Piezo actuator device, preferably with a laterally deflectable nozzle

Abstract

The present invention relates to a piezo actuator device (100), preferably for mounting on a manipulator (201) and / or for enabling spin coating of a part (202), comprising a nozzle (2) for dispensing a coating material onto the part (202), a rod (1) which is preferably hollow and / or configured as a tube and which comprises the nozzle (2), and at least two piezo actuator parts (40, 40x) configured to deflect the rod (1) in different directions transversely to its longitudinal axis (11), whereby preferably the nozzle (2) can be moved along at least one path of movement (P). The present invention also relates to an associated coating device (200) and to an associated method.

Description

[Technical field]

[0001] The present invention relates to a piezo actuator device, preferably with a laterally deflectable nozzle for dispensing a coating material, for example to enable spin coating on a component. [Background technology]

[0002] In particular in the field of vehicle sealing and vehicle preservation by PVC plastisol or adhesive application, techniques such as flat stream, airless, round jet or related application are known to this day. The use of so-called spin for spin application indicates here a special application technique of round jet seams. WO 2005 / 023366 already discloses, for example, an apparatus for producing conventional spin applications. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] DE 102014015057

[0004] Typically, to spin coat parts, the nozzle is offset by using an electric motor to coat the round jet seam in wider, overlapping circles, and then offset on a circular path around the central axis of the system (e.g., the axis of rotation). Compared to traditional dispensing devices (e.g., volumetric flow rate, nozzle diameter, robot speed, etc.), the parameters of such a round jet seam are expanded by the deviation of the rotation speed and offset.

[0005] However, the deflection of the nozzle by the electric motor with eccentricity means that, for example, edge build-up is essential for the seams produced, since the coating jet is deposited sinusoidally on the surface when the applicator is moved along the part, for example by a robot. To compensate for this drawback, the dwell time of the nozzle at the edge and in the middle of the seam must be the same in order to apply the same amount of coating material. This is possible, for example, by using a circular path with an ellipse, but requires a change in the orientation of the applicator.

[0006] If the eccentric deflection needs to be changed during application, for example to adjust the seam, active eccentric adjustment is required, which is based on the same concept (especially driven by an electric motor) and is complex and prone to errors. Summary of the Invention [Problem to be solved by the invention]

[0007] It is an object of the present invention to provide an alternative and / or improved apparatus for applying a coating material to a part (e.g. an automotive body part), in particular for enabling spin application to the part.

[0008] This object can be solved by the features of the independent claims. Advantageous developments are disclosed in the dependent claims or can be taken from the following description of preferred embodiments of the invention. [Means for solving the problem]

[0009] The present invention relates to a piezo actuator device, for example for mounting on a manipulator (for example a robot) and / or in particular for enabling spin painting of parts, such as for example automotive body parts.

[0010] The piezoelectric actuator device comprises a nozzle, in particular a nozzle having a discharge opening, for dispensing a coating material onto a part (eg an automobile body part).

[0011] The coating agent may for example be a viscous, in particular a highly viscous, coating agent.

[0012] Coating materials can include, for example, sealants, polyvinyl chloride (PVC, particularly PVC plastisol), thickeners, paints, adhesives, preservatives (eg, waxes), and / or insulating materials.

[0013] The piezoelectric actuator device also includes a rod (eg, configured as a hollow and / or tube) having a nozzle and at least two piezoelectric actuator portions.

[0014] The piezoelectric actuator portion is configured to deflect, preferably variably deflect, the rod (particularly during ejection of the coating material) in different directions (e.g. laterally, transversely, diagonally and / or substantially perpendicularly) laterally to the longitudinal axis of the rod.

[0015] Thereby, for example, the nozzle is preferably movable along at least one movement path (e.g. around the system central axis). The at least one movement path may, for example, include 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. Alternatively or additionally, for example, at least one zigzag movement path and / or at least one polygonal movement path are also possible.

[0016] The piezo actuator device is preferably suitable for the application of one or more patterns, which may be defined in particular by the piezo actuator part (eg with a highly viscous application agent).

[0017] It is therefore preferably also possible to generate one or more movement paths for the nozzle other than a circular path, so that, for example, the distribution of the coating agent at the cross section of the coating agent seam can be advantageously influenced by deflection of the nozzle by the piezoelectric actuator device.

[0018] Preferably, at least one of the movement paths may extend around (eg eccentrically) a central system axis of the piezoelectric actuator device.

[0019] The at least one movement path preferably forms a suitable (eg open or closed) movement path and / or circulation path around a central system axis.

[0020] The nozzle may particularly preferably be movable by a piezo actuator part, for example along different movement paths (for example around a system central axis).

[0021] Alternatively or additionally, it may be particularly preferred that by means of the piezoelectric actuator part, for example, the coating material distribution in the cross section of the coating material seam can be advantageously influenced (for example, changed), so that, for example, a substantially uniform coating material distribution in the cross section of the coating material seam can be achieved and / or a build-up of coating material edges in the cross section of the coating material seam can be reduced, preferably substantially avoided.

[0022] By using a piezo actuator part, different movement paths can preferably be generated for the nozzle by advantageously variable deflection of the rod and thus of the nozzle.

[0023] Deflection of the nozzle by a piezoelectric actuator portion advantageously allows the omission of normally complex mechanical structures for varying the "offset".

[0024] The different movement paths can, for example, be geometrically different (eg, circular and elliptical) and / or geometrically the same but different sizes (eg, circles of different sizes).

[0025] It should be mentioned that the piezo actuator device is preferably moved along the part by the manipulator during dispensing of the material onto the part in order to form a material seam, coating, etc. on the part. However, embodiments in which the piezo actuator device is fixedly mounted are also possible.

[0026] The piezo actuator device may, for example, comprise a bearing device (eg, a wobble bearing) for supporting the rod.

[0027] The bearing device may for example be configured to support the rod in a wobble manner and / or to support the rod in a movably manner transversely to its longitudinal axis. Alternatively or additionally, the bearing device may for example be supported (for convenience, axially and / or radially) by at least one elastic bearing element, preferably by at least one particularly elastic O-ring.

[0028] In the context of the present invention, the bearing device provides the rod with a degree of freedom of movement (e.g. axial and / or radial), which may be less than 5 mm, less than 2 mm, less than 1 mm or less than 0.5 mm.

[0029] The system central axis may, for example, extend axially through the bearing arrangement and / or may be defined, for example, by the central axis of the bearing arrangement.

[0030] The rod can be driven at the bearing region, preferably transversely to its longitudinal axis, by a piezo actuator part, so that the bearing region can preferably form a drive point for the transverse deflection of the rod.

[0031] The bearing region may be located, for example, between the bearing device and the nozzle.

[0032] The longitudinal distance of the rod from the bearing region to the outlet of the nozzle may be greater than or equal to the longitudinal distance of the rod from the bearing region to the bearing arrangement.

[0033] The longitudinal distance of the rod from the bearing region to the outlet of the nozzle can be, for example, at least 1.1 times, at least 1.2 times, at least 1.5 times, at least 1.8 times, or at least 2 times greater than the longitudinal distance of the rod from the bearing region to the bearing device.

