Piezo-actuator device, preferably with transversely deflectable nozzle

Abstract

The invention relates to a piezo-actuator device (100), preferably for attachment to a manipulator (201) and / or for enabling a swirl application on a component (202), having a nozzle (2) for dispensing an application agent onto a component (202), a rod (1) that comprises the nozzle (2) and is preferably hollow and / or formed as a tube, and at least two piezo-actuator units (40, 40x), which are configured to deflect the rod (1) in different directions transverse to its longitudinal axis (11), whereby the nozzle (2) can preferably be moved along at least one movement path (P). The invention also relates to an associated application device (200) and an associated method.

Description

[0001] DESCRIPTION

[0002] Piezo actuator device, preferably with transversely deflectable nozzle

[0003] The invention relates to a piezo actuator device, preferably with a transversely deflectable nozzle for dispensing an application agent, e.g., to enable a swirl application on a component.

[0004] Particularly in the field of vehicle sealing and preservation with PVC plastisols or the application of adhesives, techniques such as flatstream, airless, circular jet, or related applications are known. The use of a so-called swirl for a swirl application represents a special application technique for circular jet seams. A device for producing a conventional swirl application is already known from, for example, DE 10 2014 015 057 A1.

[0005] To create a swirl application on a component, a nozzle is typically deflected by an electric motor using an eccentric on a circular path around a system's central axis (e.g., rotational axis) to apply the circular jet seam in wider, overlapping circles. Compared to a conventional dispensing device (e.g., volume flow, nozzle diameter, robot speed, etc.), the parameters for such a circular jet seam are expanded to include the rotational speed and the deflection of the eccentric.

[0006] Deflecting the nozzle using an electric motor with an eccentric, for example, inevitably results in edge accumulations in the created seam, as the application agent jet is deposited on the application surface in a sine wave when the applicator is moved along the component, for example by a robot. To compensate for this disadvantage, the nozzle would have to spend the same time at the seam edge and in the center of the seam in order to apply the same amount of application agent. This is possible, for example, with an elliptical circular path, but this requires reorientation of the applicator. If the deflection of the eccentric needs to be changed during application, e.g. to adjust the seam, active eccentric adjustment is necessary, which, based on the same concept (particularly when driven by an electric motor), is complex and prone to error.

[0007] An object of the invention is to provide an alternative and / or improved device for applying an application agent to a component (e.g. motor vehicle body component), in particular to enable a swirl application on the component.

[0008] This object can be achieved with the features of the independent claims. Advantageous further developments are disclosed in the subclaims or emerge from the following description of preferred embodiments of the invention.

[0009] The invention relates to a piezo actuator device, e.g., for attachment to a manipulator (e.g., robot) and / or for enabling a swirl application, in particular on a component such as a motor vehicle body component.

[0010] The piezo actuator device comprises a nozzle, in particular with a dispensing opening, for dispensing an application agent onto a component (e.g. a motor vehicle body component).

[0011] The application agent can, for example, be a viscous, particularly highly viscous, application agent.

[0012] The application agent may comprise, for example, a sealant, a polyvinyl chloride (PVC, in particular a PVC plastisol), a thickener, a varnish, an adhesive, a preservative (e.g. wax) and / or an insulating material.

[0013] The piezo actuator device also comprises a rod having the nozzle (e.g. hollow and / or formed as a tube) and at least two piezo actuator devices.

[0014] The piezo actuator devices are particularly configured to deflect the rod (particularly during dispensing of the application agent) in different directions transversely (e.g., laterally, transversely, obliquely, and / or substantially orthogonally) to the longitudinal axis of the rod, preferably to deflect it variably. This makes it possible, for example, for the nozzle to be movable preferably along at least one trajectory (e.g., around a system central axis). The at least one trajectory can, for example, comprise at least one substantially circular trajectory, at least one substantially elliptical trajectory, and / or at least one trajectory deviating from a circular trajectory. Alternatively or additionally, even at least one zigzag trajectory and / or at least one polygon trajectory is possible.

[0015] The piezo actuator device is preferably suitable for the application of one or more patterns, in particular patterns that can be defined by means of the piezo actuator devices (e.g. with a highly viscous application agent).

[0016] It is thus preferably possible that by deflecting the nozzle by means of the piezo actuator devices, one or more movement paths other than just circular paths can be generated for the nozzle, e.g., in order to advantageously influence the application agent distribution in the cross-section of an application agent seam.

[0017] Preferably, the at least one movement path (e.g. eccentric) can extend around a system central axis of the piezo actuator device.

[0018] The at least one movement path preferably forms a (e.g. open or closed) movement path and / or orbit expediently around the system central axis.

[0019] It may be particularly preferred that the nozzle can be moved by means of the piezo actuator devices, for example, along different movement paths (e.g. around the system central axis).

[0020] Alternatively or additionally, it may be particularly preferred that, for example, the piezo actuator devices can be used to advantageously influence (e.g., change) the application agent distribution in the cross-section of an application agent seam. This can, for example, achieve a substantially uniform application agent distribution in the cross-section of an application agent seam and / or reduce, preferably substantially prevent, the accumulation of application agent at the edges in the cross-section of an application agent seam. By means of the advantageously variable deflection of the rod and thus of the nozzle by the piezo actuator devices, different movement paths for the nozzle can preferably be generated.

[0021] By deflecting the nozzle using the piezo actuator devices, complex mechanical constructions for changing an "eccentric" can be advantageously eliminated.

[0022] The different trajectories can, for example, be geometrically different (e.g. circular and elliptical) and / or be geometrically identical but of different sizes (e.g. circular of different sizes).

[0023] It should be noted that the piezo actuator device is preferably moved along the component by means of the manipulator during the application of the application agent to the component in order to create an application (e.g., an application agent seam, a coating, etc.) on the component. However, embodiments in which the piezo actuator device is mounted stationary are also possible.

[0024] The piezo actuator device may, for example, comprise a bearing device (e.g., a wobble bearing) for supporting the rod.

[0025] The bearing device can, for example, be configured to support the rod in a wobbling manner and / or to support it in a transversely movable manner relative to its longitudinal axis. Alternatively or additionally, the bearing device can, for example, be supported by at least one elastic bearing element (suitably axially and / or radially), preferably by at least one, in particular, elastic O-ring.

