# US 9,751,208 B2 · Robotic device and laboratory automation system comprising robotic device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,751,208 B2 - Document ID: US9751208B2 - Status: Granted - Kind: B2 - Application number: 15/040,383 - Filed: 2016-02-10 - Published: 2016-08-11 - Granted: 2017-09-05 - Earliest claimed: 2015-02-10 - Assignees: Roche Diagnostics Operations, Inc. - Applicants: Roche Diagnostics Operations, Inc. - Inventors: Matthias Edelmann - Web page: https://patentgrep.com/patent/US9751208B2 ## CPC - B25J 9/044: {with forearm providing vertical linear movement} - B25J 9/0021: {All motors in base} - B25J 9/042: {comprising an articulated arm} - B25J 9/1065: {with parallelograms} - B65G 47/902: {provided with drive systems incorporating rotary and rectilinear movements} - B65G 47/905: {Control arrangements} - 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}) - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) ## Abstract A robotic device is presented. The robotic device comprises a stationary base, a first arm rotationally mounted on the base for rotation about a first axis (I), a second arm rotationally mounted on the first arm for rotation about a second axis (II), in which second axis (II) is parallel to the first axis (I), a first driving device for driving the first arm to rotate about the first axis (I), and a second arm drive unit with a second driving device for driving the second arm to rotate about the second axis (I). The first driving device and the second driving devices are mounted stationary at the base. A linear drive unit moves the first arm and the second arm in a direction parallel to the first axis (I) and the second axis (II). The linear drive unit comprises a third driving device mounted stationary at the base. ## Claims ### Claim 1 A robotic device, the robotic device comprising: a stationary base; a first arm rotationally mounted on the base for rotation about a first axis (I); a second arm rotationally mounted on the first arm for rotation about a second axis (II), in which the second axis (II) is parallel to the first axis (I); a first driving device for driving the first arm to rotate about the first axis (I); a second arm drive unit with a second driving device for driving the second arm to rotate about the second axis (II), wherein the first driving device and the second driving devices are mounted stationary at and disposed in the base; and a linear drive unit for moving the first arm and the second arm in a direction parallel to the first axis (I) and the second axis (II), wherein the linear drive unit comprises a third driving device mounted stationary at and disposed in the base; wherein the first arm is mounted to the base by a first column driven to rotate about the first axis (I), wherein the first arm is non-rotatably, but axially displaceably along the first axis (I) coupled to the first column; wherein the second arm drive unit comprises a second column driven to rotate about the first axis (I); wherein the second arm is linked to the second column by a linkage system comprising at least one rod, which is rotatably about a rod axis (III) parallel to the first axis (I) and axially displaceably mounted on the second column and offset from the first arm and second arm; and wherein the linkage system comprises at least one cantilever, which is non-rotatably, but axially displaceably in the axial direction of the second column coupled to the second column and wherein the at least one rod is rotatably about the rod axis (III) and axially fixed coupled to the cantilever. ### Claim 2 (depends on 1) The robotic device according to claim 1, wherein the linear drive unit comprises a threaded rod rotating about a fixed third axis and at least one nut engaging the threaded rod with at least one nut is mounted on the first arm. ### Claim 3 (depends on 2) The robotic device according to claim 2, wherein the third axis is coaxial with the first axis (I). ### Claim 4 (depends on 1) The robotic device according to claim 1, wherein the second column is a hollow profile and wherein the first column is arranged inside the second column, such that the second column is rotatable about the first column. ### Claim 5 (depends on 4) The robotic device according to claim 4, wherein at least one guiding rail extending in parallel to the first axis (I) is provided at the outer surface of the second column and wherein the at least one cantilever is slidingly coupled to the at least one guiding rail. ### Claim 6 (depends on 1) The robotic device according to claim 1, wherein the first column is a hollow profile. ### Claim 7 (depends on 1) The robotic device according to claim 1, wherein the first arm comprises a slider element slidingly mounted in a guiding groove of the first column extending in the direction of the first axis (I) and positively connected to the first column to rotate with the first column. ### Claim 8 (depends on 1) The robotic device according to claim 1, further comprising, a work unit attached to the second arm. ### Claim 9 (depends on 8) The robotic device according to claim 8, wherein the work unit is a gripper. ### Claim 10 (depends on 8) The robotic device according to claim 8, wherein the work unit is mounted moveable on the second arm swivelable with respect to the second arm. ### Claim 11 (depends on 1) A laboratory automation system with a number of pre-analytical, analytical and/or post-analytical stations and with a robotic device according to claim 1. ### Claim 12 (depends on 1) The robotic device according to claim 1, further comprising, at least one control device, wherein the first driving device, the second driving device, and the third driving device are coordinated by the control device to position the robotic device in Cartesian space.