Device for pivoting along a trajectory
Patent Information
- Application Number
- EP2023728779
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-05-27
- Filing Date
- 2023-05-26
- Publication Date
- 2025-04-09
- Estimated Expiration
- 2043-05-26
AI Technical Summary
Existing drive systems for moving containers along a trajectory in three dimensions typically rely on linear guides or drives, which can be cumbersome and inefficient, lacking alternatives that utilize exclusively rotary drives and rotation bearings for such movements.
A device featuring a pivot arm articulated on a stationary pivot bearing that allows for back-and-forth movement of a container receptacle along a trajectory in three dimensions using two or one motor with an intermediate gear, driven by eccentric drives, eliminating the need for linear drives or guides, and utilizing levers articulated at different angles to achieve movement along multiple axes.
Enables efficient, three-dimensional movement of containers without linear drives or guides, promoting intensive mixing of contents by accelerating components relative to the container walls through adjustable trajectories and accelerations, enhancing the mixing process of solids and liquids.
Smart Images
Figure 1.1
Abstract
Description
[0001] Device for pivoting along a trajectory curve
[0002] The present invention relates to a device which can be used as a drive, with which a container holder and a container fixed thereto can be driven and forcibly guided along a trajectory curve, as well as to a method for treating ingredients, in particular mixtures, in a container which is driven and forcibly guided along a trajectory curve by means of the device.
[0003] The device has the advantage of moving a container in a positively guided reciprocating movement along a curved path without a linear guide or slotted guide, in particular without a linear drive, preferably exclusively with rotary drives and rotary bearings. The device is designed to generate a reciprocating movement of a container holder and a container attached thereto in three dimensions using two motors or just one motor with an intermediate gear, so that a container moved by the device moves its contents in three spatial directions. The object of the invention is to provide an alternative device for a drive that enables a reciprocating movement along a curved path that extends over three dimensions, wherein the drive should not have a linear drive. The drive should preferably have two motors or one motor with an intermediate gear.
[0004] The invention solves the problem with the features of the claims and in particular by means of a device which has a first pivot arm which is articulated at its first end to a first stationary first pivot bearing, wherein the first pivot bearing is designed to pivot along two axes which are arranged perpendicular to the longitudinal axis of the first pivot arm, a container holder attached to the second end of the first pivot arm opposite the first end, a first lever which is driven for reciprocating movement and which is articulated on the first pivot arm at a distance from the first end of the first pivot arm,
[0005] - and a second lever driven for reciprocating movement, which is articulated on the first pivot arm at a distance from the first end of the first pivot arm, wherein the first lever and the second lever are arranged, have or consist of, for moving the first pivot arm about the two axes of the first pivot bearing.
[0006] The device has a pivot arm articulated to a first stationary pivot bearing, wherein the pivot bearing is configured to pivot along two axes arranged perpendicular to the longitudinal axis of the first pivot arm, a container receptacle attached to the end of the pivot arm opposite the pivot bearing, a first lever driven for reciprocating movement, which is articulated to the pivot arm at a distance from the pivot bearing, and a second lever driven for reciprocating movement, which is articulated to the first pivot arm at a distance from the pivot joint, wherein the first lever and the second lever are configured to move the first pivot arm about the two axes of the first pivot bearing.
[0007] Preferably, the first lever and / or the second lever are driven at their second ends, opposite their first ends, which are pivoted on the first pivot arm, by an eccentric drive for reciprocating movement. Each lever can be driven by a separate eccentric drive, each having a motor, or both levers can be driven by a common eccentric drive, which, for example, has or consists of a gear driven by a common motor.
[0008] The first lever and the second lever are independently pivoted on the first pivot arm at different distances from the first pivot bearing, or at the same distance from the first pivot bearing. Optionally, the first lever and / or the second lever are independently pivoted on the second end of the first pivot arm or on the container holder.
[0009] Preferably, the first lever and the second lever are configured to move the first pivot arm about the two axes of the first pivot bearing in that the first lever and the second lever are arranged at an angle of less than 180°, preferably 60-120°, more preferably 90 ± 10°, each different or at the same angle, to the longitudinal axis of the first pivot arm. Further preferably, the first lever and the second lever are arranged approximately perpendicular to the longitudinal axis of the first pivot arm, in particular when the first pivot arm is in a central pivot position in the first pivot bearing. In a central pivot position, the first pivot arm can be arranged vertically or at any angle to the horizon, wherein further optionally its first end can be arranged below or above or in the same plane as the first pivot bearing.Generally, the first lever and the second lever are preferably arranged at an angle of 60 to 120°, more preferably 90±10° to each other, in particular with respect to their respective central pivoting position.