[0026] In the context of the invention, it is possible that the bearing device provides a (e.g. axial and / or radial) degree of freedom of movement for the rod and the degree of freedom of movement is less than 5 mm, 2 mm, 1 mm or 0.5 mm.

[0027] The system central axis can, for example, extend axially through the bearing device and / or be defined, for example, by a central axis of the bearing device.

[0028] It is possible for the rod to be driven in a bearing area by means of the piezo actuator devices, preferably transversely relative to its longitudinal axis. The bearing area can thus preferably form a drive point for transversely deflecting the rod. The bearing area can be positioned, for example, between the bearing device and the nozzle.

[0029] It is possible that a longitudinal extension of the rod from the bearing area to the nozzle outlet is greater than or equal to a longitudinal extension of the rod from the bearing area to the bearing device.

[0030] The longitudinal extension of the rod from the bearing area to the nozzle outlet can, for example, be greater by a factor of at least 1.1, at least 1.2, at least 1.5, at least 1.8 or at least 2 than the longitudinal extension of the rod from the bearing area to the bearing device.

[0031] A deflection of the nozzle may preferably be greater than a deflection of the rod in the bearing area B2, whereby, for example, a deflection of the rod at the bearing device may be smaller than the deflection in the bearing area B2. (e.g.: L2 > LI and / or h2 > h1 > h0).

[0032] The piezo actuator devices can, for example, be configured to apply a preferably variable actuation frequency to the rod between, for example, 0 Hz to at least 300 Hz, to at least 350 Hz, to at least 400 Hz, to at least 450 Hz, to at least 550 Hz, to at least 650 Hz or to at least 700 Hz.

[0033] The piezo actuator devices can, for example, also be configured to move the nozzle by means of the rod on at least one movement path, preferably a circular path, which corresponds to a rotational speed of, for example, at least 10,000, at least 15,000 or at least 20,000 revolutions per minute.

[0034] The rod may, for example, be hollow, be designed as a tube and / or in particular have, for example, a central application agent channel to guide the application agent to the nozzle.

[0035] In the context of the invention, the rod can thus be designed, for example, as a tube (e.g. nozzle tube) and / or as an elongated hollow body.

[0036] The application agent channel can, for example, extend at least partially or completely substantially coaxially or parallel to the longitudinal axis of the rod. The application agent channel can, for example, extend through the bearing device and / or through the bearing area and / or comprise an axial inlet opening for the application agent.

[0037] The application agent channel can, for example, extend to the nozzle and / or to the nozzle outlet.

[0038] It is possible that the piezo actuator device comprises an applicator.

[0039] The storage device can, for example, be positioned in the applicator.

[0040] The storage area can, for example, be positioned outside the applicator.

[0041] The application agent can preferably be guided through the applicator into the rod and / or the nozzle.

[0042] It is possible for the piezo actuator device to comprise an application agent valve for activating and deactivating the dispensing of the application agent. The application agent valve, in particular its valve seat, can be positioned, for example, upstream of the rod and / or outside the rod. The application agent valve is preferably a needle valve and can thus, in particular, comprise a valve needle. The application agent valve and / or a valve seat for the valve needle is positioned, for example, in the applicator, preferably upstream of the rod.

[0043] The piezo actuator device can, for example, comprise an application agent valve having a valve needle for activating and deactivating the dispensing of the application agent. Preferably, the valve needle can expediently extend axially at least in sections within the nozzle and / or within the rod and, for example, can be surrounded by application agent. The valve needle can preferably be flexible (e.g., elastic) and extend through the bearing device and / or through the bearing area. A valve seat for the valve rod is preferably positioned in the rod, in the nozzle, and / or expediently just before the nozzle, for example, in the outlet-side quarter, fifth, or sixth of the rod. This can advantageously reduce or prevent dripping of the application agent. The valve needle can, for example, be guided at at least one or at least two guide points within the rod.

[0044] It is possible for the piezo actuator devices to each comprise a piezo actuator. The piezo actuator devices can, for example, each comprise an actuating arm structure for actuating the rod, wherein the actuating arm structures can preferably be actuated (e.g., driven) by the respective piezo actuator.

[0045] The respective actuating arm structure can, for example, be part of at least a three-joint or at least a four-joint lever mechanism.

[0046] It is possible that the respective actuating arm structure is pivotable about a base joint, the respective piezo actuator is coupled to the respective actuating arm structure via a coupling joint, the respective actuating arm structure is divided by means of an intermediate joint into a first (e.g. pivotable) partial section and a second (e.g. axially movable) partial section and / or the respective actuating arm structure is expediently coupled indirectly or directly to the rod via a connecting joint, in particular on and / or by means of the bearing area.

[0047] At least one of the aforementioned joints can be formed, for example, by a material weakening (e.g., an area of ​​reduced flexural rigidity, in particular relative to two adjacent areas of higher flexural rigidity, and / or a local cross-sectional reduction), be integrally connected to the respective actuating arm structure, be formed as a solid-state joint, and / or be elastically deformable.

[0048] The base joint can preferably form a bearing point that, for example, allows rotation of the respective actuating arm structure, but preferably prevents any displacement. The base joint can thus form, for example, a fixed bearing.

[0049] It is possible for the respective piezo actuator to be mounted, preferably fixedly, in its transverse direction on one side and / or coupled (expediently directly or indirectly) to the respective actuating arm structure on the other side. Alternatively or additionally, the respective piezo actuator can be deformable, for example, in its longitudinal direction, in particular without bearings.

[0050] The respective piezo actuator can, for example, have an elastically deformable, metallic and / or shell-shaped frame structure, wherein the frame structure can preferably be designed, for example, as a bending clamping frame and / or to amplify an actuating force on the respective actuating arm structure. It is possible for at least one piezoactive element (e.g., at least one piezo stack) to be housed in the respective frame structure. The at least one piezoactive element can, for example, be made of ceramic, in particular low-voltage ceramic.

[0051] The at least one piezoactive element can act on the respective frame construction in particular from the inside.

[0052] The at least one piezoactive element preferably serves for the longitudinally oriented deformation of the respective frame construction, e.g., in order to effect a particularly transversely oriented deformation of the respective frame construction to generate an actuating force for the respective actuating arm structure.

