High speed bead handling system and method

Abstract

A bead handling system (20) includes a first lift assembly (28a) and a second lift assembly (28b), each including an actuator (34a, 34b) and at least one vacuum tube (30) for selectively engaging a bead (22), such as a lyophilized bead. The actuators (34a, 34b) are configured to extend and retract their respective vacuum tubes (30) to selectively engage a bead (22) and to selectively position an engaged bead (22) to a known location. The actuator (34a) of the first lift assembly (28a) and the actuator (34b) of the second lift assembly (28b) can extend and retract in opposite manners from one another. Further, the vacuum tube (30) of each of the first lift assembly (28a) and the second lift assembly (28b) can engage a bead (22) when retracted and position an engaged bead (22) to a known location when in an extended position.

Description

Cross-reference to related applications

[0001] This application claims priority to U.S. Provisional Patent Application Serial No. 63 / 590,971, filed October 17, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to a handling system for bead-like components, and more particularly to an improved system for high-speed handling of multiple bead-like components, for example, for handling freeze-dried bead-like components. Background Technology

[0003] Various products or components are formed into spherical bead shapes, including metals, plastics, and other bead-like materials. One such bead-like product is a lyophilized bead, which is a sphere of material, such as a measuring or reagent, that has been lyophilized, for example, to remove water from the material to preserve it, extend its shelf life, and / or improve its material handling capabilities. For example, lyophilized beads can be formed by momentarily freezing a liquid formation (e.g., by liquid nitrogen) followed by freeze-drying the material. The lyophilized beads then produce a material formation that is dimensionally uniform and dried for storage and / or material handling, and which can later be reconstituted for use. Lyophilized beads can have diameters ranging from 0.5 mm or less to 1.8 mm and 3.5 mm or more (including up to 6 mm). Summary of the Invention

[0004] The present invention provides a bead-shaped component handling system, and more particularly a high-speed multi-bead-shaped component handling system, which can be used, for example, for freeze-drying beads.

[0005] According to one aspect of the invention, a bead transport system includes at least a first lifting assembly and a second lifting assembly, wherein each of the first and second lifting assemblies includes an actuator and at least one vacuum tube for selectively engaging with a bead, wherein the actuators of the first and second lifting assemblies are configured to extend and retract the respective vacuum tubes of the first and second lifting assemblies to selectively engage with the bead and selectively position the engaged bead to a known location, and wherein the actuators of the first and second lifting assemblies do not extend and retract simultaneously.

[0006] According to another aspect of the invention, a freeze-dried bead transport system includes a first lifting assembly and a second lifting assembly, each including an actuator and at least one vacuum tube for selectively engaging with the freeze-dried beads. The actuators of the first and second lifting assemblies are configured to extend and retract the respective vacuum tubes of the first and second lifting assemblies to selectively engage with the freeze-dried beads and selectively position the engaged freeze-dried beads to a known location, wherein the actuators of the first and second lifting assemblies do not extend and retract simultaneously. According to a particular embodiment, the actuators of the first and second lifting assemblies extend and retract in opposite directions. Furthermore, the vacuum tube of each of the first and second lifting assemblies can engage with the freeze-dried beads when retracted and position the engaged freeze-dried beads to a known location when extended.

[0007] According to a particular embodiment, each of the first and second lifting assemblies includes a plurality of vacuum tubes. Furthermore, the system includes a container for lyophilizing the beads, wherein the vacuum tubes of the first lifting assembly are configured to extend from and retract into an internal volume of the container. Accordingly, the vacuum tubes of the first and second lifting assemblies are configured to extend from and retract into an internal volume of the container. In a particular configuration, actuators for the first and second lifting assemblies are disposed below the container, wherein the actuators for the first and second lifting assemblies are configured to cause the respective vacuum tubes of the first and second lifting assemblies to extend and retract vertically.

[0008] According to another aspect of the invention, a method for handling freeze-dried beads using a material handling system having a first actuator connected to at least one vacuum tube and a second actuator connected to at least one vacuum tube, the method comprising: extending and retracting the first actuator to selectively engage the freeze-dried beads with the tube connected to the first actuator and selectively positioning the engaged freeze-dried beads to a known position; and correspondingly extending and retracting the second actuator to selectively engage the freeze-dried beads with the tube connected to the second actuator and selectively positioning the engaged freeze-dried beads to a known position, wherein the actuators of the first lifting assembly and the second lifting assembly do not extend and retract simultaneously. In a particular configuration, the method includes extending and retracting the first and second actuators in opposite directions.

