Systems and methods for object feeding for manufacturing

Abstract

A controllable object feeder system for moving an object, and method of moving the object during manufacturing. The feeder system includes a bin having a top plate, and a frame. The frame includes a plate holder configured to receive the top plate, and at least one vertical post mechanically coupled to the plate holder, with the plate holder configured to move along the vertical post. The frame includes a plate holder drive component to control a position of the plate holder along the post, and an extension mechanism including an end effector disposed above the plate holder and configured to engage with the object's surface and to move the object. The method includes positioning objects onto a top plate and moving the top plate towards an end effector. The method includes moving an object of the objects from a first location to a different, second location by the end effector.

Description

Attorney Docket No. NBL-068WOSYSTEMS AND METHODS FOR OBJECT FEEDING FOR MANUFACTURINGCROSS-REFERENCE TO RELATED APPLICATION(S)

[0001] Tliis application claims priority to and the benefit of U. S. Provisional Patent Application No. 63 / 748,281, entitled “SYSTEMS AND METHODS FOR OBJECT FEEDING FOR MANUFACTURING,” filed on January' 22, 2025, the entire contents of which are incorporated herein by reference.FIELD OF THE INVENTION

[0002] Embodiments of the present invention relate to object feeding and, more particularly, to an object feeder system and a method of identification, selection, and placement of an object using the same.BACKGROUND OF THE INVENTION

[0003] In manufacturing, tools can be used to select and position objects to form a manufactured article. Hence, the industry has concentrated on developing different types of tools that allow for selection and positioning of a number of different types of objects, while adhering to quality control standards for positioning the objects within the manufactured article. End effectors mechanically coupled to an end of a moveable element are examples of tools for selecting and placing objects. Using the end effector, a robotic element can handle, manipulate, and sense objects in the environment, thereby enabling the robotic element to perform one or more designated tasks. Some examples of end effectors that can be coupled to a robotic element include process tools (e.g., welding tools, machining tools, painting tools, three-dimensional (3D) printing tools, material removal tools, surface finishing tools, sanding tools, grinding tools, etc.), grippers (e.g., vacuum grippers, needle grippers, electro-adhesive grippers, soft grippers, jamming grippers, etc.), and sensors (e.g., ultrasonic sensors, laser scanners, two-dimensional (2D) and 3D cameras, infrared sensors, etc.).

[0004] Conventionally, manufacturers have faced challenges with using end effectors to automatically select and position an individual object by separating and removing the object from a group of objects. As one example, identifying an individual object from a stack of the same objects and separating the individual object from the stack can prove difficult when the objects have variable alignment within the stack and each of the objects is very' thin (e.g.,1IPTS / 200295437.1Attorney Docket No. NBL-068WOhaving a thickness in a range of 1 millimeter (mm) to 5 mm). Current imaging sensors cannot distinguish between an individual object and subsequent objects within a group when the objects are stacked, very thin, and / or have little or no contrast in color. Further, adjacent contacting objects tend to adhere together, leading to failures by an end effector to remove an individual object. For example, an end effector may accidentally fail to remove an individual object or remove more than one of the objects when the end effector attempts to remove an individual object from the group of objects.

[0005] For manufacturing purposes, consistent, reproducible selection and placement of an individual object by removal of the individual object from the group is needed to make the individual objects available to subsequent manufacturing processes. For example, in apparel and footwear industries, such as athletic apparel and footwear industries, picking and placing individual material pieces selected from a stack of the material pieces is required to feed the material pieces to subsequent end effectors for construction of a shoe upper from a number of different material pieces. When objects cannot be reliably separated and selected from the group of objects, both manufacturing times and a number of defects in a manufactured article including the object may increase. Also, using manual labor to separate and select an individual object from the group of objects can further increase manufacturing times and costs.SUMMARY OF THE INVENTION

[0006] Accordingly, there is a need for a controllable object feeder system that can reliably identify and select an individual object from a group of the objects at an initial location to move the individual object to a different location (referred to herein as “singulation”), whereby the object feeder system is configured to adapt to and accommodate varying characteristics of different objects, in particular, the object feeder sy stem may include a bin configured to receive a group (e.g., a stack) of objects and a frame. Advantageously, a plate holder of the frame is configured to receive a plate of the bin, and a drive component of the frame is configured to control a position of both the plate holder and the plate of the bin along a vertical post of the frame. Further, the frame can include an extension mechanism having an end effector disposed above the plate holder, with the end effector being configured to engage with (e.g., contact) and move individual objects selected from the group. By controlling the respective positions of the plate holder and the end effector, an individual object within the group can be made available to the end effector for identification, picking,IPTS / 200295437.1Attorney Docket No. NBL-068WOand placement to separate the individual object from the group. For example, the drive component may drive and position, via tire plate holder, a plate of the bin and objects positioned thereon in proximity to the end effector at an initial location. The end effector may then identify an object positioned on the plate, engage with a surface of the object, and move (e.g., lift) the object from the initial location to a different target location.

[0007] In an aspect, embodiments of the invention relate to a controllable object feeder system for moving an object. The controllable object feeder system includes a bin including a top plate configured to support a plurality of objects, the plurality of objects including the object. Tire controllable object feeder system includes a frame. Tire frame includes a plate holder configured to receive the top plate. The frame includes a vertical post mechanically coupled to the plate holder, where the plate holder is configured to move along the vertical post. Tire frame includes a plate drive component configured to control, via the plate holder, a position of the top plate along the vertical post. The frame includes an extension mechanism including an end effector disposed above the plate holder and configured to (i) engage with a surface of the object supported by the top plate and (i) move the object.

[0008] One or more of the following features may be included. The top plate may include a top surface configured to support the plurality of objects. At least a portion of the top surface of the top plate may be planar. The bin may further include a bottom plate disposed below the top plate. In some variations, the plate drive component may be configured to translate, via the plate holder, the top plate (i) away from the bottom plate, and (ii) towards the end effector. The top plate and the bottom plate may be disposed in parallel planes. Hie bottom plate may include a top surface. The top surface of the top plate may be parallel to the top surface of the bottom plate. In some variations, the top plate may be removably coupled to the bottom plate by one or more of fasteners. The plate drive component may be configured to decouple the top plate and the bottom plate. In some variations, the top plate may define one or more (e.g., a plurality of) openings and the bottom plate may include one or more (e.g., a plurality of) extensions (e.g., pins and / or walls) configured to extend through the one or more openings of the top plate, lire one or more extensions may extend normal to at least one of the top surface of the top plate or the top surface of the bottom plate. The bottom plate may define one or more (e.g., a plurality of) attachment points. The one or more extensions may be coupled to the bottom plate by the one or more atachment points. At least one extension of the one or more extensions may be removably coupled to the bottom plate. In some variations, the one or more extensions may include one or more (e.g., a plurality' of)IPTS / 200295437.1Attorney Docket No. NBL-068WOpins. At least one pin of the one or more pins may include an inner pin coupled to the bottom plate and an outer cover rotationally coupled to the inner pin. The outer cover may be configured to rotate about a central axis defined by the inner pin. In some variations, at least one pin of the one or more pins may include a vertical portion and a top portion. The vertical portion of at least one pin may extend through a respective opening of the top plate toward the extension mechanism, and (ii) the top portion of the at least one pin may extend from the vertical portion over (e.g., parallel to) the top surface of the top plate.

[0009] The vertical post may include at least one of a track, a rail, or a shaft. Tire frame may include at least two vertical posts arranged in parallel, lire plate drive component may include at least one of: a motor, a piston, a linear actuator, a pneumatic drive component, or a hydraulic drive component. In some variations, the plate drive component may be configured to translate the top plate, via the plate holder, to a plurality of positions along the vertical post. Tire positions may include a first position at a first end of the vertical post, a second position at a second end of the vertical post, and a plurality of intermediate positions between the first position and the second position. The plate drive component may be configured to translate the top plate, via the plate holder, along a single degree of freedom, lire single degree of freedom may include a vertical axis (e.g., a vertical Z-axis) defined by the vertical post. The end effector may include at least one of: a suction cup, a suction source, a fan, a gecko gripper, a mechanical gripper, an electro-adhesion gripper, or an adhesive gripper. In some variations, the end effector may include the suction cup and the suction source and the suction cup may be fluidically coupled to the suction source. In some variations, the end effector may further include the mechanical gripper. The mechanical gripper may include a needle gripper. The end effector may be moveable along a first axis (e.g., an X-axis). In some variations, the first axis may be parallel to a first plane defined by the top surface of the top plate. A central axis of the end effector may extend normal to the top surface of the top plate.

[0010] Tlie extension mechanism may include at least one of a track, a rail, a shaft, a robotic arm, a pivot arm, a swing clamp, and / or an X-Y gantry. Tire end effector drive component may include the linear actuator. Tire linear actuator may include comprises the motor and a lead screw. The extension mechanism may include an end effector drive component configured to control a position of tire end effector. In some variations, the end effector drive component may include at least one of: a motor, a piston, a linear actuator, a pneumatic drive component, and / or a hydraulic drive component. The end effector drive component may be configured to translate the end effector to a plurality of positions via the extension mechanism, and the positions may include a starting position, a target position, and a4IPTS / 200295437.1Attorney Docket No. NBL-068WOplurality of intermediate positions between the starting position and the target position. The end effector drive component may be configured to translate tire end effector along a single degree of freedom. The single degree of freedom may include an axis (e.g., an X-axis) defined by the extension mechanism. Tire end effector drive component may be configured to translate the end effector away from the top plate of the bin. The end effector drive component may be configured to translate the end effector along a second plane that is parallel to a first plane defined by the top surface of the top plate of the bin.

[0011] In another aspect, embodiments of the invention relate to a controllable object feeder system for moving an object. Tire controllable object feeder system includes a bin. Tire bin includes a top plate configured to support a plurality of objects, the plurality of objects including the object, lire bin includes a carriage coupled to the top plate. The carriage includes (i) an engagement structure and (ii) a plurality' of wheels. Tire controllable object feeder system includes a frame. Tire frame includes a vertical post including a track and a lead screw. The plurality of wheels are configured to engage with the track. The lead screw is configured to engage with the engagement structure to cause movement of the top plate along the vertical post via rotation of the lead screw. The frame includes a plate drive component configured to control a position of the top plate along the vertical post via the lead screw. The frame includes an extension mechanism. The extension mechanism includes an end effector disposed above the top plate and configured to engage with a surface of the object supported by the top plate and to move the object.

[0012] One or more of the following features may be included. Hie carriage may further include a mounting bracket coupling the top plate to the carriage. The engagement structure may include a threaded half nut engagement structure configured to removably engage with the lead screw. The carriage may further include a sled bracket comprising the engagement structure. The carriage may further include first and second drive brackets pivotally coupled to the sled bracket along a pivot axis. Each of the sled bracket, the first drive bracket, and the second drive bracket may be configured to rotate about the pivot axis. The pivot axis may be orthogonal to a vertical axis (e.g., vertical Z-axis) defined by the vertical post, lire top plate may be configured to move along the vertical axis. The carriage may further include one or more biasing elements. The one or more biasing elements may couple at least one of (i) the sled bracket and the first drive bracket or (ii) the sled bracket and the second drive bracket. The one or more biasing elements may be configured to apply a rotational biasing force to the sled bracket about the pivot axis. The first drive bracket and the second drive bracket may 5IPTS / 200295437.1Attorney Docket No. NBL-068WOeach include at least one wheel of the plurality of wheels. The plurality of wheels may be configured to rotate about one or more rotation axes orthogonal to a vertical axis defined by the vertical post. The top plate may be configured to move along the vertical axis (e.g., via the carriage by engagement between the engagement structure and the lead screw). At least one of the plurality of wheels may include an idler wheel or a rotary speed limiter wheel.

[0013] The track may include first and second track walls. The first and second track walls may be configured to engage w ith the plurality of wheels. Tire first and second track walls may define a track entrance at a bottom end of the lead screw' and a track exit at a top end of the lead screw. The controllable object feeder system may further include a loading mechanism configured to apply a biasing force to the top plate to cause engagement between the engagement structure and the lead screw. The controllable object feeder system may further include an alignment track configured to engage with the bin to cause alignment of the bin relative to the vertical post,

[0014] The top plate may include a top surface configured to support the plurality of objects. At least a portion of the top surface of the top plate may be planar. The bin may further include a bottom plate disposed below the top plate. In some variations, the plate drive component may be configured to translate, via the plate holder, the top plate (i) a 'ay from the bottom plate, and (ii) towards the end effector. The top plate and the bottom plate may be disposed in parallel planes, lire bottom plate may include a top surface. Hie top surface of the top plate may be parallel to the top surface of the bottom plate. In some variations, the top plate is removably coupled to the bottom plate by one or more of fasteners. The plate drive component may be configured to decouple the top plate and the bottom plate, in some variations, the top plate may define one or more (e.g., a plurality of) openings and the bottom plate may include one or more (e.g,, a plurality of) extensions (e.g., pins and / or walls) configured to extend through the one or more openings of the top plate. The one or more extensions may extend normal to at least one of the top surface of the top plate or the top surface of the bottom plate. The bottom plate may define one or more (e.g., a plurality of) atachment points. The one or more extensions may be coupled to the bottom plate by the one or more attachment points. At least one extension of the one or more extensions may be removably coupled to the bottom plate. In some variations, the one or more extensions may include one or more (e.g., a plurality’ of) pins. At least one pin of the one or more pins may include an inner pin coupled to the bottom plate and an outer cover rotationally coupled to the inner pin. The outer cover may be configured to rotate about a central axis defined by the inner pin. In some variations, at least one pin of the one or more pins may include a vertical 6IPTS / 200295437.1Attorney Docket No. NBL-068WOportion and a top portion. The vertical portion of at least one pin may extend through a respective opening of the top plate toward the extension mechanism, and (ii) the top portion of the at least one pin may extend from the vertical portion over (e.g., parallel to) the top surface of the top plate.

[0015] The vertical post may include at least one of a track, a rail, or a shaft. The frame may include at least two vertical posts arranged in parallel. The plate drive component may include at least one of: a motor, a piston, a linear actuator, a pneumatic drive component, or a hydraulic drive component, in some variations, the plate drive component may be configured to translate the top plate, via the carriage by engagement between the engagement structure and the lead screw, to a plurality of positions along the vertical post. The positions may include a first position at a first end of the vertical post, a second position at a second end of the vertical post, and a plurality of intermediate positions between the first position and the second position. Tire plate drive component may be configured to translate the top plate, via the carriage by engagement between the engagement structure and lead screw, along a single degree of freedom. Tire single degree of freedom may include a vertical axis (e.g., a vertical Z-axis) defined by tire vertical post. The end effector may include at least one of: a suction cup, a suction source, a fan, a gecko gripper, a mechanical gripper, an electro-adhesion gripper, or an adhesive gripper. In some variations, the end effector may include the suction cup and tire suction source and the suction cup may be fluidically coupled to the suction source. In some variations, the end effector may further include the mechanical gripper. The mechanical gripper may include a needle gripper. Tire end effector may be moveable along a first axis (e.g., an X-axis). In some variations, the first axis may be parallel to a first plane defined by tire top surface of the top plate. A central axis of the end effector may extend normal to the top surface of the top plate.