[0053] The at least one piezoactive element can thus preferably act on the respective frame construction substantially in the longitudinal direction of the respective frame construction, e.g., in order to generate an (in particular transversely oriented) actuating force on the respective actuating arm structure.

[0054] It is possible that the respective frame construction is circumferential, in particular closed, in its circumferential direction.

[0055] The respective frame construction is preferably elongated, e.g., substantially elliptical to substantially diamond-shaped and / or substantially ring-shaped or circular.

[0056] It is possible that in the respective frame construction, several piezoactive elements (e.g. piezo stacks) are coupled to each other and / or to the respective frame construction in the longitudinal direction of the respective frame construction, e.g. to increase force and / or displacement.

[0057] For example, a free space may be provided in the transverse direction of the respective frame construction to allow a change in the shape of the respective frame construction.

[0058] The respective piezo actuator can preferably actuate the respective actuating arm structure transversely (e.g., substantially at right angles) to its longitudinal extent. Alternatively or additionally, the respective frame construction can preferably actuate the respective actuating arm structure transversely (e.g., substantially at right angles) to its longitudinal extent. The actuating arm structures are preferably arranged at an angle to one another in order to act on the rod in different directions, in particular non-parallel and / or at an angle other than 0° and / or other than 180°.

[0059] It is possible for the piezo actuator devices to be aligned at an angle other than 0° and / or other than 180° to one another, e.g., in a plane (e.g., orthogonal to the system's central axis and / or to the nozzle outlet). In particular, it is possible for the actuating arm structures to be aligned at an angle other than 0° and / or other than 180° to one another, e.g., in a plane (e.g., orthogonal to the system's central axis and / or to the nozzle outlet).

[0060] The piezo actuator devices, in particular their actuating arm structures, can be configured, for example, to act on the rod at an angle other than 0° and / or other than 180°, in particular to act on the rod non-parallel to each other.

[0061] The piezo actuator devices are in particular designed to deflect the rod in different non-parallel directions transversely (e.g. laterally, transversely, obliquely and / or substantially orthogonally) to the longitudinal axis of the rod, preferably to deflect it variably.

[0062] This advantageously enables the rod to be deflected in different (especially non-parallel) directions.

[0063] It is possible that the piezo actuator devices are preferably fixed, e.g. mounted, on the outside of the applicator.

[0064] The piezo actuator device, preferably the applicator, can be connected, for example, to a rotary feedthrough via which, for example, the application agent can be supplied and / or returned.

[0065] It is possible for the piezo actuator device to be connected to a heating device by means of which the application medium can be heated, which can be advantageous, for example, with highly viscous application medium, in particular adhesives. Alternatively or additionally, the piezo actuator device can be connected, for example, to a cooling device (e.g., at least one Peltier element), by means of which the application medium can be cooled. The heating device and / or the cooling device can, for example, be installed on or in the applicator and / or, expediently in the flow direction of the application medium, positioned upstream of the application medium valve or downstream of the application medium valve.

[0066] The piezo actuator device, preferably the applicator, can, for example, comprise at least one sensor for measuring a temperature of the application agent and / or at least one sensor for measuring a pressure of the application agent.

[0067] The at least one sensor for measuring a temperature of the application agent and / or the at least one sensor for measuring a pressure of the application agent is expediently positioned upstream of the application agent valve in the flow direction of the application agent in order to preferably measure upstream of the application agent valve.

[0068] The piezo actuator device can, for example, comprise an application agent supply (e.g., supply line) and an application agent return line (e.g., return line) for application agent circulation, or have at least two application agent supplies, via which, for example, different application agents can be supplied and preferably dispensed via the nozzle. The piezo actuator device can thus also be designed, in particular, for selectively dispensing different application agents.

[0069] The piezo actuator devices can, for example, be configured to deflect the rod, preferably to different extents, in different directions transverse to its longitudinal axis depending on a (e.g., adjustable) excitation energy for their respective piezo actuator. This allows a specific stroke on the rod to be controlled, particularly depending on the respective piezo actuator excitation energy.

[0070] The piezo actuator devices can in particular be configured to exert a respective stroke on the rod, wherein the respective stroke is adjustable (suitably freely and / or arbitrarily) depending on an excitation energy for the respective piezo actuator, preferably to at least one intermediate position between a maximum stroke and a minimum stroke.

[0071] The excitation energy is, in particular, electrical excitation energy (practically, electrical voltage). In the context of the invention, it is thus preferably possible to set a respective stroke for the transverse deflection of the rod (preferably freely and / or arbitrarily) as an application variable, which advantageously enables the generation of, for example, different movement paths for the nozzle.

[0072] It is possible that an electronic control device, for example, is provided to control the excitation energy to be supplied to the respective piezo actuator device and / or the respective piezo actuator.

[0073] It is possible that a generator device is provided to generate the excitation energy (e.g. electrical voltage, voltage signals, etc.) for the respective piezo actuator.

[0074] It is possible, for example, that an amplifying device is provided to amplify the excitation energy generated by the generator device.

[0075] The generator device may, for example, comprise one or more generators.

[0076] The amplification device may conveniently comprise one or more amplifiers.

[0077] The control device can, for example, be configured to control the generator device and / or the amplification device.

[0078] Consequently, the control device can control the excitation energy for the respective piezo actuator, e.g., via the generator device and / or the amplification device.

[0079] The respective piezo actuator can preferably be controlled with (suitably electrical) excitation energy, in particular voltage, suitably voltage signals.

[0080] The control device can in particular be configured to control the excitation energy for the respective piezo actuator.

[0081] The control device is, in particular, an electronic control device and can, for example, comprise at least one computing unit and / or at least one processor. The control device can, for example, comprise a memory unit in which control software (e.g., a control program) and / or control logic can be stored, according to which the excitation energy for the respective piezo actuator can be controlled.

[0082] Within the scope of the invention, it is possible, for example, for the control device and its function to be distributed between a central control unit or several different hardware components and / or control units.

[0083] The piezo actuators can be controlled independently of each other, preferably by means of the control device.

[0084] The piezo actuators can, for example, be subjected to an equal or different actuation frequency and / or excitation energy.

[0085] The piezo actuator device preferably enables a defined application of the application agent to the component, which can, for example, reduce or even eliminate rework. The defined application of the application agent can also advantageously reduce the consumption of the application agent, which can, for example, promote sustainable production.

