable rotational speed.

[0084] Fig. 9 A flow chart comprising a number of blocks of a preferred embodiment for balancing a textile processing machine according to the present invention is shown. It should be noted that some of the blocks represent optional features of the method.

[0085] The essential part of the method is represented by block 101. Block 101 comprises the following method steps:

[0086] a) rotating a drum of a textile processing machine about a longitudinal geometric axis of the drum at a first rotational speed within a predetermined main range, the first rotational speed being configured such that when the drum rotates at a rotational speed within the predetermined main range, a textile product previously inserted into the drum is pressed against an inner surface of the drum with a force that prevents the textile product from moving in the longitudinal direction;

[0087] b) obtaining / measuring imbalance data of the drum while the drum is rotating, and comparing the data with a predetermined balance threshold, wherein preferably the obtained / measured imbalance data is an indicator of vibration of the drum while it is rotating;

[0088] c) determining, for each of the plurality of chambers, an amount of liquid required to meet a predetermined balance threshold in each of the plurality of chambers based on the imbalance data as the drum rotates; and

[0089] d) selectively filling each of the plurality of chambers according to a corresponding previously determined amount of liquid as the drum rotates.

[0090] Step b), step c) and step d) are performed during step a). For example, step a) is performed during a corresponding time period, so that steps b), step c) and step d) are performed during the time period (preferably in the order provided). In some embodiments where the predetermined balance threshold is configured as a set of thresholds, the method may further include performing one or more cycles including steps b), step c) and step d), wherein for each cycle, the predetermined balance threshold is adapted to adopt a more restrictive threshold (i.e., a higher level of balance is required to meet the threshold).

[0091] The method represented in box 101 improves the balance (eg, dynamic balance) of a machine drum when rotating a textile product, so that the method can be performed in a stand-alone manner to achieve the improvement purpose.

[0092] Before executing the method steps of block 101, the method may optionally include executing the instructions of block 104, wherein block 104 includes the following steps:

[0093] e) rotating a drum of a textile processing machine about a longitudinal geometric axis of the drum at a rotational speed within a predetermined initial range, the predetermined initial range including speeds lower than a predetermined main range, the predetermined initial range being configured such that when the drum rotates at a speed within the predetermined initial range, if the drum rotates in a first rotational direction, a contact element moves the textile product within the drum in a longitudinal direction aligned with the longitudinal geometric axis toward a first end of the drum, or, if the drum rotates in a second direction opposite to the first rotational direction, the contact element moves the textile product toward a second end of the drum.

[0094] Thus, in some embodiments, block 104 may be the initial block followed by block 101 such that step e) is initially performed, followed by steps a) (and b), c) and d)).

[0095] In a preferred embodiment, blocks 105 and 106 are performed between an initial performance of block 104 and a subsequent performance of block 101 .

[0096] Box 105 and box 106 include the following steps:

[0097] f) accelerating the drum during a period of time so that the drum rotates at a rotation speed within a predetermined main range (e.g., a constant speed) that is lower than or equal to the first rotation speed;

[0098] obtaining data related to the energy supplied to the drum for rotation during the period of time, and comparing the data to a predetermined energy threshold, wherein preferably the data includes at least one parameter configured as an indicator of the power and / or torque supplied to the drum for rotation; and

[0099] It is verified whether the previously obtained data relating to the energy supplied to the drum for rotation meets a predetermined energy threshold and if so, step a) is started.

[0100] It should be noted that the second half of the second paragraph of step f) (i.e., "compare the data with a predetermined energy threshold") and the third paragraph of step f) (i.e., "verify whether the previously obtained data related to the energy provided to the drum for rotation satisfies the predetermined energy threshold, and if so, start step a))" are represented by box 106, and for ease of understanding, box 106 is placed independently.

[0101] Optionally, the method may further include: if the previously obtained data related to the energy provided to the drum for rotation does not meet the predetermined energy threshold, continuing to repeat the sequence comprising steps e) and f) one or more times (i.e., the sequence of boxes 104, 105, and 106) until the data obtained in step f) meets the predetermined energy threshold or until a predetermined number of sequence repetitions have been performed. Preferably, before performing step e) in at least one of the sequences comprising steps e) and f), the rotation direction of the drum is reversed and / or the rotation of the drum is stopped.