[0009] According to a particular embodiment, a vacuum tube connected to each of the first and second actuators engages with a freeze-dried bead when retracted, and wherein the vacuum tube connected to each of the first and second actuators, when in the extended position, positions the engaged freeze-dried bead to a known location. Furthermore, the system may include a plurality of vacuum tubes connected to each of the first and second actuators. The system also includes a receiver for the freeze-dried bead, wherein the vacuum tube connected to the first actuator is configured to extend from and retract into an internal volume of the receiver, and correspondingly, the vacuum tube connected to the second actuator is configured to extend from and retract into an internal volume of the receiver. In this configuration, the first and second actuators are disposed below the receiver.

[0010] The freeze-dried bead transport system of the present invention enables a stable supply of freeze-dried beads, for example, to another material transport component, such as a pick-and-place device. This system can operate as a high-speed multi-bead transport system, utilizing multiple vacuum tubes disposed on each of a plurality of lifting assemblies to selectively engage beads from a receiving container and position the beads for gripping by the pick-and-place device. These and other objects, advantages, objectives, and features of the invention will become apparent from the following description taken in conjunction with the accompanying drawings. Attached Figure Description

[0011] Figure 1A This is a left front perspective view of an embodiment of a high-speed bead material transport system configured as a freeze-dried bead transport system according to various aspects of the present invention. Figure 1B yes Figure 1A A three-dimensional view of the system's right front side; Figure 1C yes Figure 1A A three-dimensional view of the system's right rear side; Figure 1D yes Figure 1A A front-view perspective view of the system; Figure 1E yes Figure 1A A magnified left rear stereoscopic view of the system; Figure 2A From Figure 1A A rear perspective view of the bead-shaped lifting assembly shown separately in the system; Figure 2B yes Figure 2A A front perspective perspective view of the bead-shaped lifting assembly, with the front portion removed for clarity; Figure 2C yes Figure 2A Rear elevation view of the bead-shaped lifting component; Figure 2D yes Figure 2A Rear elevation view of the beaded lifting assembly, wherein one of the lifting heads is in a retracted orientation; Figure 3A From Figure 2A A top perspective view of the bead-shaped component housing, showing the bead-shaped component housing separated from the bead-shaped component lifting assembly; Figure 3B yes Figure 3A A bottom-view perspective of the bead-shaped container; Figure 4 From Figure 2A A perspective view of a guide member of one of the lifting heads, shown separately from the bead-shaped lifting assembly; Figure 5A From Figure 1A A side perspective view of the beaded feeder shown in the system separation diagram; Figure 5B yes Figure 5A A front-view perspective view of the beaded component feeder; Figure 6 From Figure 1A A perspective view of the bead-shaped component transporter shown in the system separation diagram; Figure 7 It is according to various aspects of the present invention for use Figure 1A A three-dimensional diagram of the conveyor station used in the system; and Figure 8 and Figure 9 Is with Figure 7 A three-dimensional view of the pallets used together at the conveyor station. Detailed Implementation

[0012] The invention will now be described with reference to the accompanying drawings, wherein the numbered elements in the following written description correspond to similarly numbered elements in the drawings. According to various aspects of the invention, in Figures 1A to 1E The image shows a spherical bead 22 for handling and moving. Figure 2C A high-speed freeze-dried bead transport system or assembly 20. In the illustrated embodiment, the bead 22 is a freeze-dried bead. Although the following discussion is in conjunction with the freeze-dried bead 22, it should be understood that the transport system 20 can be used with beads constructed of alternative materials and for alternative purposes.

[0013] The transport assembly 20 includes a bead lifting assembly 21, which includes a bead receiving member 24. The bead receiving member 24 includes an internal storage 26 in which a plurality of freeze-dried beads 22 are loosely arranged. As discussed in more detail below, the bead lifting assembly 21 includes pairs of reciprocating lifters or lifting assemblies 28a, 28b, each of which includes a plurality of vacuum rods or tubes 30 that interact with the receiving member 24 to selectively retrieve the beads 22 from the interior of the storage 26 and then move the beads 22 outward from the internal volume of the storage 26. In the illustrated embodiment, this requires lifting the beads upward on the tubes 30, thereby presenting and positioning each bead 22 in a known arrangement or orientation. Each bead 22 can then be selectively picked up from tube 30 using a separate device (e.g., pick-up and placement machine 23) to remove it from tube 30 and place it elsewhere. For example, as discussed in more detail below, each bead 22 can be placed on or in a separate cylinder containing liquid to reconstitutate the material of the bead. In this case, the cylinder can then be used as a consumable medical testing device.

