Needle dispenser

A needle dispensing system comprising:

• a hopper configured to receive and hold a plurality of bulk needles for dispensing;
• a singularizing drum positioned to rotate with a portion of the singularizing drum exposed to the interior of the hopper, the singularizing drum comprising at least one groove in an outer surface of the singularizing drum;
• a positioning drum comprising a center shaft and two exterior flanges that extend radially away from the center shaft positioned to rotate adjacent to the singularizing drum, wherein the positioning drum comprises a plurality of grooves that extend across the exterior surfaces of both of the two exterior flanges;
• and
• a plurality of magnets embedded within the exterior flanges of the positioning drum, each magnet of the plurality of magnets embedded radially interior of an exterior surface of the exterior flange and radially interior of a groove of the plurality of grooves;
• wherein the singularizing drum and the positioning drum rotate in coordination to pass a needle from the at least one groove of the singularizing drum to the at least one groove of the positioning drum.

A method of dispensing needles, the method comprising:

• engaging a plurality of needles against a singularizing drum having a plurality of grooves extending radially interior from an exterior surface of the singularizing drum;
• rotating the singularizing drum and a positioning drum in coordination;
• passing a needle from a groove of the plurality of grooves in the singularizing drum to a groove in the positioning drum;
• analyzing a signal from a needle sensor positioned relative to the positioning drum while rotating the singularizing drum and the positioning drum in coordination;
• upon detecting a needle in the signal from the needle sensor, rotating the singularizing drum and the positioning drum in coordination for a rotation increment;
• and
• removing the needle from the positioning drum with a gripping end effector.