Device for pivoting along a trajectory

Abstract

The invention relates to a device which can be used as a drive, with which a container receptacle (13) and a container fastened thereto can be driven and positively guided along a trajectory, and to a method for treating contents, in particular mixtures, in a container that is driven and positively guided along a trajectory by means of the device. The device has a pivot arm (10) articulated on a first stationary pivot bearing (1), wherein the pivot bearing is designed to pivot along two axes, which are perpendicular to the longitudinal axis of the first pivot arm, a container receptacle attached on the end (12) of the pivot arm lying opposite the pivot bearing, a first lever (14a) driven to move back and forth, which is articulated on the pivot arm at a distance from the pivot bearing, and a second lever (14b) driven to move back and forth, which is articulated on the first pivot arm at a distance from the pivot bearing, wherein the first lever and the second lever are designed to move the first pivot arm about the two axes of the first pivot bearing.

Description

[0001] The present invention relates to a device usable as a drive, with which a container holder and a container fixed thereto can be driven and guided along a path curve, and to a method for treating ingredients, in particular mixtures, in a container which is driven and guided along a path curve by means of the device.

[0002] The device has the advantage of moving a container in a forced reciprocating motion along a trajectory without a linear guide or cam guide, and in particular without a linear drive, preferably exclusively using rotary drives and rotary bearings. The device is configured to generate a reciprocating motion in three dimensions between a container holder and a container attached to it, using either two motors or a single motor with an intermediate gearbox, so that a container moved by the device moves its contents in three spatial directions.

[0003] EP 2 450 099 A1 describes a mixing device according to the preamble of claim 1 with a receiving device which is mounted on a chassis by means of two or more supports by means of articulated bearings and is driven to rotate relative to the chassis.

[0004] The invention aims to provide an alternative drive device that enables reciprocating movement along a path extending over three dimensions, wherein the drive does not have a linear drive. Preferably, the drive comprises two motors or one motor with an intermediate gearbox.

[0005] The invention solves the problem with the features of the claims and in particular by means of a device which a first pivot arm articulated at its first end to a first fixed pivot bearing, wherein the first pivot bearing is configured for pivoting along two axes arranged perpendicular to the longitudinal axis of the first pivot arm, a container receptacle attached to the second end of the first pivot arm opposite the first end, a first lever driven to move back and forth and articulated to the first pivot arm at a distance from the first end of the first pivot arm, and a second lever driven to move back and forth and articulated to 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 configured to move the first pivot arm about the two axes of the first pivot bearing, exhibits or consists of.

[0006] The device comprises a pivot arm articulated to a first stationary pivot bearing, wherein the pivot bearing is configured for pivoting 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 and articulated to the pivot arm at a distance from the pivot bearing, and a second lever driven for reciprocating movement and articulated to the first pivot arm at a distance from the pivot joint, wherein the first lever and the second lever are configured for moving 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 articulated to the first pivot arm, by an eccentric drive for reciprocating movement. Each lever can be driven by a separate eccentric drive, each with its own motor, or both levers can be driven by a common eccentric drive, which, for example, includes or consists of a gearbox driven by a common motor.

[0008] The first and second levers are independently hinged to 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 and / or the second lever are independently hinged to the second end of the first pivot arm or to the container mount.

[0009] Preferably, the first and second levers are configured to move the first pivot arm about the two axes of the first pivot bearing by being arranged at an angle of less than 180°, preferably 60-120°, more preferably 90 ± 10°, each at a different or the same angle, to the longitudinal axis of the first pivot arm. More preferably, the first and second levers are arranged approximately perpendicular to the longitudinal axis of the first pivot arm, particularly when the first pivot arm is in a central pivot position within the first pivot bearing. The first pivot arm can be arranged in a central pivot position vertically or at any angle to the horizon, and its first end can optionally be arranged below, 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, particularly with regard to their respective mean pivot position.