[0086] The application agent is preferably viscous, especially highly viscous.

[0087] In the context of the invention, the respective piezo actuator preferably serves to move and / or actuate the rod, in particular indirectly, preferably via the respective actuating arm structure.

[0088] The control device can, for example, control the respective piezo actuator directly or indirectly.

[0089] The excitation energy for the respective piezo actuator can be, for example, amplified, non-amplified, or reduced excitation energy by means of the amplification device.

[0090] It should be mentioned that the piezo actuator devices can be suitably configured to deflect the rod, preferably variably, in particular in different directions that are not parallel to one another, transversely (e.g., laterally, transversely, obliquely and / or substantially orthogonally) to the longitudinal axis of the rod.

[0091] The rod can be constructed in one or more parts. Alternatively or additionally, the nozzle can be constructed in one or more parts.

[0092] The nozzle can be mounted directly or indirectly to the rod, e.g., detachably or permanently. It is also possible, for example, for the nozzle to be formed as a one-piece, integral part of the rod.

[0093] The nozzle and the rod may preferably be arranged substantially coaxially to each other.

[0094] The piezo actuator device is preferably used to produce an application (e.g. an application seam, a coating and / or a swirl application, etc.) on the component.

[0095] The piezo actuator device can preferably be moved along the component by means of the manipulator during the dispensing of the application agent onto the component in order to create an application (e.g., an application agent seam, a coating, and / or a swirl application, etc.) on the component. However, embodiments in which the piezo actuator device is mounted stationary, for example, are also possible.

[0096] It should be mentioned that the respective actuating arm structure, in particular the respective first subsection and / or second subsection, can, for example, be designed to be elastic at least in sections, in particular in order to be able to deform and / or bend elastically during the actuation of the rod.

[0097] It should also be mentioned that in a non-deflected state and / or a basic or neutral position of the rod, the longitudinal axis of the rod and the system central axis can preferably be aligned substantially coaxially with each other.

[0098] It should also be noted that the piezo actuator device can comprise, for example, at least three or at least four piezo actuator devices and / or, for example, at least three or at least four actuating arm structures. It should be mentioned again that the rod can preferably be designed as a tube (e.g., a nozzle tube), in particular with an axial inlet opening for the application agent and / or an axial outlet opening for the application agent. The rod can thus be hollow, for example, in particular an elongated hollow body.

[0099] The invention also includes an application device with at least one piezo actuator device as disclosed herein.

[0100] The application device can, for example, comprise a single- or multi-axis (e.g., at least 2, at least 3, at least 4, or at least 5-axis) manipulator, in particular a robot, for guiding the piezo actuator device. The manipulator serves, in particular, to move the piezo actuator device (in particular during application of the application agent) along the component, thereby superimposing the nozzle movements generated by the piezo actuator device and the movements generated by the manipulator, in order, for example, to be able to create an application (e.g., an application agent seam, a coating, and / or a swirl application, etc.) on the component.

[0101] However, it is also possible that the piezo actuator device is mounted stationary and thus, for example, is not mounted on any robot or manipulator.

[0102] The control device can also be used, for example, to control the manipulator, in particular the robot, disclosed herein. The control device can thus be, for example, the manipulator control device, in particular the robot control device.

[0103] It is possible that a (e.g., camera- or laser-based) acquisition system (e.g., with one or more cameras and / or one or more lasers) is provided, e.g., in particular to perform a component measurement prior to the application and / or to acquire an application result (e.g., to perform quality control, particularly online quality control). The control device mentioned here can, for example, be configured to control the application depending on parameters acquired by the acquisition system.

[0104] The invention also encompasses a method, in particular for a piezo actuator device and / or an application device as disclosed herein, so that the disclosure regarding the piezo actuator device and / or the application device expediently also applies to the method. In the method, a nozzle dispenses an application agent onto a component, and at least two piezo actuator devices deflect a rod (e.g., hollow and / or tubular) having the nozzle in different directions transversely (e.g., laterally, transversely, obliquely, and / or substantially orthogonally) to the longitudinal axis of the rod.

[0105] The previously described preferred embodiments and features of the invention can be advantageously combined with one another. Other advantageous developments of the invention are disclosed in the subclaims or emerge from the following description of preferred embodiments of the invention in conjunction with the accompanying figures.

[0106] Figure 1 shows a side view of a piezo actuator device according to an embodiment of the invention,

[0107] Figure 2 shows a front view of the piezo actuator device,

[0108] Figure 3 shows a top view of the piezo actuator device,

[0109] Figure 4 shows a sectional view of the piezo actuator device,

[0110] Figure 5 shows the sectional view of Figure 4, in particular to explain a functional / actuating principle according to an embodiment of the invention,

[0111] Figure 6 schematically illustrates a functional / actuating principle according to an embodiment of the invention,

[0112] Figures 7 and 8 illustrate different nozzle movement paths according to an embodiment of the invention,

[0113] Figure 9 shows an application device according to an embodiment of the invention and

[0114] Figure 10 shows a control scheme for a piezo actuator device according to an embodiment of the invention. The preferred embodiments of the invention described with reference to the figures partially correspond, with similar or identical parts being provided with the same reference numerals. For explanations thereof, reference can also be made to the description of the other embodiments to avoid repetition. For illustrative purposes, not all parts are provided with reference numerals in all figures.

[0115] Figures 1 to 3 show different views of a piezo actuator device 100 according to an exemplary embodiment of the invention. The piezo actuator device 100 is preferably used to produce an application (e.g., an application agent seam, a coating, etc.) on a component 202 (e.g., a motor vehicle body component) schematically illustrated in Figure 9, in particular to enable a swirl application. The application agent can be, for example, a viscous, particularly highly viscous application agent.

[0116] The piezo actuator device 100 comprises a nozzle 2 for dispensing an application agent onto the component 202, a rod 1 having the nozzle 2, and at least two piezo actuator devices 40, 40x. The piezo actuator devices 40, 40x each comprise a piezo actuator 4, 4x and an actuating arm structure 3, 3x that can be actuated, in particular driven, by the respective piezo actuator 4, 4x for actuating, in particular driving, the rod 1.