[0014] In addition to the bead lifting assembly 21 and the pick-and-place machine 23, as discussed below, the transport assembly 20 includes: a feeder 25 for automatically supplying beads 22 into the receiver 24; and a vision system 27 for inspecting the beads 22 as they are supported on the tube 30. The transport assembly 20 may also include a workstation 29 or incorporate a workstation 29. Figure 7 The workstation 29 includes a conveyor that brings items to the handling assembly 20 for receiving beaded items 22 from the pick-and-place device 23, and then transports the items elsewhere, for example as part of a production or packaging process.

[0015] Further reference Figures 2A to 2D In the illustrated embodiment of the bead-shaped lifting assembly 21, each lifting assembly 28a, 28b includes five vacuum tubes 30, which are respectively mounted to vacuum heads 32a, 32b. The vacuum heads 32a, 32b are mounted to actuators 34a, 34b for correspondingly raising and lowering the vacuum heads 32a, 32b. The tubes 30 of each vacuum head 32a, 32b are configured to reciprocate within the internal reservoir 26 of the housing 24. The internal reservoir 26 is traversed by opposing angled walls 36 (…). Figure 3AThis forms or defines an elongated V-shaped cavity. Angled walls 36 lead to the elongated inner bottom 37, where, as the tube 30 retracts, bead-like elements 22 are gathered by gravity at the elongated inner bottom 37 to engage with the end 38 of the tube 30. The tube 30 can reciprocate through orifices (e.g., the holes 39 in the base 40 of the receiver 24). Figures 3A to 3B For example, the dimensions of actuators 34a, 34b and tube 30 can be configured such that the stroke of actuators 34a, 34b retracts the end 38 of tube 30 downwards, such that the end 38 is located at, near, or below, the inner surface of the elongated bottom 37 of reservoir 26. Accordingly, the dimensions of the stroke of actuators 34a, 34b, the length of tube 30, and the height of receiver 24 are configured such that when tube 30 extends upwards, bead 22 is presented for pickup by the pick-up and place device 23. Alternatively, the base 40 of receiver 24 may include a groove.

[0016] Actuators 34a, 34b can be configured as pneumatic actuators, electric actuators, or hydraulic actuators. In the illustrated embodiment, actuators 34a, 34b include pneumatic sliding actuators, and actuators 34a, 34b include one or more extendable and retractable arms or pistons 42 and a body or housing 44, the arms 42 extending and retracting from the body or housing 44. Each actuator 34a, 34b includes fittings 33, 35 configured as air inlets and air outlets for actuating pistons 42 via air lines (not shown) connected to fittings 33, 35. Pistons 42 are connected to sliders 43, which are mounted to move together with the body 44. Guide blocks 45a, 45b are mounted to the corresponding sliders 43, wherein guide blocks 45a, 45b support corresponding vacuum heads 32a, 32b ( Figure 2A , Figure 2C , Figure 2D ).