[0016] Tire extension mechanism may include at least one of a track, a rail, a shaft, a robotic arm, a pivot arm, a swing clamp, and / or an X-Y gantry. The end effector drive component may include the linear actuator. The linear actuator may include comprises the motor and a lead screw The extension mechanism may include an end effector drive component configured to control aposition of tire end effector. In some variations, the end effector drive component may include at least one of: a motor, a piston, a linear actuator, a pneumatic drive component, and / or a hydraulic drive component. The end effector drive component may be configured to translate the end effector to a plurality of positions via the extension mechanism, and the positions may include a starting position, a target position, and a plurality of intermediate positions between the starting position and the target position. The 7IPTS / 200295437.1Attorney Docket No. NBL-068WOend effector drive component may be configured to translate the end effector along a single degree of freedom, lire single degree of freedom may include an axis (e.g., an X-axis) defined by the extension mechanism. The end effector drive component may be configured to translate the end effector away from the top plate of the bin. The end effector drive component may be configured to translate the end effector along a second plane that is parallel to a first plane defined by the top surface of the top plate of the bin.

[0017] In another aspect, embodiments of the invention relate to a controllable object feeder system further including a guide plate. One or more of the following features may be included. The guide plate may include atop surface. The guide plate may be disposed adjacent to the frame of the controllable object feeder system, the guide plate being different from the top plate. The extension mechanism may be configured to move over the top plate and the guide plate. When the end effector moves the object away from the top plate over the guide plate, the top surface of the guide plate may be configured to support at least a portion of the object. The guide plate may further include a tapered proximal end and a distal end opposite the proximal end. At least a portion of the top surface of the guide plate may be planar.

[0018] In another aspect, embodiments of the invention relate to a controllable object feeder system further including a controller and a reflective material (e.g,, at least one reflective material portion) disposed on the top surface of the top plate. One or more of the following features may be included. The end effector may further include a sensor communicatively connected to the controller. Hie sensor may be configured to measure a reflectance of at least one of (i) the reflective material or (ii) at least one object of the plurality of objects supported by the top plate. When the at least one object is supported on the top surface of the top plate, the controller may be configured to detect the at least one object based on the measured reflectance. When the at least one object is supported on the top surface of the top plate, the controller may be configured to detect the presence of the at least one object based on the measured reflectance. When none of the plurality of objects are supported on the top surface of the top plate, the controller may be configured to fail to detect any of the plurality of objects as supported on the top surface of the top plate based on the measured reflectance. When none of the plurality of objects are supported on the top surface of the top plate, the controller may be configured to detect the absence of any of the plurality of objects as supported on the top surface of the top plate based on the measured reflectance. Hie sensor may include a light reflection sensor, such as a retro-reflective sensor.8IPTS / 200295437.1Attorney Docket No. NBL-068WO

[0019] In another aspect, embodiments of the invention relate to a bin for a controllable object feeder system, lire bin includes a plate (e.g., a top plate) including a top surface configured to support a plurality of objects. The bin includes a fixturing bracket. The fixturing bracket includes at least one wall defining a storage area configured to store the plate. The bin includes a plurality of pins configured to support the plate. Each pin includes a top end and a bottom end opposite the top end. Each pin includes is moveable between a folded position and unfolded position. Tire bin includes a plurality of spring hinges coupling the plurality of pins to the fixturing bracket. Each spring hinge couples at least one pin of the plurality of pins to the fixturing bracket. Each spring hinge includes a first portion coupled to the fixturing bracket. Each spring hinge includes a second portion coupled to the top end of the at least one pin, where the first portion and the second portion are pivotally coupled. Each spring hinge includes a biasing element configured to bias the at least one pin coupled to the spring towards the folded position. The bin is moveable between a storage configuration and a support configuration

[0020] One or more of the following features may be included. In the support configuration, the plurality of pins may have the unfolded position and may define an interior area therebetween. In the support configuration, the plate may be further configured to vertically translate along a vertical axis (e.g., a vertical Z-axis) within the interior area. The bin may be configured to move from the support configuration to the storage configuration by movement of each pin of the plurality of pins from the unfolded position to the folded position via the biasing elements, when the plate enters the storage area from the interior area. In the support configuration, the plate may be further configured to engage with the plurality of pins to bias each of the plurality of pins to the unfolded position. The bin may further include a plurality of casters coupled to the top plate,. Each caster may be configured to engage with a respective pin of the plurality of pins when the bin is in the support configuration. In the storage configuration, the fixturing bracket may be configured to receive and store the plate within the storage area. The bin may be shaped and sized to correspond to at least one cross- sectional surface of at least one of the plurality of objects. One or more pins of the plurality of pins may include a tapered end. At least one pin of the plurality of pins may be further configured to engage with an edge of at least one object of the plurality of objects when (i) the bin is in the support configuration and (ii) the plurality of objects are supported by the top surface of the plate.9IPTS / 200295437.1Attorney Docket No. NBL-068WO

[0021] In another aspect, embodiments of the invention relate to automated loading system for a controllable object feeder system. The automated loading system includes a bin including a top plate having a top surface configured to support a plurality of objects. The bin is moveable between a preloading position, a loading position, and an unloading position. The automated loading system includes a lifting mechanism configured to move the bin between the preloading position and the loading position. The automated loading system includes a lifting drive component configured to control a position of the bin between the preloading position and the loading position. The automated loading system includes a retention structure configured to engage with the bin to retain at least a portion (e.g., a bottom plate) of the bin at the loading position. The automated loading system includes an unloading mechanism configured to move the bin between the loading position and the unloading position, lire automated loading sy stem includes an unloading drive component configured to control the position of the bin between the loading position and the unloading position,

[0022] One or more of the following features may be included. The lifting mechanism may include a scissor lifting mechanism. The retention structure may include one or more (e.g., a plurality of) pneumatic pistons configured to engage with the bin. When the bin is positioned at the loading position, the top plate of the bin may be configured to engage with a vertical post for movement thereof along the vertical post.

[0023] In another aspect, embodiments of the invention relate to a method of moving an object during a manufacturing process (e.g., by an object feeder system). Tire method includes the step of disposing a top plate in a frame, the top plate including a top surface. The method includes the step of moving the top plate towards an end effector to position the object at a first location, where a plurality of objects comprising the object are positioned on the top surface (e.g., during such movement). Tire method includes the step of engaging, after the object is positioned at the first location, the end effector with a surface of the object. Tire method includes the step of moving the object from tire first location while the object is engaged with the end effector. The method includes the step of disengaging, after moving tire object from the first location, the end effector from the surface of tire object to move the object to a second location different from the first location,

[0024] One or more of the following features may be included. The method may further include disposing a bottom plate in the frame, where the top plate and the bottom plate may be configured to form a bin. Tire method may further include detecting, using a sensor, the object at the first location. The method may further include stopping, in response to detecting 10IPTS / 200295437.1Attorney Docket No. NBL-068WOthe object at the first location, the movement of the top plate towards the end effector. The method may further include detecting, using a sensor, engagement between the end effector with the surface of the object, after disengaging the end effector from the surface of the object, the method may further include detecting, using a sensor, (i) a presence of an additional object of the plurality of objects positioned on the surface of the top plate, or (ii) an absence thereof.

[0025] In another aspect, embodiments of the invention relate to a method of moving an object during a manufacturing process (e.g., by an object feeder system). The method includes the step of positioning a plurality of objects onto a surface of top plate, the plurality of objects including the object. The top plate is moved towards an end effector to position the object of the plurality of objects at a first location. Hie end effector is engaged with a surface of the object. The object is moved via the end effector from the first location to a second location different from the first location. The end effector is disengaged from the surface of the object.

[0026] One or more of the following features may be included. The top plate and a bottom plate may be inserted into a frame configured to receive the top plate and the bottom plate to form a bin including the top plate and the bottom plate. The object may be detected by a sensor at the first location.

[0027] These and other objects, along with advantages and features of the embodiments of the present invention herein disclosed, will become more apparent through reference to the following description, the accompanying drawings, and the claims. Furthermore, it is to be understood that the features of the various embodiments described herein are not mutually exclusive and can exist in various combinations and permutations.BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In the drawings, like reference characters generally refer to tire same parts throughout the different views. Also, the drawings are not necessarily to scale, emphasis instead generally being placed upon illustrating the principles of embodiments of the invention. In the following description, various embodiments of the present invention are described with reference to the following drawings, in which:

[0029] FIG. 1 is a front perspective view of an exemplary object feeder system, in accordance with some embodiments of the invention;11IPTS / 200295437.1Attorney Docket No. NBL-068WO

[0030] FIG. 2A is a rear perspective view of an exemplary bin of an object feeder system, in accordance w ith some embodiments of the invention;

[0031] FIG. 2B is a side view of the exemplary bin of FIG. 2A, in accordance w ith some embodiments of the invention;

[0032] FIG. 2C is a top view of the exemplary bin of FIG. 2A, in accordance with some embodiments of the invention;

[0033] FIG, 2D is a side view of the exemplary bin of FIG. 2A, in accordance with some embodiments of the invention;

[0034] FIG. 2E is a side view- of the exemplary bin of FIG. 2A, in accordance with some embodiments of the invention;

[0035] FIG. 2F is a rear perspective view of an exemplary bin, in accordance with some embodiments of the invention;

[0036] FIG. 3A is a cross-sectional view7of an exemplary pin, in accordance with some embodiments of the invention;

[0037] FIG. 3B is a cross-sectional view7of another exemplary pin, in accordance w ith some embodiments of the invention;

[0038] FIG. 4 is a front perspective view of an exemplary frame of an object feeder system, in accordance with some embodiments of the invention;

[0039] FIG. 5 A is a front view of the exemplary object feeder system of FIG. 1, in accordance w ith some embodiments of the invention;

[0040] FIGs. 5B - 5D and 5F are side views of the exemplary7object feeder system of FIG, 1, in accordance with some embodiments of the invention;

[0041] FIGs. 5E and 5G are rear perspective views of the exemplary object feeder system of FIG. I, in accordance with some embodiments of the invention;

[0042] FIG, 6 is a top perspective view of an embodiment of a top plate of a bin including a number of overhang pins;121PTS / 2002.95437.1Attorney Docket No. NBL-068WO

[0043] FIG. 7A is a side view of an exemplary object feeder system, in accordance with some embodiments of the invention;

[0044] FIG. 7B is a top perspective view of the exemplary object feeder system of FIG. 7A, in accordance with some embodiments of the invention;

[0045] FIG. 8A is a side perspective view of an exemplary expandable pin, in accordance with some embodiments of the invention;

[0046] FIG, 8B is a side perspective view of an exemplary’ expandable pin, in accordance with some embodiments of the invention;

[0047] FIG. 9 A is a cross-sectional view of an exemplary expandable pin, in accordance with some embodiments of the invention;

[0048] FIG. 9B is a cross-sectional view of an exemplary expandable pin, in accordance with some embodiments of the invention;

[0049] FIG. 10A is a cross-sectional view of another exemplary object feeder system including an expandable pin, in accordance with some embodiments of tire invention;

[0050] FIG. 10B is a cross-sectional view of the exemplary object feeder system of FIG. 10A, in accordance with some embodiments of the invention;

[0051] FIG. 11 is an illustration of a picking technique of an object feeder system, in accordance with some embodiments of the invention;

[0052] FIG. 12 is an illustration of a picking technique of an object feeder system, in accordance with some embodiments of the invention;

[0053] FIG, 13 is a flowchart of a method of singulating an object using an object feeder system, in accordance with some embodiments of the invention;

[0054] FIG. 14 is a block diagram of an example computer system, in accordance with some embodiments of the invention;

[0055] FIGs. 15A is a perspective view of an exemplary object feeder system including a sensor for detecting objects positioned on a bin, in accordance with some embodiments of the invention;13IPTS / 200295437.1Attorney Docket No. NBL-068WO

[0056] FIGs. 15B and 15C are side views of the exemplary object feeder system of FIG. 15A, in accordance with some embodiments of the invention;

[0057] FIG. 16 is a perspective view of an exemplary frame of an object feeder system, in accordance with some embodiments of the invention;

[0058] FIG. 17 is a perspective view of an exemplary bin of an object feeder system, in accordance with some embodiments of the invention;

[0059] FIG, 18A is a top view of an exemplary’ carriage of a bin, in accordance with some embodiments of the invention;

[0060] FIG. 18B is a right side view of the exemplary carriage of FIG. 18A, in accordance with some embodiments of the invention;

[0061] FIG. 19A is a front view of a portion of an exemplary object feeder system including a carriage and a vertical post, in accordance with some embodiments of the invention;

[0062] FIG. 19B is a cross-sectional view taken along lines 19B-19B of FIG. 19A, in accordance with some embodiments of the invention;

[0063] FIG. 20A is a perspective view of an exemplary bin of an object feeder system, in accordance with some embodiments of the invention;

[0064] FIGs. 20B and 20C are side views of the exemplary bin of FIG. 20A, in accordance with some embodiments of the invention;

[0065] FIG. 21A is a perspective view of an exemplary object feeder system including a guide plate, in accordance with some embodiments of the invention;

[0066] FIG. 21B is a perspective view of the guide plate of FIG. 21A, in accordance with some embodiments of the invention;

[0067] FIG. 22 is a side view of an exemplary’ automatic loading system, in accordance with some embodiments of the invention; and

[0068] FIG, 23 is a perspective view of an exemplary automatic loading system, in accordance with some embodiments of the invention.14IPTS / 200295437.1Attorney Docket No. NBL-068WODETAILED DESCRIPTION

[0069] During a manufacturing process, an end effector can be used to pick and place objects to move the objects from one location to another location, while translating and / or rotating the objects during movement of the objects between the two locations. To remedy the deficiencies of conventional end effectors with respect to identifying and moving individual objects selected from a group (e.g., a stack) of objects, embodiments of an improved object feeder system are provided herein. Embodiments of an object feeder system described herein may be configured to repeatedly select an individual object from a stack of objects and move the selected individual object to a different position. Each of the objects may have a thickness in a range of, for example, 1 mm to 5 mm. While some embodiments of an object feeder system described herein are configured to pick and place parts of apparel and footwear arranged in a stack, such as parts of athletic apparel and footwear, other embodiments of the object feeder system may be configured to pick and place any suitable types of objects. In some cases, movement of a top plate (e.g., along a vertical post) as described herein may include translation of the top plate, such as linear translation of the top plate. In some cases, movement of an end effector (e.g., along or via an extension mechanism) as described herein may include translation of the end effector, such as linear translation of the end effector.