[0034] The deflection of the nozzle may preferably be greater than the deflection of the rod in the bearing region B2, where, for example, the deflection of the rod in the bearing arrangement may be less than the deflection in the bearing region B2 (for example: L2>L1 and / or h2>h1>h0).

[0035] The piezoelectric actuator portion may be configured to actuate the rod at a preferably variable actuation frequency, for example between 0 Hz and at least 300 Hz, at least 350 Hz, at least 400 Hz, at least 450 Hz, at least 550 Hz, at least 650 Hz or at least 700 Hz.

[0036] The piezoelectric actuator portion may also be configured to move the nozzle by the rod, for example along at least one movement path, preferably along a circular path corresponding to a rotational speed of, for example, at least 10,000 rpm, at least 15,000 rpm, or at least 20,000 rpm.

[0037] The rod can, for example, be hollow, configured as a tube and / or in particular comprise a central application agent channel, for example for guiding the application agent to the nozzle.

[0038] Thus, in the context of the present invention, a rod may be configured, for example, as a tube (eg a nozzle tube) and / or as an elongated hollow body.

[0039] The coating material flow passage can, for example, extend at least partially or completely substantially coaxially or parallel to the longitudinal axis of the rod.

[0040] The coating material flow passage may, for example, extend through the bearing arrangement and / or through the bearing region and / or may be provided with an axial inlet opening for the coating material.

[0041] The coating material flow path can, for example, extend to a nozzle and / or to an outlet of the nozzle.

[0042] The piezoelectric actuator device may comprise an applicator.

[0043] The bearing arrangement may, for example, be located within the applicator.

[0044] The bearing region may be located, for example, on the exterior of the applicator.

[0045] The application material may preferably be guided through the applicator to the rod and / or nozzle.

[0046] The piezo actuator device can comprise an application agent valve for activating and deactivating the application agent discharge. The application agent valve, in particular its valve seat, can be arranged, for example, upstream of the rod and / or outside the rod. The application agent valve is preferably a needle valve and can therefore in particular comprise a valve needle. The valve seat for the application agent valve and / or the valve needle is arranged, for example, in the applicator, preferably upstream of the rod.

[0047] The piezo actuator device can comprise, for example, a coating agent valve consisting of a needle valve for activating and deactivating the dispensing of the coating agent, which can preferably be suitably extended at least partially axially in the nozzle and / or in the rod and can be, for example, flowable around by the coating agent. The valve needle is preferably configured to be flexible (for example elastic) and can extend through the bearing device and / or through the bearing area. The valve seat for the valve rod is preferably arranged in the rod, in the nozzle and / or expediently just before the nozzle, for example in the outlet quarter, fifth or sixth of the rod. This can effectively reduce or avoid dripping of the coating agent. The valve needle can, for example, be guided by at least one or at least two guide points in the rod.

[0048] The piezo actuator portions may each comprise a piezo actuator.

[0049] The piezoelectric actuator portions may, for example, each comprise an actuation arm structure for actuating the rod, the actuation arm structure preferably being actuable (eg driven) by a respective piezoelectric actuator.

[0050] Each actuation arm structure may be part of, for example, an at least three-joint or at least four-joint lever mechanism.

[0051] Each actuation arm structure may be pivotable about a base joint, each piezoelectric actuator may be coupled to each actuation arm structure via a linking joint, each actuation arm structure may be divided into a first (e.g. pivotable) section and a second (e.g. axially movable) section by an intermediate joint, and / or each actuation arm structure may be conveniently coupled directly or indirectly to a rod, particularly at and / or by a bearing region, via a linking joint.

[0052] At least one of the aforementioned joints may, for example, be constructed of a soft material (e.g., a portion with reduced bending stiffness relative to two adjacent portions with particularly high bending stiffness and / or a local reduction in cross section), may be integrally connected to the respective actuation arm structure, may be constructed as a solid body joint, and / or may be constructed to be elastically deformable.

[0053] The base joint may for example form a bearing point which allows rotation of the respective actuation arm structure but preferably prevents any displacement, and thus may for example form a fixed bearing.

[0054] Each piezo actuator can preferably be fixedly mounted on one side in its lateral direction and / or connected (conveniently indirectly or directly) to a respective actuation arm structure on the other side. Alternatively or additionally, each piezo actuator can be deformable, for example in its longitudinal direction, in particular without bearings.

[0055] Each piezo actuator comprises, for example, an elastically deformable, metallic and / or shell-shaped frame structure, preferably the frame structure can be configured, for example, as a bending stress frame and / or for reinforcing the actuation forces on the respective actuation arm structure.

[0056] At least one piezo active element (e.g. at least one piezo stack) can be housed in each frame structure. The at least one piezo active element can be made, for example, from ceramic, in particular from low voltage ceramic.

[0057] At least one piezo-active element can act on the respective frame structure in particular from the inside.

[0058] At least one piezoelectric active element preferably functions to deform the respective frame structure in the longitudinal direction and in particular in the lateral direction, e.g. to generate an actuation force on the respective actuation arm structure.

[0059] Thus, at least one piezoelectric active element preferably acts on the respective frame structure substantially in the longitudinal direction of the respective frame structure and is, for example, capable of generating an actuation force (in particular lateral) on the respective actuation arm structure.

[0060] Each framework is circumferentially enclosed and may in particular be closed.

[0061] Each framework is preferably elongated in configuration, for example substantially oval to substantially diamond shaped, and / or substantially ring-shaped or circular.

[0062] In each frame structure, multiple piezoelectric active elements (e.g., piezo stacks) can be coupled to each other and / or to the respective frame structure, e.g., to increase force and / or displacement in the longitudinal direction of the respective frame structure.

[0063] Laterally of each frame structure, for example, free space may be provided to allow each frame structure to change shape.

[0064] Each piezo actuator is preferably capable of actuating a respective actuation arm structure laterally (e.g. substantially perpendicular) to its longitudinal extent. Alternatively or additionally, each frame structure is preferably capable of actuating a respective actuation arm structure laterally (e.g. substantially perpendicular) to its longitudinal extent.

[0065] The actuation arm structures are preferably arranged angularly inclined to one another so as to act in different directions relative to the rod, in particular so as to act non-parallel to the rod and / or at an angle not equal to 0° and / or not equal to 180°.

[0066] The piezoelectric actuator portions can be aligned, for example in a plane (e.g. perpendicular to the system central axis and / or the nozzle outlet), at an angle not equal to 0° and / or not equal to 180° relative to one another. In particular, the actuation arm structures, for example in a plane (e.g. perpendicular to the system central axis and / or the nozzle outlet), can be aligned, for example in an angle not equal to 0° and / or not equal to 180° relative to one another.

[0067] The piezo actuator parts, in particular their actuation arm structures, can for example be configured to act on the rods at an angle not equal to 0° and / or not equal to 180°, in particular to act on the rods non-parallel to one another.

[0068] The piezoelectric actuator portion is particularly configured to deflect, preferably variably deflect, the rod in different directions that are non-parallel to one another transversely (e.g., laterally, transversely, diagonally, and / or substantially perpendicularly) to the longitudinal axis of the rod.

[0069] This effectively allows the rods to be deflected in different (especially non-parallel) directions.

[0070] The piezo actuator part is preferably external to, eg may be attached to, the applicator.

[0071] The piezo actuator device, preferably an applicator, can for example be connected to a rotary feedthrough, via which it can for example supply and / or return application material.