[0017] In the illustrated embodiment, the actuators 34a, 34b of each lifting assembly 28a, 28b extend and retract alternately by the extension and retraction of the corresponding arms 42, thereby causing the corresponding vacuum heads 32a, 32b to rise and fall alternately at opposite times. For example, from Figure 2DIt is understood that the actuator 34b of the lifting assembly 26b is shown in an extended orientation, whereby the end 38 of the tube 30 of the vacuum head 32b extends from the reservoir 26 together with the bead 22 to allow the bead 22 to be picked up from the tube 30. Correspondingly, the actuator 34a of the lifting assembly 26a is shown in a retracted orientation, whereby the end 38 of the tube 30 of the vacuum head 32a can engage the bead 22 from within the reservoir 26. After the bead 22 is picked up from the tube 30 of the vacuum head 32b, the actuator 34b retracts to pull the end 38 of the tube 30 into the reservoir to engage another bead 22, while the actuator 34a rises accordingly, whereby the bead 22 engaged by the tube 30 when the vacuum head 32a is in the retracted position then extends from the reservoir 24, so that such a bead 22 can then be picked up from the tube 30 of the vacuum head 32a. In this way, a continuous supply of beads 22 can be presented for pickup and placement by the pick-up and placement equipment. In the illustrated embodiment, lifting assembly 28a is shown fully retracted while lifting assembly 28b is fully extended. It should be understood that lifting assemblies 28a and 28b do not necessarily operate at completely opposite times, and the bead conveying assembly 20 can still operate as contemplated within the scope of the invention. That is, lifting assemblies 28a and 28b can operate asynchronously and still function to provide a continuous supply of beads 22. For example, the tube 30 associated with lifting assembly 28a can be fully raised with beads 22 on the tube 30 before the beads 22 are completely removed from the tube 30 of lifting assembly 28b. This is for illustrative purposes only. Figures 1A to 1C and Figures 2A to 2C As shown in the figure. Accordingly, after the removal of the bead 22 from the tube 30 of the lifter 28b is completed, the actuator 34b can retract, and before the removal of the bead 22 from the tube 30 of the lifter 28a is completed, the actuator 34b can extend the tube 30 to present the bead 22 for removal.

[0018] exist Figure 4 The diagram shows boot block 45a, where boot block 45b is a mirror image of boot block 45a. (See diagram for reference.) Figure 4As shown, guide block 45a includes pairs of spaced-apart arms 58, 60, each arm 58, 60 correspondingly including aligned openings 59, 61. Tubes 30 are mounted between arms 58, 60 at openings 59, 61, with the tubes 30 extending upwards and passing through the openings 59. Although lifting assembly 28a includes five tubes 30, in the illustrated embodiment, guide block 45a includes six pairs of aligned openings 59, 61, thus guide block 45a can accommodate six tubes 30 if desired. It should be understood that each lifting assembly can use an alternative number of tubes 30, including more or less than five or more or less than six tubes 30, and the number on each lifting assembly need not be equal. Vacuum head 32a is mounted on the underside of lower arm 60 to selectively provide vacuum to the tubes 30 passing through arm 60.

[0019] Referring to Figure 3, the vacuum tube 30 in the illustrated embodiment is configured as a cylindrical tube to form a circular opening at end 38 for engagement with the spherical bead 22, wherein the tube 30 may be made from a hypodermic cannula. Vacuum heads 32a, 32b each include a fitting 62 to which a movable vacuum line (not shown) is connected for providing suction, for example, from a vacuum pump (not shown) to each vacuum head 32a, 32b and consequently to the tube 30. System 20 may include one or more controllers 64 for coordinating the extension and retraction of actuators 34a, 34b, and for evacuating air through the vacuum heads 32a, 32b and / or the tube 30, and for coordinating the movement of the pick-and-place machine 23. For example, when the tube 30 is in the fully retracted position, the controller can selectively cause the vacuum pump to evacuate air through the tube 30 to attract the bead 22 within the receiver 24 or to engage the bead 22 within the receiver 24 with the end 38 of the tube 30. Then, while tube 30 is raised to its fully extended position, the vacuum generated by the extracted air can continue to be applied. Furthermore, the vacuum maintaining the bead 22 can then be shut off, for example, when or just before the bead 22 is removed by the pick-and-place device, until tube 30 returns to its fully retracted position. The pick-and-place machine 23 can operate accordingly, using the vacuum controlled by this controller to move the individual beads 22. In the illustrated embodiment, the vacuum within tube 30 associated with a given vacuum head 32a, 32b can be simultaneously controlled to be turned on or off together via vacuum heads 32a, 32b. Alternatively, the vacuum within tube 30 can be controlled individually. Vacuum heads 32a, 32b may include valves and suction or vacuum generators, or may operate as manifolds, as shown, where the vacuum is generated by a separate device and vacuum lines extend to vacuum heads 32a, 32b. Alternatively, a vacuum or air suction can be continuously applied through the tube 30 throughout the entire extension and retraction cycle, wherein a pick-and-place machine 23 with a large pick-up force removes the bead 22 from the tube 30, for example, by the vacuum or mechanical engagement of the pick-and-place machine 23 itself with the bead 22.