[0010] Preferably, the first lever and the second lever are configured to move the first pivot arm about the two axes of the first pivot bearing by being pivotally connected to the container receptacle. In embodiments in which the first lever and the second lever are pivotally connected to the container receptacle, they limit the movement of the container receptacle about an optional bearing to which the container receptacle is pivotally connected to the second end of the first pivot arm. An optional bearing to which the container receptacle is pivotally connected to the second end of the first pivot arm can be a universal joint, cardan bearing, or ball joint. Alternatively, the container receptacle can be rigidly connected to the second end of the first pivot arm. In general, the first and second levers can be pivotally connected at at least one, preferably both, of their ends by means of a spherical bearing.
[0011] The first lever is preferably pivotably connected to the first pivot arm or to the container holder by its first end, e.g., in a pivot bearing that allows pivoting about its axis of rotation. The second lever, independently of or like the first lever, is pivotably connected to the first pivot arm or to the container holder by its first end, e.g., in a pivot bearing that allows pivoting about its axis of rotation.
[0012] The first ends of the first and second levers can be spaced apart from one another or can be pivoted on the container holder or the first pivot arm so as to be rotatable about a common axis of rotation.
[0013] The first pivot bearing can be configured such that its two pivot axes are spaced apart from one another or intersect one another. The first pivot bearing can comprise or consist of two spaced-apart pivot bearings, e.g., ball bearings, each arranged with their axes of rotation perpendicular to one another and perpendicular to the longitudinal axis of the first pivot arm. Alternatively, the first pivot bearing can be a universal joint, in particular with intersecting axes of rotation, or can be a cardanic bearing whose axes of rotation intersect, or a ball joint, e.g., having a partial ball mounted in a spherical shell.
[0014] Optionally, the first pivot bearing can be one whose pivot axes intersect and are arranged perpendicular to each other and perpendicular to the longitudinal axis of the pivot arm, e.g. a universal joint. Optionally, the pivot arm can be articulated at its first end to a pivot bearing and divided into two sections by a pivot bearing spaced from its first end. Each of these pivot bearings can be a ball joint or a universal joint. In this embodiment, it is preferred that one of the levers is articulated to the section of the pivot arm between its first end and the pivot bearing spaced therefrom, and the other of the levers is articulated to the section between the pivot bearing spaced from the first end and the second end.In embodiments with a second pivot arm, this can extend rigidly between its first end, which is articulated in a third pivot bearing, and its second end, which is articulated on the container receptacle, or can also have two spaced-apart pivot bearings, one at its first end and one spaced therefrom, the pivot axes of which are preferably parallel to those of the pivot bearings of the first pivot arm, more preferably at the same distance from one another.
[0015] The first pivot arm can be mounted at its first end by means of a first pivot bearing, and the container receptacle arranged at the second end of the first pivot arm can be articulated by means of a second pivot bearing. Each pivot bearing can be a ball joint or a universal joint. In general, the container receptacle can be fixedly connected to a section of the first pivot arm that is articulated on the second pivot bearing opposite the first pivot bearing, wherein the first ends of the first and second levers are pivotally articulated on an area that is part of the container receptacle and / or is fixedly connected to the container receptacle, in particular on the section of the first pivot arm that is articulated on the second pivot bearing opposite the first pivot bearing.Accordingly, the first ends of the first and second levers can be articulated to the container holder by being articulated to a portion of the first pivot arm which is rigidly connected to the container holder, this portion being articulated to the second pivot bearing opposite the first pivot bearing.
[0016] Optionally, the container receptacle is rigidly connected to the second end of the first pivot arm. Preferably, the container receptacle is pivotable, in particular about one or two axes, each arranged perpendicular to the longitudinal axis of the first pivot arm, and is articulated at the second end of the first pivot arm. A container receptacle pivotably arranged at the second end of the first pivot arm can be connected to the second end by means of a second pivot bearing that is pivotable about one axis, or the second pivot bearing can be one that is pivotable about two spaced-apart or intersecting axes that are perpendicular to one another, e.g., as described with reference to the first pivot bearing, in particular a universal joint, a cardanic joint, or a ball joint.
