US 11,787,043 B2
Robot, vehicle for mounting robot, and mobile robot
Takashi Kojima, Matsumoto (JP)
Assigned to SEIKO EPSON CORPORATION
Filed by Seiko Epson Corporation, Toyko (JP)
Filed on Jan. 29, 2021, as Appl. No. 17/162,191.
Claims priority of application No. 2020-015661 (JP), filed on Jan. 31, 2020.
Prior Publication US 2021/0237263 A1, Aug. 5, 2021
Int. Cl. B25J 9/12 (2006.01); B25J 5/00 (2006.01); B60R 16/033 (2006.01)
CPC B25J 9/12 (2013.01) [B25J 5/007 (2013.01); B60R 16/033 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A mobile robot comprising:
a robot including:
a robot arm;
a motor configured to drive the robot arm by electric power supplied from a battery;
a motor drive circuit configured to control driving of the motor by receiving the electric power from the battery;
a voltage converter configured to receive a first voltage output by the battery and convert the first voltage to a second voltage, the second voltage being supplied to the motor drive circuit, the second voltage being higher than the first voltage; and
a voltage detector configured to detect a value of the first voltage from the battery and determine whether the value of the first voltage is lower than a first predetermined value;
a vehicle for mounting and moving the robot, the vehicle having a movement mechanism and a coupler to which the robot is coupled; and
a processor configured to execute a program stored in a memory so as to:
transfer the first voltage to the voltage converter when the voltage detector determines that the value of the first voltage is lower than the first predetermined value;
control the motor drive circuit of the robot by supplying the second voltage as the electric power when the voltage detector determines that the value of the first voltage is lower than the first predetermined value;
transfer the first voltage directly to the motor drive circuit when the voltage detector determines that the value of the first voltage is equal to or more than the first predetermined value; and
control the motor drive circuit of the robot by supplying the first voltage as the electric power when the voltage detector determines that the value of the first voltage is equal to or more than the first predetermined value,
wherein the voltage detector is configured to determine whether the value of the first voltage is higher than a second predetermined value, and the second predetermined value is larger than the first predetermined value, and
the processor is configured to transfer the first voltage directly to the motor drive circuit when the voltage detector determines that the value of the first voltage is equal to or more than the first predetermined value and is equal to or lower than the second predetermined value.