[0102] Thus, box 106 indicates that, when it is determined that the predetermined energy threshold (i.e., energy condition) is not met, box 106 leads to box 107, wherein it is verified whether the number of times NS (sequence number) of the sequence including steps e) and f) has been repeated is higher than a predetermined number of times (i.e., "limit") of repetition (e.g., 1 to 20 times). If the number of repetitions is higher than the predetermined number, the method may further include stopping the drum and / or triggering an alarm.

[0103] although Fig. 9 No counter or any counting step is shown, but the method may also include counting each repetition of the sequence after executing block 105. Preferably, if the predetermined energy threshold is finally reached in block 106, the counter of the number of repetitions (which may be executed by the controller) may be reset to zero.

[0104] So far, as part of the method according to the present invention, different optional combinations of block 101 with blocks 104 to 108 have been disclosed. Different combinations of block 101 with blocks 102 and 103 will now be described, such that these additional combinations can be combined with any optional combination of block 101 with blocks 104 to 108 previously described.

[0105] In a preferred embodiment, after executing block 101, the method optionally includes executing block 103, wherein block 103 includes the following steps:

[0106] g) accelerating the rotation of the drum from the first rotational speed of step a) to a second rotational speed (preferably a constant rotational speed) within a predetermined main range and higher than the first rotational speed of step a), wherein preferably the second rotational speed resulting from the acceleration is configured as a centrifugal speed of the textile product;

[0107] It should be noted that although block 101 may include an implicit verification of whether a predetermined balance threshold is met, in order to improve the comprehensibility of the diagram, this verification has been included as a separate block in block 102. Therefore, if after executing steps c) and d) in block 101, it is verified that the predetermined balance threshold is met, block 103 is executed.

[0108] In those rare cases where the predetermined balance threshold is not met (ie, after executing steps c) and d) in block 101), block 102 leads to execution of block 104 for executing step e) as an initial step to restart the method of any of the aforementioned embodiments.

[0109] at last, Fig.10 An optional configuration of frame 103 is shown, wherein step g) is configured to accelerate the rotation of the drum from a first speed in step a) to a second speed in step g) by rotating the drum at one or more intermediate speeds for a corresponding period of time and performing steps b), step c) and step d) on each of the one or more intermediate speeds during the corresponding period of time, wherein the one or more intermediate speeds are between the first speed and the second speed.

[0110] It should be noted that when the method comprises a plurality of intermediate speeds, the speeds are configured to define a progression from a lower speed to a higher speed, wherein for each intermediate speed, a respective cycle of steps b), c) and d) is performed during the respective period of time during which the drum is configured to rotate at the respective intermediate speed. Fig.10 A corresponding pair of boxes 103ax (where "x" represents one of the intermediate speeds) and box 102 (the configuration of box 102 is similar to that of FIG. Fig. 9Therefore, for the first intermediate rotation speed, a pair of frame 103a1 and frame 102 is provided, for the second intermediate rotation speed, a pair of frame 103a2 and frame 102 is provided, and for the nth intermediate rotation speed, a pair of frame 103an and frame 102 is provided.

[0111] like Fig.10 As shown, if the predetermined balance threshold / condition is not satisfied when the drum is rotating at any intermediate speed (i.e., in any one of the blocks 103ax), the method may further include executing Fig. 9 The block 104 of the method is restarted (i.e., step e) as an initial step. The predetermined balance threshold may be configured according to any embodiment described in the specification, i.e., it may be configured as a minimum imbalance value or improvement percentage that is tolerable / sufficient for the machine to operate normally at a given speed (e.g., without risk of damage or reduction of its reliability / service life). In other embodiments, the predetermined balance threshold may include more than one threshold (e.g., a set of thresholds) for describing the progression of a given speed (e.g., from an initial threshold representing a minimum imbalance target to a final threshold representing a higher or maximum desired balance target). Therefore, the predetermined balance threshold may include different values ​​for different speeds.

[0112] In addition, if it is verified in the corresponding frame 102 that the predetermined balance condition is satisfied when the drum rotates at any intermediate speed (i.e., in any frame 103ax), the method may further include executing the next frame 103a to accelerate the drum so that the drum rotates at the subsequent intermediate speed (the subsequent intermediate speed is higher than the current intermediate speed). In the specific case of the last intermediate speed, if it is verified in the corresponding frame 102 that the predetermined balance condition is satisfied, the method may further include executing frame 103b to accelerate the drum so that the drum rotates at the second speed.