[0017] The device is configured with the drive of the first lever and the second lever for reciprocating movement to reciprocate the container holder along a curved path in all three spatial directions. The first pivot arm, through its linkage in the first pivot bearing, executes a movement of its second end and the container holder arranged thereon over a vertex, which, for example, leads to a reciprocating movement along the longitudinal axis of the first pivot arm. Optionally, the device has only one pivot arm, also referred to as the first pivot arm.
[0018] The device preferably has a second pivot arm which is arranged parallel to the first pivot arm, in particular between a frame and the container receptacle. The second pivot arm is articulated at its first end in a third pivot bearing and connected at its opposite second end to the container receptacle. The first and third pivot bearings are preferably of identical construction. Optionally, the first and third pivot bearings have a common first axis of rotation, e.g. a support rotatably mounted about its longitudinal axis, with first ends of the first and second pivot arms pivotably articulated at a distance from one another on this support about a second axis of rotation perpendicular to the longitudinal axis of the support.In this case, a container holder can be pivotably connected to the two second ends of the first and second pivot arms only about axes which are parallel to the second axis of rotation about which the first ends of the first and second pivot arms are pivotably connected to a support.
[0019] The first and second eccentric drives can be fixedly mounted on a frame to which the first pivot bearing with the first pivot arm, optionally a third pivot bearing with a second pivot arm, is also mounted.
[0020] Preferably, the second pivot arm has the same length between its first and second ends as the first pivot arm.
[0021] Optionally, the first and second eccentric drives are driven by a common motor, preferably with a gearing, which is more preferably switchable to drive the eccentric drives with a constant or variable speed ratio to one another. Preferably, the gearing is a belt drive or friction gear. The first and second eccentric drives can each be driven by a motor, one or both of which are controlled to drive the eccentric drives with a constant or variable speed ratio to one another. Alternatively, the first eccentric drive and the second eccentric drive can be driven by a common, controlled and stationary rotary motor with a gearing, wherein the gearing is preferably configured to change the ratio and / or the phase offset for the two eccentric drives relative to one another.Each controlled motor can be formed by a motor with a controller; in embodiments with two motors, both motors are preferably controlled by a common controller.
[0022] The device according to the invention has the advantage that it is driven by two rotary motors with eccentric drive or one rotary motor with gear and eccentric and, for example, has no linear drive and no linear guides or sliding guides.
[0023] The device is designed for the reciprocating movement of the container holder and a container attached thereto along a trajectory, e.g. with a rotational frequency of one or both eccentric drives, identical or different, of at least 1 Hz, in order to drive the reciprocating movement of the container holder. The trajectory of the reciprocating movement of the container holder is generated by superimposing the movement along two axes, each with a different frequency and / or with a phase offset of the rotational frequency of the eccentric drives, e.g. over a path of the container holder along each of two axes of preferably at least 2.5 mm, at least 1 cm, at least 2 cm or at least 3 cm or at least 10 cm, e.g. up to 50 cm, up to 30 cm, up to 20 or, in the case of shorter paths, up to 10 cm. The path of the container holder along each axis can be the same as the path of the reciprocating movement of the levers.
[0024] The back and forth movement of the container holder can, for example, extend over a distance of at least 1.5 mm, more preferably at least 3 mm, more preferably at least 1 cm, more preferably at least 2 cm or at least 5 cm, at least 10 cm or at least 15 cm, e.g. up to 50 cm, up to 30 cm or up to 20 cm. More preferably, the eccentric drives for the back and forth movement of the container are controlled harmoniously along a trajectory curve. The back and forth movement of the container holder is non-linear and can be sinusoidal, loop-shaped or arc-shaped, preferably along a trajectory curve that preferably lies in the plane or is two-dimensional.In general, a non-linear motion axis, preferably a reciprocating motion along a trajectory curve, which can be a Lissajous figure or a hypocycloid, promotes uniform and intensive mixing of components of a composition contained in a container attached to the container holder, even for components of the composition that have a similar or identical specific gravity. Each motion axis can be linear or arcuate, so that the non-linear motion of the container holder and a container attached to it is generated by the superposition of the movements along two motion axes.