[0020] The tube 30 is also rotatable to allow inspection of the bead 22 via the vision system 27. Each lifting assembly 28a, 28b includes a drive motor 66 with an electric actuator mounted to a corresponding guide block 45a, 45b for vertical movement with the guide blocks 45a, 45b via actuators 34a, 34b. (Reference) Figure 2CEach electric motor 66 is provided with a gear 68, which includes a drive gear mounted to a drive shaft 67 of the motor 66, and each tube 30 is fitted with a gear 70, which includes a driven gear. In the illustrated embodiment, an additional gear 70 is disposed between and engages with the drive gears 68, and correspondingly engages with the gear 70 of the adjacent tube 30. The gears 70 of the tube 30 can be mounted via a support 72 (as shown with respect to the lifter 28a), using seals such as O-rings or the like to provide a seal relative to the vacuum heads 32a, 32b. Alternatively, as shown with respect to the lift assembly 28b, the support 72 can be arranged adjacent to the arm 58 of the guide block 58b, and the gear 70 seals relative to the guide block 58b in a similar manner. The drive gear 68 can mesh with the adjacent driven gear 70, which in turn mesh with each other. Alternatively, the gear 68 can be driven by a belt (e.g., a serpentine belt around the gear 70). Therefore, the rotation of the drive shaft 67 of the drive motor 66 imparts rotation to the tubes 30, thereby rotating the bead 22 held at the end 38 of each tube 30 by 360 degrees, so that the outer surface of the spherical bead can be inspected by the vision system 27, as discussed in more detail below. In the case of the meshing of gears 68, 70 or a serpentine drive belt, the rotation of the drive shaft 67 of the drive motor 66 imparts rotation to the tubes 30, with adjacent tubes 30 rotating in opposite directions relative to each other.

[0021] Figures 1A to 1E An exemplary pick-and-place machine 23 is shown, which includes a suction pick-and-place head 74. Figure 6The suction pick-and-place head 74 is mounted to the robotic arm 76 of the multi-axis robot 78 for selectively moving the suction head 74. In the illustrated embodiment, the robot 78 is a selectively compliant articulated robot (SCARA) supplied by Epson America, Inc., but it may be alternatively constructed. The suction head 74 includes a nozzle 80 configured to selectively position over a bead 22 presented for removal. The suction head 74 actuates a vacuum through the nozzle 80 to engage the bead 22, wherein the nozzle 80 may include a tapered inner end for contacting the bead 22, and the nozzle size is set relative to the diameter of the bead 22. The vacuum through the nozzle 80 is applied through the suction head 74 via a fitting 82 connected to a vacuum line (not shown) connected to an air pump (not shown) that can generate a vacuum and / or provide low-pressure air. This air pump may be the same pump used for vacuum heads 32a, 32b or may be a different pump. Arm 50 is then moved to position head 74 and nozzle 80 for placing the bead 22, for example, for subsequent processing or packaging discussed below. While head 74 and nozzle 80 are positioned in the desired location, the vacuum through nozzle 80 can be stopped to allow the bead 22 to fall by gravity, or a slight positive pressure can be applied to expel the bead 22. Control of the air flowing through suction head 74 can be provided by controller 64 or another controller. Although a single robotic arm 76, head 74, and nozzle 80 are shown, it should be understood that multiple robotic arms, heads, and nozzles can be used depending on the system requirements or needs. Furthermore, the vacuum head may include multiple nozzles for simultaneously gripping multiple beads 22.

[0022] like Figures 1A to 1E as well as Figure 5A and Figure 5BThe illustrated bulk feeder or hopper feeder 25 is used to supply additional beads 22 to the container 24 when the supply of beads 22 within the container 24 is depleted. The feeder 25 includes: a housing 82 defining a cavity 84 into which the beads 22 are placed; and a slider 86 movable by an actuator 88 to push the beads 22 out of the cavity 84 through an opening 90 in the housing 82, causing the beads 22 to fall into a reservoir 26 of the container 24, wherein the housing 82 is held at an angle by a support 92. A level sensor (e.g., configured as a laser or light sensor, or a camera, etc.) can be used to monitor the quantity of beads 22 within the container 24. When it is detected that the quantity of beads 22 has decreased to a level requiring replenishment, the bulk feeder 25 can then discharge additional beads 22 into the reservoir 26, for example, by activating the actuator 88 via a controller 64 to actuate the slider 86. The bulk feeder can be alternatively constructed in any of a variety of ways—for example, by selectively inserting the metered beads 22 into the reservoir 26 via a stepping feeder with a ribbed belt, or by a rotating feed wheel with a partitioned portion having selective openings that allow the beads 22 to deposit into the reservoir 26 when rotated to the correct orientation—to supply the beads 22. Furthermore, an air conveying system can be used to supply the beads from the feeder to the container 24.

