Abstract: An object of the present invention is to provide a cellulose acetate with excellent biodegradability in seawater. A cellulose acetate having a total degree of acetyl substitution of not greater than 2.7, a ratio ? of a sum of a degree of acetyl substitution at the 2-position and a degree of acetyl substitution at the 3-position to a degree of acetyl substitution at the 6-position in the total degree of acetyl substitution of not less than 2.0, and a sulfate component amount of greater than 20 ppm and not greater than 400 ppm.

Abstract: A robot includes a first member, a second member provided rotatably with respect to the first member, a gearing that transmits drive power from one side to the other side of the first member and the second member, the gearing includes an internal gear, an external gear having a flexible barrel portion in a tubular shape with an opening portion in an end part, and rotating about a rotation axis relative to the internal gear, and a wave generator, the wave generator includes a cam having a non-circular outer circumferential surface, and a bearing including an inner ring, an outer ring, and a plurality of balls, the first member includes a counter body provided to face the end part on the opening portion side of the barrel portion, and a first seal member is provided between the outer ring and the counter body.

Abstract: A robot includes a gear device that has a first surface and a second surface which are in a tubular shape around an axis, are disposed inside and outside of each other, and repeatedly come into contact with and separate away from each other with operation of the gear device. The first surface has a first recessed portion and a first projection portion, which extend in a direction having a circumferential direction component around the axis and configure a first uneven pattern, by being alternately arranged in a direction along the axis. The second surface has a second recessed portion and a second projection portion, which extend in the direction having the circumferential direction component around the axis and configure a second uneven pattern that is different from the first uneven pattern, by being alternately arranged in the direction along the axis.

Abstract: A robot includes a first member, a second member provided to be capable of turning with respect to the first member, and a gear device configured to transmit a driving force from one side to the other side of the first member and the second member. The gear device includes an internal gear, an external gear having flexibility and configured to partially mesh with the internal gear, a wave generator configured to be in contact with the external gear and move a meshing position of the internal gear and the external gear in a circumferential direction, and lubricant disposed in at least one of a meshing section of the internal gear and the external gear and a portion where the external gear and the wave generator are in contact with each other. A last non-seizure load of the lubricant is 300 N or more.

Abstract: A robot includes a first member, a second member provided rotatably with respect to the first member, a gearing that transmits drive power from one side to the other side of the first member and the second member, the gearing includes an internal gear, an external gear having a flexible barrel portion in a tubular shape with an opening portion in an end part, and rotating about a rotation axis relative to the internal gear, and a wave generator, the wave generator includes a cam having a non-circular outer circumferential surface, and a bearing including an inner ring, an outer ring, and a plurality of balls, the first member includes a counter body provided to face the end part on the opening portion side of the barrel portion, and a first seal member is provided between the outer ring and the counter body.

Abstract: A robot includes a gear device that has a first surface and a second surface which are in a tubular shape around an axis, are disposed inside and outside of each other, and repeatedly come into contact with and separate away from each other with operation of the gear device. The first surface has a first recessed portion and a first projection portion, which extend in a direction having a circumferential direction component around the axis and configure a first uneven pattern, by being alternately arranged in a direction along the axis. The second surface has a second recessed portion and a second projection portion, which extend in the direction having the circumferential direction component around the axis and configure a second uneven pattern that is different from the first uneven pattern, by being alternately arranged in the direction along the axis.

Abstract: A robot includes a first member, a second member provided to be capable of turning with respect to the first member, and a gear device configured to transmit a driving force from one side to the other side of the first member and the second member. The gear device includes an internal gear, an external gear having flexibility and configured to partially mesh with the internal gear, a wave generator configured to be in contact with the external gear and move a meshing position of the internal gear and the external gear in a circumferential direction, and lubricant disposed in at least one of a meshing section of the internal gear and the external gear and a portion where the external gear and the wave generator are in contact with each other. A last non-seizure load of the lubricant is 300 N or more.

Abstract: Through holes are formed in a revolving gear which revolves while being engaged with a ring gear, and penetration pins on which ring members of a circular ring shape are mounted outside are inserted in the through holes. Further, the ring member is mounted to the penetration pin through an elastic member.

Abstract: Through holes are formed in a revolving gear which revolves while being engaged with a ring gear, and penetration pins which are configured to extract rotation of the revolving gear are inserted in the through holes. The ring gear and the revolving gear are divided into halves in the thickness direction. Two sheets of ring gears are biased to rotate in reverse directions.

Abstract: Through holes are formed in a revolving gear which revolves while being engaged with a ring gear, and penetration pins which are configured to extract rotation of the revolving gear are inserted in the through holes. The ring gear and the revolving gear are divided into halves in the thickness direction. Two sheets of ring gears are biased to rotate in reverse directions.

Abstract: A reduction gear includes an outer circumference internally toothed gear having first teeth; and an inner circumference externally toothed gear having a second teeth. The reduction gear relatively rotates while the first teeth and the second teeth engage each other. At least one of the first and second teeth has an elastic structure inside the tooth so that the tooth is elastically deformable.

Abstract: Through holes are formed in a revolving gear which revolves while being engaged with a ring gear, and penetration pins on which ring members of a circular ring shape are mounted outside are inserted in the through holes. Further, the ring member is mounted to the penetration pin through an elastic member.

Abstract: Through holes are formed in a revolving gear which revolves while being engaged with a ring gear, and penetration pins which are configured to extract rotation of the revolving gear are inserted in the through holes. The ring gear and the revolving gear are divided into halves in the thickness direction. Two sheets of ring gears are biased to rotate in reverse directions.

Abstract: Provided herein is an inkjet type liquid droplet ejection apparatus which supplies functional liquid to a plurality of head units having one or more functional liquid droplet ejection heads, each of the head units is based on a supply unit, and which plots on a workpiece having: a tank unit which supplies the functional liquid continuously to the plurality of head units from a new functional liquid tank which is switched from an old functional liquid tank; a functional liquid supplying channel having a plurality of individual channels; a detecting device which detects whether the new functional liquid of the replaced functional liquid tank reaches to the branching unit; and a controller which controls the plurality of functional liquid droplet ejection heads individually, the controller controls each of the head units to make consumption amounts of the functional liquid equal to the maximum consumption amount of the functional liquid.

Abstract: Provided herein is an inkjet type liquid droplet ejection apparatus which supplies functional liquid to a plurality of head units having one or more functional liquid droplet ejection heads, each of the head units is based on a supply unit, and which plots on a workpiece having: a tank unit which supplies the functional liquid continuously to the plurality of head units from a new functional liquid tank which is switched from an old functional liquid tank; a functional liquid supplying channel having a plurality of individual channels; a detecting device which detects whether the new functional liquid of the replaced functional liquid tank reaches to the branching unit; and a controller which controls the plurality of functional liquid droplet ejection heads individually, the controller controls each of the head units to make consumption amounts of the functional liquid equal to the maximum consumption amount of the functional liquid.

Abstract: A printing aid includes a printing position-determining member 22 for determining a position of a material to be printed 30 on a printing position of a printer device, and a placement member for material to be printed 21 for placing the material to be printed at a portion corresponding to the printing position determined by the printing position-determining member. This makes it possible to print on various types of materials to be printed with the printer device.