[0070] The various inventive features are described in more detail under separate headings below. However, the headings are provided simply for reader convenience and do not limit the disclosure in any way. Moreover, features described under one heading can be combined with any feature described under any and all other headings in various combinations and permutations.Some Embodiments of an Object Feeder System With a Plate Holder

[0071] An object feeder system can include a bin configured to receive a group of objects and a frame, The bin may include at least a top plate configured to support the group of objects. In some cases, the top plate may be configured to directly contact at least one object of the group of objects while supporting the group of objects. The frame may include at least one vertical post along which the top plate is configured to move (e.g., translate, such as linearly translate), a plate drive component configured to control a position of the top plate along the vertical post, and an extension mechanism including an end effector disposed above the top plate. In some variations, the frame can include two or more vertical posts mechanically coupled to the plate holder, The end effector may be configured to engage with15IPTS / 200295437.1Attorney Docket No. NBL-068WO(e.g., contact) a surface of an individual object of the group of objects and to move the selected object via movement of the end effector along and / or via the extension mechanism.

[0072] In some embodiments, the object feeder system may be configured to control and adjust a position of a top plate relative to the extension mechanism and the end effector. Such positioning and repositioning of the top plate may enable the object feeder system to move a particular object supported by the top plate to a predetermined initial location in proximity to the end effector, thereby enabling the end effector to identify, pick, and place the individual object selected from the group of objects. Further, characteristics (e.g., position, orientation, dimensions, type, etc.) of the end effector and the bin may be selected based on the characteristics (e.g., orientation, dimensions, materials, etc.) of the objects to be picked and placed, thereby expanding application of embodiments of the object feeder system to a number of different types of objects. As an example, a type of end effector used in the object feeder system to identify an object and engage with a surface of an object may be selected based on the thickness, stiffness, and / or porosity of the objects included in the group of objects.

[0073] Accordingly, referring to FIG. 1, an embodiment of an object feeder system 100 includes an active plate drive component 160. The object feeder system 100 may include a bin 110 configured to support and hold a group (e.g., stack) of objects 190 and a frame 150 configured to receive (e.g., contain) the bin 110 and to control a position of the objects 190 via movement of the bin 110 or a portion thereof. The combination of the bin 110 and the frame 150 of the object feeder system 100 may be configured to identify’ and move individual objects 190 selected from the number of objects 190 supported by the bin 110, thereby making the individual objects 190 available to a subsequent process by moving the individual objects 190 selected from the bin 110. Thus, individual objects 190 may be repeatedly selected and moved from the bin 110 to make the individual objects 190 available to a subsequent process until each of the objects 190 is removed from the bin 110.

[0074] Referring to FIGs. 2A-2F, an embodiment of a bin 110 of an object feeder system may include a top plate 210. The bin 110 may also include a bottom plate 230 disposed below the top plate 210. Tire top plate 210 of the bin 110 may include a top surface 212 and a bottom surface opposite the top surface 212. The bottom plate 230 of the bin 110 may include a top surface 232 and a bottom surface opposite the top surface 232. In some variations, as showm in FIGs. 2A-2B and 2D-2F, the top surface 212 or a portion thereof of the top plate 210 may be planar. The top surface 232 or a portion thereof of the bottom plate 230 may be 16IPTS / 200295437.1Attorney Docket No. NBL-O68WOplanar. In some variations, as shown in FIGs. 2B and 2D, the top plate 210 and the bottom plate 230 may be disposed in parallel planes, such as with the top surface 212 of the top plate 210 being parallel to the top surface 232 of the bottom plate 230. In other variations, the top plate 210 and the bottom plate 230 may not be disposed in parallel planes and the top plate 210 may be disposed at an angle relative to the bottom plate 230, e.g., at an angle between, for example, 0 degrees (°) and 30 degrees relative to the bottom plate 230. As an example, the top surface 212 may be disposed at an angle relative to the top surface 232, e.g., at an angle between, for example, 0 degrees and 30 degrees relative to the top surface 232.

[0075] Tire top plate 210 may have dimensions suitable for supporting a number of objects 190 configured to be handled by an end effector. The bottom plate 230 may have the same dimensions as the top plate 210. For example, the top plate 210 and the bottom plate 230 may each have a length l210between 300 mm and 400 mm, a width w210between 350 mm and 500 mm, and a thickness t210(also referred to as a height) between 3 mm and 10 mm. In some variations, the top and bottom plates 210, 230 may each have a rectangular cross-sectional shape. In some embodiments, the top and bottom plates 210, 230 of the bin 110 may have different dimensions. In some variations, as shown in FIGs. 2A-2C, the top and bottom plates 210, 230 may be made from an opaque material. In some variations, as shown in FIG. 2F, the top and bottom plates 210, 230 may be made from a transparent material.

[0076] Referring to FIG. 2E, the top surface 212 of the top plate 210 may be configured to receive the objects 190, with the top surface 212 supporting the objects 190. As an example, the objects 190 may be grouped and organized in a stack (e.g., vertical stack) and placed on the top surface 212 of the top plate 210, with the top surface 212, in use, supporting and lifting the stack of objects 190. The objects 190 supported by the top surface 212 of the top plate 210 may be made available to one or more other components of the frame (e.g., an end effector) of the object feeder system for selection and placement thereof. In some cases, the top plate 210 may support two or more different groups (e.g., stacks) of objects at the same time. The top plate 210 may support two or more different types of objects at the same time. For example, the top plate 210 may support both first and second stacks of objects, with the first stack including objects of a first type and the second stack including objects of a second type and the first and second types of objects having one or more different characteristics (e.g., shapes, sizes, dimensions, materials, etc.).

[0077] In some embodiments, the top plate 210 may include an object indicator (not shown) configured to indicate one or more characteristics of the objects 190 supported by the top 17IPTS / 200295437.1Attorney Docket No. NBL-068WOplate 210. In some variations, the object indicator can be a Radio Frequency Identification (RFID) indicator, such as an RFID tag configured to be read by an RFID reader. The RFID tag may store characteristic information of the objects 190 supported by the top plate, such as dimensions (e.g., thickness, length, width), material(s), and / or part identifier(s) (e.g., names and / or numbers) identifying the object 190. The RFID tag may store operating parameters of the object feeder system with respect to the objects 190 supported by the top plate 210, such as positioning of an end effector with respect to the objects 190 supported by the top plate 210, positioning of a plate holder and / or the top plate 210 with respect to the end effector, an intended location to which an object 190 should be moved and placed by the object feeder system, and / or desired positions for the pins 240 coupled to the bottom plate 230 of the bin 110. As an example, the RFID tag may store information indicating a particular starting position and a particular target position for the end effector for use when singulating objects 190 having characteristics indicated by the RFID tag, with the starting and target positions corresponding to respective initial and target locations of the object to be singulated. Such information may be read by a computing system (e.g., controller) of the object feeder system via an RFID sensor and used to automatically control subsequent operation of various components of the object feeder system,

[0078] In some embodiments, the top plate 210 may be removably coupled to the bottom plate 230 by one or more fasteners 260. A fastener 260 may include a first fastener portion and a second fastener portion that is configured to removably couple to the first fastener portion, thereby enabling the first and second fastener portions to be coupled to different components, such as the top plate 210 and bottom plate 230. Some non-limiting examples of suitable fasteners 260 include clasps, screws, clips, threads, magnets, cam locks, mechanical fixtures, pins, and adhesives. As an example, the fasteners 260 may be multidirectional ball¬ style grab latch clasps provided by MCMASTER.

[0079] In some embodiments, at least one (e.g., both) of the top and bottom plates 210, 230 includes at least one of the fasteners 260. In some variations, at least one of the fasteners 260 may be disposed on a bottom surface of the top plate 210 and / or at least one of the fasteners 260 may be disposed on a top surface 232 of the bottom plate 230, As an example, the bin 110 may include four fasteners 260 to removably couple the top plate 210 to the bottom plate 230, with the four upper fastener portions 262 being disposed on a bottom surface of the top plate 210 and four lower fastener portions 264 being disposed on a top surface 232 of the bottom plate 230. A fastener 260 may be disposed at any suitable location on a surface of a 18IPTS / 200295437.1Attorney Docket No. NBL-068WOplate of the bin 110. As an example, when the top and bottom plates 210, 230 of the bin 110 have rectangular cross sectional shapes, the fasteners 260 may be disposed proximal to the comers of each of the plates.

[0080] In some embodiments, a top surface 232 of the bottom plate 230 may be mechanically coupled to a bottom surface of the top plate 210 by two or more fasteners 260. A fastener 260 or a portion thereof (e.g., an upper fastener portion 262 or a lower fastener portion 264) disposed on a surface of one of the plates 210, 230 of the bin 110 may removably couple directly to another plate of the bin 110 and / or to another fastener 260 or portion thereof disposed on a surface of the other plate of the bin 110. When a first fastener or a portion thereof (e.g., upper fastener portion 262) disposed on the top plate 210 of the bin 110 is coupled to a second fastener or a portion thereof (e.g., lower fastener portion 264) disposed on the bottom plate 230 of the bin 110, the first and second fasteners may be adjacently positioned at corresponding positions on the top and bottom plates 210, 230. In some variations, a relative orientation (e.g., an angle) between the top plate 210 and the bottom plate 230 of the bin 110 may be determined based on a configuration of the fasteners 260 or portions thereof disposed on the plates 210, 230 and / or a relative orientation between the fasteners 260 or portions thereof when the plates 210, 230 are removably coupled.

[0081] In some embodiments, the top plate 210 of the bin 110 may define one ormore openings 216. Tire openings 216 of the top plate 210 may extend through atop surface 212 of the top plate 210 to a bottom surface of the top plate 210, such that one or more extensions (e.g., extensions coupled to the bottom plate 230, such as pin(s) 240) can extend through the openings 216 of the top plate 210. The openings 216 may have any suitable shape to accommodate and allow particular extensions to extend through the openings 216 from the bottom surface of the top plate 210 to the top surface 212 of the top plate 210. Some non¬ limiting examples of shapes (e.g,, cross-sectional shapes) of the openings 216 can include circles, ellipses, polygons, and combinations and / or portions thereof. In some variations, the openings 216 may have a length between 5 mm and 10 mm, a width between 5 mm and 10 mm, and / or a diameter between 5 mm and 10 mm. lire openings 216 may have the same or variable dimensions. The openings 216 may be shaped and sized to allow the extensions to extend through the openings 216 away from the top surface 212 of the top plate 210.

[0082] In some embodiments, the bottom plate 230 may include one or more extensions. The bottom plate 230 may include one ormore types of extensions. Some non-limiting examples of types of extensions include pins and walls. The extensions may be configured to extend 19IPTS / 200295437.1Attorney Docket No. NBL-068WOthrough the openings 216 of the top plate 210. Referring to FIGs. 2A-2F, the bottom plate 230 may include one or more pins 240. The pins 240 may be configured to extend through the openings 216 of the top plate 210. Other types of extensions, such as walls, may be configured to extend through the openings 216 of the top plate 210 in a manner similar to that described with respect to a pin 240.

[0083] One or more of the pins 240 may include an inner pin portion 242 mechanically coupled to the bottom plate 230 and a rotating outer cover portion 244 rotationally coupled to the inner pin portion 242, with the outer cover portion 244 being configured to rotate about a central axis defined by the inner pin portion 242. As an example, the outer cover portion 244 of a pin 240 may be a cam that is rotationally coupled to the inner pin portion 242. One or more of tire pins 240 may include a fixed portion mechanically coupled to the bottom plate 230 and a translating portion coupled to the fixed portion, with the translating portion being configured to translate (e.g., extend and retract) along and / or relative to the fixed portion about a central axis defined by the fixed portion. As an example, the outer cover portion 244 may be coupled to the inner pin portion 242, such that the outer cover portion 244 is configured to translate relative to the inner pin portion 242 to adjust a position of the outer cover portion 244 relative to the inner pin portion 242, thereby adjusting the height of the pin including the inner pin portion 242 and outer cover portion 244. Accordingly, the height of a pin 240 including a translating portion may be adjusted via extension and retraction of the translating portion, such as to accommodate the variable heights of different stacks of objects supported on the top surface 212 of the top plate 210. A pin 240 may include a portion configured to both rotate and translate relative to a fixed portion of the pin 240. As an example, the outer cover portion 244 of a pin 240 may be coupled to the inner pin portion 242 and configured to both translate and rotate relative to the inner pin portion 242, thereby enabling rotation of the outer cover portion 244 and adjustment of the height of the pin 240 via extension and retraction of the outer cover portion 244. Other types of extensions, such as ■walls, may be configured to have features for rotation and / or translation in a manner similar to that described with respect to a pin 240.

[0084] In some variations, the bottom plate 230 may include one or more types of pins 240, The bottom plate 230 may include different types of pins, such as a first pin 240a and a second pin 240b. Referring to FIG. 2A, the first pin 240a may include an inner pin portion 242a, an outer cover portion 244a, and a pin holder 246a, while the second pin 240b may include an inner pin portion 242b, an outer cover portion 244b, and a pin holder 246b, with 20IPTS / 200295437.1Attorney Docket No. NBL-068WOthe outer cover portions 244a, 244b having different cross sectional shapes. In some variations, the outer cover portion 244 of a pin 240 may be biased (e.g., via an included biasing mechanism, such as a spring -loading mechanism) to rotate about the inner pin portion 242 in a particular direction (e.g., clockwise or counterclockwise), thereby causing the outer cover portion 244 of the pin 240 to contact edges of the objects 190 positioned on and supported by the top plate 210 of the bin 110. Some non-limiting examples of types of shapes (e.g., cross-sectional shapes) of the pins 240 include circles, ellipses, polygons, and combinations and / or portions thereof. In some variations, one or more of the pins 240 may have a length between 5 mm and 10 mm, a width between 5 mm and 10 mm, a diameter between 5 mm and 10 mm, and a height between 250 mm and 450 mm. Each of the pins 240 may have the same or variable dimensions, in some variations, the bottom plate 230 may include any suitable number of pins 240, such as between 2 pins and 20 pins. Other types of extensions, such as walls, may be configured to have a height in a manner similar to that described with respect to a pin 240 and the bottom plate 230 may include any suitable number of walls, such as between one wall and twenty walls.