[0023] refer to Figure 1A , Figure 1C and Figure 1E System 20 may also include a vision system 27, which includes one or more cameras 94, wherein in the illustrated embodiment, the cameras 94 are supported by a bracket or arm 96. The vision system 27, through the cameras 94, can be used to inspect or examine the bead 22 raised to the removal position, such as... Figure 2C and Figure 2D As shown. Vision system 27 can be used to confirm the presence of bead 22 on a given tube 30 and to monitor the removal of bead 22 from the tube 30, including possibly confirming the placement of bead 22. Vision system 27 can be additionally or alternatively used to inspect bead 22 to confirm compliance with preset criteria, including: for example, checking whether a given bead contains defects such as fragments or cracks; and / or checking the size of bead 22; and / or checking the type of bead, for example by checking the type of bead by color or other identifiers. System 20 may also include a discharge container (not shown), such as a discharge container near or adjacent to the container 24, such as a hopper, into which the pick-and-place head 74 can deposit or discharge non-conforming bead 22.

[0024] refer to Figure 7System 20 can be combined with or include workstation 29, for example, by mounting system 20 at the conveyor station shown. For example, by mounting to surface 98 of station 29. Conveyor station 29 includes conveyor 100, which includes tracks operable to transport pallets 102, 104 (… Figure 8 and Figure 9 The robot arm 76 is able to move the bead 22 selected by the head 74 from the tube 30 to the given trays 102, 104, and transport it to and from the nearby pick-and-place machine 23. For this purpose, it should be understood that the arm 76 is capable of extending and retracting in a vertical orientation.

[0025] refer to Figure 8 The diagram shows a tray 102, which includes medical test cartridges 104 mounted on the tray. Cartridge 104 includes a socket 106 into which a suction head 74 can place selected beads 22, for example, by terminating the vacuum at nozzle 80 or by providing a stream of air. The tray 102 is then movable along a conveyor 100, whereby cartridges 104 with the deposited beads 22 can be picked up and placed by a separate device (not shown) for further processing or packaging, and additional cartridges 104 can be provided on the tray 102. Reference Figure 9 The pallet 104 includes a plurality of sockets 108 that can receive the beaded items 22 for transport to another location for further packaging or processing. It should be understood that a variety of alternative equipment and techniques can be used for subsequent handling, packaging and / or processing of the beaded items 22 after system 20.

[0026] It should be understood that the freeze-dried bead transport assembly 20 can alternatively be constructed with reference to the figures shown in Figures 1 and 2, and still operate as intended within the scope of the invention. For example, although shown to include five tubes 30 for each vacuum head 32a, 32b, more or fewer tubes may be provided for each reciprocating assembly. Furthermore, although shown to include two lifting assemblies 28a, 28b, alternative material transport assemblies can be constructed to include more than two such lifting assemblies. For example, alternative freeze-dried bead transport assemblies may include three or more lifting assemblies, each lifting assembly extending and retracting one or more vacuum tubes. Additionally, alternative assemblies may include more than one receptacle or internal reservoir; for example, alternative assemblies may be formed from segmented bead reservoirs. For example, separators may be placed in the aforementioned receptacle 24 to create two internal reservoirs, whereby each lifting assembly 28a, 28b is associated with a separate internal reservoir. In this case, each reservoir may accommodate different types of beads, for example, for test configurations requiring multiple measurements. Furthermore, in addition to the actuators 34a, 34b configured to vertically lift the bead 22 via the extension of arm 42, alternative configurations and operations are possible. For example, tube 30 can extend and retract in alternative orientations, such as lifting the bead 22 at an angle not perpendicular to the horizontal direction. Furthermore, system 20 can be used with bead sized different sizes, including tubes of different diameters and nozzles of different sizes. Tube 30 can be removed from guide blocks 45a, 45b for maintenance or use with tubes of different sizes, and / or guide blocks 45a, 45b can be removed together to construct system 20 with bead sized different sizes.