[0117] The piezo actuator devices 40, 40x are configured to, in particular during dispensing of the application agent, preferably variably deflect the rod 1 in different directions, in particular non-parallel to one another, transversely (e.g., laterally, transversely, obliquely, and / or substantially orthogonally) to its longitudinal axis 11, preferably as a function of an electrical excitation energy (e.g., electrical voltage) for the respective piezo actuator 4, 4x. By deflecting the rod 1, the nozzle 2 can be moved, for example, along at least one movement path P, in particular about a system central axis A (e.g., Figures 7 and 8), wherein the at least one movement path P can, for example, comprise at least one substantially circular movement path, at least one substantially elliptical movement path, and / or at least one movement path deviating from a circular movement path.

[0118] A particular advantage is that the piezo actuator devices 40, 40x can be configured to expediently freely adjust a respective stroke on the rod 1, e.g., to at least one intermediate position between a maximum stroke and a minimum stroke. The respective stroke depends on the level of excitation energy applied to the respective piezo actuator 4, 4x. A control device 60 (e.g., Figure 6) can be provided that is configured to control the excitation energy. The control device 60 can, for example, comprise a control unit, in particular with control software and / or control logic, by means of which the excitation energy for the respective piezo actuator 4, 4x, and thus the excitation energy supplied to the respective piezo actuator 4, 4x, can be controlled.

[0119] The piezo actuator devices 40, 40x are preferably aligned in a plane at an angle a of not equal to 0° and / or not equal to 180° to one another, in particular in order to act on the rod 1 at an angle a of not equal to 0° and / or not equal to 180° and thus expediently not parallel to one another.

[0120] A preferably variable deflection of the rod 1 by means of the piezo actuator devices 40, 40x makes it possible, in particular, to generate not only a single trajectory, but also different trajectories P for the nozzle 2 (e.g., Figures 7 and 8). The one or more trajectories P can, for example, comprise at least one substantially circular trajectory (e.g., Figure 7) and / or at least one trajectory deviating from a circular trajectory, e.g., a substantially elliptical trajectory (e.g., Figure 8).

[0121] In the context of the invention, the nozzle 2 can be moved by means of the piezo actuator devices 40, 40x, preferably along different movement paths P. Alternatively or additionally, in the context of the invention, the piezo actuator devices 40, 40x can be used, for example, to influence an application agent distribution in the cross-section of an application agent seam. This advantageously allows a substantially uniform application agent distribution in the cross-section of an application agent seam to be achieved and / or an accumulation of application agent at the edges in the cross-section of an application agent seam to be reduced, preferably substantially avoided.

[0122] The piezo actuator devices 40, 40x can, for example, be configured to apply a preferably variable actuation frequency between, for example, 0 Hz and at least 400 Hz to the rod 1 and to move the nozzle 2 by means of the rod 1 at a rotational speed of, for example, at least 10,000, at least 15,000, or at least 20,000 revolutions per minute along a movement path P. As already mentioned, the piezo actuator devices 40, 40x each comprise a piezo actuator 4, 4x and an actuating arm structure 3, 3x actuable by the respective piezo actuator 4, 4x for actuating the rod 1. In Figure 2, the two dashed double arrows schematically indicate the actuation and drive direction of the respective actuating arm structure 3, 3x on the rod 1.

[0123] The respective actuating arm structure 3, 3x can be divided, for example, by means of an intermediate joint G3, G3x into a first, preferably pivotable, partial section S1, S6 and a second, preferably axially movable, partial section S2, S2x, wherein the respective second partial section S2, S2x can expediently be coupled to the rod 1 via a bearing area B2.

[0124] The piezo actuator device 100 also has an applicator 50, which may, for example, comprise a valve block and on the outside of which the piezo actuator devices 40, 40x may be attached.

[0125] The rod 1 is expediently mounted in the bearing area B2 by means of the piezo actuator devices 40, 40x and can be driven transversely relative to its longitudinal axis 11. In particular, the respective second sub-area S2, S2x can be expediently coupled to the bearing area B2 in order to drive the rod 1 transversely to its longitudinal axis 11. The bearing area B2 thus forms a drive point for, in particular, the transverse drive of the rod 1. The bearing area B2 can be positioned, for example, outside the applicator 50.

[0126] The piezo actuator device 100 is further described below with reference to Figures 4 to 6.

[0127] A bearing device B1 is configured to support the rod 1 in a wobbling manner and / or to support it in a transversely movable manner relative to its longitudinal axis 11. The bearing device B1 can be mounted axially and / or radially, for example, by means of at least one elastic bearing element B1.1, B1.2, preferably by means of at least one elastic O-ring. The bearing device B1 is preferably positioned in the applicator 50.

[0128] The bearing area B2 is positioned between the bearing device Bl and the nozzle 2.

[0129] A longitudinal extension L2 of the rod 1 from the bearing area B2 to the outlet of the nozzle 2 is preferably greater than a longitudinal extension LI of the rod 1 from the bearing area B2 to the bearing device Bl. From the lever ratio of LI to L2 it follows that a deflection h2 of the nozzle 2 is greater than a deflection hl of the rod 1 in the bearing area B2 and a deflection hO of the rod 1 at the bearing device Bl is smaller than the deflection hl in the bearing area B2 (e.g.: L2 > LI and / or h2 > hl

[0130] > hO).

[0131] Small bends, deformations and / or displacements (e.g. of only a few tenths of a millimeter) can thus advantageously be sufficient to achieve a sufficiently large deflection h2 of the nozzle 2 (e.g. of at least 1 mm).

[0132] The respective actuating arm structure 3, 3x is preferably part of at least a three-joint or at least a four-joint lever mechanism.

[0133] The respective actuating arm structure 3, 3x can, for example, be pivotable about a base joint Gl, Glx.

[0134] The respective piezo actuator 4; 4x can expediently be coupled via a coupling joint G2, G2x to the respective actuating arm structure 3, 3x, in particular to the respective first subsection S1, S6.

[0135] The respective actuating arm structure 3, 3x can be divided into the first partial section S1, S6 and the second partial section S2, S2x, in particular by means of an intermediate joint G3, G3x.

[0136] The respective actuating arm structure 3, 3x, in particular the respective second partial section S2, S2x, can be expediently coupled to the rod 1 in the bearing area B2 via a connecting joint G4, G4x.