[0072] The piezo actuator device can be connected to a heating device by means of which the application material can be heated, which is advantageous for example in the case of highly viscous applications, in particular adhesives. Alternatively or additionally, the piezo actuator device can be connected to, for example, a cooling device (e.g. at least one Peltier element), by means of which the application material can be cooled.

[0073] The heating and / or cooling device can, for example, be located on or within the applicator and / or can be conveniently positioned upstream of the applicator valve or downstream of the applicator valve in the flow direction of the applicator.

[0074] The piezo actuator device, preferably the applicator, may for example be provided with at least one sensor for measuring the temperature of the application agent and / or may be provided with at least one sensor for measuring the pressure of the application agent.

[0075] At least one sensor for measuring the temperature of the coating agent and / or at least one sensor for measuring the pressure of the coating agent is expediently arranged upstream of the coating agent valve in the flow direction of the coating agent, preferably for measuring upstream of the coating agent valve.

[0076] The piezo actuator device can, for example, comprise a coating agent supply (e.g. a fore-run) and a coating agent return (e.g. a run-back) for coating agent circulation or can comprise at least two coating agent supplies, via which, for example, different coating agents can be supplied and preferably ejected by nozzles. The piezo actuator device can therefore in particular also be configured for selectively ejecting different coating agents.

[0077] The piezo actuator portions can for example be configured to deflect the rod in different directions transverse to its longitudinal axis, expediently to different extents, depending on the (e.g. adjustable) excitation energy for each piezo actuator, thereby allowing the respective stroke of the rod to be specifically controlled depending on the excitation energy of the respective piezo actuator.

[0078] The piezoelectric actuator part may in particular be configured to exert a respective stroke on the rod, the respective stroke being (for convenience, freely and / or arbitrarily) adjustable depending on the excitation energy for the respective piezoelectric actuator, preferably adjustable to at least one intermediate position between a maximum stroke and a minimum stroke.

[0079] The excitation energy is in particular electrical excitation energy (for convenience, electrical voltage).

[0080] Thus, in the context of the present invention, it is preferably possible to adjust (preferably freely and / or arbitrarily) the respective stroke for the lateral deflection of the rod as an application variable, which effectively makes it possible, for example, to generate different movement paths for the nozzle.

[0081] For example electronic control means may be provided for controlling the excitation energy supplied to each piezo actuator section and / or each piezo actuator.

[0082] Generating means may be provided for generating excitation energy (eg electrical voltage, voltage signal, etc.) for each piezoelectric actuator.

[0083] For example, amplification means may be provided for amplifying the excitation energy generated by the generation means.

[0084] The generating means may for example comprise one or more generators.

[0085] The amplifying means may conveniently comprise one or more amplifiers.

[0086] The control means may for example be configured to control the generating means and / or the amplifying means.

[0087] Thus, the control means may control the excitation energy for each piezo actuator, for example via the generation means and / or amplification means.

[0088] Each piezo actuator is preferably controllable by a (preferably electrical) excitation energy, in particular a voltage, preferably a voltage signal.

[0089] The control means may in particular be configured to control the excitation energy for each piezo actuator.

[0090] The control means are in particular electronic control means and may for example comprise at least one computing device and / or at least one processor.

[0091] The control means may for example comprise a memory unit in which control software (eg a control program) and / or control logic may be stored and may control the excitation energy for each piezo actuator accordingly.

[0092] Within the scope of the present invention, for example, the control means with its functionality can be distributed over a central control unit or over several different hardware components and / or several control units.

[0093] The piezo actuators can be controlled, preferably by a control means, eg independently of each other.

[0094] Piezo actuators can be applied, for example, with actuation frequencies and / or excitation energies of the same or different magnitudes.

[0095] The piezo actuator device preferably allows a defined application of the coating material onto the component, which can, for example, reduce or completely eliminate rework. Defined application of the coating material can also advantageously reduce consumption of the coating material, which can, for example, promote sustainable production.

[0096] The coating agent is preferably viscous, in particular highly viscous.

[0097] In the context of the present invention, each piezo actuator preferably serves to move and / or actuate a rod, in particular indirectly, via a respective actuation arm structure.

[0098] The control means may for example control the respective piezo actuators indirectly or directly.

[0099] The excitation energy for each piezoelectric actuator may be amplified or unamplified or reduced excitation energy by an amplification means.

[0100] It should be mentioned that the piezoelectric actuator portion may be configured to expediently, and preferably variably, deflect the rod in different directions that are non-parallel to each other, in particular transversely (e.g. laterally, transversely, diagonally and / or substantially perpendicularly) to the longitudinal axis of the rod.

[0101] The rod may, for example, be constructed in one piece or in multiple pieces.Alternatively or additionally, the nozzle may, for example, be constructed in one piece or in multiple pieces.

[0102] The nozzle may, for example, be conveniently attached directly or indirectly, for example removably or non-removably, to the rod, or, for example, the nozzle may be configured as an integral part of the rod.

[0103] The nozzle and the rod may preferably be arranged substantially coaxially with each other.

[0104] The piezoelectric actuator device preferably functions to create a coating (eg, a seam, coating and / or spin coating of a coating material, etc.) on the part.

[0105] The piezo actuator device can preferably be moved along the part by a manipulator during dispensing of the material onto the part in order to generate a application (e.g., a material seam, coating and / or spin application, etc.) on the part. However, embodiments are also possible in which the piezo actuator device is, for example, fixedly mounted.

[0106] It should be mentioned that the respective actuation arm structure, in particular the respective first section and / or second section, can be configured, for example at least partially, elastically so as to be capable of deforming and / or bending, in particular elastically, during actuation of the rod.

[0107] It should also be mentioned that in the undeflected state and / or home or neutral position of the rods, the longitudinal axis of the rods and the system central axis may preferably be substantially coaxially aligned with each other.

[0108] It should further be mentioned that the piezo actuator device may comprise, for example, at least three, or at least four piezo actuator parts, and / or, for example, at least three, or at least four actuator arm structures.

[0109] It should be mentioned again that the rod can preferably be configured 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, for example, a hollow, in particular an elongated hollow body.

[0110] The present invention also includes an application device comprising at least one piezoelectric actuator device disclosed herein.

[0111] The application device can, for example, comprise a single- or multi-axis (e.g., at least two-, at least three-, at least four-, or at least five-axis) manipulator, in particular a robot for guiding the piezo actuator device. The manipulator serves, in particular, to move the piezo actuator device along the part (in particular during application of the application material), so that, for example, a superposition of the nozzle movement generated by the piezo actuator device and the movement generated by the manipulator can be generated so as to be able to generate an application (e.g., a seam, a coating and / or a spin application of the application material, etc.) on the part.

[0112] However, it is also possible that the piezo actuator device is fixedly mounted and thus not attached to, for example, a robot or manipulator.

[0113] The control means may also be used for example to control a manipulator, in particular a robot, as disclosed herein, and thus the control means may for example be a manipulator control means, in particular a robot control means.

[0114] For example, a (e.g. camera-based or laser-based) detection system (e.g. comprising one or more cameras and / or one or more lasers) can be provided, in particular for performing part measurements prior to application in due time and / or for detecting the application result (e.g. for performing a quality check, in particular an online quality check). The control means described herein can be configured, for example, to control the application depending on parameters detected by the detection system.