[0010] Preferably, the first and second levers are configured to move the first pivot arm about the two axes of the first pivot bearing by being articulated to the container mount. In embodiments where the first and second levers are articulated to the container mount, they limit the movement of the container mount about an optional bearing by which the container mount is articulated at the second end of the first pivot arm. An optional bearing by which the container mount is articulated at the second end of the first pivot arm can be a universal joint, cardan bearing, or ball joint. Alternatively, the container mount can be rigidly connected to the second end of the first pivot arm. In general, the first and second levers can be pivotally articulated at at least one, preferably both, of their ends by means of a barrel bearing.

[0011] The first lever is preferably pivotally connected at its first end to the first swivel arm or to the container mount, e.g., in a rotary bearing that allows pivoting about its axis of rotation. The second lever is pivotally connected at its first end to the first swivel arm or to the container mount, independently of or in the same way as the first lever, e.g., in a rotary bearing that allows pivoting about its axis of rotation.

[0012] The first ends of the first and second levers can be spaced apart from each other or pivotally attached to the container mount or the first swivel arm about a common axis of rotation.

[0013] The first pivot bearing can be configured such that its two pivot axes are spaced apart or intersect. The first pivot bearing can comprise or consist of two spaced-apart rotary bearings, e.g., ball bearings, each with its axes of rotation perpendicular to each other and perpendicular to the longitudinal axis of the first pivot arm. Alternatively, the first rotary bearing can be a universal joint, particularly with intersecting axes of rotation, or a gimbal bearing whose axes of rotation intersect, or a ball joint, which, for example, includes a partial ball mounted in a spherical cup.

[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 spaced pivot bearing, and the other lever is articulated to the section between the spaced pivot bearing and the second end.In embodiments with a second pivot arm, this arm can extend rigidly between its first end, which is articulated in a third pivot bearing, and its second end, which is articulated at the container receptacle, or it can also have two spaced-apart pivot bearings, one at its first end and one spaced apart from it, the pivot axes of which preferably lie parallel to those of the pivot bearings of the first pivot arm, and more preferably at the same distance from each other.

[0015] The first pivot arm can be supported at its first end by means of a first pivot bearing, and the container holder 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. Generally, the container holder can be rigidly connected to a section of the first pivot arm that is articulated to the second pivot bearing opposite the first pivot bearing, wherein the first ends of the first and second levers are pivotally connected to a region that is part of the container holder and / or rigidly connected to the container holder, in particular to the section of the first pivot arm that is articulated to 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 receptacle by being articulated to a section of the first pivot arm that is rigidly connected to the container receptacle, with this section being articulated to the second pivot bearing relative to the first pivot bearing.

[0016] Optionally, the container holder is rigidly connected to the second end of the first pivot arm. Preferably, the container holder is pivotable, in particular about one or two axes, each perpendicular to the longitudinal axis of the first pivot arm, and articulated to the second end of the first pivot arm. A container holder 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 perpendicular to each other, e.g., as described with reference to the first pivot bearing, in particular a universal joint, a gimbal joint, or a ball joint.

[0017] The device is configured with the drive of the first and second levers for reciprocating movement, such that the container holder moves back and forth along a trajectory in all three spatial directions by means of the first pivot arm, through its pivot point in the first pivot bearing, performing a movement of its second end and the container holder attached thereto over a vertex, which, for example, results in 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] Preferably, the device has a second pivot arm arranged parallel to the first pivot arm, particularly between a frame and the container holder. 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 holder. Preferably, the first and third pivot bearings are of identical construction. Optionally, the first and third pivot bearings share a common first axis of rotation, e.g., a support mounted to rotate about its longitudinal axis, with the first ends of the first and second pivot arms pivotally mounted at a distance from each other on this support about a second axis of rotation perpendicular to the longitudinal axis of the support.In this case, a container mount can only be pivotally connected to the two second ends of the first and second swivel arms about axes that are parallel to the second axis of rotation about which the first ends of the first and second swivel arms are pivotally connected to a support.

[0019] The first and second eccentric drives can be permanently mounted on a frame, to which the first swivel bearing with the first swivel arm, and optionally a third swivel bearing with a second swivel arm, are also attached.

[0020] Preferably, the second swivel arm has the same length between its first and second ends as the first swivel arm.