[0025] The container holder is driven to move back and forth along at least one trajectory curve, which can be generated by superimposing the reciprocating movement along at least two axes which are at an angle to one another, wherein preferably two of the axes lie in the plane of the cross-section of the container to be attached to the container holder, wherein the reciprocating movement along each axis takes place at different frequencies and / or with a phase offset.The trajectory curve can be generated by superimposing the reciprocating movement along two or three axes at different frequencies and / or with a phase offset and has a sequence of trajectory segments, of which at least one, preferably each, comprises or consists of exactly one complete reciprocating movement along the axis along which the reciprocating movement occurs at the lower frequency, wherein the superimposed reciprocating movements at the higher frequency or the same frequency, each optionally with a phase offset, are included along the other axis or axes. The lower frequency of the complete reciprocating movement forms the frequency of the sequence of trajectory segments. At least one of the eccentric drives, preferably both, are controlled to rotate at the frequency.For each track segment, a frequency ratio of the reciprocating movement along two axes of a maximum of 1:20 or a maximum of 1:15 or a maximum of 1:10, a maximum of 1:4 or a maximum of 1:3 is preferred, more preferably between 1:1 and 1:2, even more preferably greater than 1:1 and 1:2 or up to 1:1.5, e.g. with a frequency ratio of 1:1.001 and 1:2 or up to 1:1.5.
[0026] For a trajectory curve that can be generated by superimposing the reciprocating motion along two axes at different frequencies and / or with a phase shift of the rotation of the eccentric drives, the axes preferably lie in the plane of the cross-section of the container to be attached to the container holder. Generally, the linear or arcuate axes of motion are preferably at right angles to each other. Generally, the trajectory curve does not include rotation of the container holder or the container around its own axis.
[0027] Generally, the device is configured to drive the container holder for the container along a trajectory curve formed by the superimposition of the reciprocating movement along at least two overlapping linear or arcuate axes of movement that are at an angle to one another, wherein the reciprocating movement along the axes occurs at different frequencies and / or with a phase offset. The axes of movement, along which the overlapping reciprocating movements occur at different frequencies and / or with a phase offset, form the trajectory curve along which the reciprocating movement of the container holder and the container attached thereto occurs.
[0028] By moving the container holder along the trajectory curve, the device is designed to accelerate components in the container relative to the container, so that solids and / or liquids contained in the container are sheared as components against the container wall by the acceleration and by the movement along or against the container wall and are thereby intensively mixed.
[0029] Because the trajectory can be adjusted or predetermined by the different frequencies and / or the phase offset of the superimposed movements along the axes, the device is designed for the back and forth movement of the container holder and the container attached thereto along the trajectory and for the relative movement of components or their mixture with respect to the container.
[0030] Generally speaking, the container receptacle and a container to be fastened thereto are preferably not rotationally driven and more preferably not or not fully rotatable, e.g. articulated or non-rotatable by a maximum of 30° or a maximum of 20° or 10° about its central axis, e.g. in a device with a first and second pivoting arm. Generally speaking, the container receptacle or the container is driven exclusively for a back and forth movement along a trajectory curve. The trajectory curve, which can be set or predetermined by the different frequencies and / or the phase offset of the superimposed movements of the container receptacle along at least two axes of movement, accelerates solids and / or liquids as components and a mixture thereof relative to the container attached to the container receptacle. The back and forth movement of the container drives the components in the container and the mixture thereof to move against the inner wall of the container.
[0031] The trajectory allows the angle of incidence and reflection of the solids and / or liquids and the mixture thereof against the container wall to be determined. Furthermore, the device is optionally configured to move the container holder and the container thereon along the trajectory with adjustable or predetermined acceleration and speed. Because the device is configured for an adjustable or predetermined trajectory and / or an adjustable or predetermined acceleration and / or an adjustable or predetermined speed along the trajectory of the reciprocating movement, solids and / or liquids and the mixture thereof are driven relative to the container with adjustable or predetermined acceleration and / or speed, allowing a predetermined or continuous adaptation of the method to the solids and / or liquids and to the mixture thereof.
[0032] In general, a trajectory can be formed by at least two superimposed individual oscillations. Preferably, a trajectory resembles the trajectory generated by superimposing reciprocating movements along at least two linear or arcuate axes of motion, each at different frequencies and / or by a phase shift. A reciprocating movement along a trajectory that resembles a reciprocating movement along superimposed linear or arcuate axes of motion exhibits different frequencies and / or a phase shift. Therefore, a trajectory is generally not a circular path.