[0115] The present invention also includes methods particularly relating to the piezoelectric actuator device and / or application device as disclosed herein, and the disclosure relating to the piezoelectric actuator device and / or application device applies, for convenience, to the methods as well.

[0116] In this method, a nozzle dispenses a coating material onto a part and at least two piezoelectric actuator members deflect a rod (e.g., configured as a hollow and / or tube) carrying the nozzle in different directions transversely (e.g., laterally, transversely, diagonally and / or substantially perpendicularly) to a longitudinal axis of the rod.

[0117] The preferred embodiments and features of the invention described above can be combined with one another as appropriate. Further advantageous developments of the invention are disclosed in the dependent claims or result from the following description of preferred embodiments of the invention in conjunction with the attached figures. [Brief description of the drawings]

[0118] [Figure 1] FIG. 2 is a side view of a piezoelectric actuator device according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a front view of the piezoelectric actuator device. [Diagram 3] FIG. 2 is a top view of the piezoelectric actuator device. [Figure 4] FIG. 2 is a cross-sectional view of a piezoelectric actuator device. [Diagram 5]5 is a cross-sectional view of FIG. 4 for specifically illustrating the function / operation principle according to an embodiment of the present invention; [Figure 6] 1 illustrates a schematic diagram of the function / operation principle according to an embodiment of the present invention; [Figure 7] 4 illustrates different nozzle movement paths according to an embodiment of the present invention. [Figure 8] 4 illustrates different nozzle movement paths according to an embodiment of the present invention. [Figure 9] 1 illustrates a coating apparatus according to an embodiment of the present invention. [Figure 10] 4 illustrates a control scheme for a piezoelectric actuator device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0119] The preferred embodiments of the present invention described with reference to the drawings correspond in part to each other, similar or identical parts are given the same reference numerals, and in order to avoid repetition, reference may be made to the description of other embodiments for their description. For convenience of description, not all parts in all drawings are given reference numerals.

[0120] 1-3 show different views of a piezo actuator device 100 according to an embodiment of the present invention. The piezo actuator device 100 is preferably operable, in particular for enabling spin application, to create a coating (e.g., a coating seam, coating, etc.) on a part 202 (e.g., an automotive body part) as shown diagrammatically in Fig. 9. The coating can be, for example, a viscous, in particular a highly viscous coating.

[0121] The piezoelectric actuator device 100 comprises a nozzle 2 for dispensing a coating material onto a part 202, a rod 1 comprising the nozzle 2, and at least two piezoelectric actuator parts 40, 40x. Each of the piezoelectric actuator parts 40, 40x comprises a piezoelectric actuator 4, 4x and an actuation arm structure 3, 3x, and can be actuated, in particular driven, by the respective piezoelectric actuator 4, 4x to actuate, in particular drive, the rod 1.

[0122] The piezo actuator parts 40, 40x are preferably configured to variably deflect the rod 1 laterally (e.g. laterally, transversely, obliquely and / or substantially orthogonally) relative to its longitudinal axis 11, in particular during ejection of the application material, in different directions that are non-parallel to each other, depending on the electrical excitation energy (e.g. voltage) for the respective piezo actuator 4, 4x. By deflecting the rod 1, the nozzle 2 can for example be moved along at least one movement path P, in particular around the system central axis A (e.g. Figures 7 and 8), 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.

[0123] It is particularly advantageous that the piezo actuator parts 40, 40x can be configured such that the respective stroke on the rod 1 can be suitably freely selectably adjusted, for example to at least one intermediate position between a maximum stroke and a minimum stroke, the respective stroke depending on the amount of excitation energy applied to the respective piezo actuator 4, 4x.

[0124] Control means 60 (e.g. FIG. 6) may be provided that are configured to control the excitation energy. The control means 60 may for example comprise a control unit having in particular control software and / or control logic by means of which the excitation energy for and thus supplied to each piezo actuator 4, 4x can be controlled.

[0125] The piezoelectric actuator parts 40, 40x are preferably aligned with each other in a plane of an angle α not equal to 0° and / or not equal to 180°, in particular for acting on the rod 1 at an angle α not equal to 0° and / or not equal to 180°, and are therefore expediently non-parallel to each other.

[0126] The preferably variable deflection of the rod 1 by the piezo actuator part 40, 40x in particular makes it possible to generate not only a single movement path but also different movement paths P for the nozzle 2 (e.g. Figs. 7 and 8). The one or more movement paths P can for example comprise at least one substantially circular movement path (e.g. Fig. 7) and / or at least one movement path deviating from a circular movement path, for example a substantially elliptical movement path (e.g. Fig. 8).

[0127] In the context of the present invention, the nozzle 2 can be moved by the piezo actuator parts 40, 40x, preferably along different movement paths P. Alternatively or additionally, in the context of the present invention, for example the coating material distribution in the cross section of the coating material seam can be influenced by the piezo actuator parts 40, 40x. Thereby, advantageously, a substantially uniform coating material distribution in the cross section of the coating material seam can be achieved and / or a coating material edge build-up in the cross section of the coating material seam can be reduced, preferably substantially avoided.

[0128] The piezoelectric actuator portion 40, 40x may be configured to actuate the rod 1 at a preferably variable actuation frequency, for example between 0 Hz and at least 400 Hz, and to move the nozzle 2 by the rod 1 along the movement path P at a rotational speed of, for example, at least 10,000 rpm, at least 15,000 rpm, or at least 20,000 rpm.

[0129] As already mentioned, the piezo actuator parts 40, 40x each comprise a piezo actuator 4, 4x and an actuation arm structure 3, 3x actuable by the respective piezo actuator 4, 4x for actuating the rod 1. In Fig. 2, two dashed double arrows indicate diagrammatically the actuation and drive direction of the respective actuation arm structure 3, 3x to the rod 1.

[0130] Each actuation arm structure 3, 3x can be divided, for example, by an intermediate joint G3, G3x into a first, preferably pivotable section S1, S1x and a second, preferably axially movable section S2, S2x, and each second section S2, S2x can be connected to the rod 1 via a bearing region B2.

[0131] The piezoelectric actuator device 100 also comprises an applicator 50 which may, for example, comprise a valve block on the outside of which the piezoelectric actuator portions 40, 40x may be mounted.

[0132] The rod 1 is suitably supported by the piezo actuator parts 40, 40x in the bearing area B2 and can be driven laterally with respect to its longitudinal axis 11. In particular, the respective second section S2, S2x can be suitably connected to the bearing area B2 in order to drive the rod 1 laterally with respect to its longitudinal axis 11. The bearing area B2 thus forms in particular a drive point for driving the rod 1 laterally. The bearing area B2 can be arranged, for example, outside the applicator 50.

[0133] The piezoelectric actuator device 100 is further described below with reference to Figures 4 to 6.

[0134] The bearing device B1 is configured to support the rod 1 in a wobble-like manner and / or to support the rod 1 in a movably manner transversely relative to its longitudinal axis 11. The bearing device B1 may be suitably supported in the axial and / or radial direction, for example by at least one elastic bearing element B1.1, B1.2, preferably by at least one elastic O-ring. The bearing device B1 is preferably arranged in the applicator 50.