[0113] The present disclosure also relates to the following set of examples described as example clauses:

[0114] Example 1: A machine for processing textile products, the machine comprising:

[0115] - a drum (1) comprising an inner surface (3) defining an inner compartment configured to receive textile products, the drum (1) extending longitudinally along a longitudinal geometric axis (LD) between a first end (11) and a second end (12) of the drum (1) and being adapted to rotate about the longitudinal geometric axis (LD);

[0116] - a plurality of contact elements (4) attached to the inner surface (3) of the drum (1), the contact elements (4) being configured such that:

[0117] When the drum (1) rotates in a first rotational direction at a rotational speed within a predetermined initial range, the contact element (4) causes the textile product to move within the drum (1) along a longitudinal direction aligned with the longitudinal geometric axis (LD) towards a first end (11) of the drum (1); and / or

[0118] When the drum (1) rotates in a second rotation direction opposite to the first rotation direction at a rotation speed within the predetermined initial range, the contact element (4) causes the textile product to move in the drum (1) along the longitudinal geometric axis.

[0119] The longitudinal direction in which the line (LD) is aligned moves towards the second end (12) of the drum (1); and

[0120] - A plurality of chambers (6, 7) configured to be controllably and selectively filled with a liquid, preferably water, while the drum (1) rotates, each chamber (6, 7) being arranged such that when the corresponding chamber (6, 7) is partially or completely filled with liquid, the center of mass of the chamber (6, 7) is radially separated from the longitudinal geometric axis (LD).

[0121] Example clause 2: The machine according to example clause 1, wherein the plurality of chambers (6, 7) comprises:

[0122] a first group of chambers (6) arranged at a first end (11) of the drum (1), the first group of chambers (6) preferably being inside the drum (1); and / or

[0123] a second chamber group (6) arranged at a second end (12) of the drum (1), the second chamber group (6) preferably being inside the drum (1);

[0124] Preferably, the chambers (6) of the first chamber group and / or the second chamber group are configured such that at least some of the chambers belonging to the same group have equal size and / or volume.

[0125] Example clause 3: The machine according to example clause 2, wherein the chambers of the first chamber group and / or the second chamber group are arranged at least partially around / encircle the longitudinal geometric axis (LD);

[0126] Preferably, at least some of the chambers are in lateral contact with each other, and / or at least some of the chambers are spaced apart around the longitudinal center axis (LD).

[0127] Example clause 4: A machine according to any of the preceding example clauses, wherein the plurality of chambers further comprises at least one auxiliary chamber group, the auxiliary chamber group comprising one or more chambers, each auxiliary chamber group being arranged within one of the contact elements (4);

[0128] Preferably, the contact elements comprising one of the auxiliary chamber groups are respectively configured as a slender body (e.g., a blade), which extends longitudinally at least partially along a longitudinal direction aligned with the longitudinal geometric axis (LD), so that when the auxiliary group includes multiple chambers, the chambers are arranged as a series of chambers along the corresponding slender bodies.

[0129] Example clause 5: A machine according to any of the preceding example clauses, wherein the contact element (5) is configured as a corresponding paddle (4);

[0130] Preferably, each blade (4) is configured to have a length extending longitudinally between two corresponding opposite ends, the opposite ends being arranged distally relative to each other along a longitudinal axis (LP), the longitudinal axis (LP) being configured to form an angle (α) between 5 and 85 degrees with a geometric orthogonal projection (OP) of the longitudinal axis (LP) of the blade on a first geometric plane (N) perpendicular to the longitudinal axis (LD) of the drum (1);

[0131] More preferably, the angle (a) formed between the longitudinal axis (LP) and the geometric projection (OP) of the longitudinal axis (LP) of the blade on a first geometric plane (N) perpendicular to the longitudinal axis (LD) of the drum (1) is between 50 and 80 degrees.

[0132] Example clause 6: A machine according to example clause 5, wherein the outer surface (8) of at least one blade (4) has a straight line segment having two end points (S, D) belonging to a second geometric plane (NB), the second geometric plane (NB) being perpendicular to the longitudinal axis (LP) of the corresponding blade, wherein the two end points (S, D) can be connected to each other by a straight line (SD), wherein between the end points (S, D), the straight line (SD) does not pass through the outer surface (8), and wherein the straight line (SD) forms an angle (b) between 5 degrees and 85 degrees with a line which is an orthogonal projection (SD') on a third geometric plane (T), the third geometric plane (T) being tangent to the inner surface (3) of the drum (1) at the midpoint of the interface between the drum (1) and the blade (4) belonging to the second geometric plane (NB).