[0085] One or more of the extensions may include a holder configured to mechanically couple the respective extension to the bottom plate 230. In some variations, one or more of the pins 240 may include a pin holder 246 configured to mechanically couple the pins 240 to the bottom plate 230, As an example, one or more of the pins 240 may include a top end and a bottom end opposite the top end, with the bottom end including a pin holder 246 configured to mechanically couple the respective pin 240 to the bottom plate 230. In some variations, when the pins 240 are coupled to the bottom plate 230, the pins 240 may extend normal to at least one of the top surface 212 of the top plate 210 or the top surface 232 of the bottom plate 230. As an example, the pins 240 may extend normal to both of the top surface 212 of the top plate 210 and the top surface 232 of the bottom plate 230. When the pins 240 are coupled to the bottom plate 230, two or more (e.g., each) of the pins 240 may have the same height relative to a top surface 232 of the bottom plate 230 and / or a top surface 212 of the top plate 210. The heights of the pins 240 may be selected such that individual pins 240 do not inhibit movement of an individual object 190 selected from the top plate 210 by an end effector, while the collection of pins 240 prevents unintentional movement of objects 190 that are not intended to be moved during selection and movement of an individual object 190. Other types of extensions, such as w alls, may include the features of a pin holder 246 as described with respect to a pin 240.21IPTS / 200295437.1Attorney Docket No. NBL-068WO100861 In some embodiments, when the pins 240 of the bottom plate 230 extend through the openings 216 of the top plate 210, the pins 240 may contact and engage with surfaces (e.g., sides and / or edges) of the objects 190 supported by the top plate 210 of the bin 110. Tire combination of tire pins 240 may constrain the objects 190 to a particular location with a particular orientation on a top surface 212 of the top plate 210 of the bin 110 (e.g., between the pins 240) and align the individual objects 190 included in the group of objects 190. As an example, the exterior surfaces of the pins 240 may contact and constrain the objects 190 included in the stack of objects 190, thereby providing uniform or substantially uniform alignment and positioning of the objects 190 on the top surface 212 of tire top plate 210. Other types of extensions, such as walls, may contact and engage w ith the surfaces (e.g., sides and / or edges) of the objects 190 supported by the top plate 210 of the bin 110 as described with respect to a pin 240 by extending through the openings 216 of the top plate 210. One or more walls may be configured to surround and contain the objects 190 supported by the top plate 210 of the bin 110.

[0087] In some embodiments, an exterior surface of one or more of the pins 240 may include a high-friction textured surface and / or a high-friction material attached thereto. As an example, when at least one of the pins 240 includes an inner pin portion 242 and an outer cover portion 244 rotationally coupled to the inner pin portion 242, an exterior surface of the outer cover portion 244 may include or be made of a high-friction material, such as rubber or sandpaper. The high friction material may provide increased friction between the exterior surface of the pin 240 and an object 190 contacting the pin 240, thereby increasing an amount of force required to move the object 190 when the object 190 contacts and touches the pin 240. As another example, when at least one of the pins 240 includes an inner pin portion 242 and an outer cover portion 244 rotationally coupled to the inner pin portion 242, an exterior surface of the outer cover portion 244 may have a textured (e.g., knurled) surface that provides increased friction (e.g., relative to a smooth and / or non-textured surface). Such configurations of the exterior surface of a pin 240 may provide advantages including improved separation of an individual object 190 from the group of objects 190 supported by the top plate 210 and contacting the pins 240, as the high-friction surface may act on the objects 190 to prevent adjacent objects 190 from adhering together when one (e.g., the topmost) of the adjacent objects 190 is selected and engaged by an end effector as described herein. Other types of extensions, such as walls, may include a high-friction textured surface and / or include a high-friction material attached thereto as described with respect to a pin 240.22IPTS / 200295437.1Attorney Docket No. NBL-068WO100881 An exterior surface of one or more of the pins may include a low-friction surface and / or low -friction material attached thereto relative to the high friction pins 240 described herein. Accordingly, the pins 240 of the bottom plate 230 may include a combination of pins 240 having different surfaces with different coefficients of friction. As an example, the bottom plate 230 may include a combination of pins 240, with at least one of the pins having a high-friction exterior surface and at least one of the pins having a low-friction exterior surface, with the selection and positioning of high -friction and low-friction pins being based on characteristics of the objects 190 to be supported by the top plate 210.

[0089] In some embodiments, the bottom plate 230 of the bin 110 may include and / or define one or more attachment points by which the pins 240 may be mechanically coupled to the bottom plate 230. The bottom plate 230 may define one or more types of attachment points. Some non-limiting examples of types of attachment points include tracks and discrete atachment points. Referring to FIGs. 2A-2F, the bottom plate 230 may define one or more tracks 236 by which one or more of the pins 240 can be mechanically coupled to the bottom plate 230. One or more of the pins 240 may be configured to be mechanically coupled to the bottom plate 230 via a particular track 236. In some variations, the tracks 236 of the bottom plate 230 may be voids that extend through a top surface 232 of the bottom plate 230 to a bottom surface of the bottom plate 230. A shape of the tracks 236 may be selected as any suitable shape to interface and engage with the pin holders 246 of the pins 240, thereby coupling the pins 240 to the bottom plate 230. Some non-limiting examples of types of shapes (e.g., cross-sectional shapes) of the tracks 236 include circles, ellipses, polygons, and combinations and / or portions thereof. As an example, a particular track 236 including a cross track and linear track may define a “T” shape, with the cross track having a length of 270 mm to 370 mm, e.g., 320 mm, and the vertical track having a length of, e.g., 210 mm to 310 mm, e.g., 260 mm. A pin 240 may be couplable to the bottom plate 230 at any position along the length of the track 236. In some variations, one or more of the tracks 236 may be and / or define a linear path, an arcuate path (e.g., a curved path, a bowed path, or a winding path including two or more curved arcs), or a combination thereof, in some variations, one or more of the tracks 236 may include a lead screw mechanism, a jack screw mechanism, and / or a ball screw mechanism (not show n), A position of a particular attachment point on the bottom plate 230 may be selected based on a configuration (e.g., the positions of the openings 216) of the top plate 210 and / or the dimensions of the objects to be supported by the top plate 210.23IPTS / 200295437.1Attorney Docket No. NBL-068WO

[0090] In some variations, the pin holders 246 of the pins 240 may removably couple the pins 240 to the bottom plate 230 via the attachment points. As an example, the pin holders 246 of the pins 240 may removably couple the pins 240 to the bottom plate 230 via one or more discrete attachment points (not shown), with one pin 240 being configured to removably couple to a respective discrete attachment point. As another example, the pin holders 246 of the pins 240 may removably couple the pins 240 to the bottom plate 230 via the tracks 236, with tire pins 240 being configured to translate between one or more positions along the tracks 236. For each pin 240 removably coupled to a track 236, that pin 240 may be manually translated (e.g., by a user) or automatically translated (e.g., by a pin drive component such as an actuator) to a number of positions along the track 236, with the positions including a first position at a first end of the track 236, a second position at a second end of the track 236, and a number of intermediate positions between the first position and tire second position. As an example, a position at which a particular pin 240 is coupled to a track 236 of the bottom plate 230 may be automatically adjusted by an adjustment mechanism (e.g., including a pin drive component) and / or manually adjusted by a user of the object feeder system. A position of a particular pin 240 along a track 236 may be selected and controlled based on a configuration (e.g., the positions of the openings 216) of the top plate 210 and / or dimensions of the objects to be supported by the top plate 210. In some variations, the positions of one or more (e.g., each) of the pins 240 coupled to the bottom plate 230 may be automatically or manually controlled. Each pin 240 may be coupled to a respective attachment point, such as a respective one of the tracks 236 or a respective one of the discrete attachment points. One or more of the pins 240 may be coupled to a particular track 236, such that a particular track 236 can have one or more pins 240 coupled thereto.

[0091] In some embodiments, the bottom plate 230 of the bin 110 can include one or more support structures 238 disposed on a bottom surface of the bottom plate 230. The support structures 238 may extend from the bottom surface of the bottom plate 230, thereby lifting and supporting the bottom plate 230 relative to a surface on which the bottom plate 230 is positioned. As an example, the bottom plate 230 may include cylindrical support structures 238 disposed on the bottom surface adjacent and / or proximal to the comers of tire bottom plate 230, such that the support structures 238 raise the height of bottom plate 230 relative to a surface on which the bottom plate 230 is positioned, thereby providing a gap distance between the bottom surface of the bottom plate 230 and the surface on which the bottom plate 230 is positioned.24IPTS / 200295437.1Attorney Docket No. NBL-068WO

[0092] Referring to FIGs. 3 A and 3B, cross sectional views of two embodiments of pins 240a, 240b are shown. Referring to FIG. 3A, the pin 240a may include an inner pin portion 242a and an outer cover portion 244a rotationally coupled to the inner pin portion 242a, with die outer cover portion 244a being configured to rotate about a central axis 310 defined by the inner pin portion 242a. The pin 240a may include a top end 320 and a bottom end 322 opposite the top end 320. The pin 240a may include a pin holder 246a coupled to the bottom end 322 of the pin 240a. Referring to FIG. 3B, a pin 240b may include an inner pin portion 242b and an outer cover portion 244b rotationally coupled to the inner pin portion 242b, with the outer cover portion 244b being configured to rotate about a central axis 360 defined by the inner pin portion 242b. The pin 240b may include a top end 370 and a bottom end 372 opposite the top end 370. The pin 240b may include a pin holder 246b coupled to the bottom end 372 of the pin 240b. The outer cover portion 244a of the pin 240a may be substantially cylindrical, while the outer cover portion 244b of the pin 240b may define a concave area 248 in which an object 190 or portion thereof can be received to contact the pin 240b. Each of tire embodiments of the pins 240a, 240b may be coupled to the bottom plate 230 of the bin 110 as described herein.

[0093] Referring to FIG. 4, in some embodiments, a frame 150 of an object feeder system 100 may include a plate holder 402, at least one vertical post 410 mechanically coupled to the plate holder 402, an active plate drive component 160, and an extension mechanism 430 including an end effector 440. The plate holder 402 may be coupled to the frame 150 and configured to receive at least a top plate of a bin. The plate holder 402 may engage with a top plate of a bin to retain the top plate within the frame 150 of the object feeder system. In some variations, the plate holder 402 may receive the entire bin including the top and bottom plates, such that the plate holder 402 may function with respect to the bottom plate as described herein for the top plate.

[0094] In some embodiments, the plate holder 402 or portions thereof may include one or more retention structures 404 for receiving and retaining at least a portion (e.g., an edge of a plate) of a bin. The plate holder 402 or portions thereof may include one or more types of retention structures 404. Some non-limiting examples of types of retention structures 404 include ridges, grooves, slots, and rails each configured to receive and retain at least a portion of the bin. As an example, the plate holder 402 may include one or more ridges, grooves, slots, and / or rails configured to receive and retain each of a top plate and a bottom plate of the bin. A structure of the plate holder 402 may be complementary to a structure of the 25IPTS / 200295437.1Attorney Docket No. NBL-068WOplate(s) of the bin, such that the plate holder 402 can receive and retain the plate(s) of the bin. In some variations, the plate holder 402 or portions (e.g., individual holders) thereof may define a “U” shape. Tire retention structures 404 or portions thereof may be configured to guide the bin into the plate holder 402. As an example, the retention structures 404 or portions thereof may be configured to guide the top and bottom plates of the bin into the plate holder, thereby enabling the plate holder 402 to receive and retain each of the top plate and the bottom plate of the bin.

[0095] In some embodiments, types of retention structures may include active retention mechanisms configured to selectively engage with and disengage from a bin or a portion thereof. An active retention mechanism may be controllable via a computing system (e.g., a controller) and configured to selectively engage with and retain a bin or a portion thereof and to disengage from and release the bin or the portion thereof. An example of a type of active retention mechanism may be a controllable pneumatic piston configured to removably couple to a bin or a portion thereof, with the piston being controlled by a computing system to selectively engage with or disengage from the bin or the portion thereof.

[0096] Referring to FIGs. 5A-5F, an embodiment of an object feeder system 100 including die bin 110 and the frame 150 is shown. Referring to FIGs. 5C, 5D, 5E, and 5F, the bin 110 or portion thereof may removably couple with the plate holder 402. The top plate 210 and / or the bottom plate 230 of the bin 110 may removably couple with one or more retention structures 404 defined by the plate holder 402, thereby enabling loading of the bin 110 into the plate holder 402 and unloading of the bin 110 from the plate holder 402. As an example, the top and bottom plates 210, 230 may engage with retention structures 404 (e.g., slots) of respective top and bottom holders 406, 408 of the plate holder 402, such that the top and bottom plates 210, 230 may be loaded (e.g., slid, inserted, etc.) into and received by die retention structures 404 of the plate holder 402 and unl oaded from the retention structures 404 of the plate holder 402. Each of die top and bottom holders 406, 408 of the plate holder 402 may include or define the one or more retention structures 404 (e.g., ridges, grooves, slots, and / or rails) configured to engage with (e.g., receive, contact, and / or retain) edges of the top and bottom plates 210, 230. By the removable coupling of the top plate 210 to the bottom plate 230 of the bin 110, an user can both load the top and bottom plates 210, 230 forming the bin 110 into the plate holder 402 and unload the top and bottom plates 210, 230 from the plate holder 402 simultaneously as a singular structure, such that the user is not required to separately load and unload each of the top plate 210 and the bottom plate 230 to 26IPTS / 200295437.1Attorney Docket No. NBL-068WOand from the plate holder 402 of the frame 150. Such techniques may provide advantages including increasing the speed and ease with which a user can load the bin 110 into the frame 150 and unload the bin 110 from the frame 150 for the purposes of singulating individual objects 190 from the objects 190 supported by the bin 110.

[0097] In some embodiments, referring to FIGs. 4 and 5B, the frame 150 may optionally include a drawer 450 to facilitate loading and unloading of a bin into tire frame 150. The drawer 450 may extend from and retract into the frame 150 via one or more rails 452 coupling the drawer 450 to the frame 150. As an example, the drawer 450 may be connected to the frame 150 by two rails 452 disposed on opposite sides of the drawer 450, such that the rails 452 may be configured to extend from and retract into the frame 150 and facilitate extension and retraction of the drawer 450 relative to the frame 150. lire drawer 450 may translate between a retracted position and an extended position via the rails 452. A retracted position of the drawer 450 may be a position at which the drawer 450 is closest to the frame 150, and an extended position may be a position at which the drawer 450 extends furthest from the frame 150. As an example, FIGs. 4 and 5B illustrate the drawer 450 in the extended position, while FIGs, 5C, 5D, 5E, and 5F illustrate the drawer 450 in a retracted position. In some variations, the drawer 450 may be automatically translated (e.g., by a drawer drive component) or manually translated (e.g., by a user pushing or pulling the drawer 450) between the extended and retracted positions.

[0098] In some variations, referring to FIG. 4, the drawer 450 may include a bottom wall 454 configured to receive the bin 110 to assist in loading the plates of the bin 110 into the plate holder 402 and unloading of the plates of the bin 110 from the plate holder 402, As an example, the bottom wall 454 of the drawer 450 may define an area in which the bin 110 including the top and bottom plates 210, 230 may be loaded and from which the bin 110 may¬ be unloaded. The drawer 450 may be configured to receive the bin 110 at least when the drawer 450 is at the extended position. In some variations, the drawer 450 may include a front wall 456 having a handle 458 by which the drawer 450 may be manually pulled toward the extended position or pushed toward the retracted position.

[0099] In some embodiments, referring to FIG. 4, the bottom w all 454 of the drawer 450 may define a number of openings 460. Tire openings 460 of the bottom wall 454 may extend through a top surface of the bottom wall 454 to a bottom surface of the bottom wall 454, such that the support structures 238 disposed on the bottom plate 230 of the bin 110 may extend through the openings 460 of the bottom wall 454 of the drawer 450. The openings 460 may 27IPTS / 200295437.1Attorney Docket No. NBL-068WOhave any suitable shape to accommodate and allow particular support structures 238 to extend at least partially through and / or into the openings 460. Some non-limiting examples of shapes (e.g., cross-sectional shapes) of the openings 460 can include circles, ellipses, polygons, and combinations and / or portions thereof. In some variations, dimensions and / or geometry of the openings 460 may be complementary to the dimensions and / or geometry of the support structures 238 on the bin 110.