[0135] The bearing region B2 is arranged between the bearing device B1 and the nozzle 2.

[0136] The longitudinal distance L2 of the rod 1 from the bearing area B2 to the outlet of the nozzle 2 is preferably greater than the longitudinal distance L1 of the rod 1 from the bearing area B2 to the bearing device B1.

[0137] From the leverage ratio of L1 to L2, it can be seen that the deflection h2 of nozzle 2 is greater than the deflection h1 of rod 1 in bearing region B2, and the deflection h0 of rod 1 in bearing device B1 is less than the deflection h1 in bearing region B2 (e.g., L2>L1 and / or h2>h1>h0).

[0138] Thus, a small bending, deformation and / or displacement (eg only a few tenths of a mm) is advantageously sufficient to cause a sufficiently large deflection h2 of the nozzle 2 (eg at least 1 mm).

[0139] Each actuation arm structure 3, 3x is preferably part of an at least three-joint or at least four-joint lever mechanism.

[0140] Each actuation arm structure 3, 3x is, for example, pivotable about a base joint G1, G1x.

[0141] Each piezo actuator 4, 4x may be suitably coupled to a respective actuation arm structure 3, 3x via a linkage joint G2, G2x, in particular via a respective first section S1, S1x.

[0142] Each actuation arm structure 3, 3x can be divided in particular into a first section S1, S1x and a second section S2, S2x by an intermediate joint G3, G3x.

[0143] Each actuation arm structure 3, 3x, in particular each second section S2, S2x, may be suitably connected to the rod 1 in the bearing region B2 via a coupling joint G4, G4x.

[0144] At least one of the aforementioned joints G1, G2, G3, G4: G1x, G2x, G3x, G4x may be made of a flexible material, be integrally connected to the respective actuation arm structure 3, 3x, be configured as a solid body joint and / or be configured elastically deformable, so that bending and / or deformation of the respective actuation arm structure 3, 3x and / or the respective joint G1, G2, G3, G4: G1x, G2x, G3x, G4x preferably takes place in the elastic range.

[0145] The rod 1 is preferably configured as a hollow, expediently elongated tube and constitutes a suitable central coating agent channel 12 for guiding the coating agent to the nozzle 2. The coating agent channel 12 can for example extend through the bearing arrangement B1 and / or through the bearing area B2 and is for example provided with an axial inlet opening for the coating agent. In the context of the present invention, the rod 1 therefore also includes in particular a tube.

[0146] An application agent valve V, preferably comprising a valve needle, for activating and deactivating the dispensing of application agent may be arranged in the applicator 50, where the application agent valve V may be arranged upstream of the rod 1 and / or arranged outside the rod 1. In particular, the valve seat of the valve needle may be arranged upstream of the rod 1 and / or outside the rod 1.

[0147] However, it is also possible that the piezo actuator device 100 comprises a coating material valve (not shown) with a valve needle for activating and deactivating the dispensing of the coating material, the valve needle extending at least partially, preferably axially, in the rod 1 and / or in the nozzle 2. Here, the valve needle can be configured, for example, to be bendable and / or to extend via a bearing arrangement B1 and / or a bearing region B2. The valve seat of the valve needle can be arranged, for example, in the rod 1 and / or in the nozzle 2, preferably substantially directly in front of the nozzle 2. As a result, dripping of the coating material can be reduced or avoided.

[0148] Each piezo actuator 4, 4x preferably comprises an elastically deformable frame structure 4.1, 4.1x, for example the frame structure 4.1, 4.1x may be configured as a bending stress frame and / or to reinforce the actuation forces on the respective actuation arm structure 3, 3x.

[0149] Each piezo actuator 4, 4.1 is preferably configured in an elongated shape having a longitudinal direction L and a transverse direction C.

[0150] The respective actuation arm structure 3, 3x is preferably an integral part of a frame 20, 20x (preferably open on at least one side) and the respective piezo actuator 4, 4x may for example be located within the respective frame 20, 20x.

[0151] Each piezo actuator 4, 4x may be attached on one side in its lateral direction C to a respective frame 20, 20x and on the other side to a respective actuation arm structure 3, 3x by a respective linkage joint G2, G2x.

[0152] In its longitudinal direction L, however, each piezo actuator 4, 4x may be arranged in a respective frame 20, 20x, preferably deformable without bearings.

[0153] The respective frame structure 4.1, 4.1x and / or the respective piezo actuator 4, 4x can be configured at least slightly elongated, for example transversely to the longitudinal direction L, and the respective actuating arm structure 3, 3x can in particular be actuated substantially perpendicularly to the longitudinal direction L. The respective frame structure 4.1, 4.1x is preferably configured enclosed.

[0154] Each frame structure 4.1, 4.1x accommodates, for example, one or more piezo active elements (e.g. one or more piezo stacks) for longitudinally oriented deformation of the respective frame structure 4.1, 4.1x, which causes a laterally oriented deformation of the respective frame structure 4.1, 4.1x for generating an actuation force on the respective actuation arm structure 3, 3x.

[0155] In each frame structure 4.1, 4.1x, preferably a plurality of piezoelectric active elements can be connected to each other and to the respective frame structure 4.1, 4.1x in the longitudinal direction L of the respective frame structure 4.1, 4.1x, whereby, for example, a free space can be provided in the lateral direction C of the respective frame structure 4.1, 4.1x.

[0156] At least one movement path P that may be generated by the piezoelectric actuator portion 40, 40x preferably extends about a system central axis A of the piezoelectric actuator device 100. The system central axis A may, for example, extend centrally through the bearing device B1 and / or may be defined by the central axis of the bearing device B1.

[0157] 4 to 6 show the rod 1 in an undeflected state, in particular in a basic or neutral position, in which the system central axis A is suitably arranged substantially coaxially with the longitudinal axis 11 of the rod 1.

[0158] 7 and 8 show for convenience different exemplary movement paths P of the nozzle 2 around the system central axis A. The movement paths P can be generated and modeled by the piezo actuator parts 40, 40x, in particular depending on the excitation energy of the respective piezo actuators 4, 4x. At least one movement path P can, for example, extend eccentrically with respect to the system central axis A and / or represent a circular path (e.g. open or closed) around the system central axis A.

[0159] As an advantage, in particular, the piezoelectric actuator parts 40, 40x make it possible to generate, for example, at least one circular movement path P for the nozzle 2 (Figure 7), at least one elliptical movement path P for the nozzle 2 (Figure 8), and / or at least one movement path deviating from a circular movement path (Figure 8).

[0160] 9 shows an application device 200 with a piezoelectric actuator device 100, a manipulator 201, shown only diagrammatically, and a part 202, shown only diagrammatically, for guiding the piezoelectric actuator device 100. The manipulator 201 can be, for example, a robot having at least two, at least three, at least four or at least five axes of movement.

[0161] The manipulator 201 serves in particular to move the piezoelectric actuator device 100 along a part 202 (e.g. an automotive body part) (in particular during application of the coating material), thereby superimposing the nozzle movement generated by the piezoelectric actuator device 100 with the movement generated by the manipulator 201 in order to produce a coating, in particular a spin coating, on the part 202.