[0033] The difference in frequencies can be, for example, at least 0.01 Hz and / or 0.01% to 900%. The phase shift of the reciprocating movements along the linear axes can be, for example, from 0.01° to 180°, preferably 1 to 179° out of 360°, which corresponds to a complete reciprocating movement. 0.01 to 180° of a complete reciprocating movement of 360° is equal to 0.0028% to 50% of a complete reciprocating movement, and 1 to 179° out of 360° is equal to 0.28% to 49.7% of a complete reciprocating movement.
[0034] The linear or curved axes of movement are perpendicular to each other or at another angle, e.g., 5° to 85°, in particular in the plane of the container's cross-section and / or perpendicular to a central axis of a container attached to the container holder. Optionally, the trajectory contains at least one straight section, the end of which is, e.g., a vertex of the trajectory, at which the solids and / or liquids and the mixture thereof are accelerated by or against the container wall.
[0035] To set different frequencies and / or a phase shift of the superimposed reciprocating movements along at least two axes of movement, these reciprocating movements can be coupled to one another by a gear or a guide rail and driven by a motor. A motor-driven gear that adjusts the reciprocating movement along the trajectory curve can have a fixed gear ratio between the superimposed movements along each axis or an adjustable gear ratio, e.g., a continuously or stepwise shiftable gear. Optionally, the gear can be subject to slip, e.g., a belt drive or a friction gear.
[0036] The output speed of the gear that drives one or both of the eccentric drives is preferably at least 1 Hz, more preferably at least 2.5 Hz, more preferably at least 5 Hz, more preferably at least 7 Hz. e.g. up to 50 Hz, up to 40 Hz, up to 30 Hz, up to 20 Hz or up to 10 Hz. The output speed of the gear is equal to the frequency of the reciprocating movement.
[0037] Alternatively, the reciprocating movement along each of the movement axes can be driven by a separate motor, whereby for the purposes of the invention, the lower output speed is the frequency of the reciprocating movement and forms the frequency of the sequence of path segments. In each embodiment, the speed of each drive motor can be controlled, fixed or variable over the duration of the process. The device allows the trajectory to specifically accelerate the solids and / or liquids as components and the mixture thereof in a defined direction towards a specific location on the inner wall of the container. The geometry of the container and its inner wall in conjunction with the trajectory can support the mixing process, so that the trajectory can be adjusted cross-sectionally depending on the shape and size of the container.
[0038] Optionally, the device is configured to change the trajectory of the reciprocating movement and / or the acceleration and / or speed of the reciprocating movement during the method, e.g., in a first phase, to set the reciprocating movement along a first trajectory and with a first acceleration and speed, and to set the reciprocating movement in a subsequent second phase along a changed trajectory and / or changed acceleration and / or speed.
[0039] Another option is for the reciprocating movement to be a linear reciprocating movement in a first phase and a reciprocating movement along merging trajectories in a second phase. The trajectory can be determined, for example, by a gear that drives the movement of the container.
[0040] By adjusting the trajectory and accelerating the reciprocating movement of the container, the device allows a predetermined or dynamically variable and directed acceleration of the ingredients as the process material relative to the container. In general, the container holder and a container attached to it can be driven in a controlled manner in a linear reciprocating movement in a first phase, e.g., by driving only one of the levers to reciprocate, while the other lever is not driven and, for example, pivots between the eccentric drive and the container holder.
[0041] The container receptacle is designed to fasten a container. In one embodiment in which the container is firmly connected to the container receptacle, the container receptacle has a container or the container receptacle forms the container, e.g. as one part. The container can generally have a closable opening, e.g. a lid that can be opened and closed at a terminal cross-sectional opening, or an openable and closable lid at each of the opposite terminal cross-sectional openings of the container. Further alternatively, the container can have two spaced-apart openings, one of which forms a feed opening and the other a removal opening, e.g. for the continuous supply of ingredients and removal of a mixture produced therefrom.
[0042] In an embodiment in which the container can be driven in a controlled manner to a linear reciprocating movement in a first phase, the device is configured to move solids and / or liquids and the mixture thereof perpendicularly against the container wall with a controllable acceleration that is significantly greater than the acceleration due to gravity and therefore essentially independent of the acceleration due to gravity. In general, especially when the container receptacle moves along a curved path, the acceleration can be at least 15 m / s. 2 , preferably 25 m / s 2 , preferably at least 50 m / s 2 or at least 100 m / s 2 or at least 200 m / s 2 or at least 350 m / s 2 be, e.g. up to 500 m / s 2 .