[0100] Referring to FIGs. 5C and 5D, based on the complementary dimensions and / or geometry of the openings 460 of tire drawer 450 and the support structures 238 of the bin 110, the drawer 450 may be configured to align the bottom plate 230 and the bin 110 within tire drawer 450 relative to the frame 150 when the bin 110 is placed into the drawer 450 and the openings 460 receive the support structures 238. As an example, when the bin 110 is placed into the drawer 450 and the openings 460 of the bottom wall 454 are able to receive the support structures 238, the openings 460 of the bottom wall 454 may cause alignment of the bin 110 w ith the drawer 450 and the plate holder 402. Based on the positioning of the bin 110 when loaded into the drawer 450, the top and bottom plates 210, 230 of the bin 110 may be aligned with the plate holder 402, such that the top and bottom holders 406, 408 receive the respective top and bottom plates 210, 230 of the bin 110 when the drawer 450 is translated to the retracted position.

[0101] In some embodiments, referring to FIG. 4, the at least one vertical post 410 of the frame 150 may be mechanically coupled to the plate holder 402, with the plate holder 402 or a portion thereof being configured to move along the vertical post 410. Referring to FIGs. 5C and 5F, the plate holder 402 or portion thereof may be moved to a number of positions along the vertical post 410, with the positions including a first position at a first (e.g., bottom) end of the vertical post 410, a second position at a second (e.g., top) end of the vertical post 410, and a number of intermediate positions between the first position and the second position. As an example, FIG. 5C illustrates atop holder 406 of the plate holder 402 positioned at tire first, botom end of the vertical posts 410, while FIG. 5F illustrates the top holder 406 positioned at the second, top end of the vertical posts 410. The plate holder 402 or a portion thereof (e.g., the top holder 406) may be configured to move along a first axis (e.g., along a single degree of freedom). As an example, in an X-Y-Z Cartesian coordinate system, the plate holder 402 or portion thereof may be configured to move along a Z-axis. In some variations, the plate holder 402 or portion thereof may be moveable along only one degree of freedom. As an28IPTS / 200295437.1Attorney Docket No. NBL-068WOexample, in an X-Y-Z Cartesian coordinate system, the plate holder 402 or portion thereof may be moveable along only a Z-axis, while remaining stationary along both X- and Y-axes.

[0102] In some embodiments, the frame 150 may include two or more vertical posts 410 that are each mechanically coupled to the plate holder 402. As an example, the two or more vertical posts 410 may be oriented and arranged in parallel. In some variations, a vertical post 410 may be or include at least one of a track, a rail, or a shaft. As an example, tire vertical post 410 may be a linear shaft that travels with the plate holder 402 operatively coupled to a stationary bushing or bearing or a linear shaft along which the plate holder 402 travels.

[0103] In some embodiments, the plate holder 402 may include at least two holders, including a top, moveable holder 406 and a bottom, fixed holder 408. The top holder 406 of the plate holder 402 may receive and retain atop plate 210 of the bin 110, while the bottom holder 408 of the plate holder 402 may receive and retain the bottom plate 230 of the bin 110. In some variations, only the top holder 406 of the plate holder 402, which receives the top plate 210 of the bin 110, may be moved to different positions along the vertical post 410. In some variations, the bottom holder 408 of the plate holder 402, which receives and engages with the bottom plate 230 of the bin 110, may be fixed such that tire bottom holder 408 does not move along the vertical post 410. The bottom holder 408 may retain the bottom plate 230 within the frame 150 of the object feeder system. Thus, referring to FIGs. 5C and 5F, when the top plate 210 is moved by the top holder 406 of the plate holder 402 mechanically coupled to (e.g., retaining) the top plate 210, the bottom plate 230 and the pins 240 disposed thereon remain fixed, such that the bottom plate 230 and pins 240 remain stationary and do not change position relative to the top holder 406 and the top plate 210 as the top holder 406 and the top plate 210 are moved along the vertical post 410. Such a configuration enables the pins 240 to act on and align the objects 190 supported by the top plate 210 even as the top plate 210 changes position relative to the bottom plate 230 and the vertical post 410 of the frame 150. As an example, the pins 240 can act on and align objects supported by the top plate 210 even as the top plate 210 is moved closer to an extension mechanism 430 and coupled end effector 440 as described herein.

[0104] In some embodiments, the active plate drive component 160 of the frame 150 may be configured to move and control a position of the plate holder 402 or portion thereof (e.g., the top holder 406) along a vertical post 410 of the frame 150. The plate drive component 160 may be configured to move (e.g., translate) the plate holder 402 or portion thereof to a number of positions along the vertical post 410. Tlie positions may include a first position at 29IPTS / 200295437.1Attorney Docket No. NBL-068WOa first (e.g., bottom) end of the vertical post 410, a second position at a second (e.g., top) end of the vertical post 410, and a number of intermediate positions between tire first position and the second position. Some non-limiting examples of types of active plate drive components 160 include motors (e.g., stepper motor, servo motor, linear motor, etc.), pistons, linear actuators, rotary actuators, piezoelectric actuators, pneumatic drive components (e.g., pneumatic rotary' actuators, pneumatic linear actuators, etc.), magnetic drive components, hydraulic drive components (e.g., hydraulic cylinders, hydraulic motors, etc.), and combinations thereof. As an example, the plate drive component 160 may include a linear actuator having a lead screw and an electric motor, The electric motor of the linear actuator may be configured to move the top holder 406 along the vertical post 410 using the lead screw. As an example, tire plate drive component 160 may be an adjustable limit switch linear actuator manufactured by DUFF NORTON having a 12 inch stroke length and supporting a 100 lb. load. As another example, the plate drive component 160 may be a noncaptive (i.e., pass-through) stepper motor, e.g., a NEMA-17 non-captive stepper motor manufactured by HAYDON KIRK PITTMAN having a 16 inch lead screw length. In some examples, the plate drive component 160 may include a scissor lift coupled to a horizontal linear drive component or a non-captive lead screw mechanism. In some variations, the plate drive component 160 may be configured to move (e.g., translate) the plate holder 402 or portion thereof along a first axis (e.g., one degree of freedom). As an example, in an X-Y-Z Cartesian coordinate system, the plate drive component 160 may be configured to move the plate holder 402 or portion thereof along a Z-axis, while the plate holder 402 or portion thereof remain stationary along both X- and Y-axes.

[0105] In some embodiments, based on a portion of the plate holder 402 engaging with the top plate 210, movement of the top holder 406 of the plate holder 402 by the plate drive component 160 may include movement of the top plate 210. Accordingly, the plate drive component 160 may be configured to move and control a position of the top plate 210 via the top holder 406 along the vertical post 410 of the frame 150. Tire plate drive component 160 may be configured to move (e.g., translate) the top plate 210 via the top holder 406 to a number of positions along the vertical post 410, such as a first position at a first (e.g., bottom) end of the vertical post 410, a second position at a second (e.g,, top) end of the vertical post 410, and a number of intermediate positions between the first position and the second position. In some cases, the positions along the vertical post 410 may include a home30IPTS / 200295437.1Attorney Docket No. NBL-068WOposition, which may correspond to a loading position of the plate holder 402 and / or the top holder 406.

[0106] In some embodiments, a computing system (e.g., a controller) communicatively connected to the plate drive component 160 may be configured to control activation of the plate drive component 160, thereby controlling the position of the plate holder 402 or portion thereof along the vertical post via the plate drive component 160. As an example, the computing system may cause the plate drive component 160 to translate the top holder 406 and coupled top plate 210 to a number of positions along the vertical post 410. As an example, the plate drive component 160 may be configured to move the top holder 406 and the top plate 210 coupled thereto between at least the bottom and top positions shown in FIGs. 5C and 5F, respectively, such as by moving the top holder 406 away from the bottom plate 230 toward an end effector,

[0107] In some embodiments, when the plate drive component 160 includes an electric motor (e.g., as part of a linear actuator), a computing system (e.g., controller) controlling the electric motor may detect when the motor stalls based on an amount of current supplied to the electric motor. A position of the top holder 406 at which the electric motor stalls may be the home position of the top holder 406. Accordingly, a controller of the plate drive component 160 may track positioning of the top holder 406 relative to the home position, such as positioning of loading position of the top holder 406 relative to the home position.

[0108] In some embodiments, based on respective portions of the plate holder 402 engaging with the top plate 210 and bottom plate 230 of the bin 110, movement of the top holder 406 of the plate holder 402 by the plate drive component 160 may be configured to separate and decouple the top plate and the bottom plate of the bin. When the bottom plate of the bin is retained by the bottom holder 408 and the top holder 406 retaining the top plate is moved away from the bottom holder 408 using the plate drive component 160, the fastener(s) coupling the top plate and the bottom plate may be disconnected, thereby separating and decoupling the top and bottom plates. The force provided by the plate drive component 160 to cause movement of the top holder 406 away from the bottom holder 408 may overcome a force by which the fasteners 260 couple the top and bottom plates 210, 230, thereby disconnecting the upper and lower fastener portions 262, 264 forming the fasteners 260 coupling the top and bottom plates 210, 230 and separating the top and bottom plates 210, 230. The plate drive component 160 may then move the top holder 406 and the top plate 210 retained thereon along the vertical post 410 of the frame 150 while the bottom holder 408 and 31IPTS / 200295437.1Attorney Docket No. NBL-068WOthe bottom plate 230 retained thereon remain fixed and stationary. When the top holder 406 of the plate holder 402 retaining the top plate 210 is moved toward the bottom holder 408 of the plate holder 402 retaining the bottom plate 230, the fastener(s) 260 of the top plate 210 and the bottom plate 230 may engage and reconnect, thereby recoupling the top and bottom plates 210, 230 to form the bin 110.

[0109] In some embodiments, referring to FIGs. 4, 5 A, 5B, 5D, and 5E, the extension mechanism 430 of the frame 150 may include one or more end effectors 440 configured to engage with (e.g., contact) a surface of an object 190 supported by the bin 110, such as the top plate 210 ofthe bin 110. Tire extension mechanism 430 may be configured to move the object 190 while an end effector 440 selects and engages with the surface ofthe object 190, thereby separating and removing the object 190 from the group of objects 190 supported by the bin 110. In some variations, referring to FIGs, 5A, 5C, and 5F, the extension mechanism 430 and / or the end effector 440 may be positioned above the plate holder 402 and the bin 110. In some variations, the extension mechanism 430 can include two or more extension mechanisms (not shown) mechanically coupled to the end effector 440. As an example, when the extension mechanism 430 includes two or more extension mechanisms, the extension mechanisms may be arranged in series (e.g., end-to-end). In some variations, the extension mechanism 430 can include at least one of a track, a rail, a shaft, a robotic arm, a pivot arm, a swing clamp, or an X-Y gantry’,

[0110] The extension mechanism 430 may include two or more end effectors 440. The two or more end effectors 440 may be configured to engage with two or more respective objects (e.g., simultaneously). Further, the two or more end effectors may be configured to move the two or more respective objects 190 while each of the end effectors 440 selects and engages with a surface of a respective one of the objects 190 (e.g., simultaneously). Accordingly, an extension mechanism 430 including two more end effectors 440 may be used when the top plate 210 support two or more different groups (e.g., stacks) of objects at the same time. When the bin includes two or more groups of objects, the object feeder system may select and move objects selected from tire different groups in parallel (e.g., simultaneously) or in sequence to move the objects from initial location(s) on a top plate 210 to target location(s) on a surface via the two or more end effectors. Such a configuration of an extension mechanism 430 may increase the throughput of the object feeder system by allowing for simultaneous singulation of multiple objects by end effectors 440 coupled to a particular extension mechanism 430,32IPTS / 200295437.1Attorney Docket No. NBL-068WO

[0111] In some variations, the extension mechanism 430 may include an end effector drive component 434 configured to control a position of the end effector 440. The end effector drive component 434 may be configured to move the end effector 440 to a number of positions along and / or via the extension mechanism 430, with the positions including a starting position, a target position, and / or a number of intermediate positions betw een the starting and target positions, A starting position of the end effector 440 may be a position at ■which the end effector 440 is positioned to engage with and select an individual object 190. In some variations, the starting position may be a position at which the end effector 440 is closest to the object(s) 190 positioned at an initial location on the top plate 210 relative to other positions to which the end effector drive component 434 may move the end effector 440. In some variations, the starting position may be a position at which one or more of the pick elements 444 of the end effector 440 are configured to engage w ith the surface(s) of the object(s) 190 positioned at an initial location on the top plate 210 relative to other positions to which the end effector drive component 434 may move the end effector 440 and the pick elements 444. A target position of the end effector 440 may be a position at w hich the end effector 440 is positioned to disengage with and release an individual object 190 for the object to be placed at the target location. In some variations, the target position may be a position at which the end effector 440 is furthest from the object(s) 190 positioned on tire top plate 210 relative to other positions to which the end effector drive component 434 may move the end effector 440. As an example, FIGs. 5C, 5F, and 5G may illustrate the end effector 440 at the starting position, while FIGs. 5D and 5E may illustrate the end effector 440 positioned at the target position. In some variations, starting and target positions of the end effector 440 may van' based on the type of object 190 to be singulated by the object feeder system 100 and the initial and target locations for that type of object. Some non-limiting examples of the end effector drive component 434 may include motors (e.g., stepper motor, servo motor, linear motor, etc.), pistons, linear actuators, rotary actuators, piezoelectric actuators, pneumatic drive components (e.g,, pneumatic rotary' actuators, pneumatic linear actuators, pneumatic pistons etc.), magnetic drive components, and hydraulic drive components (e.g., hydraulic cylinders, hydraulic motors, hydraulic pistons, etc.), and combinations thereof. As shown in FIGs. 5A-5G, the end effector drive component 434 may be a piston. As an example, the end effector drive component 434 may be a linear pneumatic piston, e.g,, SKU C-1722-DXP-00MC manufactured by BIMBA, with the end effector being mechanically coupled to the pneumatic piston and moveable via movement of the piston. As another example, tire end effector drive component 434 may include a linear actuator having a lead 33IPTS / 200295437.1Attorney Docket No. NBL-068WOscrew and an electric motor. The electric motor may be a stepper motor, e.g., a MOT-AN-S-060-002-042-L-A-AAAO manufactured by IGUS. The electric motor of the linear actuator may be configured to move the end effector 440 along and / or via the extension mechanism 430 using the lead screw.