[0027] According to the interpretation of patent law principles including the doctrine of equivalents, other changes and modifications may be made to the specifically described embodiments without departing from the principles of the invention, which is intended to be limited only by the scope of the appended claims.

Claims

1. A bead-shaped component handling system, the handling system comprising: A first lifting assembly and a second lifting assembly, wherein each of the first lifting assembly and the second lifting assembly includes an actuator and at least one vacuum tube for selectively engaging with a bead-like element; The actuators of the first lifting assembly and the second lifting assembly are configured to extend and retract the vacuum tubes of the first lifting assembly and the second lifting assembly respectively to selectively engage with the bead and selectively position the engaged bead to a known position, and wherein the actuators of the first lifting assembly and the second lifting assembly do not extend and retract simultaneously.

2. The handling system according to claim 1, wherein, The actuators of the first lifting component and the second lifting component extend and retract in opposite ways to each other.

3. The handling system according to claim 1, wherein, The vacuum tube of each of the first and second lifting assemblies is configured to engage with the bead when retracted, and wherein the vacuum tube of each of the first and second lifting assemblies positions the engaged bead to a known position when in the extended position.

4. The handling system according to any one of claims 1 to 3, wherein, Each of the first lifting assembly and the second lifting assembly includes a plurality of vacuum tubes.

5. The conveying system according to any one of claims 1 to 3, the conveying system further comprising a receiving member for the bead-like component, and wherein, The vacuum tube of the first lifting component is configured to extend from and retract into the internal volume of the receiver.

6. The handling system according to claim 5, wherein, The vacuum tubes of the first and second lifting components are configured to extend from and retract into the internal volume of the housing.

7. The handling system according to claim 6, wherein, The actuators of the first lifting assembly and the second lifting assembly are disposed below the receiving member.

8. The handling system according to claim 7, wherein, The actuators of the first lifting assembly and the second lifting assembly are configured to cause the vacuum tubes of the first lifting assembly and the second lifting assembly to extend and retract vertically.

9. The transport system according to any one of claims 1 to 3, the transport system further comprising a camera system configured to image the bead when the bead is positioned at the known location.

10. The handling system according to claim 9, wherein, The vacuum tubes of the first lifting assembly and the second lifting assembly are configured to rotate when extended to the known position.

11. The conveying system according to any one of claims 1 to 3, wherein the conveying system further comprises a movable suction head, wherein, The movable suction head is configured to selectively remove the bead from the vacuum tube when the bead is in the known position.

12. A method for handling bead-shaped components using a material handling system, the material handling system having a first actuator connected to at least one vacuum tube and a second actuator connected to at least one vacuum tube, the method comprising: The first actuator extends and retracts to selectively engage the bead with the tube coupled to the first actuator and selectively position the engaged bead to a known location; and The second actuator extends and retracts to selectively engage the bead with the tube connected to the second actuator and selectively position the engaged bead to a known location. In this case, the actuators of the first lifting component and the second lifting component do not extend and retract simultaneously.

13. The method according to claim 12, wherein, The first actuator and the second actuator extend and retract in opposite ways to each other.

14. The method according to claim 12, wherein, The vacuum tube connected to each of the first and second actuators engages with the bead when retracted, and wherein the vacuum tube connected to each of the first and second actuators, when in the extended position, positions the engaged bead to a known position.

15. The method according to claim 12, wherein, Multiple vacuum tubes are connected to each of the first actuator and the second actuator.

16. The method according to any one of claims 12 to 15, the method further comprising a receiving member for the bead-like member, and wherein, The vacuum tube connected to the first actuator is configured to extend from and retract into the internal volume of the housing.

17. The method according to claim 16, wherein, The vacuum tube connected to the second actuator is configured to extend from and retract into the internal volume of the housing.

18. The method according to claim 17, wherein, The first actuator and the second actuator are positioned below the housing.

19. The method according to any one of claims 12 to 15, the method further comprising imaging a bead-like element disposed on one of the vacuum tubes using a camera.

20. The method of claim 19, further comprising: When the bead-shaped element is placed on the vacuum tube, the vacuum tube is rotated.

21. The method according to any one of claims 12 to 15, wherein, The bead-like components include freeze-dried beads.

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