[0133] Example clause 7: A machine according to any of the preceding example clauses, further comprising:

[0134] a liquid management system comprising means configured to selectively introduce liquid into each of the plurality of chambers (preferably while the drum (1) is rotating); and / or

[0135] An unbalance measurement system, the unbalance measurement system is configured to measure one or more characteristics of the unbalance of the drum during rotation, the unbalance measurement system is preferably a vibration measurement / detection system for measuring the vibration of the drum (1) during rotation, wherein more preferably, the one or more characteristics preferably include vibration amplitude and / or vibration phase.

[0136] Example Clause 8: A machine according to any of the preceding example clauses, further comprising a controller configured to control the rotational speed of the drum and the rotational direction of the drum, wherein the controller is also preferably configured to control the liquid management system based on an imbalance characteristic of the drum measured by the imbalance measurement system when the drum rotates.

[0137] Example clause 9: The machine according to example clause 8, wherein the controller is further configured to monitor at least one parameter related to the energy provided to the drum for rotating the drum at a certain rotational speed, wherein preferably, the at least one parameter:

[0138] A power specification configured to provide the drum with a constant or variable rotational speed; and / or

[0139] An index of torque configured to be provided to the roller to rotate the roller at a constant or variable speed.

[0140] Example clause 10: A method for balancing a textile processing machine according to any of the preceding example clauses, the method comprising the following steps:

[0141] a) rotating the drum of the textile processing machine about the longitudinal geometric axis of the drum at a first rotational speed within a predetermined main range, the first rotational speed being configured such that when the drum rotates at a rotational speed within the predetermined main range, a textile product that has been previously inserted into the drum is pressed against an inner surface of the drum with a force that prevents the textile product from moving in the longitudinal direction;

[0142] Wherein, the method further comprises during step a) performing each of the following steps (preferably performed in the order provided):

[0143] b) obtaining / measuring imbalance data of the drum while the drum is rotating, and comparing the data with a predetermined balance threshold, wherein preferably the obtained / measured imbalance data is an indicator of vibration of the drum while rotating;

[0144] c) determining, for each of the plurality of chambers and based on the imbalance data, an amount of liquid required in each of the plurality of chambers to meet the predetermined balance threshold as the drum rotates; and

[0145] d) selectively filling each of the plurality of chambers according to a corresponding previously determined amount of liquid as the drum rotates.

[0146] Example clause 11: The method according to example clause 10, further comprising an initial step before step a):

[0147] e) rotating the drum of the textile processing machine around the longitudinal geometric axis of the drum at a rotational speed within a predetermined initial range, the predetermined initial range including speeds lower than the predetermined main range, the predetermined initial range being configured such that when the drum rotates at a speed within the predetermined initial range, if the drum rotates in a first rotational direction, the contact element causes the textile product to move within the drum along a longitudinal direction aligned with the longitudinal geometric axis toward a first end of the drum, or, if the drum rotates in a second direction opposite to the first rotational direction, the contact element causes the textile product to move toward a second end of the drum.

[0148] Example clause 12: The method according to example clause 10 or 11, further comprising the step of: after step e) and before step a):

[0149] f) accelerating the drum during a period of time so that the drum rotates at a speed within the predetermined main range that is less than or equal to a first speed;

[0150] obtaining data related to energy supplied to the drum for rotation during the period of time, and comparing the data to a predetermined energy threshold, wherein preferably the data includes at least one parameter configured as an indicator of power and / or torque supplied to the drum for rotation; and

[0151] It is verified whether the previously obtained data relating to the energy supplied to the drum for rotation meets the predetermined energy threshold and, if so, step a) is started.

[0152] Example clause 13: The method according to example clause 12, further comprising: if the previously obtained data related to the energy provided to the drum for rotation does not meet the predetermined energy threshold, repeating the sequence including step e) and step f) one or more times until the data obtained in step f) meets the predetermined energy threshold, or until a predetermined number of sequence repetitions have been performed;

[0153] Preferably, before performing step e) in at least one of the sequence comprising step e) and step f), the rotation direction of the drum is reversed and / or the rotation of the drum is stopped.