[0112] In some embodiments, a computing system (e.g,, a controller) communicatively connected to the end effector drive component 434 may be configured to control activation of the end effector drive component 434, thereby controlling the position of the end effector 440 along and / or via the extension mechanism 430 using the end effector drive component 434. In some variations, the computing system may be configured to cause the end effector drive component 434 to translate the end effector 440 to a number of positions along and / or via the extension mechanism 430. The end effector drive component 434 may be configured to at least move the end effector 440 between the starting and target positions. As an example, when the extension mechanism 430 is a track, the end effector drive component may be configured to translate the end effector 440 to a number of positions along the track, with the positions including a first position at a first end of the track, a second position at a second end of the track, and a number of intermediate positions between the first position and the second position. As another example, as shown in FIGs. 4 and 5A-5G, when the extension mechanism 430 is a track and tlie end effector drive component 434 is a piston (e.g., pneumatic piston), the piston may be configured to translate the end effector 440 to only two positions corresponding to the piston including (i) a first position when the piston is fully extended and (ii) a second position when the piston is fully retracted, with the piston being configured to reciprocate between the first and second positions. In some cases, the positions may include a home position, which may correspond to a loading position of the plate hol der 402.

[0113] In some embodiments, when the end effector drive component 434 includes an electric motor (e.g., as part of a linear actuator), a computing system (e.g., controller) controlling the electric motor may detect when the motor stalls based on an amount of current supplied to the electric motor. A position of the end effector 440 at which tire electric motor stalls may be the home position of the end effector 440. Accordingly, a controller of the end effector drive component 434 may track positioning of the end effector 440 relative to the home position, such as positioning of starting and target positions of the end effector 440 relative to the home position.34IPTS / 200295437.1Attorney Docket No. NBL-068WO

[0114] In some embodiments, the end effector drive component 434 may be configured to move (e.g., translate) tire end effector 440 along a first axis (e.g., one degree of freedom). In some variations, the end effector drive component 434 may be configured to move (e.g., translate) the end effector 440 along only one degree of freedom. As shown in FIGs. 5B-5E, as an example, in an X-Y-Z Cartesian coordinate system, the end effector 440 may be moveable along an X-axis, while remaining stationary' along both Y- and Z-axes. As shown in FIG. 5G, the first axis along which the end effector 440 is moveable may be parallel to a first plane (e.g., an X-Y plane) defined by atop surface 212 of the top plate 210. The first axis along which the end effector 440 is moveable may not be parallel to and may be angled relative to a first plane (e.g., an X-Y plane) defined by a top surface 212 of the top plate 210. Based on a relative orientation between the end effector 440 and the bin 110, the end effector drive component 434 may be configured to move (e.g., translate) the end effector 440 away from and towards the top plate 210. Via movement of the end effector 440 away from the bin 110, the end effector drive component 434 can remove an individual object 190 supported by the top plate 210 from the bin 110. In some variations, the end effector drive component may be configured to move (e.g., translate) the end effector 440 along a second plane that is parallel to a first plane defined by a top surface 212 of the top plate 210 of the bin 110. In some variations, the end effector drive component may be configured to move (e.g., translate) the end effector 440 along a second plane that is not parallel to a first plane defined by the top surface 212 of the top plate 210,

[0115] In some embodiments, the end effector 440 may include one or more pick elements 444 configured to engage with a number of objects (e.g., objects 190) having variable characteristics. In some cases, a computing system (e.g., controller) communicatively connected to the end effector 440 may be configured to independently control engagement of tlie one or more pick elements 444 with a surface of an object. By engaging with a surface of an object, the pick element(s) 444 may be configured to engage with and move an object 190 selected from the objects 190 supported by the top plate 210 of the bin 110. The end effector 440 may include one or more types of pick elements 444, such as different types of pick elements 444. Some non-limiting examples of types of pick elements 444 can include suction cups, suction sources (e.g., vacuum sources such as vacuum generators), fans, gecko grippers, mechanical (e.g., robotic, needle, etc.) grippers, electro-adhesive (e.g., electro-static) grippers, and adhesive grippers. As an example, the end effector 440 may include a suction cup (e.g., a suction cup with bellows), a suction source, and a mechanical gripper (e.g., aIPTS / 200295437.1Attorney Docket No. NBL-068WOneedle gripper), with the suction cup being fluidically coupled to the suction source. A needle gripper may be controllable and configured to insert or retract one or more needles into an object to engage with the object. In some variations, a pick element 444 may be configured to engage with and singulate an object 190 when the pick element 444 is in contact with the object 190, on, extended, active, and / or closed. In some variations, a pick element 444 may not be configured to engage with and singulate an object 190 when the pick element 444 is not in contact with the object 190, off, retracted, inactive, and / or open.

[0116] In some embodiments, to accommodate objects 190 having variable heights, a pick element 444 of the end effector 440 may be configured to move (e.g., directly) toward or away from the object(s) 190 to be selected and moved. In some variations, a pick element 444 of the end effector 440 may be configured to move from a first position to a second position along a central axis of the pick element 444. As an example, a pick element 444 may be configured to translate directly toward or aw'ay from an object 190 to be selected along the central axis of the pick element 444. The central axis of a pick element 444 may be normal to a plane (e.g., an X-Y plane in an X-Y-Z Cartesian coordinate system) defined by the top plate 210 of the bin 110, the bottom plate 230 of the bin 110, and / or a plane along which the end effector 440 is moved. In some variations, the central axis of a pick element 444 (e.g., along which the pick element 444 is configured to translate and / or rotate) may be arranged at an angle of 0° to 180° relative to a plane (e.g., an X-Y plane) defined by the top plate 210 of the bin 110 and / or a plane (e.g., an X-Y plane) along which the end effector 440 is moved. In some variations, w hen the top plate 210 of the bin 110 is retained by the plate holder 402, a central axis defined by the end effector 440 and / or a central axis defined by a pick element 444 of the end effector 440 may extend normal to a top surface 212 of the top plate 210 of the bin 110. In some variations, the central axis of a pick element 444 may be arranged at an angle of 0° to 180° relative to an axis along which the top holder 406 and the top plate 210 may be moved, such as a Z-axis. The central axis of a pick element 444 may be parallel to an axis along which the top holder 406 and the top plate 210 may be moved, such as a Z-axis.

[0117] In some embodiments, to adapt a position of the pick element 444 relative to the objects 190 supported by the top plate 210, a pick element 444 may be configured to rotate about a central axis of the pick element 444. As an example, to orient the pick element 444 or a portion thereof relative to an object to be singulated, the pick element 444 may be configured to rotate about its central axis. In some variations, the pick element 444 may be36IPTS / 200295437.1Attorney Docket No. NBL-068WOconfigured to rotate to orient an object engaged with the pick element 444 relative to a surface on which the object is to be placed.

[0118] In some embodiments, an end effector 440 may include one or more pick element drive components (not shown) configured to control a position and / or orientation of a pick element 444, The one or more pick element drive components may be configured to translate and / or rotate a particular pick element 444, such as by translating and / or rotating that particular pick element 444 about the central axis of the pick element 444 as described herein. The central axis of the pick element 444 may be oriented in parallel with an axis (e.g., a Z-axis) along which the top plate of the bin is configured to move. Tire end effector 440 may include one or more types of pick element drive components. Some non-limiting examples of types of pick element drive components may include motors (e.g., stepper motor, servo motor, linear motor, etc,), pistons, linear actuators, rotary actuators, piezoelectric actuators, pneumatic drive components (e.g., pneumatic rotary' actuators, pneumatic linear actuators, etc.), magnetic drive components, hydraulic drive components (e.g., hydraulic cylinders, hydraulic motors, etc.), and combinations thereof. As an example, a pick element drive component may be a pneumatic linear actuator having a stroke length of about 20 mm, such as an MXH6-20Z pneumatic linear actuator manufactured by SMC. Tire pneumatic linear actuator may be configured to move (e.g., translate) a pick element 444 between different positions along a central axis (e.g., a Z-axis) of the pick element 444.

[0119] In some embodiments, a computing system (e.g., a controller) communicatively connected to a pick element drive component may be configured to control activation of the pick element drive component, thereby controlling the position and / or orientation of a pick element of the end effector 440 using the pick element drive component. As an example, the computing system may cause the pick element drive component to translate and / or rotate the pick element,

[0120] In some embodiments, an end effector 440 may include one or more sensors (not shown) for detecting and / or identifying an object 190 supported by the bin 110 and positioned in proximity to the end effector 440 and / or the sensors. The end effector 440 may include one or more types of sensors, such as different types of sensors. Some non-limiting examples of types of sensors included in the end effector 440 may include a pressure sensor, camera, light detection and ranging (LiDAR) sensor, ultrasonic sensor, laser depth sensor, capacitance sensor, infrared sensor, a light reflection sensor, an RFID sensor (e.g., an RFID reader), and a combination thereof. In some variations, the sensor(s) may detect and identify 37IPTS / 200295437.1Attorney Docket No. NBL-068WOwhen an object 190 and / or the bin 110 is within a particular distance or range of distances of the sensors. As an example, referring to FIG. 5C, the sensors may detect when any of the objects 190 supported by the top plate 210 enter a range of within 2 mm and 10 mm of a mechanical gripper and a range of within 0 mm and 2 mm of a needle gripper included on the end effector 440, thereby causing the plate drive component 160 to stop moving the top holder 406 of the plate holder 402 and the top plate 210 coupled thereto. One or more of the sensors may be disposed on and / or adjacent to particular pick element(s) 444 of the end effector 440, such that the sensors can measure a distance between the pick elements 444 and object(s) 190 detected by the sensors.

[0121] In some embodiments, when the end effector 440 includes a suction cup as a type of pick element 444, the end effector 440 may include a suction source (e.g., vacuum source) fluidically coupled to the suction cup. In some variations, a suction cup may be fluidically coupled via tubing to a vacuum generator, such as a VGS™5010 vacuum generator manufactured by PIAB or a ZH10BSA-07-07 vacuum generator manufactured by SMC Corporation. The vacuum generator may be coupled to a compressed air supply, such as a 60 megapascal (MPa) compressed air supply. A maximum feed pressure of the vacuum generator may be, for example, 101.5 pounds per square inch (PSI). In some variations, the vacuum generator may be based on tire Bernoulli principle, the Coanda effect, and / or the Venturi effect. In some embodiments, the vacuum generator may include a vacuum pump, A suitable vacuum generator may be a vacuum ejector configured to generate a vacuum based on the Venturi effect. In some variations, the end effector 440 may include a control element coupled to the suction cup, with the control element being configured to control application of suction from the suction source to a surface of the object via the suction cup. As an example, the control element may be a valve. Some non-limiting examples of the valve include a solenoid valve provided by GRANGER having a 0.25 inch pipe size with a 2-way / 2-position valve and an S Y5000 series solenoid valve provided by SMC Corporation having a 3 / 2 flow pattern. The valve may control (e.g., turn on or turn off, open or close, etc.) application of an air supply (e.g., at least one of a relative vacuum or a relative pressure) from the vacuum generator to a suction cup. In some variations, the control element may be controlled by a computing system (e.g,, controller).

[0122] In some embodiments, when the end effector 440 includes a suction cup as a pick element 444, the suction cup may include bellows configured to expand and compress based on contact between the suction cup and a surface of an object. As an example, the bellows 38IPTS / 200295437.1Attorney Docket No. NBL-068WOmay be expanded when the suction cup is not in contact with a surface of an object, and the bellows may compress and collapse when a vacuum source coupled to the suction cup is activated and the suction cup forms a seal with a surface of an object based on a relative vacuum formed by the vacuum source between the suction cup and the surface of the object. In some variations, when the suction cup engages with a surface of an object by a vacuum source coupled to the suction cup by forming a seal against the surface of the object, the bellows of the suction cup may compress, thereby lifting the object both toward the suction cup and the end effector 440 and away from the surface on which the object was positioned (e.g., a top surface of atop plate). A distance by which compression of the bellows can lift the object may be determined based on a difference in thickness between the bellows when having a compressed position and the bellows when having an expanded position. As an example, compression of the bellows from the expanded position while the suction cup engages with the surface of the object can lift the object in a range of 0, 1 mm and 2 mm based on a difference in thickness between the expanded bellows and the compressed bellows.

[0123] In some embodiments, when the end effector 440 includes a pick element drive component configured to move (e.g., translate and / or rotate) a pick element 444 about a central axis of the pick element 444, the pick element drive component may move the pick element 444 (i) to cause the pick element 444 to engage with a surface of an object, or (ii) when the pick element 444 engages with the surface of the object, to lift the object from the top plate of the bin. In some variations, when the pick element 444 engages with a surface of an object, the pick element drive component may move the pick element 444, thereby lifting the object both toward the pick element 444 and the end effector 440 and away from the surface on which the object was positioned (e.g., a top surface of a top plate). As an example, a pneumatic linear actuator functioning as pick element drive component may retract a pick element 444 while the pick element 444 engages with the surface of the object to lift the object in a range of 0.1 mm and 2 mm.

[0124] In some embodiments, a frame of an object feeder system may include a stopping component. The stopping component may be configured to stop movement of the top plate and / or objects positioned thereon by a drive component. Tire stopping component may¬ contact and press against the top plate and / or the object(s) positioned on the top surface of the top plate, such that the top plate and / or a top-most object positioned on the top plate does not exceed a maximum height along the vertical post. In some cases, the end effector may 39IPTS / 200295437.1Attorney Docket No. NBL-068WOinclude the stopping component. When the end effector moves toward the top plate and the objects positioned thereon, the stopping component may contact and press against the top plate and / or the object(s) positioned on the top surface of tire top plate, such that tire top plate and / or a top-most object positioned on the top plate does not exceed a maximum height along the vertical post. Thus, the stopping component may function as a fail-safe mechanism to establish an absolute limit on the height (e.g., along a Z-axis) to which the top plate can be driven along the vertical post, thereby preventing damage to the object feeder system in the event that a sensor fails to accurately detect of the top plate and / or the location of the objects positioned on the top plate. Some examples of a stopping component are described further herein at least with respect to FIGs. 7A-7B and 10A-10B.

[0125] In some embodiments, an object feeder system (e.g., object feeder system 100) as described herein may be used to separate individual objects from a group of objects and move the individual objects from initial locations on the bin to a target location different from the initial locations. The object feeder system may be used to move an individual object during a manufacturing process (e.g., for manufacturing an article, such as an article of footwear or apparel). In some variations, the object feeder system may be paired with a robotic element that can receive the individual objects from the object feeder system and use the individual objects in a manufacturing process. As an example, the object feeder system can repeatedly select an individual object from an initial location on the bin and move the object to a target location on a surface (e.g., table or conveyer belt) away from the initial location. When the bin includes more than one group of objects, such as different groups of different types of objects, the object feeder system may select and move objects from different groups in parallel (e.g., simultaneously) or in sequence to move the objects to target location (s) on a surface.

[0126] In some embodiments, a computing system may be used to control embodiments of an object feeder system and / or an automatic loading system as described herein, including the plate drive component and extension mechanism, thereby positioning objects supported by the bin in proximity to the end effector coupled to the extension mechanism and moving an individual object selected from the group of objects from an initial location to a target location different from the initial location. In some cases, the computing system may include a controller computing system (also referred to as a “controller”) including one or more computing devices having one or more processors communicatively connected to each of the plate drive component and the end effector drive component. The controller may include at 40IPTS / 200295437.1Attorney Docket No. NBL-068WOleast one memory communicatively connected to the one or more processors and storing computer-readable instructions that, when executed by the one or more processors, cause the controller to perform the operations described herein. The controller may include one or more features of a computer system 1400 as described herein with respect to FIG. 14.