[0137] It is possible for at least one of the aforementioned joints Gl, G2, G3, G4; Glx, G2x, G3x, G4x to be formed by a material weakening, to be integrally connected to the respective actuating arm structure 3, 3x, to be designed as a solid-state joint, and / or to be elastically deformable. Consequently, the bending and / or deformation of the respective actuating arm structure 3, 3x and / or the respective joints Gl, G2, G3, G4; Glx, G2x, G3x, G4x preferably occurs in the elastic range.

[0138] The rod 1 is preferably designed as a hollow, expediently elongated tube and comprises a preferably central application agent channel 12 for guiding the application agent to the nozzle 2. The application agent channel 12 can, for example, extend through the bearing device B1 and / or through the bearing area B2 and, for example, have an axial inlet opening for the application agent. In the context of the invention, the rod 1 thus also comprises, in particular, a tube.

[0139] An application agent valve V, preferably comprising a valve needle, for activating and deactivating the dispensing of the application agent can be positioned in the applicator 50. The application agent valve V can be positioned upstream of the rod 1 and / or outside the rod 1. In particular, a valve seat for the valve needle can be positioned upstream of the rod 1 and / or outside the rod 1.

[0140] However, it is also possible for the piezo actuator device 100 to comprise an application agent valve (not shown) having a valve needle for activating and deactivating the dispensing of the application agent, and for the valve needle to extend, at least in sections, preferably axially, in the rod 1 and / or in the nozzle 2. In this case, the valve needle can be designed to be flexible, for example, and / or extend through the bearing device B1 and / or the bearing region B2. A valve seat for the valve needle can be positioned, for example, in the rod 1 and / or in the nozzle 2, preferably substantially directly in front of the nozzle 2. This can reduce or prevent dripping of application agent.

[0141] The respective piezo actuator 4, 4x preferably comprises an elastically deformable frame construction 4.1, 4.1x, wherein, for example, the frame construction 4.1, 4.1x can be designed as a bending clamping frame and / or for amplifying an actuating force on the respective actuating arm structure 3, 3x.

[0142] The respective piezo actuator 4, 4.1 is preferably elongated with a longitudinal direction L and a transverse direction C.

[0143] The respective actuating arm structure 3, 3x is preferably a one-piece integral part of a frame 20, 20x (preferably open at least on one side), wherein the respective piezo actuator 4, 4x can be arranged, for example, in the respective frame 20, 20x.

[0144] The respective piezo actuator 4, 4x can be mounted on the respective frame 20, 20x on one side in its transverse direction C and secured to the respective actuating arm structure 3, 3x on the other side by means of the respective coupling joint G2, G2x. However, in its longitudinal direction L, the respective piezo actuator 4, 4x can be arranged in the respective frame 20, 20x, preferably in a deformable manner without bearings.

[0145] The respective frame construction 4.1, 4.1x and / or the respective piezo actuator 4, 4x can be at least slightly elongated and, for example, actuate the respective actuating arm structure 3, 3x transversely to the longitudinal direction L, in particular substantially at right angles to the longitudinal direction L. The respective frame construction 4.1, 4.1x is preferably designed to be circumferential.

[0146] For example, one or more piezo-active elements (e.g. one or more piezo stacks) are accommodated in the respective frame construction 4.1, 4.1x for the longitudinally oriented deformation of the respective frame construction 4.1, 4.1x, wherein the longitudinally oriented deformation causes a transversely oriented deformation of the respective frame construction 4.1, 4.1x for generating the actuating force on the respective actuating arm structure 3, 3x.

[0147] In the respective frame construction 4.1, 4.1x, preferably several piezoactive elements can be coupled to each other and to the respective frame construction 4.1, 4.1x in the longitudinal direction L of the respective frame construction 4.1, 4.1x, wherein, for example, a free space can be provided in the transverse direction C of the respective frame construction 4.1, 4.1x.

[0148] The at least one movement path P that can be generated by means of the piezo actuator devices 40, 40x preferably extends around a system central axis A of the piezo actuator device 100. The system central axis A can, for example, extend centrally through the bearing device Bl and / or be defined by a central axis of the bearing device Bl.

[0149] Figures 4 to 6 show the rod 1 in a non-deflected state, in particular in a basic or neutral position. Here, the system's central axis A is expediently aligned essentially coaxially with the longitudinal axis 11 of the rod 1.

[0150] Figures 7 and 8 illustrate exemplary different trajectories P of the nozzle 2, expediently around the system central axis A. The trajectories P can be generated and modeled by means of the piezo actuator devices 40, 40x, in particular as a function of the excitation energy for their respective piezo actuators 4, 4x. The at least one trajectory P can, for example, extend eccentrically to the system central axis A and / or represent an (e.g., open or closed) orbit around the system central axis A. One advantage is in particular that, by means of the piezo actuator devices 40, 40x, for example, at least one circular trajectory P for the nozzle 2 (Figure 7), at least one elliptical trajectory P for the nozzle 2 (Figure 8), and / or at least one trajectory deviating from a circular trajectory can be generated (Figure 8).

[0151] Figure 9 shows an application device 200, with a piezo actuator device 100 and a manipulator 201, shown only schematically, for guiding the piezo actuator device 100 and a component 202, shown only schematically. The manipulator 201 can, for example, be a robot with at least 2, at least 3, at least 4 or at least 5 axes of movement.

[0152] The manipulator 201 serves in particular to move the piezo actuator device 100 (in particular during an application of the application agent) along the component 202 (e.g. a motor vehicle body component), whereby a superposition of the nozzle movements generated by the piezo actuator device 100 and the movements generated by the manipulator 201 takes place in order to be able to generate an application, in particular a swirl application, on the component 202.

[0153] The application device 200 can, for example, comprise a vision system 203 (illustrated only schematically), in particular a (e.g., camera- or laser-based) detection system (e.g., with one or more cameras and / or one or more lasers), e.g., to perform a component measurement prior to the application and / or to detect an application result (e.g., to perform a quality control, in particular an online quality control). The control device 60 can, for example, be configured to control the application depending on parameters detected by the detection system.

[0154] Figure 10 shows a control scheme, in particular a signal processing scheme for a piezo actuator device 100 according to an embodiment of the invention.