[0154] Example clause 14: The method of any one of example clauses 10 to 13, further comprising:

[0155] If the predetermined balance threshold is met after performing step c) and step d), then:

[0156] g) accelerating the rotation of the drum from the first rotational speed of step a) to a second rotational speed, the second rotational speed being within the predetermined main range and higher than the first rotational speed of step a), wherein preferably, the second rotational speed is configured as a centrifugal speed of the textile product; and

[0157] If after executing step c) and step d), the predetermined balance threshold is not reached, then:

[0158] h) performing step e) as an initial step of restarting the method of any one of example clauses 10 to 13.

[0159] Example clause 15: The method according to example clause 14, wherein in step g), accelerating the rotation of the drum from the first rotation speed of step a) to the second rotation speed further comprises rotating the drum at one or more intermediate rotation speeds for a corresponding period of time, and performing steps b), c) and d) for each of the one or more intermediate rotation speeds during the corresponding period of time, wherein the one or more intermediate rotation speeds are between the first rotation speed and the second rotation speed;

[0160] Among them, preferably:

[0161] If after performing steps c) and d) for any intermediate rotational speed, the predetermined balance threshold is not met, performing step e) as an initial step to restart the method; and / or

[0162] If the predetermined balance threshold is met after performing step c) and step d) for any intermediate rotation speed, the drum is accelerated so that the drum rotates at a second rotation speed or an intermediate rotation speed higher than the current intermediate rotation speed.

[0163] Example clause 16: A computer program comprising instructions, when the computer program is executed by a machine (1) according to any one of example clauses 1 to 9, causes the machine (1) to perform the method of any one of example clauses 10 to 15.

[0164] Example clause 17: A computer-readable medium data carrier having stored thereon the computer program of example clause 16.

Claims

1. A machine for processing textile products, the machine comprising: - a drum (1) comprising an inner surface (3) defining an internal compartment configured to receive textile products, the drum (1) extending longitudinally along a longitudinal geometric axis (LD) between a first end (11) and a second end (12) of the drum (1) and being adapted to rotate about said longitudinal geometric axis (LD); - a plurality of contact elements (4) attached to the inner surface (3) of the drum (1), the contact elements (4) being configured such that: When the drum (1) rotates in a first rotational direction at a rotational speed within a predetermined initial range, the contact element (4) causes the textile product to move within the drum (1) along a longitudinal direction aligned with the longitudinal geometric axis (LD) towards a first end (11) of the drum (1); and When the drum (1) rotates in a second rotation direction opposite to the first rotation direction at a rotation speed within the predetermined initial range, the contact element (4) causes the textile product to move inside the drum (1) along a longitudinal direction aligned with the longitudinal geometric axis (LD) towards a second end (12) of the drum (1); and - a plurality of chambers (6, 7) configured to be controllably and selectively filled with liquid as the drum (1) rotates, each chamber (6, 7) being arranged such that when the corresponding chamber (6, 7) is partially or completely filled with liquid, the center of mass of the chamber (6, 7) is radially separated from the longitudinal geometric axis (LD).

2. The machine according to claim 1, wherein: The plurality of chambers (6, 7) include: a first group of chambers (6) arranged at a first end (11) of the drum (1); or A second chamber group (6) is arranged at a second end (12) of the drum (1).

3. The machine according to claim 2, wherein: The chambers of the first or second chamber group are arranged at least partially around / encircle the longitudinal geometrical axis (LD).

4. The machine according to claim 1, wherein: The plurality of chambers further comprises at least one auxiliary chamber group, the auxiliary chamber group comprising one or more chambers, each auxiliary chamber group being arranged in one of the contact elements (4).

5. The machine according to claim 1, wherein: The contact element (5) is configured as a corresponding paddle (4); Wherein, each blade (4) is configured to have a length extending longitudinally between two corresponding opposite ends, and the opposite ends are arranged distally relative to each other along a longitudinal axis (LP), and the longitudinal axis (LP) is configured to form an angle (α) between 5 degrees and 85 degrees with a geometric orthogonal projection (OP) of the longitudinal axis (LP) of the blade on a first geometric plane (N) perpendicular to the longitudinal axis (LD) of the drum (1).

6. The machine according to claim 5, wherein: The outer surface (8) of at least one blade (4) has a straight line segment having two end points (S, D) belonging to a second geometrical plane (NB), the second geometrical plane (NB) being perpendicular to the longitudinal axis (LP) of the respective blade, wherein the two end points (S, D) can be connected to each other by a straight line (SD), wherein between the end points (S, D) the straight line (SD) does not pass through the outer surface (8), and wherein the straight line (SD) forms an angle (b) between 5 and 85 degrees with a line which is an orthogonal projection (SD') onto a third geometrical plane (T), the third geometrical plane (T) being tangential to the inner surface (3) of the drum (1) at the midpoint of the interface between the drum (1) and the blade (4) belonging to the second geometrical plane (NB).