[0162] The application device 200 may for example be equipped with a (e.g. camera or laser based) detection system, in particular a vision system 203, shown only diagrammatically (e.g. comprising one or more cameras and / or one or more lasers), in particular for carrying out component measurements in time prior to application and / or for detecting the application result (e.g. for carrying out a quality check, in particular an online quality check). The control means 60 may for example be configured to control the application depending on parameters detected by the detection system.

[0163] FIG. 10 illustrates a control scheme, and in particular a signal processing scheme, for a piezoelectric actuator device 100 according to an embodiment of the present invention.

[0164] The control means 60 is provided with excitation energy (e.g. electrical voltage) for each piezoelectric actuator 4, 4x and is therefore able to control (e.g. via power generation means 70 and optional amplification means 80) the excitation energy supplied to each piezoelectric actuator 4, 4x, preferably to control the lateral deflection of the rod 1.

[0165] The generating means 70 serve to generate excitation energy for each piezo actuator 4, 4x, in particular to generate a (e.g. substantially rectangular and / or preformed) voltage signal (e.g. between -1 V and +7 V) for each piezo actuator 4, 4x. For example, advantageously, a unique voltage signal can be generated for each piezo actuator 4, 4x.

[0166] The control means 60 serve in particular to control the generating means 70 and / or the amplifying means 80 .

[0167] Optional amplifying means 80 serves to amplify the excitation energy generated by generating means 70.

[0168] An optionally amplified excitation energy, and thus a voltage signal, can be supplied to each piezo actuator 4, 4x. The voltage signal is, for example, a substantially square voltage signal.

[0169] Each piezo actuator 4, 4x is capable of acting on the rod 1 via a respective actuation arm structure 3, 3x in response to excitation energy.

[0170] The shape of the respective stroke curve may in principle substantially correspond to the curve of the voltage signal generated by the generating means 70 .

[0171] However, it is possible for the excitation energy and thus the voltage signal to be pre-formed (for convenience, "pre-shaping" the voltage signal), for example to prevent over-excursion of the rod 1 (for example in the case of high-speed control).

[0172] The present invention is not limited to the preferred embodiment described above. Rather, multiple variations and modifications utilizing the concept according to the invention are possible and therefore fall within the scope of protection. Moreover, the present invention also claims protection for the subject matter and features of the dependent claims, independently of the features and claims referred to.

[0173] (Additional Note) (Appendix 1) A piezo actuator device (100), preferably for attachment to a manipulator (201) and / or for enabling spin application to a part (202), comprising: A nozzle (2) that ejects a coating material onto a part (202); a rod (1) provided with said nozzle (2), preferably configured as a hollow and / or tube; at least two piezo actuator members (40, 40x) configured to deflect the rod (1) in different directions transversely to its longitudinal axis (11), preferably by means of which the nozzle (2) is movable along at least one movement path (P), Piezo actuator device.

[0174] (Appendix 2) the piezo actuator elements (40, 40x) are configured to variably deflect the rod (1) in different directions transversely to its longitudinal axis (11), preferably such that the nozzle (2) is movable along different paths of movement (P); 2. The piezoelectric actuator device (100) of claim 1.

[0175] (Appendix 3) the at least one movement path (P) and / or the plurality of movement paths (P) 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, 3. The piezoelectric actuator device (100) according to claim 1 or 2.

[0176] (Appendix 4) The bearing device (B1) includes: configured to support the rod (1) so as to be tottering and / or laterally movable relative to its longitudinal axis (11); and / or at least one elastic bearing element (B1.1, B1.2), preferably supported by at least one O-ring, 4. The piezoelectric actuator device (100) of any one of claims 1 to 3.

[0177] (Appendix 5) the rod (1) is drivable in the bearing area (B2) by the piezo actuator parts (40, 40x), preferably transversely to its longitudinal axis (11); 5. The piezoelectric actuator device (100) of any one of claims 1 to 4.

[0178] (Appendix 6) the bearing region (B2) is disposed between the bearing device (B1) and the nozzle (2), and / or the distance (L2) in the longitudinal direction of the rod (1) from the bearing region (B2) to the outlet of the nozzle (2) is equal to or greater than the distance (L1) in the longitudinal direction of the rod (1) from the bearing region (B2) to the bearing device (B1); 6. The piezoelectric actuator device (100) of claim 5.

[0179] (Appendix 7) The piezoelectric actuator portion (40, 40x) is actuating said rod (1) at a preferably variable actuation frequency between 0 Hz and at least 300 Hz, at least 350 Hz or at least 400 Hz; and / or configured to move said nozzle (2) by said rod (1) in at least one path of movement (P), preferably a circular path corresponding to a rotational speed of at least 10,000 rpm, at least 15,000 rpm or at least 20,000 rpm, 7. The piezoelectric actuator device (100) of any one of claims 1 to 6.

[0180] (Appendix 8) The rod (1) is provided with a coating agent passage (12) for guiding the coating agent to the nozzle (2). 8. The piezoelectric actuator device (100) of any one of claims 1 to 7.

[0181] (Appendix 9) the application agent channel (12) extends through the bearing arrangement (B1) and / or the bearing area (B2) and / or comprises an axial inlet opening for the application agent, 9. The piezoelectric actuator device (100) of claim 8.

[0182] (Appendix 10) An applicator (50), The bearing device (B1) is disposed within the applicator (50), the bearing area (B2) is arranged outside the applicator (50); and / or The coating agent can be directed through the applicator (50) to the rod (1) and / or the nozzle (2); 10. The piezoelectric actuator device (100) of any one of claims 1 to 9.

[0183] (Appendix 11) a coating agent valve (V), preferably a valve needle, for activating and deactivating the delivery of the coating agent, the coating agent valve (V), in particular its valve seat, being arranged upstream of the rod (1) and / or arranged outside the rod (1), 11. The piezoelectric actuator device (100) of any one of claims 1 to 10.

[0184] (Appendix 12) a coating material valve having a preferably flexible valve needle for activating and deactivating the delivery of the coating material, the valve needle preferably extending at least partially axially within the rod (1) and / or within the nozzle (2), 11. The piezoelectric actuator device (100) of any one of claims 1 to 10.

[0185] (Appendix 13) The piezoelectric actuator portions (40, 40x) each comprise a piezoelectric actuator (4, 4x) and an actuation arm structure (3, 3x) actuable by the respective piezoelectric actuator (4, 4x) for actuating the rod (1), 13. The piezoelectric actuator device (100) of any one of claims 1 to 12.

[0186] (Appendix 14) Each of said actuating arm structures (3, 3x) is part of an at least three-joint or at least four-joint lever mechanism; 14. The piezoelectric actuator device (100) of claim 13.

[0187] (Appendix 15) Each of the actuation arm structures (3, 3x) is pivotable about a base joint (G1, G1x); Each of the piezo actuators (4, 4x) is connected to a respective one of the actuation arm structures (3, 3x) via a connecting joint (G2, G2x), Each of said actuation arm structures (3, 3x) is divided into a first section (S1, S1x) and a second section (S2, S2x) by an intermediate joint (G3, G3x); and / or Each of the actuation arm structures (3, 3x) is connected to the rod (1) via a coupling joint (G4, G4x). 15. The piezoelectric actuator device (100) according to claim 13 or 14.

