1. A piezoelectric thin film vibrator comprising:
a resonator for generating a traveling wave;
a first electrode disposed on the resonator;
a piezoelectric thin film disposed on the first electrode; and
a plurality of second electrodes disposed on the piezoelectric thin film,
wherein a crystal orientation of the piezoelectric thin film is aligned to be normal to a crystal orientation of the first electrode.
2. The piezoelectric thin film vibrator according to claim 1, wherein the piezoelectric thin film is formed of lead zirconate titanate.
3. The piezoelectric thin film vibrator according to claim 1, wherein the resonator is formed of monocrystalline silicon.
4. The piezoelectric thin film vibrator according to claim 1, wherein the plurality of the second electrodes is arranged in a segment of circle.
5. The piezoelectric thin film vibrator according to claim 4, wherein the shape of the plurality of the second electrodes is a fan shape.
6. The piezoelectric thin film vibrator according to claim 4, wherein the shape of the plurality of the second electrodes is a trapezoidal shape.
7. The piezoelectric thin film vibrator according to claim 4, wherein the shape of the plurality of the second electrodes is a rectangular shape.
8. A driving apparatus comprising:
the piezoelectric thin film vibrator according to claim 1; and
an alternating current power source which applies alternating voltages to the plurality of the second electrodes, wherein phases of the alternating voltages are shifted by a half cycle between adjacent electrodes of the plurality of the second electrodes.
9. A piezoelectric motor comprising:
a stator which has the driving apparatus according to claim 8; and
a rotor which is disposed on the piezoelectric thin film vibrator.
10. A piezoelectric thin film vibrator comprising:
a resonator for generating a traveling wave;
a first electrode disposed on the resonator;
a piezoelectric thin film disposed on the first electrode; and
a plurality of second electrodes arranged in a segment of a circle on the piezoelectric thin film,
wherein one of the second electrodes is electrically connected to a lead electrode that is formed on an outer perimeter side of the circle and another one of the second electrodes adjacent to the one of the second electrodes is electrically connected to a lead electrode that is formed on an inner perimeter side of the circle.
11. The piezoelectric thin film vibrator according to claim 10, wherein a phantom line that extends from a center of the piezoelectric thin film vibrator in the radial direction and divides the one of the second electrodes in equal halves and a phantom line that divides the another one of the second electrodes adjacent to the one of the second electrodes into equal halves form an angle \u03b8a of about \u03c05 radians.
12. The piezoelectric thin film vibrator according to claim 11, wherein the phantom line that divides the one of the second electrodes into equal halves and a phantom line that divides yet another one of the second electrode adjacent to the one of the second electrodes into equal halves form an angle \u03b8b of about 3\u03c010 radians.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. Handling device for handling drill string components in a rock drilling rig, including a rotator device, which is arranged for rotation and driving a drill string and is moveable to and fro, supported by a feed beam, wherein the handling device includes a gripper unit for gripping drill string components that are to be put into and be brought out from an active drill string position of the rock drilling rig, and wherein the gripper unit includes grippers operational for gripping components positioned in a gripping position, which defines a grip position axis wherein
that the gripper unit is supported swingable between:
a) a first position, wherein the gripper unit is positioned for engagement with an end portion of a first drill string component and an end portion of a second drill string component in and aligned with said active drill string position, and
b) a second position, wherein a gripper unit is positioned for engagement with an end portion of a drill string component in a delivering position for drill string components that are to be brought into respectively taken away from said active drill string position.
2. Handling device according to claim 1,
wherein
the gripper unit includes rotation means, for rotating, in said first as well as said second position, at least one of the components from the group: a second drill string component, a lifting plug, a flush water swivel\u2014for screwing together and screwing apart this component with and from a gripped first drill string component.
3. Handling device according to claim 2,
wherein
the rotation means are comprised of a rotation grip unit for simultaneous gripping and rotating any one of: said end portion of the second drill string component, said lifting plug, said flush water swivel.