7. The machine according to any one of claims 1 to 6, further comprising: a liquid management system comprising a device configured to selectively introduce liquid into each of the plurality of chambers; and An unbalance measurement system is configured to measure one or more characteristics of the unbalance of the drum while rotating.

8. The machine of claim 7, further comprising a controller configured to control the rotation speed of the drum and the rotation direction of the drum, wherein The controller is also configured to control the liquid management system based on an imbalance characteristic of the drum measured by the imbalance measurement system as the drum rotates.

9. The machine according to claim 8, wherein: The controller is further configured to monitor at least one parameter related to the energy provided to the drum for rotating the drum at a certain rotational speed, wherein the at least one parameter: A power specification configured to provide said drum to rotate at a constant or variable speed; or A torque index configured to be provided to the drum to rotate the drum at a constant or variable speed.

10. A method for balancing a textile processing machine according to any one of the preceding claims, comprising the steps of: a) rotating the drum of the textile processing machine about the longitudinal geometric axis of the drum at a first rotational speed within a predetermined main range, the first rotational speed being configured such that when the drum rotates at a rotational speed within the predetermined main range, a textile product that has been previously inserted into the drum is pressed against an inner surface of the drum with a force that prevents the textile product from moving in the longitudinal direction; The method further comprises performing each of the following steps during step a): b) obtaining / measuring imbalance data of the drum while the drum is rotating and comparing the data with a predetermined balance threshold; c) determining, for each of the plurality of chambers and based on the imbalance data, an amount of liquid required in each of the plurality of chambers to meet the predetermined balance threshold as the drum rotates; and d) selectively filling each of the plurality of chambers according to a corresponding previously determined amount of liquid as the drum rotates.

11. The method according to claim 10 further comprises an initial step before step a): e) rotating the drum of the textile processing machine around the longitudinal geometric axis of the drum at a rotational speed within a predetermined initial range, the predetermined initial range including speeds lower than the predetermined main range, the predetermined initial range being configured such that when the drum rotates at a speed within the predetermined initial range, the contact element causes the textile product to move within the drum along a longitudinal direction aligned with the longitudinal geometric axis toward a first end of the drum if the drum rotates in a first rotational direction, or, if the drum rotates in a second direction opposite to the first rotational direction, the contact element causes the textile product to move toward a second end of the drum.

12. The method according to claim 10 or 11, further comprising the step of: after step e) and before step a): f) accelerating the drum during a period of time so that the drum rotates at a speed within the predetermined main range, the speed being lower than or equal to a first speed; obtaining data related to energy supplied to the drum for rotation during the period of time and comparing the data to a predetermined energy threshold; and It is verified whether the previously obtained data related to the energy supplied to the drum for rotation meets the predetermined energy threshold and when the predetermined energy threshold is met, step a) is started.

13. The method according to claim 12, further comprising: When the previously obtained data related to the energy supplied to the drum for rotation does not meet the predetermined energy threshold, the sequence including steps e) and f) is repeated one or more times until the data obtained in step f) meets the predetermined energy threshold, or until a predetermined number of sequence repetitions have been performed.

14. The method according to claim 10 or 11, further comprising: When the predetermined balance threshold is met after performing step c) and step d), then: g) accelerating the rotation of the drum from the first rotation speed of step a) to a second rotation speed, the second rotation speed being within the predetermined main range and higher than the first rotation speed of step a); and When the predetermined balance threshold is not met after performing step c) and step d), then: h) performing step e) as an initial step to restart the method according to any one of claims 10 to 13.

15. The method according to claim 14, wherein: In step g), accelerating the rotation of the drum from the first rotation speed of step a) to a second rotation speed also includes rotating the drum at one or more intermediate rotation speeds for a corresponding period of time, and performing steps b), c) and d) for each of the one or more intermediate rotation speeds within the corresponding period of time, wherein the one or more intermediate rotation speeds are between the first rotation speed and the second rotation speed.

16. A computer program comprising instructions which, when executed by a machine (1) according to any one of claims 1 to 9, cause the machine (1) to perform the method according to any one of claims 10 to 15.

17. A computer-readable medium data carrier having stored thereon the computer program according to claim 16.

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