[0021] Optionally, the first and second eccentric drives are driven by a common motor, preferably with a gearbox, which is further preferably switchable, to drive the eccentric drives with a constant or variable speed ratio relative to each other. Preferably, the gearbox is a belt drive or friction drive. The first and second eccentric drives can each be driven by a separate motor, one or both of which are controlled to drive the eccentric drives with a constant or variable speed ratio relative to each other. Alternatively, the first and second eccentric drives can be driven by a common, controlled, and stationary rotary motor with a gearbox, the gearbox preferably being configured to change the gear ratio and / or the phase offset between the two eccentric drives.Each controlled motor can be formed by a motor with a controller; preferably, in embodiments with two motors, both motors are 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 gearbox and eccentric and, for example, does not have a linear drive and no linear guides or cam guides.

[0023] The device is configured for the reciprocating movement of the container holder and a container attached to it along a trajectory, e.g., with a rotational frequency of one or both eccentric drives, the same or different, of at least 1 Hz 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 shift of the rotational frequency of the eccentric drives, e.g., via a path of the container holder along each of the two axes of preferably at least 2.5 mm, at least 1 cm, at least 2 cm, at least 3 cm, or at least 10 cm, e.g., up to 50 cm, up to 30 cm, up to 20 cm, or, for shorter paths, up to 10 cm. The path of the container holder along each axis can be equal to the path of the reciprocating movement of the levers.

[0024] The reciprocating movement of the container holder can extend, for example, over a distance of at least 1.5 mm, preferably at least 3 mm, preferably at least 1 cm, 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 reciprocating movement of the container are harmonically controlled along a trajectory curve. The reciprocating movement of the container holder is non-linear and can be sinusoidal, loop-shaped, or arc-shaped, preferably following a trajectory curve that is preferably planar or two-dimensional.In general, a non-linear axis of motion, preferably a back-and-forth motion along a trajectory curve, which may be a Lissajous figure or hypocycloid, promotes a uniform and intensive mixing of the components of a composition contained in a container attached to the receptacle, even for components of the composition with similar or identical specific gravities. Each axis of motion can be linear or arc-shaped, so that the non-linear motion of the receptacle and any container attached to it is generated by the superposition of the motions along two axes of motion.

[0025] The container holder is driven to move back and forth along at least one trajectory curve, which can be generated by superimposing the back and forth movement along at least two axes that are at an angle to each other, 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 back and forth movement along each axis takes place at different frequencies and / or with phase offset.The trajectory can be generated by superimposing reciprocating motions along two or three axes with different frequencies and / or phase shifts, and comprises a sequence of path segments, at least one of which, preferably each, includes or consists of exactly one complete reciprocating motion along the axis along which the reciprocating motion with the lower frequency occurs. The superimposed reciprocating motions with the higher frequency or the same frequency, optionally with phase shifts, are included along the other axis or axes. The lower frequency of the complete reciprocating motion forms the frequency of the sequence of path segments. At least one of the eccentric drives, preferably both, is controlled for rotation at the specified frequency.For each track segment, a frequency ratio of the back-and-forth movement along two axes of at most 1:20 or at most 1:15 or at most 1:10, at most 1:4 or at most 1:3 is preferred, more preferably between 1:1 and 1:2, even more preferably greater than 1:1 to 1:2 or up to 1:1.5, e.g. with a frequency ratio of 1:1.001 to 1:2 or up to 1:1.5.

[0026] In a trajectory generated by superimposing the reciprocating motion along two axes at different frequencies and / or with a phase shift in 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 arc-shaped axes of motion are preferably perpendicular to each other. Generally, the trajectory does not include any rotation of the container holder or the container about its own axis.

[0027] In general, the device is configured to drive the container holder along a trajectory formed by the superposition of reciprocating motions along at least two overlapping linear or arc-shaped axes of motion that are at an angle to each other, wherein the reciprocating motions along the axes occur at different frequencies and / or with a phase shift. The axes of motion along which the superimposed reciprocating motions at different frequencies and / or with a phase shift occur form the trajectory along which the reciprocating motion of the container holder and the container attached to it takes place.

[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 by the acceleration against the container wall 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 shift 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 to it along the trajectory and for the relative movement of components or their mixture with respect to the container.

