# US 12,767,253 B2 · Mobile robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,767,253 B2 - Document ID: US12767253B2 - Status: Granted - Kind: B2 - Application number: 18/834,090 - Filed: 2023-02-16 - Published: 2025-05-15 - Granted: 2026-10-20 - Earliest claimed: 2022-02-17 - Applicants: Georg Huber - Inventors: Georg Huber - Web page: https://patentgrep.com/patent/US12767253B2 ## CPC - B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) - B25J 9/10: characterised by positioning means for manipulator elements - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A mobile robot includes a robot body and at least one robotic leg. The robotic leg includes an axially movable rod, which is pivotally guided on the robot body, wherein a device for axially moving the rod and a device for pivoting the rod are fastened to the robot body and thus move the rod three-dimensionally relative to the robot body and thus change the horizontal and vertical position and the inclination of the robot body relative to the ground, generally in cooperation with other robotic legs. ## Claims ### Claim 1 A mobile robot comprising a robot body (1) and at least one robotic leg, wherein the robotic leg comprises an axially movable rod (2), which is pivotally guided on the robot body (1), wherein means (6, 7a, 8a, 9, 10, 11) for axially moving the rod (2) and means (7b, 8b, 14, 15, 16) for pivoting the rod (2) are provided, wherein a continuous opening (22), in which the rod (2) can move perpendicularly and at variable angles relative to the opening, is located at the point on the robot body (1) provided for the robotic leg, and the robotic leg is arranged within the robot body, wherein the rod extends through the continuous opening (22) in the robot body (1), or the robotic leg is axially movably articulated to the outer edge of the robot body (2), wherein the rod (2) is multiple times longer than the size of the robot body (1) and the robot body (1) can be moved along the full length of the rod (2) in this case, wherein the rod (2) is a first threaded rod comprising an outer thread and an axially extending groove, wherein the outer thread engages in an inner thread, which is connected to the robot body (1) so as to be rotatable and pivotable, but not axially movable, and wherein a pin (12) is provided in the groove to prevent the rod (2) from rotating radially, wherein a first drive (9) for rotating the inner thread on the rod (2) is provided as means (6, 7a, 8a, 9, 10, 11) for axially moving the rod (2) and wherein at least one further drive (16), which is directly or indirectly connected to the first threaded rod, is provided as means (7b, 8b, 14, 15, 16) for pivoting the rod. ### Claim 2 (depends on 1) The mobile robot according to claim 1, wherein two drives (16), which are directly or indirectly connected to the first threaded rod so as to be offset from one another, are provided as means for pivoting the rod (2). ### Claim 3 (depends on 1) The mobile robot according to claim 1, wherein the rod (2) is configured as a threaded rod in portions. ### Claim 4 (depends on 1) The mobile robot according to claim 1, wherein a control device is provided. ### Claim 5 (depends on 1) The mobile robot according to claim 1, wherein an inclination sensor is provided. ### Claim 6 A mobile robot comprising a robot body (1) and at least one robotic leg, wherein the robotic leg comprises an axially movable rod (2), which is pivotally guided on the robot body (1), wherein means (6, 7a, 8a, 9, 10, 11) for axially moving the rod (2) and means (7b, 8b, 14, 15, 16) for pivoting the rod (2) are provided, wherein a continuous opening (22), in which the rod (2) can move perpendicularly and at variable angles relative to the opening, is located at the point on the robot body (1) provided for the robotic leg, and the robotic leg is arranged within the robot body, wherein the rod extends through the continuous opening (22) in the robot body (1), or the robotic leg is axially movably articulated to the outer edge of the robot body (2), wherein the rod (2) is multiple times longer than the size of the robot body (1) and the robot body (1) can be moved along the full length of the rod (2) in this case, wherein the rod (2) comprises a rack, wherein a drive comprising a complementary engagement element that engages in the rack is provided as means for axially moving the rod (2), and wherein at least one further drive, which is directly or indirectly connected to the rack, is provided as means for pivoting the rod.