[0043] In general, the device can be designed to accelerate the container holder and a container attached to it with an acceleration of at least 20 m / s 2or at least 100 m / s 2 , e.g. at least 200 m / s 2 , preferably up to 1000 m / s 2 or up to 300 m / s 2 to accelerate along the path segments, e.g. at a vertex of the path segments.
[0044] The container holder and the container attached to it are preferably designed for a back and forth movement with an acceleration of at least 0.5 m / s 2 or at least 1 m / s 2 or at least 2 m / s 2 at least 3.5 m / s 2 , preferably at least 60 m / s 2 , preferably at least 100 m / s 2 , at least 150 m / s 2 , at least 160 m / s 2 , at least 200 m / s 2 , e.g. up to 300 m / s each 2 or 450 m / s 2 , up to 260 m / s 2 or up to 250 m / s 2driven along each of two axes. Generally speaking, the container is preferably driven in combination with the acceleration to an average speed of at least 0.5 m / s, preferably at least 2 m / s, more preferably at least 3.5 m / s, e.g. up to 10 m / s or up to 20 m / s or up to 6 m / s, e.g. 3 to 4 m / s, in each case along one of the axes, preferably along each axis. The path of movement along at least one axis, preferably along each axis, is e.g. 0.1 cm to 24 cm. The container receptacle and the container attached thereto can, for example, be driven to move back and forth along each axis over a path of at least 1 mm or at least 2.5 mm, at least 1 cm, more preferably at least 2 cm or at least 5 cm, at least 10 cm or at least 15 cm, e.g. up to 100 cm, up to 50 cm, up to 30 cm or up to 20 cm. More preferably, the reciprocating movement of the container is harmonic.The back and forth movement of the container holder can be linear in a first phase, generally the trajectory is non-linear and can be e.g. sinusoidal, loop-shaped or arc-shaped, preferably along a so-called Lissajous figure or hypocycloid, which preferably lies in the plane or is two-dimensional, or which is three-dimensional in that the container holder is moved along an arc, the radius of which is formed by the first pivot arm. Preferably, the back and forth movement is linear in a first phase and in a second phase along at least two merging, non-linear path segments, which each contain at least one vertex, to form a trajectory. In general, a non-linear trajectory, e.g. a movement along a trajectory whose path segments each have at least one vertex, promotes an impact of solids and / or liquids and the mixing of these, e.g.perpendicular to the container wall and a movement along the container wall.
[0045] The reciprocating movement preferably comprises the reciprocating movement along a trajectory curve comprising at least two, preferably at least three, more preferably at least four different trajectory segments, each of which has at least one vertex and preferably merges into one another in a temporal sequence, preferably in a program-controlled manner. Each of the movement axes along which the movements overlap to form a trajectory curve can be linear or arcuate, so that the non-linear movement of the container holder along a sequence of trajectory segments is generated from the superposition of the movements along two movement axes. The vertices and intermediate sections of a trajectory segment are determined by the frequency difference and / or the phase position of the superimposed reciprocating movements along at least two axes.In general, the device can be configured to change the frequency difference and / or the phase position during the reciprocating movement. The invention will now be described in more detail with reference to the figures, which are shown schematically in
[0046] - Fig. 1 is a perspective view of the device and
[0047] - Fig. 2 is a rotated perspective view of the device of Fig. 1,
[0048] - Fig. 3 shows another embodiment of the device,
[0049] - Fig. 4 shows another embodiment of the device and
[0050] - Fig. 5 shows another embodiment of the device.
[0051] The individual elements shown in the figures may be included in any of the embodiments.
[0052] Figures 1 and 2 show an embodiment of the device according to the invention, in which the first pivot bearing 1 is attached to a frame part 2. The first pivot joint
[0053] I has two spaced-apart, perpendicular axes, one of which is formed by a support 3 rotatably mounted about its longitudinal axis and the other by a pivot bearing 4 attached to the support 3, in which the first end
[0054] II of the first pivot arm 10. In the embodiment shown here, the first pivot arm 10 is formed by two parallel partial arms that are pivoted on both sides of the support 3. The second end 12 of the first support 10 is pivotally connected to a container holder 13 about an axis that is arranged parallel to the axis of the pivot bearing 4. In the embodiment shown, the device has a second pivot arm 20, which is arranged parallel to the first pivot arm 20 and is pivotally connected to a third pivot bearing 23 at its first end 21 and opposite its second end 22. The third pivot bearing 23 is designed identically to the first pivot bearing 1 and, in the embodiment shown, is coupled to the first pivot bearing 1 in that the second end 22 is pivotally connected to the same rotatably mounted support 3 as the first pivot arm 10, so that it can pivot about an axis.The first pivot bearing 1 and the third pivot bearing 23 have parallel and spaced axes.