[0030] Generally, the container holder and any container to be attached to it are preferably not rotaryally driven and, further preferably, not rotatable or not fully rotatable, e.g., pivotally mounted or not rotatable about its central axis by a maximum of 30°, or a maximum of 20° or 10°, e.g., in a device with a first and second swivel arm. Generally, the container holder or the container is driven exclusively to a back-and-forth movement along a path.

[0031] The trajectory, which can be adjusted or predetermined by varying the frequencies and / or phase shifts of the superimposed movements of the container holder along at least two axes of motion, accelerates solids and / or liquids as components and a mixture thereof relative to the container attached to the container holder. The back-and-forth movement of the container drives the components within the container and the mixture thereof against the inner wall of the container.

[0032] The trajectory allows the angle of incidence and refraction of the solids and / or liquids and their mixture against the container wall to be determined. Furthermore, the device is optionally configured to move the container holder and the container itself along the trajectory with adjustable or predetermined acceleration and speed. Because the device is configured for an adjustable or predetermined trajectory and / or acceleration and / or speed along the reciprocating path, the solids and / or liquids and their mixture are driven relative to the container with adjustable or predetermined acceleration and / or speed, allowing for predetermined or continuous adaptation of the process to the solids and / or liquids and their mixture.

[0033] In general, a trajectory can be formed by at least two superimposed individual oscillations; preferably, a trajectory resembles the trajectory generated by superimposing back-and-forth movements along at least two linear or arc-shaped axes of motion at different frequencies and / or by phase shift. A back-and-forth movement along a trajectory that resembles a back-and-forth movement along superimposed linear or arc-shaped axes of motion exhibits different frequencies and / or a phase shift relative to each other. Therefore, a trajectory is generally not a circular path.

[0034] The frequency difference can be, for example, at least 0.01 Hz and / or 0.01% to 900%. The phase shift of the back-and-forth movements along the linear axes can be, for example, from 0.01° to 180°, preferably 1° to 179° of 360°, which corresponds to a complete back-and-forth movement. Here, 0.01° to 180° of a complete back-and-forth movement of 360° corresponds to 0.0028% to 50% of a complete back-and-forth movement, and 1° to 179° of 360° corresponds to 0.28% to 49.7% of a complete back-and-forth movement.

[0035] The linear or arc-shaped axes of motion are, for example, perpendicular or at another angle, e.g., 5° to 85°, to each other, particularly in the plane of the container's cross-section and / or perpendicular to a central axis of a container attached to the container support. Optionally, the trajectory includes at least one straight section, the end of which is, for example, a vertex of the trajectory, at which the solids and / or liquids and their mixture are accelerated from or against the container wall.

[0036] To adjust different frequencies and / or phase shifts of the superimposed reciprocating movements along at least two axes of motion, these movements can be coupled by a gearbox or cam track and driven by a motor. A motor-driven gearbox that adjusts the reciprocating motion along the path can have a fixed gear ratio between the superimposed movements along each axis, or an adjustable gear ratio, e.g., a continuously or step-shifting gearbox. Optionally, the gearbox can be slip-driven, e.g., a belt drive or a friction drive.

[0037] The output speed of the gearbox driving 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 gearbox is equal to the frequency of the reciprocating motion.

[0038] Alternatively, the reciprocating motion along each of the axes of motion can be driven by a separate motor, wherein, for the purposes of the invention, the lower output speed is the frequency of the reciprocating motion and constitutes 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.

[0039] The device allows the trajectory to accelerate the solids and / or liquids, as components of the mixture, in a defined direction to 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, allowing the trajectory to be adjusted depending on the shape and size of the container's cross-section.

[0040] Optionally, the device is configured to change the trajectory of the reciprocating motion and / or the acceleration and / or speed of the reciprocating motion during the process, e.g., in a first phase, to set the reciprocating motion along a first trajectory and with a first acceleration and speed, and in a subsequent second phase, to set the reciprocating motion along a modified trajectory and / or with a modified acceleration and / or speed.

