# US 2025/0083302 A1 · Robots with lift mechanisms > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0083302 A1 - Document ID: US20250083302A1 - Status: Published application - Kind: A1 - Application number: 18/294,064 - Filed: 2023-04-28 - Published: 2025-03-13 - Earliest claimed: 2022-04-29 - Assignees: Kabushiki Kaisha Toshiba - Applicants: Kabushiki Kaisha Toshiba - Inventors: Marius JURT - Web page: https://patentgrep.com/patent/US20250083302A1 ## CPC - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - B25J 9/08: characterised by modular constructions - B25J 5/00: Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; program-controlled manipulators B25J9/00) - B25J 5/007: {mounted on wheels} - B25J 9/1669: {characterised by special application, e.g. multi-arm co-operation, assembly, grasping} - B25J 13/088: {with position, velocity or acceleration sensors} - B62D 57/028: having wheels and mechanical legs (B62D57/024 takes precedence; ground-engaging vehicle fittings for supporting, lifting or manoeuvring the vehicle, wholly or in part B60S9/00) - 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}) - 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) ## Abstract A robot (100) comprising a drive (120) for moving the robot (100) and a lift means (130) for elevating the robot (100) above a surface such that another identical robot (150) is able to move underneath the elevated robot (100). ## Claims ### Claim at position 1 1: A robot comprising: a drive for moving the robot over a surface; and a lift mechanism for elevating the robot above the surface such that another identical robot is able to move underneath the elevated robot. ### Claim at position 2 (depends on 1) 2: The robot according to claim 1, wherein the lift mechanism comprises a plurality of legs configured to be laterally displaced into and out of a footprint of the remainder of the robot and to extend lengthwise. ### Claim at position 3 (depends on 2) 3: The robot according to claim 2, wherein the plurality of legs are configured to be displaced out of the footprint of the remainder of the robot to positions on an extension of a diagonal of the footprint offset from corners of a body of the robot such that they do not obstruct any face of the body along an axis perpendicular to the face. ### Claim at position 4 (depends on 2) 4: The robot according to claim 2, wherein the plurality of legs are configured to be displaced out of the footprint of the remainder of the robot to positions adjacent a pair of opposite faces of a body of the robot. ### Claim at position 5 (depends on 4) 5: The robot according to claim 4, wherein the positions are each at an edge of the opposite faces that defines a corner of the body of the robot. ### Claim at position 6 (depends on 4) 6: The robot according to claim 4, wherein two of the legs are displaced to positions at edges of the opposite faces that define opposite corners of the body of the robot, and wherein two of the legs are displaced to positions part-way along said opposite faces that are separated from two other corners of the body by at least a width of one of the plurality of legs. ### Claim at position 7 (depends on 2) 7: The robot according to claim 2, wherein the plurality of legs are configured to be displaced into and out of the footprint of the robot linearly and/or by rotating the legs about an axis parallel to their lengths. ### Claim at position 8 (depends on 2) 8: The robot according to claim 2, further comprising one or more connectors for connecting an end of at least one of the legs to an opposite end of a leg of another identical robot and/or to at least one connection point on the surface. ### Claim at position 9 (depends on 2) 9: The robot according to claim 2, further comprising an electrical connector or inductive charger at at least one of a lower end of at least one of the legs, an upper end of at least one of the legs, a bottom surface of the robot, or a top surface of the robot. ### Claim at position 10 (depends on 2) 10: The robot according to claim 2, further comprising an electrical connector or inductive charger on each of an upper surface and a lower surface of the robot, the electrical connector or inductive charger on the lower surface of the robot conductively connected to the electrical connector or inductive charger on the upper surface of the robot in a manner that facilitates through charging. ### Claim at position 11 (depends on 1) 11: The robot according to claim 1, wherein the drive is a holonomic drive. ### Claim at position 12 (depends on 1) 12: The robot according to claim 1, wherein the drive comprises a plurality of wheels configured to pivot about vertical axes. ### Claim at position 13 (depends on 1) 13: The robot according to claim 1, wherein the drive is configured to move the robot across upper surfaces of one or more identical robots. ### Claim at position 14 (depends on 1) 14: The robot according to claim 1, further comprising one or more temporarily deployable bridging supports for laterally extending at least part of an upper surface of the robot. ### Claim at position 15 (depends on 1) 15: The robot according to claim 1, further comprising one or more sensors for determining its location and/or movement and/or for detecting objects and/or other robots in its vicinity. ### Claim at position 16 (depends on 1) 16: The robot according to claim 1, wherein the robot is a container for holding objects. ### Claim at position 17 (depends on 16) 17: The robot according to claim 16, wherein the robot is an enclosed container for holding objects. ### Claim at position 18 (depends on 16) 18: The robot according to claim 16, wherein the robot defines a structural frame for receiving objects. ### Claim at position 19 (depends on 1) 19: The robot according to claim 1, further comprising one or more stacking connectors for connecting a base of the robot to an upper surface of another identical robot, and/or for connecting an upper surface of the robot to a base of an identical robot. ### Claim at position 20 (depends on 1) 20: A system comprising: a plurality of robots according to claim 1. ### Claim at position 21 21: A method of operating a multi-robot system, the method comprising: a first robot elevating itself relative to a surface and a second such robot moving into a space beneath the first robot, wherein the first and second robots each comprise a drive for moving itself and the first robot comprising a lift mechanism for elevating itself above a surface such that another identical robot is able to move underneath it. ### Claim at position 22 (depends on 21) 22: The method according claim 21, further comprising the second robot positioning itself beneath the first robot. ### Claim at position 23 (depends on 21) 23: The method according to claim 21, wherein the second robot moves from an initial location to a subsequent location on an opposite side of the first robot via the space beneath the first robot. ### Claim at position 24 (depends on 21) 24: The method according to claim 21, wherein the first robot elevates itself relative to the surface in response to a received signal. ### Claim at position 25 (depends on 24) 25: The method according to claim 24, wherein after receiving the signal, the first robot evaluates whether elevating itself relative to the surface is feasible and elevates itself relative to the surface upon determining that doing so is feasible. ### Claim at position 26 (depends on 24) 26: The method according to claim 24, wherein the first robot receives the signal from the second robot or from a control system. ### Claim at position 27 27: A non-transitory storage media comprising computer instructions executable by a processor of a robot that comprises a drive for moving itself and a lift mechanism for elevating itself above a surface such that another identical robot is able to move underneath, the computer instructions when executed by the processor causing the robot to elevate itself above a surface.