4. Handling device according to claim 3,
wherein
the gripper unit is provided with a first set of grippers for gripping said end portion of the first drill string component and a second set of grippers for allowing gripping, together with the rotation grip unit, of any one of: said end portion of the second drill string component, said lifting plug, said flush water swivel.
5. Handling device according to claim 4,
wherein
the gripper unit is provided with means for displacing said rotation means in parallel with said grip position axis in respect of the first set of grippers.
6. Handling device according to claim 4,
wherein
said rotation means, the first set of grippers and the second set of grippers are manoeuvrable to swing.
7. Handling device according to claim 6,
wherein
said rotation means, the first set of grippers and the second set of grippers are manoeuvrable to swing to positions for freeing the grip position over 180\xb0 as seen crosswise to the grip position axis.
8. Handling device according to claim 1,
wherein
that the gripper unit is arranged on a swing unit, which is arranged to be fastened swingable on a support such as anyone of: the rock drilling rig, a drill string transporter, a drill string magazine, a separate stand.
9. Rock drilling rig including a rotator device for rotation and driving a drill string and being movable to and fro supported by a feed beam, wherein it includes a handling device according to claim 1.
10. Method for handling drill string components in a rock drilling rig, which includes a rotator device, which is arranged for rotation and driving a drill string and is moveable to and fro, supported by a feed beam, wherein drill string components that are to be put into and be brought out from an active drill string position of the rock drilling rig, are gripped by a gripper unit with grippers operational for gripping components positioned in a gripping position, which defines a grip position axis, wherein
the gripper unit swings between:
a) a first position, wherein the gripper unit is capable of engaging an end portion of a first drill string component and an end portion of a second drill string component in and aligned with said active drill string position, and
b) a second position, wherein a gripper unit is capable of engaging an end portion of a drill string component in a delivering position for drill string components that are to be brought into respectively taken away from said active drill string position.
11. Method according to claim 10,
wherein
in said first as well as in said second position, at least one of the components from the group: a second drill string component, a lifting plug, a flush water swivel\u2014are rotated means on the gripper unit for screwing together and screwing apart this component with and from the likewise gripped first drill string component.
12. Method according to claim 11,
wherein
said end portion of the first drill string component is gripped by a first set of grippers on the gripper unit and said end portion of the second drill string component is gripped by said rotation grip unit and possibly a second set of grippers of the gripper unit in said first position.
13. Method according to claim 12,
wherein
that the gripper unit is arranged with said rotation means together with the second set of grippers, in the second position, to grip and align at least one of: said lifting plug, said flush water swivel\u2014with said end portion of a drill string component.
14. Method according to claim 12,
wherein
said rotation means is moved in parallel with said grip position axis in respect of the first set of grippers with the aid of means being arranged on the gripper unit.
15. Method according to claim 12,
wherein
said rotation means, the first set of grippers and the second set of gripper are swinging to positions for freeing the grip position over 180\xb0 as seen crosswise to the grip position axis.
16. Handling device according to claim 5, wherein
said rotation means, the first set of grippers and the second set of grippers are manoeuvrable to swing.
17. Method according to claim 13, wherein
said rotation means is moved in parallel with said grip position axis in respect of the first set of grippers with the aid of means being arranged on the gripper unit.
18. Method according to claim 13, wherein
said rotation means, the first set of grippers and the second set of gripper are swinging to positions for freeing the grip position over 180\xb0 as seen crosswise to the grip position axis.
19. Method according to claim 14, wherein
said rotation means, the first set of grippers and the second set of gripper are swinging to positions for freeing the grip position over 180\xb0 as seen crosswise to the grip position axis.
20. Method according to claim 17, wherein
said rotation means, the first set of grippers and the second set of gripper are swinging to positions for freeing the grip position over 180\xb0 as seen crosswise to the grip position axis.