[0055] The second end 12 of the first pivot arm 10 and the second end 22 of the second pivot arm 20 are each pivoted to the container holder 13 by means of a second pivot bearing 18. A first lever 14a is pivotally connected to the container holder 13 at its first end 15 and is driven to reciprocate at its opposite second end 16a by a first eccentric drive 17a. A second lever 14b is arranged approximately perpendicular to the first lever 14a in the illustrated center pivot position, with both levers 14a, 14b being arranged approximately perpendicular to the longitudinal axis of the first pivot arm 10. The second lever 14b is driven to reciprocate at its opposite second end 16b by a second eccentric drive 17b.
[0056] Figure 3 shows an embodiment which has precisely one first pivot arm 10, the first end 11 of which is freely pivotably mounted in a first pivot bearing 1, which is a ball joint. The second end 12 of the first pivot arm 10 is pivotally connected to the first end 15a of a first lever 14a and pivotally connected to the first end 15b of a second lever 14b, which is arranged at an angle of 60 to 120° to the first lever 14a. As is preferred, the first and second levers 14a, 14b are arranged in a plane which is approximately perpendicular to the extension of the first pivot arm 10, optionally parallel to the plane in which the frame part 2 lies. Alternatively, one or both of the first and second levers 14a, 14b can be arranged at an angle of, for example, 85 to 45° or up to 60° to the longitudinal axis of the first pivot arm 10.The first lever 14a is driven to reciprocate along its longitudinal axis by a first eccentric drive 17a pivoted at its second end 16a. The second lever 14b is driven to reciprocate along its longitudinal axis by a second eccentric drive 17b pivoted at its second end 16b. As a result, the first lever 14a and the second lever 14b are configured to pivot the first pivot arm 10 in the first pivot bearing 1 and to pivot the second end 12 of the first pivot arm 10 along the longitudinal axes of the first lever 14a and the second lever 14b. The pivoting in the first pivot bearing 1 causes the second end 12 of the first pivot arm 10 to reciprocate at greater and smaller distances from the plane of the frame part 2.
[0057] Figure 4 shows an embodiment in which a container 30 is detachably or permanently attached to the container receptacle 13. The opposing end cross-sectional openings of the container 30, which can optionally extend rotationally symmetrically between its end cross-sectional openings, form a feed opening 31 for ingredients to be treated and a removal opening 32 for treated ingredients, in particular a mixture of the ingredients. The feed opening 31 and the removal opening 32 can have a lid for reversible closure or can be open for the continuous supply of ingredients and / or the continuous removal of the mixture of ingredients. The container 30 can have a cross-section that increases from the feed opening 31 to a central section 33 and / or decreases from a central section 33 to the removal opening 32.
[0058] Figure 5 shows an embodiment with a first pivot arm 10, which is pivotally attached to a frame part 2 at its first end 11 by means of a first pivot bearing 1, which is formed by a universal joint. The container receptacle 13 is attached to the second end 12 of the first pivot arm 10 by means of a second pivot bearing 18, so that the container receptacle 13 is pivotally connected to the first pivot arm 10. The first lever 14a is pivotally connected by its first end 15a to the first pivot arm 10 in a region that is firmly connected to the container receptacle 13 and which accordingly lies along the first pivot arm on a section thereof that is pivotally connected to the second pivot bearing 18 opposite the first end 11 or opposite the first pivot bearing 1. The second lever 14b is also pivotally connected with its first end 15b to the first pivot arm 10 in the area which is firmly connected to the container holder 13.In this general embodiment, the container holder 13 is connected to the first pivot arm 10 in that the first ends 15a, 15b of the first and second levers 14a, 14b are articulated to an area that is part of the container holder 13 and / or is rigidly connected to the container holder 13, in particular to a section 12a of the first pivot arm 10, which is articulated to the second pivot bearing 18 opposite the first pivot bearing 1, the container holder being rigidly connected to this section 12a. Reference numeral:.