[0127] The controller may be configured to control a position of the top plate of the bin along the vertical post (e.g., coupled to a plate holder or carriage) via the plate drive component, while also controlling positions of the extension mechanism and end effector included thereon via the end effector drive component. The controller may be communicatively connected to each of the pick elements included in the end effector, thereby allowing the controller to control activation and operation of the pick elements to engage with and disengage with a surface of an individual object selected by the end effector. In some variations, the controller may control positions and operation of components (e.g,, the top plate, the end effector, the pick elements of the end effector, etc.) as described herein based on one or more measurements obtained using one or more sensors included in the object feeder system. The sensors may each be configured to detect the presence and positioning of an object to be selected by the end effector and removed from an initial location on the top plate.

[0128] In some embodiments, the object feeder system may be activated or deactivated (e.g., powered on or off) by the controller for singulation of objects, with the controller configured to control operation of the plate drive component, the end effector drive component, the pick element(s) of the end effector, and pick element drive component(s). When the object feeder system is active, the controller may cause automatic movement of the top plate via the plate drive component and the end effector via the end effector drive component. When the object feeder system is active, the controller may automatically cause pick element(s) to engage and disengage with an object positioned on the top plate of the bin in response to communications received from one or more sensors included in the object feeder system. In some variations, the controller may control the pick element(s) based on positioning of the object(s) positioned on the top plate of the bin, the end effector, and the included pick element(s) of the end effector. When the object feeder system is inactive, the controller may not cause movement of the top plate and the end effector, such that the top plate and the end effector remain fixed. As an example, when the object feeder system is inactive and includes a plate holder for receiving and retaining the bin, the plate holder may remain fixed to allow a user to load or unload the bin from the frame.41IPTS / 200295437.1Attorney Docket No. NBL-068WO

[0129] Referring to FIG. 6, in some embodiments, at least one of the extensions coupled to the bottom plate may be an overhang pin 602 for retaining objects supported on the top plate of the bin. The overhang pin 602 may include a vertical portion 604 and a top portion 606. The vertical portion 604 of the overhang pin 602 may be coupled to the bottom plate and may extend through an opening of the top plate toward the extension mechanism. A top portion 606 of the overhang pin 602 may be positioned and oriented to extend inward away from the vertical portion 604 and over the top plate and the objects positioned thereon. In some variations, the top portion 606 of the overhang pin 602 may extend from the vertical portion 604 parallel to a top surface, or a portion thereof, of the top plate and / or parallel to a surface of the top-most object positioned on the top plate. The overhang pins 602 may be configured to remove and / or dislodge objects adhering to the top-most object when the top-most object is selected and moved from the top plate by the pick element(s). As an example, when the top¬ most object is selected and lifted from the group of objects by a pick element of the end effector, the top portion 606 of an overhang pin 602 may contact any objects that may inadvertently adhere to the top-most object to dislodge the objects from the top-most object and retain the objects on the top plate. In some variations, as shown in FIG. 6, a number of overhang pins 602 may be coupled to the bottom plate and may extend through openings of the top plate, such that the combination of the top portions 606 of the overhang pins 602 can act on objects on the top plate to prevent more than one object from being selected and moved by the pick element(s) of the end effector during singulation of an object. In some cases, the overhang pin 602 can include an inner pin mechanically coupled to the bottom plate and an outer cover rotationally coupled to the inner pin, with the outer cover being configured to rotate about a central axis defined by the inner pin. The vertical and top portions 604, 606 of the overhang pin 602 may be formed on an outer cover of the overhang pin 602.Some Embodiments of an Object Feeder System With a Passive Drive Component

[0130] Referring to FIGs. 7A and 7B, an embodiment of an object feeder system 700 may include a passive plate drive component. The object feeder system 700 may include the passive plate dri ve component in addition to or in place of an active plate drive component as described herein. In some variations, a frame 702 of the object feeder system 700 may include the passive plate drive component configured to move the top holder (not shown) and top plate 704 of the bin coupled thereto upward along at least one vertical post 710 (e.g., defining aZ-axis) of the frame 702, The frame 702 can include abase 703. The passive plate 42IPTS / 200295437.1Attorney Docket No. NBL-068WOdrive component may include one or more plate biasing structures 720 configured to bias and move the top plate 704 and / or the top holder of the plate holder upward along a vertical post 710 toward both the end effector and extension mechanism (not shown). As an example, the plate biasing structures 720 configured to bias and move the top plate upward along a vertical post may include springs (e.g., gas springs), magnets, elastic bands (e.g., rubber bands), and counter weights. The plate biasing structures 720 may be mechanically coupled to the top plate 704, the top holder, and / or the frame 702 (e.g., the base 703 of the frame 702). As an example, at least one plate biasing structure 720 may be connected to and between both of the top plate 704 and the base 703. In some variations, the passive plate drive component may include one or more damper components 730 configured to dampen movement of the top plate 704 upward along the vertical post 710. As an example, the damper components 730 may include gas dampers, high-friction materials (e.g., surface texturing, dampening grease, etc.) applied to contact point(s) between the top plate 704 and the vertical post 710 along which the top plate 704 moves, and high-friction alignment for contact point(s) between the top plate 704 and the vertical post 710 along which the top plate 704 moves, such as angling or helical bowing of the vertical post 710. The damper components 730 can be configured to dampen and slow movement of the top plate 704 by the plate biasing structures 720. The damper components 730 may be mechanically coupled to the top plate 704, the top holder, and / or the frame 702. As an example, a gas damper may be connected to and between both of the top plate 704 and the frame 702 (e.g., the base 703 of the frame 702).

[0131] In some embodiments, the frame 702 may include a stopping component 740. The stopping component 740 may be configured to stop movement of the top plate 704 and / or objects 190 positioned thereon by the plate biasing structures 720. The stopping component 740 may be configured to move the top plate 704 and / or the objects 190 against the plate biasing structures 720. The stopping component 740 may contact and press against the object(s) 190 positioned on top surface of the top plate 704, such that (i) a top-most object 190 positioned on the top plate 704 and / or (ii) the top plate 704 itself does not exceed a maximum height along the vertical post 710. When pick element(s) engage with and remove an object 190 from the top plate 704 to singulate the object 190, the plate biasing structure(s) 720 may automatically bias and move the top plate 704 upward along the vertical post 710 until the top plate 704 and / or a top-most object 190 on the top plate 704 contacts the stopping component 740, thereby preventing further movement of the top plate 704 upward along the vertical post 710. During movement of the top plate by the plate biasing structures, the43IPTS / 200295437.1Attorney Docket No. NBL-068WOdamper components 730 may slow the movement of the top plate to prevent sudden acceleration of the top plate and objects positioned thereon.

[0132] In some embodiments, an end effector may include stopping component 740. When the end effector moves toward the top plate 704 and the objects 190 positioned thereon, the stopping component 740 may contact and press against the object(s) 190 positioned on the top surface of the top plate 704, such that a top-most object 190 positioned on the top plate 704 and / or the top plate 704 does not exceed a maximum height along the vertical post 710. In some variations, the stopping component 740 may contact and press against the object(s) 190 positioned on the top plate 704 and / or against the top surface of the top plate 704, thereby translating the top plate 704 downw ard along the vertical post 710 against the plate biasing structures 720. When pick element(s) engage with and singulate an object 190 from the top plate 704 to remove that object from the top plate 704, the plate biasing structure(s) 720 may automatically bias and move the top plate 704 upward along the vertical post 710 until the top plate 704 and / or a top-most object 190 on the top plate 704 contacts the stopping component 740, thereby preventing further movement of the top plate 704 upward along the vertical post (e.g., until another object is removed from the top plate 704),

[0133] In some embodiments, as an example, a spring of the passive plate drive component may have an internal diameter of approximately 0,51 inches, a compression percentage of approximately 35 percent, and a spring rate of approximately 0.68 pounds per inch. In some variations, a gas damper of the passive plate drive component may have a first end and a second end opposite the first end, with a first end of the gas damper connected to a base of the frame and a second end of the gas damper connected to the top holder and / or top plate of the bin. The gas damper may be configured to provide dampening during extension of the gas damper from a compressed position to an extended position, such as during movement of the top plate coupled to the gas damper upward along the vertical post. The gas damper may have a length of approximately 10 inches in the compressed position and may extend to an extended position of 15 inches, such that a stroke length of the gas damper is approximately 5 inches. The gas damper may, for example, have an approximately 50 pound maximum capacity and an approximately 3 pound minimum capacity. Tire second end of the gas damper connected to the top holder and / or top plate of the bin may have a minimum heigh t of approximately 0.5 inches relative to the base when the gas damper is in a compressed position. The second end of the gas damper connected to the top holder and / or top plate of the bin may have a maximum height of approximately 10.7 inches relative to the base when the 44IPTS / 200295437.1Attorney Docket No. NBL-068WOgas damper is in an extended position, such that the top plate can translate approximately 10.2 inches along the vertical post via biasing from the springs.

[0134] Referring to FIG. 7B, in an exemplary embodiment of the object feeder system 700 including four springs as plate biasing structures 720 and two gas dampers as damper components 730 of a passive plate drive component, the full load of the top plate 704 and objects 190 positioned thereon supported by the springs may be approximately 10 pounds. When the tw o gas dampers each have a minimum extension capacity of approximately 3 pounds, the total load acting on the four springs may be approximately 16 pounds. The compressed length of each of the springs may be approximately 5.9 inches. The total length of each spring may be approximately 16 inches. Based on the total spring length and compression percentage of the spring, the starting, minimum height of the top holder and / or top plate 704 relative to the base 703 of the frame 702 may be approximately 5.6 inches.

[0135] Referring to FIGs. 8A and 8B, in some embodiments, at least one of the pins coupled to tire bottom plate may be an expandable pin 800 for retaining objects supported on the top plate of the bin. A top end 802 of the expandable pin 800 may be configured to extend outward (e.g., radially) from and retract inward toward a central axis 810 of the pin 800 to act on and retain objects in contact with the expandable pin 800. In some variations, the expandable pin 800 may include an outer cover 812 and an internal expansion structure 822, with tire internal expansion structure 822 causing extension and retraction of a top end 802 of the outer cover 812 based on a position of the internal expansion mechanism. In some variations, atop end 802 of the outer cover 812 may have an increased thickness relative to a middle portion and bottom end of the outer cover 812, such that the increased thickness of the top end 802 causes the top end 802 to ex tend and protrude from tire central axis of the pin 800 based on the position of the internal expansion mechanism. When bottom end 804 of the expandable pin 800 is coupled to a bottom plate of a bin as described herein, an exterior surface of the outer cover 812 can contact and constrain the objects positioned on the top plate of the bin to align and position the objects on the top surface of the top plate. In some variations, the top end 802 of the exterior surface of the outer cover 812 may extend outw ard from the central axis of the pin 800 relative to the middle portion and bottom end of the outer cover 812, thereby providing additional contact between the pin 800 and the objects and increased retention of objects positioned on the top plate. The top end 802 of the exterior surface of the outer cover 812 may move between an extended position and a retracted position based on the position of the internal expansion structure, with the top end 802 being 45IPTS / 200295437.1Attorney Docket No. NBL-068WObiased toward the retracted position. As an example, FIG. 8A illustrates the top end 802 having the extended position, while FIG. 8B illustrates the top end 802 having the retracted position.

[0136] In some embodiments, referring to FIGs. 9A and 9B, the outer cover 812 of the pin 800 may surround the internal expansion structure 822. The internal expansion structure 822 may include an actuating pin 824 having a top end and a bottom end opposite the top end. The internal expansion structure 822 may include a biasing structure 826, such as a spring, with the actuating pin 824 being spring-loaded. The biasing structure 826 may be mechanically coupled to a bottom end of the actuating pin 824, The actuating pin 824 may translate between an extended position and a compressed position via the biasing structure 826, with the biasing structure 826 being configured to bias the actuating pin 824 toward the extended position. As an example, FIG, 8A illustrates the actuating pin 824 having the compressed position, while FIG. 8B illustrates the actuating pin 824 having the extended position. The actuating pin 824 may have the extended position via a biasing force provided by the biasing structure 826 coupled to the bottom end of the actuating pin 824. In some variations, the top end of the actuating pin 824 may extend above a top end 802 of the outer cover 812, at the top end 802 of the outer cover 812, or below the top end 802 of the outer cover 812 when at the extended position. In some variations, the top end of the actuating pin 824 may extend above a top end 802 of the outer cover 812, at the top end 802 of the outer cover 812, or below the top end 802 of the outer cover 812 when at the compressed position.

[0137] In some embodiments, based on the position of the actuating pin 824, the top end of the actuating pin 824 may contact and act on an inner surface of the top end 802 of the outer cover 812, thereby causing the top end 802 of the exterior surface of the outer cover 812 to extend outward from the central axis of the pin 800. As an example, when the actuating pin 824 has the extended position, the top end of the actuating pin 824 may contact and press against the inner surface of the top end 802 of the outer cover 812, thereby causing the top end 802 of the exterior surface of the outer cover 812 to extend outward from the central axis 810 of the pin 800. When the actuating pin 824 has a compressed position, the top end of the actuating pin 824 may no longer contact and act on the inner surface of the top end 802 of the outer cover 812, such that the top end 802 of the exterior surface of the outer cover 812 retracts inward toward the central axis 810 of the pin 800. As an example, when the actuating pin 824 has the compressed position, the top end of the actuating pin 824 may not contact and press against the inner surface of the top end 802 of the outer cover 812, such that the top end 46IPTS / 200295437.1Attorney Docket No. NBL-068WO802 of the exterior surface of the outer cover 812 retracts inward toward the central axis 810 of the pin 800. A control pin 900 coupled to an end effector may be used to actuate the actuating pin 824. The control pin 900 may have a geometry selected such that an end 902 of the control pin 900 configured to contact the actuating pin 824 has a first width greater than a second width of a base 904 of the control pin 900, with the first width of the end 902 tapering toward the second width of the base 904. In some cases, the end 902 and the base 904 of the control pin may form a teardrop shape or a key shape, with the end 902 having a first width greater than a second width of the base 904.

[0138] In some embodiments, a pin actuator may be coupled to the actuating pin 824 and configured to apply a force to the actuating pin 824 to actuate the actuating pin 824 betw een the extended and compressed positions. An example of a type of pin actuator may be a solenoid. The pin actuator may be coupled to a computing system (e.g., controller) configured to selectively control the pin actuator to actuate the actuating pin 824 between the extended and compressed positions.