[0155] A control device 60 is provided, by means of which the excitation energy (e.g., electrical voltage) for the respective piezo actuator 4, 4x and thus the excitation energy supplied to the respective piezo actuator 4, 4x (e.g., via a generator device 70 and an optional amplification device 80) can be controlled, preferably to control the transverse deflection of the rod 1. The generator device 70 serves to generate the excitation energy for the respective piezo actuator 4, 4x, in particular to generate (e.g., substantially rectangular and / or pre-formed) voltage signals (e.g., -4V to +7V) for the respective piezo actuator 4, 4x. For each piezo actuator 4, 4x, separate voltage signals can advantageously be generated, for example.

[0156] The control device 60 serves in particular to control the generator device 70 and / or the amplification device 80.

[0157] The optional amplification device 80 serves to amplify the excitation energy generated by the generator device 70.

[0158] The optionally amplified excitation energy and thus the voltage signals can be fed to the respective piezo actuator 4, 4x. The voltage signals are essentially square-wave voltage signals, for example.

[0159] Depending on the excitation energy, the respective piezo actuator 4, 4x can act on the rod 1 via the respective actuating arm structure 3, 3x.

[0160] The shape of the respective stroke curve can, in principle, essentially correspond to the curve of the voltage signals generated by the generator device 70.

[0161] However, it is possible, for example, that the excitation energy and thus the voltage signals are pre-shaped (practically "preshaping" the voltage signals), e.g., to prevent rod 1 from overshooting (e.g., during fast activation).

[0162] The invention is not limited to the preferred embodiments described above. Rather, a multitude of variants and modifications are possible, which also utilize the inventive concept and therefore fall within the scope of protection. Furthermore, the invention also claims protection for the subject matter and features of the subclaims, independent of the features and claims referred to. List of reference symbols

[0163] 100 piezo actuator device

[0164] 1 Preferably hollow rod, in particular tube

[0165] LI Longitudinal extension

[0166] L2 longitudinal extension

[0167] 2 Nozzle h2 Deflection of the nozzle hl Deflection of the rod, especially in the bearing area hO Deflection of the rod, especially in the area of ​​the bearing device

[0168] 11 Longitudinal axis of the rod

[0169] 12 Application agent channel

[0170] 3 Actuating arm structure

[0171] 51 first section

[0172] 52 second section

[0173] Gl base joint

[0174] G2 coupling joint

[0175] G3 intermediate joint

[0176] G4 connecting joint

[0177] 3x actuating arm structure

[0178] Six first section

[0179] S2x second section

[0180] Glx base joint

[0181] G2x coupling joint

[0182] G3x intermediate joint

[0183] G4x connecting joint

[0184] 40 Piezo actuator device

[0185] 4 Piezo actuator

[0186] 4.1 Frame construction

[0187] 20 frames 40x piezo actuator device

[0188] 4x piezo actuator

[0189] 4.1x Frame construction

[0190] 20x frames and angles

[0191] 50 applicator

[0192] Bl storage facility

[0193] Bl.l Bearing element, preferably elastic

[0194] Bl.2 Bearing element, preferably elastic

[0195] B2 Storage area, preferably drive point

[0196] A System central axis

[0197] P one or more movement paths

[0198] V Application agent valve

[0199] L Longitudinal direction of the respective piezo actuator

[0200] C Transverse direction of the respective piezo actuator, preferably essentially perpendicular to

[0201] Longitudinal direction

[0202] 60 Control device, in particular electronic control device

[0203] 70 Generator device, preferably for generating (in particular electrical) excitation energy (e.g. voltage, in particular voltage signals) for the respective piezo actuator

[0204] 80 amplification device

[0205] 200 application device

[0206] 201 Manipulator, preferably robot

[0207] 202 Component, preferably motor vehicle body component

[0208] 203 Vision system, in particular detection system

Claims

REQUIREMENTS 1. Piezo actuator device (100), preferably for attachment to a manipulator (201) and / or for enabling a swirl application on a component (202), comprising: a nozzle (2) for dispensing an application agent onto a component (202), a rod (1) having the nozzle (2), preferably hollow and / or designed as a tube, and at least two piezo actuator devices (40, 40x) which are configured to deflect the rod (1) in different directions transversely to its longitudinal axis (11), preferably whereby the nozzle (2) is movable along at least one path of movement (P).

2. Piezo actuator device (100) according to claim 1, wherein the piezo actuator devices (40, 40x) are configured to variably deflect the rod (1) in different directions transversely to its longitudinal axis (11), preferably whereby the nozzle (2) can be moved along different movement paths (P).

3. Piezo actuator device (100) according to claim 1 or 2, wherein the at least one motion path (P) and / or the motion paths (P) comprise at least one substantially circular motion path, at least one substantially elliptical motion path and / or at least one motion path deviating from a circular motion path.

4. Piezo actuator device (100) according to one of the preceding claims, wherein the piezo actuator device (100) comprises a bearing device (Bl) which is configured to mount the rod (1) in a wobbling manner and / or to mount it transversely movable relative to its longitudinal axis (11), and / or which is mounted by means of at least one elastic bearing element (Bl.1, Bl.2), preferably at least one O-ring.

5. Piezo actuator device (100) according to one of the preceding claims, wherein the rod (1) in a bearing area (B2) can be driven by means of the piezo actuator devices (40, 40x), preferably transversely relative to its longitudinal axis (11).

6. Piezo actuator device (100) according to claim 5, wherein the bearing area (B2) is positioned between the bearing device (Bl) and the nozzle (2) and / or a longitudinal extent (L2) of the rod (1) from the bearing area (B2) to the outlet of the nozzle (2) is greater than or equal to a longitudinal extent (LI) of the rod (1) from the bearing area (B2) to the bearing device (Bl).

7. Piezo actuator device (100) according to one of the preceding claims, wherein the piezo actuator devices (40, 40x) are configured to actuate the rod (1) with an actuation frequency, preferably variable, between 0 Hz and at least 300 Hz, to at least 350 Hz or to at least 400 Hz, and / or to move the nozzle (2) by means of the rod (1) on at least one path of movement (P), preferably a circular path, which corresponds to a rotational speed of at least 10,000, at least 15,000 or at least 20,000 revolutions per minute.

8. Piezo actuator device (100) according to one of the preceding claims, wherein the rod (1) has an application medium channel (12) to guide the application medium to the nozzle (2).