[0059] 1 first pivot bearing 15b first end
[0060] 2 frame part 16b second end
[0061] 3 carrier 17a first eccentric drive
[0062] 4 pivot bearing 17b second eccentric drive
[0063] 10 first swivel arm 18 second swivel bearing
[0064] 11 first end 20 second swivel arm
[0065] 12 second end 21 first end
[0066] 12a Section of the first swivel arm 22 second end
[0067] 13 Container holder 23 Third pivot bearing
[0068] 14a first lever 30 container
[0069] 15a first end 31 feed opening
[0070] 16a second end 32 removal opening
[0071] 14b second lever 33 middle section
Claims
Claims: Device for moving a container holder (13) back and forth along a path, comprising a first pivot arm (10) articulated at its first end (11) to a first stationary first pivot bearing (1), wherein the first pivot bearing (1) is configured for pivoting along two axes arranged perpendicular to the longitudinal axis of the first pivot arm (10), a container holder (13) attached to the second end (12) of the first pivot arm (10) opposite the first end (11), a first lever (14a) driven for reciprocating movement, which is articulated to the first pivot arm (10) at a distance from the first end (11) of the first pivot arm (10), and a second lever (14b) driven for reciprocating movement, which is articulated to the first pivot arm (10) at a distance from the first end (11) of the first pivot arm (10).wherein the first lever (14a) and the second lever (14b) are configured to move the first pivot arm (10) about the two axes of the first pivot bearing (1). Device according to claim 1, characterized in that the first lever (14a) is driven by a first eccentric drive (17a) and the second lever (14b) by a second eccentric drive (17b) for reciprocating movement. Device according to claim 2, characterized in that the first eccentric drive (17a) and the second eccentric drive (17b) each have a controlled rotary motor which is stationary. Device according to claim 2, characterized in that the respective controlled rotary motors of the first eccentric drive (17a) and the second eccentric drive (17b) are formed by a common rotary motor with a gearbox. Device according to any one of the preceding claims, characterized by a second pivot arm (20),which is arranged parallel to the first swivel arm (10), and is articulated at its first end (21) in a third pivot bearing (23) and is connected at its opposite second end (22) to the container holder (13). Device according to one of the preceding claims, characterized in that the second end (12) of the first pivot arm (10) is articulated to the container holder (13) by means of a second pivot bearing (18). Device according to one of the preceding claims, characterized in that the first pivot bearing (1) has two axes which are arranged perpendicular to each other and perpendicular to the longitudinal axis of the first pivot arm (10). Device according to claim 7, characterized in that two axes of the first pivot bearing (1) are spaced apart from each other or intersect. Device according to one of the preceding claims, characterized in that the first and the second eccentric drives (17a, 17b) and the first pivot bearing (1) are mounted on a common frame.Device according to any one of claims 5 to 9, characterized in that the first pivot bearing (1) and the third pivot bearing (23) have pivot axes parallel to each other. Device according to any one of the preceding claims, characterized in that the first eccentric drive (17a) and the second eccentric drive (17b) are controlled for driving at different frequencies and / or with phase shift.Device according to one of the preceding claims, characterized in that the container receptacle (13) is fixedly connected to a section (12a) of the first pivot arm (10) which is articulated relative to the first pivot bearing (1) at a second pivot bearing (18) arranged in the first pivot arm (10), wherein the first end (15a) of the first lever (14a) and the first end (15b) of the second lever (14b) are articulated at a region which is part of the container receptacle (13) and / or which is fixedly connected to the container receptacle (13), in particular at the section (12a) of the first pivot arm (10) which is articulated relative to the first pivot bearing (1) at the second pivot bearing (18). A device according to any one of the preceding claims, characterized in that the first pivot bearing (1) and a second pivot bearing (18) are independently formed by a ball joint, a universal joint, or a cardan bearing. A device according to any one of the preceding claims, characterized in that a container (30) is fixed to the container receptacle (13), the opposite cross-sectional openings (31, 32) of which are open for continuous feeding and continuous discharge. A device according to any one of the preceding claims, characterized in that a container (30) is fixed to the container receptacle (13), the cross-section of which increases from a feeding opening (31) to a central section (33) and decreases from the central section (33) to the discharge opening (32) opposite the feeding opening (31).Method for treating ingredients in a container (30) which is driven and guided along a path curve by means of a device according to one of the preceding claims, wherein the first lever (14a) and the second lever (14b) are driven to move back and forth at different frequencies and / or with phase shift.