[0041] Optionally, the back-and-forth movement can be linear in the first phase and along overlapping trajectories in the second phase. The trajectory can be determined, for example, by a gear system that drives the movement of the container.

[0042] The device allows for a predetermined or dynamically variable and directed acceleration of the contents relative to the container by adjusting the trajectory and accelerating the reciprocating motion of the container. Generally, the container holder and any attached container can be driven in a controlled linear reciprocating motion in a first phase, for example, by driving only one of the levers back and forth while the other lever remains undriven and pivots between the eccentric drive and the container holder.

[0043] The container mount is designed for attaching a container. In an embodiment where the container is permanently connected to the container mount, the container mount incorporates a container or forms the container, e.g., as a component. The container can generally have a closable opening, e.g., a lid that can be opened and closed at one end, or a lid that can be opened and closed at each of the opposite end openings of the container. Alternatively, the container can have two spaced-apart openings, one of which is a feed opening and the other a discharge opening, e.g., for the continuous feed of ingredients and the discharge of a mixture produced therefrom.

[0044] In an embodiment where the container can be driven in a controlled linear reciprocating motion in a first phase, the device is configured to move solids and / or liquids and their mixture perpendicularly against the container wall with a controllable acceleration that is significantly greater than the acceleration due to gravity and therefore essentially independent of it. Generally, particularly when the container is moved along a trajectory, the acceleration can be at least 15 m / s², preferably 25 m / s², preferably at least 50 m / s², or at least 100 m / s², or at least 200 m / s², or at least 350 m / s², e.g., up to 500 m / s².

[0045] In general, the device can be configured to accelerate the container holder and a container attached to it with an acceleration of at least 20 m / s² or at least 100 m / s², e.g. at least 200 m / s², preferably up to 1000 m / s² or up to 300 m / s² along the path segments, e.g. at a vertex of the path segments.

[0046] The container holder and the container attached to it are preferably driven to a reciprocating motion with an acceleration of at least 0.5 m / s² or at least 1 m / s² or at least 2 m / s², at least 3.5 m / s², preferably at least 60 m / s², more preferably at least 100 m / s², at least 150 m / s², at least 160 m / s², at least 200 m / s², e.g. up to 300 m / s² or 450 m / s², up to 260 m / s² or up to 250 m / s² along each of two axes. The container is generally preferably driven in combination with 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, each 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.

[0047] The container holder and the container attached to it can, for example, be driven to a reciprocating motion extending along each axis over a distance of at least 1 mm or at least 2.5 mm, at least 1 cm, 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. Preferably, the reciprocating motion of the container is harmonic. The reciprocating motion of the container holder can be linear in a first phase; generally, the trajectory is non-linear and can, for example, be sinusoidal, loop-shaped, or arc-shaped, preferably following a so-called Lissajous figure or hypocycloid, which preferably lies in the plane or is two-dimensional, or which is three-dimensional by moving the container holder along an arc whose radius is formed by the first pivoting arm.Preferably, the back-and-forth movement is linear in a first phase and, in a second phase, forms a trajectory along at least two overlapping, non-linear path segments, each containing at least one vertex. This is because, in general, a non-linear trajectory, e.g., a movement along a path whose path segments each have at least one vertex, promotes the impact of solids and / or liquids and their mixing, e.g., perpendicularly onto the container wall, as well as movement along the container wall.

[0048] Preferably, the reciprocating motion comprises a trajectory path that includes at least two, preferably at least three, more preferably at least four distinct path segments, each with at least one vertex, which preferably transition into one another sequentially, preferably programmatically. Each of the axes of motion along which the movements superimpose to form a trajectory path can be linear or arc-shaped, so that the non-linear motion of the container holder along a sequence of path segments is generated from the superposition of the movements along two axes of motion. The vertices and intermediate sections of a path segment are determined by the frequency difference and / or the phase relationship of the superimposed reciprocating motions along at least two axes.In general, the device can be set up to change the frequency difference and / or the phase angle during the back-and-forth movement.

[0049] The invention will now be described in more detail with reference to the figures shown schematically in Fig. 1 a perspective view of the device and Fig. 2 a rotated perspective view of the device of Fig. 1 , Fig. 3 another embodiment of the device, Fig. 4 another embodiment of the device and Fig. 5 show another embodiment of the device.