9. Piezo actuator device (100) according to claim 8, wherein the application medium channel (12) extends through the bearing device (Bl) and / or the bearing area (B2) and / or has an axial inlet opening for the application medium.

10. Piezo actuator device (100) according to one of the preceding claims, wherein the piezo actuator device (100) comprises an applicator (50), wherein the bearing device (Bl) is positioned in the applicator (50), the bearing area (B2) is positioned outside the applicator (50), and / or the application means can be guided through the applicator (50) into the rod (1) and / or the nozzle (2).

11. Piezo actuator device (100) according to one of the preceding claims, wherein the piezo actuator device (100) comprises an application medium valve (V) having a valve needle for activating and deactivating the output of the application medium, and the application medium valve (V), in particular its valve seat, is located upstream of the rod (1) and / or is positioned outside the rod (1).

12. Piezo actuator device (100) according to one of claims 1 to 10, wherein the piezo actuator device (100) comprises an application medium valve having a, preferably flexible, valve needle for activating and deactivating the output of the application medium and the valve needle preferably extends axially at least partially in the rod (1) and / or in the nozzle (2).

13. Piezo actuator device (100) according to one of the preceding claims, wherein the piezo actuator devices (40, 40x) each comprise a piezo actuator (4, 4x) and an actuating arm structure (3, 3x) that can be actuated by the respective piezo actuator (4, 4x) for actuating the rod (1).

14. Piezo actuator device (100) according to claim 13, wherein the respective actuating arm structure (3, 3x) is part of at least a three-joint or at least a four-joint lever mechanism.

15. Piezo actuator device (100) according to claim 13 or 14, wherein the respective actuating arm structure (3, 3x) is pivotable about a base joint (Gl, Glx), the respective piezo actuator (4, 4x) is coupled to the respective actuating arm structure (3, 3x) via a coupling joint (G2, G2x), the respective actuating arm structure (3, 3x) is divided into a first subsection (Sl, Six) and a second subsection (S2, S2x) by means of an intermediate joint (G3, G3x), and / or the respective actuating arm structure (3, 3x) is coupled to the rod (1) via a connecting joint (G4, G4x).

16. Piezo actuator device (100) according to claim 15, wherein at least one of the joints (Gl, G2, G3, G4, Glx, G2x, G3x, G4x) is formed by a material weakening, is integrally connected to the respective actuating arm structure (3, 3x), is designed as a solid body joint, and / or is elastically deformable.

17. Piezo actuator device (100) according to one of claims 13 to 16, wherein the respective piezo actuator (4, 4x) has an elastically deformable frame construction (4.1, 4.1x), wherein preferably the respective frame construction (4.1, 4.1x) is designed as a bending clamping frame and / or to increase an actuating force on the respective actuating arm structure (3, 3x).

18. Piezo actuator device (100) according to one of the preceding claims, wherein the piezo actuator devices (40, 40x) are aligned at an angle (a) of other than 0° and / or other than 180° to each other, the piezo actuator devices (40, 40x) are arranged to act on the rod (1) at an angle (a) of other than 0° and / or other than 180°, and / or the different directions are aligned non-parallel to each other.

19. Piezo actuator device (100) according to one of claims 10 to 18, wherein the piezo actuator devices (40, 40x) are fixed on the applicator (50).

20. Piezo actuator device (100) according to one of the preceding claims, wherein the piezo actuator device (100), in particular the applicator (50), is connected to a rotary feedthrough through which the application means can be supplied and / or returned.

21. Piezo actuator device (100) according to one of the preceding claims, wherein the piezo actuator device (100) is connected to a heating device by means of which the application medium can be heated, and / or is connected to a cooling device by means of which the application medium can be cooled.

22. Piezo actuator device (100) according to one of the preceding claims, wherein the piezo actuator device (100) is connected to an application agent supply and an application agent return for application agent circulation or is connected to at least two application agent supplies via which different application agents can be supplied.

23. Piezo actuator device (100) according to one of the preceding claims, wherein the piezo actuator devices (40, 40x) are configured to deflect the rod (1) to different extents in different directions transversely to its longitudinal axis (11) depending on an excitation energy for their respective piezo actuator (4, 4x).

24. Piezo actuator device (100) according to one of the preceding claims, wherein the piezo actuator devices (40, 40x) are configured to exert a respective stroke on the rod (1), wherein the respective stroke is adjustable depending on an excitation energy for the respective piezo actuator (4, 4x), preferably to at least one intermediate position between a maximum stroke and a minimum stroke.

25. Piezo actuator device (100) according to one of the preceding claims, wherein a control device (60) is provided to control the excitation energy to be supplied to the respective piezo actuator device (40, 40x).

26. Piezo actuator device (100) according to one of the preceding claims, wherein a transverse deflection (h2) of the nozzle (2) is greater than a deflection (hl) of the rod (1) in the bearing area (B2) and a deflection (hO) of the rod (1) at the bearing device (Bl) is smaller than the deflection (hl) in the bearing area (B2).

27. Piezo actuator device (100) according to one of the preceding claims, wherein the piezo actuator device (100), preferably the applicator (50), comprises at least one sensor for measuring a temperature of the application medium and / or at least one sensor for measuring a pressure of the application medium.

28. Piezo actuator device (100) according to claim 27, wherein the at least one sensor for measuring a temperature of the application medium and / or the at least one sensor for measuring a pressure of the application medium is positioned upstream of the application medium valve (V).

29. Application device (200) with a piezo actuator device (100) according to one of the preceding claims.

30. Application device (200) according to claim 29, wherein the application device (200) comprises a single- or multi-axis manipulator (201) for guiding the piezo actuator device (100) along the component (202) or the piezo actuator device (100) is mounted in a stationary position.

31. Application device (200) according to claim 29 or 30, wherein the application device (200) is a preferably camera- or laser-based detection system (203) includes, in order to carry out a measurement of the component (202) and / or to record an application result for the purpose of carrying out online quality control.

32. Method, preferably for a piezo actuator device (100) according to one of claims 1 to 28 or an application device (200) according to one of claims 29 to 31, comprising: a nozzle (2) that dispenses an application agent onto a component (202), and at least two piezo actuator units (40, 40x) that deflect a rod (1) having the nozzle (2), preferably hollow and / or designed as a tube, in different directions transversely to its longitudinal axis (11).

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