[0188] (Appendix 16) At least one of the joints (G1, G2, G3, G4, G1x, G2x, G3x, G4x) It is made of soft materials, integrally connected to each of said actuation arm structures (3, 3x); Constructed as a solid body joint, and / or The device is configured to be elastically deformable. 16. The piezoelectric actuator device (100) of claim 15.

[0189] (Appendix 17) each said piezo actuator (4, 4x) comprises an elastically deformable frame structure (4.1, 4.1x), preferably each said frame structure (4.1, 4.1x) being configured as a bending stress frame and / or for amplification of actuation forces on each said actuation arm structure (3, 3x); 17. The piezoelectric actuator device (100) of any one of claims 13 to 16.

[0190] (Appendix 18) said piezo actuator portions (40, 40x) are aligned with respect to one another at an angle (α) not equal to 0° and / or not equal to 180°; the piezo actuator part (40, 40x) is configured to act on the rod (1) at an angle (α) not equal to 0° and / or not equal to 180°, and / or The different directions are non-parallel to each other. 18. The piezoelectric actuator device (100) of any one of claims 1 to 17.

[0191] (Appendix 19) The piezoelectric actuator portion (40, 40x) is attached to an applicator (50). 19. The piezoelectric actuator device (100) of any one of claims 10 to 18.

[0192] (Appendix 20) The piezo actuator device (100), in particular the applicator (50), is connected to a rotary feedthrough that can supply and / or return said application agent. 20. The piezoelectric actuator device (100) of any one of claims 1 to 19.

[0193] (Appendix 21) The piezoelectric actuator device (100) comprises: connected to a heating device by which the coating material can be heated; and / or It is connected to a cooling device, and the coating agent can be cooled by the cooling device. 21. The piezoelectric actuator device (100) of any one of claims 1 to 20.

[0194] (Appendix 22) The piezoelectric actuator device (100) comprises: connected to a coating agent supply and a coating agent return for the coating agent circulation or to at least two coating agent supplies, via which different coating agents can be supplied, 22. The piezoelectric actuator device (100) of any one of claims 1 to 21.

[0195] (Appendix 23) the piezo actuator sections (40, 40x) are configured to deflect the rod (1) in different directions transverse to its longitudinal axis (11) in response to excitation energy for the respective piezo actuators (4, 4x); 23. The piezoelectric actuator device (100) of any one of claims 1 to 22.

[0196] (Appendix 24) the piezo actuator sections (40, 40x) are configured to exert a respective stroke on said rod (1), the respective stroke being adjustable depending on the excitation energy for the respective piezo actuator (4, 4x), preferably to at least one intermediate position between a maximum stroke and a minimum stroke, 24. The piezoelectric actuator device (100) of any one of claims 1 to 23.

[0197] (Appendix 25) A control means (60) is provided for controlling the excitation energy supplied to each of the piezoelectric actuator elements (40, 40x). 25. The piezoelectric actuator device (100) of any one of claims 1 to 24.

[0198] (Appendix 26) the lateral deflection (h2) of the nozzle (2) is greater than the deflection (h1) of the rod (1) in the bearing area (B2) and the deflection (h0) of the rod (1) in the bearing device (B1) is less than the deflection (h1) in the bearing area (B2), 26. The piezoelectric actuator device (100) of any one of claims 1 to 25.

[0199] (Appendix 27) the piezo actuator device (100), preferably the applicator (50), comprises at least one sensor for measuring the temperature of the application agent and / or at least one sensor for measuring the pressure of the application agent, 27. The piezoelectric actuator device (100) of any one of claims 1 to 26.

[0200] (Appendix 28) At least one sensor for measuring the temperature of the coating agent and / or at least one sensor for measuring the pressure of the coating agent is arranged upstream of the coating agent valve (V), 28. The piezoelectric actuator device (100) of claim 27.

[0201] (Appendix 29) An application device (200) comprising a piezoelectric actuator device (100) according to any one of claims 1 to 28.

[0202] (Appendix 30) a single-axis or multi-axis manipulator (201) for guiding the piezoelectric actuator device (100) along the part (202), or the piezoelectric actuator device (100) is fixedly mounted; 30. The application apparatus (200) of claim 29.

[0203] (Appendix 31) with a preferably camera-based or laser-based detection system (203) for performing measurements of the parts (202) and / or for detecting the application result for performing an online quality check, 31. The application apparatus (200) of claim 29 or 30.

[0204] (Appendix 32) A method preferably applied to a piezo actuator device (100) according to any one of claims 1 to 28 or to an application device (200) according to any one of claims 29 to 31, comprising: A nozzle (2) that ejects a coating material onto a part (202); at least two piezo actuator elements (40, 40x) for deflecting the rod (1) comprising said nozzle (2), preferably configured as a hollow and / or tube, in different directions transversely to its longitudinal axis (11), method. [Explanation of symbols]

[0205] 100 Piezo actuator device 1 preferably a hollow rod, especially a tube L1 Vertical distance L2 Vertical distance 2 Nozzles h2 Nozzle deflection h1 Rod deflection, especially in the bearing area h0 Rod deflection, especially in the area of ​​the bearing arrangement 11 Longitudinal axis of the rod 12 Coating agent flow path 3. Actuating arm structure S1 First Section S2 Second Section G1 Base Joint G2 Connecting Joint G3 Intermediate Joint G4 Bonding Joint 3x actuation arm structure S1x 1st Section S2x Second Section G1x Base Joint G2x joint G3x Intermediate Joint G4x coupling joint 40 Piezo actuator part 4 Piezo Actuator 4.1 Frame Structure 20 Frames 40x Piezo Actuator Unit 4x Piezo Actuators 4.1x Frame Structure 20x Frame α angle 50 Applicator B1 Bearing device B1.1 Bearing elements, preferably elastic B1.2 Bearing elements, preferably elastic B2 Bearing area, preferably drive point A Central axis of the system P one or more travel paths V Dispensing agent valve L is the longitudinal direction of each piezo actuator C. A lateral direction of each piezoelectric actuator, preferably a direction substantially perpendicular to the longitudinal direction. 60 Control means, in particular electronic control means 70 preferably means for generating (especially electrical) excitation energy (e.g. voltage, in particular a voltage signal) for each piezo actuator 80 Amplification means 200 Coating equipment 201 Manipulator, preferably a robot 202 Parts, preferably automobile body parts 203 Vision systems, especially detection systems

Claims

1. A piezo actuator device (100), preferably for attachment to a manipulator (201) and / or for enabling spin application to a part (202), comprising: a nozzle (2) for discharging a coating material onto a part (202); a rod (1) preferably configured as a hollow and / or tube, comprising said nozzle (2); and at least two piezo actuator elements (40, 40x) configured to deflect the rod (1) in different directions transversely to its longitudinal axis (11), preferably by means of which the nozzle (2) is movable along at least one movement path (P), Piezo actuator device.

2. the piezo actuator elements (40, 40x) are configured to variably deflect the rod (1) in different directions transversely to its longitudinal axis (11), preferably so that the nozzle (2) is movable along different paths of movement (P); The piezoelectric actuator device (100) of claim 1.

3. the at least one movement path (P) and / or the plurality of movement paths (P) 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; The piezoelectric actuator device (100) of claim 1.