[0050] The individual elements shown in the figures can be included in each of the embodiments.

[0051] The Figures 1 and 2Figure 1 shows 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 1 has two axes spaced apart and perpendicular to each other, 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 11 of the first pivot arm 10 is articulated. In the embodiment shown here, the first pivot arm 10 is formed by two parallel partial arms, which are articulated on both sides of the support 3. The second end 12 of the first support 10 is pivotally articulated to a container receptacle 13 about an axis that is arranged parallel to the axis of the pivot bearing 4.In the illustrated embodiment, the device has a second pivot arm 20, which is arranged parallel to the first pivot arm 20 and is articulated at its first end 21 and at its second end 22 to a third pivot bearing 23. The third pivot bearing 23 is identical to the first pivot bearing 1 and, in the illustrated embodiment, is coupled to the first pivot bearing 1 by the fact that its second end 22 is pivotably articulated about an axis to the same rotatably mounted support 3 as the first pivot arm 10. The first pivot bearing 1 and the third pivot bearing 23 have parallel and spaced-apart axes.

[0052] The second end 12 of the first swivel arm 10 and the second end 22 of the second swivel arm 20 are each articulated to the container mount 13 by a second swivel bearing 18.

[0053] A first lever 14a is pivotally connected at its first end 15 to the container holder 13 and is driven at its opposite second end 16a by a first eccentric drive 17a for reciprocating movement. A second lever 14b is arranged in the illustrated central pivot position approximately perpendicular to the first lever 14a, with both levers 14a and 14b being arranged approximately perpendicular to the longitudinal axis of the first pivot arm 10. The second lever 14b is driven at its opposite second end 16b by a second eccentric drive 17b for reciprocating movement.

[0054] The Figure 3Figure 1 shows an embodiment comprising exactly one first pivot arm 10, the first end 11 of which is freely pivotable 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. Preferably, the first and second levers 14a, 14b are arranged in a plane that 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 move back and forth along its longitudinal axis by a first eccentric drive 17a articulated at its second end 16a.The second lever 14b is driven by a second eccentric drive 17b, articulated at its second end 16b, to move back and forth along its longitudinal axis. This enables the first lever 14a and the second lever 14b 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 second lever 14b, respectively. The pivoting in the first pivot bearing 1 causes the second end 12 of the first pivot arm 10 to move back and forth at varying distances from the plane of the frame part 2.

[0055] The Figure 4Figure 1 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 may optionally extend rotationally symmetrically between its end cross-sectional openings, form a feed opening 31 for ingredients to be treated and a discharge opening 32 for treated ingredients, in particular a mixture of the ingredients. The feed opening 31 and the discharge opening 32 may have a lid for reversible closure or be open for the continuous feed of ingredients and / or the continuous discharge of the mixture of ingredients. The container 30 may 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 discharge opening 32.

[0056] The Figure 5Figure 1 shows an embodiment with a first pivot arm 10, which is pivotably attached at its first end 11 to a frame part 2 by means of a first pivot bearing 1 formed by a universal joint. At the second end 12 of the first pivot arm 10, the container holder 13 is attached by means of a second pivot bearing 18, so that the container holder 13 is pivotally connected to the first pivot arm 10. The first lever 14a is pivotally connected at its first end 15a to the first pivot arm 10 in a region that is fixedly connected to the container holder 13 and that lies along the first pivot arm on a section thereof that is pivotally connected to the second pivot bearing 18 relative to the first end 11 and to the first pivot bearing 1. The second lever 14b is also pivotally connected at its first end 15b to the first pivot arm 10 in the region that is fixedly connected to the container holder 13.In this general embodiment, the container receptacle 13 is connected to the first pivot arm 10 by the fact that the first ends 15a, 15b of the first and second levers 14a, 14b are articulated to a region that is part of the container receptacle 13 and / or is fixedly connected to the container receptacle 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, wherein the container receptacle is fixedly connected to this section 12a. Reference symbol:

