Paster type joint piezoelectric actuator and working method thereof

The invention discloses a patch type joint piezoelectric actuator and a working method thereof. The patch type joint piezoelectric actuator comprises a rotor assembly and a stator assembly. The stator assembly comprises a driving ring, a connecting rod, an elastic beam, a first fixing lug, a second fixing lug, a first longitudinal vibration piezoelectric ceramic piece, a second longitudinal vibration piezoelectric ceramic piece, a first bending vibration piezoelectric ceramic piece, a second bending vibration piezoelectric ceramic piece and a fourth bending vibration piezoelectric ceramic piece. The rotor assembly comprises a first rotor, a second rotor, a pre-tightening spring, an adjusting nut and an output shaft. According to the invention, the piezoelectric excitation and friction driving principle is utilized to drive the rotational joint, and the device has the advantages of simple control, compact structure, fast response, high driving precision, stable operation, integrated design of structure and fun