4. The bearing device (B1) includes: configured to support the rod (1) so that it can wobble and / or move laterally relative to its longitudinal axis (11); and / or at least one elastic bearing element (B1.1, B1.2), preferably supported by at least one O-ring, The piezoelectric actuator device (100) of claim 1.

5. the rod (1) is drivable in the bearing area (B2) by the piezo actuator parts (40, 40x), preferably transversely to its longitudinal axis (11); The piezoelectric actuator device (100) of claim 1.

6. the bearing region (B2) is disposed between the bearing device (B1) and the nozzle (2), and / or the distance (L2) from the bearing region (B2) to the outlet of the nozzle (2) in the longitudinal direction of the rod (1) is equal to or greater than the distance (L1) from the bearing region (B2) to the bearing device (B1) in the longitudinal direction of the rod (1); The piezoelectric actuator device (100) of claim 5.

7. The piezo actuator unit (40, 40x) actuating said rod (1) at a preferably variable actuation frequency between 0 Hz and at least 300 Hz, at least 350 Hz or at least 400 Hz; and / or the nozzle (2) is moved by the rod (1) in at least one path of movement (P), preferably a circular path corresponding to a rotational speed of at least 10,000 rev / min, at least 15,000 rev / min or at least 20,000 rev / min, The piezoelectric actuator device (100) of claim 1.

8. The rod (1) has a coating agent flow path (12) for guiding the coating agent to the nozzle (2). The piezoelectric actuator device (100) of claim 1.

9. the coating material channel (12) extends through the bearing device (B1) and / or the bearing area (B2) and / or comprises an axial inlet opening for the coating material; The piezoelectric actuator device (100) of claim 8.

10. An applicator (50), A bearing device (B1) is disposed in the applicator (50), the bearing area (B2) is located outside said applicator (50), and / or The coating agent can be directed through the applicator (50) to the rod (1) and / or the nozzle (2); The piezoelectric actuator device (100) of claim 1.

11. a coating agent valve (V), preferably a valve needle, for activating and deactivating the dispensing of the coating agent, the coating agent valve (V), in particular its valve seat, being arranged upstream of the rod (1) and / or outside the rod (1); The piezoelectric actuator device (100) of claim 1.

12. a coating material valve having a preferably flexible valve needle for activating and deactivating the dispensing of the coating material, the valve needle preferably extending at least partly axially within the rod (1) and / or within the nozzle (2), The piezoelectric actuator device (100) of claim 1.

13. The piezo actuator units (40, 40x) each comprise a piezo actuator (4, 4x) and an actuation arm structure (3, 3x) actuatable by the respective piezo actuator (4, 4x) for actuating the rod (1). The piezoelectric actuator device (100) of claim 1.

14. each said actuation arm structure (3, 3x) being part of an at least three-joint or at least four-joint lever mechanism; 14. The piezoelectric actuator device (100) of claim 13.

15. Each of the actuation arm structures (3, 3x) is pivotable about a base joint (G1, G1x); Each of the piezo actuators (4, 4x) is connected to a respective one of the actuation arm structures (3, 3x) via a connecting joint (G2, G2x); Each of said actuation arm structures (3, 3x) is divided into a first section (S1, S1x) and a second section (S2, S2x) by an intermediate joint (G3, G3x); and / or Each of the actuation arm structures (3, 3x) is connected to the rod (1) via a coupling joint (G4, G4x).

14. The piezoelectric actuator device (100) of claim 13.

16. At least one of the joints (G1, G2, G3, G4, G1x, G2x, G3x, G4x) It is made of soft materials, integrally connected to each of said actuation arm structures (3, 3x); configured as a solid body joint, and / or configured to be elastically deformable, 16. The piezoelectric actuator device (100) of claim 15.

17. each said piezo actuator (4, 4x) comprises an elastically deformable frame structure (4.1, 4.1x), preferably each said frame structure (4.1, 4.1x) configured as a bending stress frame and / or for amplifying the actuation force on each said actuation arm structure (3, 3x); 14. The piezoelectric actuator device (100) of claim 13.

18. said piezo actuator sections (40, 40x) are aligned with each other at an angle (α) not equal to 0° and / or not equal to 180°; the piezo actuator element (40, 40x) is configured to act on the rod (1) at an angle (α) not equal to 0° and / or not equal to 180°, and / or The different directions are non-parallel to each other. The piezoelectric actuator device (100) of claim 1.

19. The piezo actuator portion (40, 40x) is attached to an applicator (50). The piezoelectric actuator device (100) of claim 10.

20. The piezo actuator device (100), in particular the applicator (50), is connected to a rotary feedthrough that can supply and / or return said application agent; The piezoelectric actuator device (100) of claim 1.

21. The piezoelectric actuator device (100) comprises: connected to a heating device by means of which the coating material can be heated; and / or It is connected to a cooling device, and the coating agent can be cooled by the cooling device. The piezoelectric actuator device (100) of claim 1.

22. The piezoelectric actuator device (100) comprises: the coating agent supply and the coating agent return are connected to each other for the coating agent circulation or to at least two coating agent supply sections, via which different coating agents can be supplied; The piezoelectric actuator device (100) of claim 1.

23. The piezo actuator sections (40, 40x) are configured to deflect the rod (1) to extend in different directions transverse to its longitudinal axis (11) in response to excitation energy for the respective piezo actuator (4, 4x). The piezoelectric actuator device (100) of claim 1.

24. the piezo actuator elements (40, 40x) are configured to exert respective strokes on said rod (1), the respective strokes being adjustable depending on the excitation energy for the respective piezo actuators (4, 4x), preferably to at least one intermediate position between a maximum stroke and a minimum stroke; The piezoelectric actuator device (100) of claim 1.

25. a control means (60) for controlling the excitation energy supplied to each of the piezo actuator elements (40, 40x); The piezoelectric actuator device (100) of claim 1.

26. the lateral deflection (h2) of the nozzle (2) is greater than the deflection (h1) of the rod (1) in the bearing area (B2), and the deflection (h0) of the rod (1) in the bearing device (B1) is less than the deflection (h1) in the bearing area (B2); The piezoelectric actuator device (100) of claim 1.

27. the piezo actuator device (100), preferably the applicator (50), comprises at least one sensor for measuring the temperature of the application agent and / or at least one sensor for measuring the pressure of the application agent; The piezoelectric actuator device (100) of claim 1.

28. At least one sensor for measuring the temperature of the application agent and / or at least one sensor for measuring the pressure of the application agent is arranged upstream of the application agent valve (V), 28. The piezoelectric actuator device (100) of claim 27.

29. An application device (200) comprising a piezo actuator device (100) according to claim 1.

30. a single-axis or multi-axis manipulator (201) for guiding the piezo actuator device (100) along the part (202), or the piezo actuator device (100) is fixedly mounted; 30. The application device (200) of claim 29.

31. a preferably camera-based or laser-based detection system (203) for performing measurements of the part (202) and / or detecting the application result for performing online quality checks, 30. The application device (200) of claim 29.

32. A method preferably applied to a piezo actuator device (100) according to claim 1 or to an application device (200) according to claim 29, comprising: a nozzle (2) for discharging a coating material onto a component (202); and at least two piezo actuator elements (40, 40x) for deflecting the rod (1), which is preferably hollow and / or configured as a tube, comprising the nozzle (2) in different directions transversely to its longitudinal axis (11), method.

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