# US 12,004,300 B2 · Apparatus, system, and method of providing radial section identification for pick and place > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,004,300 B2 - Document ID: US12004300B2 - Status: Granted - Kind: B2 - Application number: 17/423,822 - Filed: 2020-01-17 - Published: 2022-04-14 - Granted: 2024-06-04 - Earliest claimed: 2019-01-17 - Assignees: Jabil Inc. - Applicants: Jabil Inc. - Inventors: Mark Tudman; Rayce Loftin; Vincy Li; Sundar Sethuraman - Web page: https://patentgrep.com/patent/US12004300B2 ## CPC - H05K 13/0015: {Orientation; Alignment; Positioning} - B25J 9/0096: {co-operating with a working support, e.g. work-table} - B25J 9/1697: {Vision controlled systems} - B25J 13/08: by means of sensing devices, e.g. viewing or touching devices - H05K 13/0069: {Holders for printed circuit boards} - H05K 13/0404: {Pick-and-place heads or apparatus, e.g. with jaws} - H05K 13/0812: {the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement} - H05K: PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS - 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 An apparatus, system and method for placing components on a circuit board by a pick and place machine. The apparatus, system and method may include a rotational table suitable to receive and hold the circuit board for the pick and place machine; at least one sensor capable of sensing an off-center fiducial on the circuit board after association with the rotational table; and at least one processor connective with at least one computing memory having therein non-transitory computing code. The steps performed by execution of the code may include receiving sensor data from the sensor indicative of at least a physical location the off-center fiducial; dividing the board into radial sections based on the sensor data; accessing at least one placement program for placement of at least first components by the pick and place machine; monitoring for a change to a second at least one of the radial sections based on rotation of the rotational table according to the sensor data; and accessing at least one second placement program for placement of second components upon a change to the physical location. ## Claims ### Claim 1 A system for placing components on a circuit board by a pick and place machine, comprising: a rotational table suitable to receive and hold the circuit board for the pick and place machine; at least one sensor configured to sense an off-center fiducial on the circuit board after association with the rotational table; at least one processor connective with at least one computing memory having therein non-transitory computing code which, when executed by the at least one processor, causes the at least one processor to perform the steps of: receiving sensor data from the at least one sensor indicative of at least a physical location of the off-center fiducial; dividing the circuit board into radial sections based on the sensor data; accessing at least one placement program to determine a for placement of at least first components by the pick and place machine into a first at least one of the radial sections according to the physical location of the off-center fiducial; monitoring for a change to a second at least one of the radial sections based on rotation of the rotational table according to the sensor data; and accessing at least one second placement program to determine a placement of second components by the pick and place machine into the second at least one of the radial sections upon a change to the physical location of the off-center fiducial. ### Claim 2 (depends on 1) The system of claim 1, wherein the off-center fiducial comprises a bad board marker. ### Claim 3 (depends on 1) The system of claim 1, wherein the at least one sensor comprises an optical camera. ### Claim 4 (depends on 1) The system of claim 1, wherein the radial sections comprise radial quadrants. ### Claim 5 (depends on 1) The system of claim 1, wherein the rotational table comprises a rotary table. ### Claim 6 (depends on 1) The system of claim 1, wherein the first components comprise one of low-profile components or high-profile components. ### Claim 7 (depends on 1) The system of claim 1, wherein the sensing data is continuously generated. ### Claim 8 (depends on 1) The system of claim 1, wherein the sensing data is generated only upon rotation of the rotational table. ### Claim 9 (depends on 1) The system of claim 1, wherein the rotational table further comprises an indexing sensor, and wherein the indexing sensor is also indicative of the physical location. ### Claim 10 (depends on 1) The system of claim 1, wherein the placements are performed by at least one robot of the pick and place machine. ### Claim 11 (depends on 10) The system of claim 10, wherein the at least one robot comprises two robots. ### Claim 12 (depends on 11) The system of claim 11, wherein the two robots operate simultaneously. ### Claim 13 (depends on 11) The system of claim 11, wherein the two robots operate staggered. ### Claim 14 (depends on 1) The system of claim 1, wherein the at least one sensor comprises machine vision. ### Claim 15 (depends on 1) The system of claim 1, wherein the physical location comprises a template of X and Y coordinates. ### Claim 16 (depends on 1) The system of claim 1, wherein the rotational table rotates the circuit board by about 90° at each rotation. ### Claim 17 (depends on 1) The system of claim 1, wherein the circuit board is one in a series of a plurality of circuit boards conveyed through the pick and place machine. ### Claim 18 (depends on 1) The system of claim 1, wherein the at least first components comprise first and third components subjected to the at least one placement program. ### Claim 19 (depends on 1) The system of claim 1, wherein the radial sections are divided clockwise based on the radial section that includes the off-center fiducial. ### Claim 20 (depends on 1) The system of claim 1, wherein the at least one sensor is directed only at one radial section.