[0057] 1 first pivot bearing 15b first end 2 frame part 16b second ending 3 carrier 17a first eccentric drive 4 swivel bearing 17b second eccentric drive 10 first swivel arm 18 second swivel bearing 11 first end 20 second swivel arm 12 second ending 21 first end 12a Section of the first swivel arm 22 second ending 13 Container receptacle 23 third swivel bearing 14a first lever 30 container 15a first end 31 feed opening 16a second ending 32 extraction opening 14b second lever 33 middle section

Claims

1. Device for the reciprocating movement of a container holder (13) along a trajectory curve, which has - a first pivot arm (10) articulated at its first end (11) to a first stationary pivot bearing (1), wherein the first pivot bearing (1) is set up for pivoting along two axes which are arranged in 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), characterized in that the device further has - a first lever (14a) driven for reciprocating movement, which is articulated to the first pivot arm (10) at a spacing from the first end (11) of the first pivot arm (10) - and a second lever (14b) which is driven for reciprocating movement and which is articulated to the first pivot arm (10) at a spacing from the first end (11) of the first pivot arm (10), wherein the first lever (14a) and the second lever (14b) are arranged for movement ofthe first pivot arm (10) about the two axes of the first pivot bearing (1).

2. Device according to claim 1, characterised in that the first lever (14a) is driven by a first eccentric drive (17a) and the second lever (14b) is driven by a second eccentric drive (17b) for reciprocating movement.

3. Device according to claim 2, characterised in that the first eccentric drive (17a) and the second eccentric drive (17b) each have a controlled rotary motor which is mounted in a fixed position.

4. Device according to claim 3, characterised in that the respectively controlled rotary motor of the first eccentric drive (17a) and of the second eccentric drive (17b) are formed by a common rotary motor with a transmission.

5. Device according to one of the preceding claims, characterised by a second pivot arm (20), which is arranged parallel to the first pivot arm (10) and is articulated at its first end (21) in a third pivot bearing (23) and by its opposite second end (22) is connected to the container holder (13) .

6. Device according to one of the preceding claims, characterised 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).

7. Device according to one of the preceding claims, characterised in that the first pivot bearing (1) has two axes which are arranged in perpendicular to one another and in perpendicular to the longitudinal axis of the first pivot arm (10).

8. Device according to claim 7, characterised in that two axes of the first pivot bearing (1) are spaced apart or intersect.

9. Device according to one of claims 2 to 4, or device according to one of claims 5 to 8 or 10 as long as dependent on claim 2, characterised in that the first and second eccentric drives (17a, 17b) and the first pivot bearing (1) are mounted on a common frame.

10. Device according to one of claims 5 to 9, characterised in that the first pivot bearing (1) and the third pivot bearing (23) have pivot axes parallel to one another.

11. Device according to one of claims 2 to 4 or 9, or device according to one of claims 5 to 8 or 10 as long as dependent on claim 2, characterised in that the first eccentric drive (17a) and the second eccentric drive (17b) are controlled for driving with different frequencies and / or with phase offset.

12. Device according to one of the preceding claims, characterised in that the container holder (13) is firmly connected to a section (12a) of the first pivot arm (10), which opposite the first pivot bearing (1) is articulated on 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 to a region which is part of the container holder (13) and / or which is firmly connected to the container holder (13), in particular to the section (12a) of the first pivot arm (10) which opposite the first pivot bearing (1) is articulated to the second pivot bearing (18) .

13. Device according to one of the preceding claims, characterised in that the first pivot bearing (1) and a second pivot bearing (18) are formed independently of one another by a ball joint or a universal joint or a cardan bearing.

14. Device according to one of the preceding claims, characterised in that a container (30) is fixed to the container holder (13), the opposite cross-sectional openings (31, 32) of which container are open for continuous supply and continuous removal.

15. Device according to one of the preceding claims, characterised in that to the container holder (13) a container (30) is fixed, the cross-section of which increases from a feed opening (31) to a middle section (33) and decreases from the middle section (33) to the removal opening (32) opposite the feed opening (31).

16. Process for treating ingredients in a container (30) which is driven and positively guided along a trajectory 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 for reciprocating movement at different frequencies and / or with phase offset.

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