[0139] In some embodiments, the exterior surface of the top end 802 of the outer cover 812 may have an extended position when the actuating pin 824 has the extended position and the exterior surface of the top end 802 of the outer cover 812 may have a retracted position when the actuating pin 824 has the compressed position. When the actuating pin 824 is translated (e.g., by a control pin 900 of an end effector or a pin actuator coupled to the actuating pin 824) from the extended position tow ard the compressed position, the top end 802 of the exterior surface of the outer cover 812 retracts inw ard tow ard the central axis 810 of the pin 800, thereby reducing contact between the pin 800 and the objects positioned on the top plate and further allowing objects to be removed from the top plate. When the actuating pin 824 is translated (e.g., by the biasing structure of the internal expansion structure) from the compressed position toward the extended position (e.g., in the absence of a force applied by the control pin 900 or the pin actuator), the top end 802 of the exterior surface of the outer cover 812 extends outward away from the central axis 810 of the pin 800, thereby increasing contact between the pin 800 and the objects positioned on the top plate and providing increased retention of the objects,

[0140] Referring to FIGs. 10A and 10B, in some embodiments, an embodiment of an object feeder system 1000 can include one or more expandable pins 800 for retaining objects supported on the top plate of the bin. To cause retraction of the top end 802 of the exterior surface of an expandable pin 800 from an expanded position, an end effector 1002 can 47IPTS / 200295437.1Attorney Docket No. NBL-068WOinclude a control pin 1010 for translating an actuating pin 824 of the internal expansion structure 822. In some variations, the control pin 1010 may be mechanically coupled to and may move in tandem with the end effector 1002 including at least one pick element 1006 and / or a stopping component 1008. When the controller moves the end effector 1002 and the pick element(s) 1006 coupled thereto toward an object 190 positioned on the top plate, the control pin 1010 may be moved to contact and press against the actuating pin 824 of the internal expansion structure 822, thereby translating the actuating pin 824 from the extended position toward the compressed position and compressing the biasing structure 826. As the control pin 1010 translates the actuating pin 824 from the extended position toward the compressed position, the top end 802 of the exterior surface of the outer cover 812 of the pin 800 is retracted inward toward the central axis 810 of the pin 800 by biasing of the top end 802, thereby reducing contact between the pin 800 and the objects 190 positioned on the top plate and further allowing at least one (e.g., only one) of the objects 190 to be removed from the top plate. The control pin 1010 may be configured to translate tire actuating pin 824 to keep the top end 802 of the exterior surface of the outer cover 812 expanded until the stopping component 1008 contacts and prevents the objects 190 from moving upward towards the end effector (e.g., by plate biasing component! s)). When the control pin 1010 translates the actuating pin 824 to the compressed position and the top end 802 of the outer cover 812 has the retracted position, the pick element(s) 1006 of the end effector 1002 may engage with a surface of an object 190 and singulate the object 190 from the top plate.Singulation of the object 190 may be further enabled by translation of the actuating pin 824 by the control pin 1010, as the control pin 1010 reduces contact between the expandable pin 800 and the object by moving the top end 802 of the outer cover 812 to the retracted position.

[0141] In some embodiments, after the pick element(s) 1006 have selected the object 190 from the top plate, the controller may cause movement of the end effector 1002 and the pick element(s) 1006 coupled thereto from the starting position to the target position to move the selected object. In some variations, when the controller moves the end effector 1002 and the pick element(s) 1006 coupled thereto to move the selected object to the target position, the control pin 1010 may be out of contact wdth and away from the actuating pin 824 of the internal expansion structure, thereby allowing the biasing structure 826 to decompress and translate the actuating pin 824 from the compressed position toward the extended position. As the biasing structure 826 translates the actuating pin 824 from the compressed position toward the extended position, the top end 802 of the exterior surface of the outer cover 812 of48IPTS / 200295437.1Attorney Docket No. NBL-068WOthe pin 800 is extended outward from the central axis of the pin 800, thereby increasing contact between the pin 800 and the objects 190 positioned on the top plate and providing increased retention of the objects 190. The stopping component 1008 may be configured to stay in contact with the objects 190 and prevent the objects 190 from moving upward towards the end effector (e.g., by plate biasing component(s) until the control pin 1010 comes out of contact with the actu ating pin 824 to cause expansion of the exterior surface of the outer cover 812.Some Embodiments of Picking Techniques for Object Feeding

[0142] In some embodiments, the pick element(s) of the object feeder system may use one or more picking techniques to singulate objects from the group of objects positioned on the top plate of the bin, A particular picking technique used to singulate objects may be based on characteristics of the objects to be singulated by the object feeder system. Referring to FIG.11, an embodiment of a press and separate picking technique 1100 is illustrated. For the press and separate technique, when tire end effector and pick element(s) coupled thereto are located at the starting position, the controller may move at least one of the pick element(s) toward the objects positioned on the top plate. The controller may move the pick element toward an edge of a top-most object of the objects positioned on the top plate. The controller may move the pick element to cause the pick element to contact and press against the top-most object, thereby causing and increasing separation between different objects (e.g., including the top¬ most object) positioned in a stack on the top plate and causing edges of the objects to fan outward. By causing and increasing separation between the different objects, the controller can improve engagement of the pick element(s) with only one of the objects (e.g., the topmost object) and improve separation of the top-most object from other objects on the top plate, thereby preventing adjacent objects from adhering together. After causing the objects to fan outward, the controller may activate at least one of the pick elements to engage with the surface of the top-most object and lift the object for singulation of the object as described herein.

[0143] Referring to FIG, 12, an embodiment of a push and lift picking technique 1200 is illustrated. For the push and lift technique, when the end effector and the pick element(s) coupled thereto are located at the starting position, the controller may move at least one of the pick element(s) toward the objects positioned on the top plate. The controller may move the pick element toward an edge of a top-most object of the objects positioned on the top plate. The controller may move the pick element to cause the pick element to contact and press 49IPTS / 200295437.1Attorney Docket No. NBL-068WOagainst the object. When the pick element is in contact with the object, the controller may move the pick element to slide the object, via friction between the pick element and the object, at least partially off of the stack of objects positioned on the top plate. In some variations, a height of the top-most object may be above the respective heights of the extensions extending through the top plate and contacting the objects, such that the top-most object can be at least partially slid off of the top plate without being inhibited by the extensions. After the object is slid at least partially off of the stack of objects, the controller may activate at least one of the pick elements to engage with the surface of the top-most object and lift the object for singulation of the object as described herein.

[0144] In some embodiments, during a picking technique to singulate an object, the controller may rotate the top-most object, lift the object at an area adjacent to an edge of the object, or engage with and lift the object with sudden acceleration to prevent an object adjacent to the top-most object from adhering to the top-most object.Some Embodiments of Methods for Object Feeding

[0145] In some embodiments, as part of a method for moving an object during a manufacturing process, a bin including a number of objects may be loaded into the frame of the object feeder system, with the frame receiving the bin. In some cases, the bin may include two or more different groups of objects, such as different groups of differen t types of objects rather than only one group of objects of the same type. To load objects into the bin, the objects may be positioned on (e.g., placed onto) a top surface of atop plate of the bin. For a particular group of objects positioned on the top surface of the top plate, the objects of that group may be copies of the same object and may be oriented in a stack (e.g., a vertical stack). The objects included in such stacks of objects may be parts used for manufacturing an article of footwear or article of apparel. As an example, material pieces of an upper of an article of footwear may be cut to size and oriented in a stack for subsequent steps of the manufacturing process of the article of footwear. In some variations, objects may be placed onto the top surface of the top plate of the bin when (i) the top plate of the bin is coupled to the bottom plate of the bin or (ii) the top plate of the bin is decoupled from the bottom plate of the bin. When the top and bottom plates of the bin are coupled, extensions, such as pins, disposed on the bottom plate of the bin may extend through openings defined by the top plate.

[0146] In some embodiments, the objects may be placed onto the top surface of the top plate while the top plate is coupled to the bottom plate, such that the objects may be placed on an50IPTS / 200295437.1Attorney Docket No. NBL-068WOarea of the top plate between the pins extending through the top plate. A user or a robotic element may place a group of objects within an area bounded by the extensions (e.g., pins) extending through the top plate, with the extensions configured to contact the objects and align the objects within the group. Additionally or alternatively, a user or a robotic element may place objects onto the top surface of the top plate before the top plate is coupled to the bottom plate, such that the objects may be placed on an area of the top plate without initially contacting extensions of the bottom plate. After the objects are placed onto the top plate and the top plate is coupled to the bottom plate, the extensions disposed on the bottom plate may extend through the openings of the top plate, thereby causing the extensions to contact the objects positioned on the top plate and align the objects within the group. Further, a user or a robotic element may adjust the positioning of the objects on the top plate with the extensions extending through the openings of the top plate, thereby positioning the objects within the area bounded by the extensions on the top plate.

[0147] In some embodiments, after placement of the objects onto the top surface of the top plate of the bin and formation of the bin by coupling of the top and bottom plates (e.g., via fasteners), the bin may be loaded into the frame of the object feeder system. When the frame includes a plate holder, the bin may be loaded into the frame when a plate holder and / or the end effector are in a fixed position. As an example, the bin may be loaded into the frame when the object feeder system is inactive to prevent movement of the plate holder and / or end effector during loading of the bin. To load the bin into the frame when the object feeder sy stem does not include a drawer, a user or a robotic element may insert the coupled top and bottom plates of the bin into the top and bottom holders, respectively, of the plate holder. To load the bin into the frame when the object feeder system includes a plate holder, the top holder of the plate holder can be required to be at a loading position. Tire loading position of the top holder may be a position of tire top holder along the vertical post at which the top holder is proximal to tire bottom end of the vertical post and adjacent to the bottom holder of the plate holder. Positioning of the top holder at the loading position may enable each of the top and bottom holders to receive the respective top and bottom plates at the same time (e.g., simultaneously) while the top and bottom plates remain coupled. Accordingly, a controller of the object feeder system may automatically move the top holder to the loading position when the bin is not loaded into the frame and / or when no objects remain supported on the top plate of the bin (e.g., as detected by one or more sensors).51IPTS / 200295437.1Attorney Docket No. NBL-068WO

[0148] In some embodiments, when the object feeder system includes a drawer and plate holder, a user or a bin drive component may move the drawer to the extended position to load the bin into the frame. When the drawer is at the extended position, a user or a robotic element may place the coupled top and bottom plates of the bin into the drawer, such that the bin is placed onto the bottom wall of the drawer. When the bottom wall defines a number of openings configured to receive the support structures of the bin, the drawer may align the bin within the drawer such that the top and bottom plates of the bin are aligned with tire plate holder. Based on placement of the bin into the drawer, a user or bin drive component may move the drawer and included bin to the retracted position, thereby loading the bin into the plate holder by causing the coupled top and bottom plates of the bin to engage with and be received by the top and bottom holders, respectively, of the plate holder. As an example, when the drawer and included bin move toward the retracted position and the top holder of the plate holder is at the loading position, the coupled top and bottom plates of the bin are inserted into the top and bottom holders.

[0149] In some embodiments, when the object feeder system includes a plate holder, the top and bottom plates may be separately loaded into the respective top and bottom holders while the top and bottom plates are decoupled. As an example, the top and bottom plates may be separately loaded into the respective top and bottom holders while the top and bottom plates are decoupled, regardless of whether the pins disposed on the bottom plate extend through the openings defined by the top plate. The decoupled top and bottom plates may be separately loaded into the respective top and bottom holders regardless of whether the object feeder system includes a drawer.

[0150] In some embodiments, -when the object feeder system includes a loading mechanism, the bin may be loaded into tire frame such that the loading mechanism is configured to apply a biasing force to at least the top plate of the bin to cause engagement between an engagement structure of a carriage coupled to the top plate and a lead screw. When the object feeder system includes a frame alignment structure and a bin alignment structure, the bin may¬ be loaded into the frame such that the frame alignment engages with the bin alignment structure to align the bin relative to a vertical post of the frame.

[0151] In some embodiments, when the bin is loaded into the frame, a user may provide an input to the controller of the object feeder system to activate the object feeder system or the controller of the object feeder system may automatically activate the object feeder system. As an example, a user may provide an input to the object feeder system via an input device to 52IPTS / 200295437.1Attorney Docket No. NBL-068WOactivate the object feeder system and cause singulation of objects. As another example, the controller of the object feeder system may receive an instruction (e.g., from an external computing system) to activate the object feeder system and cause singulation of objects, with the controller receiving instructions to activate the object feeder system on an on-demand basis as individual objects are needed (e.g., for use in a manufacturing process).

[0152] In some embodiments, via measurements obtained from one or more sensors included on the frame, the controller can detect and identify the presence of the bin in the frame and may automatically activate the object feeder system to cause singulation of the objects. To detect and identify the presence of the bin in the frame, one or more sensors included in the object feeder system may detect and identify the bin. The sensors may include a presence sensor, such as a camera, LiDAR sensor, ultrasonic sensor, laser depth sensor, capacitance sensor, infrared sensor, a light reflection sensor, and a combination thereof. Based on measurements obtained by the presence sensor, the controller may determine the bin is present or not present within the frame (e.g., at the loading position) and may proceed to activate the object feeder system for singulation or await detection of the bin, respectively. The sensors may include an RFID sensor, such as an RFID reader configured to read an RFID tag included on a top plate of the bin. Based on measurements obtained by the RFID sensor, the controller may determine the bin is present or not present within the frame. When the controller determines the bin is present in the frame by reading an RFID tag using an RFID sensor, the controller can obtain object characteristic information (e.g., dimensions, material properties, or part identifiers) provided by the RFID tag and proceed to activate the object feeder system for singulation. When the controller determines the bin is not present in the frame by attempting to read an RFID tag using an RFID sensor, the controller can await detection of the bin before proceeding to activate the object feeder system for singulation.

[0153] In some embodiments, when the bin and plate(s) thereof are fully loaded into the plate holder and detected by one or more sensors (e.g., such as a presence sensor and / or an RFID sensor), the controller may activate the object feeder system. When the object feeder system is active, tire controller may automatically cause the plate drive component to move tire top holder and top plate coupled thereto upward along the vertical post (e.g., defining a Z-axis) toward the extension mechanism. The controller can automatically cause movement of the top plate upward along the vertical post until at least one of the objects positioned on the top plate is detected (e.g., by the included sensor(s)) as being within a threshold distance of the end effector and / or one or more sensors. Accordingly, the controller can be configured to 53IPTS / 200295437.1Attorney Docket No. NBL-068WOmove, by the plate drive component, the objects on the top plate to within a threshold distance of the end effector and / or one or more sensors. In some embodiments, the controller can automatically cause movement of the top plate downward along tire vertical post to assist in separating an object from the objects positioned on the top plate of the bin.

[0154] In some embodiments, when the object feeder system is active, the controller can automatically adjust the positions of the extensions (e.g., pins) coupled to tire bottom plate. The controller can automatically adjust the positions of the extensions (e.g., pins) based on characteristics of the objects supported by the top plate. As an example, the controller may automatically adjust the positions of pins coupled to the bottom plate based on the dimensions and / or type of the objects supported by the top plate. To adjust the positions of the pins, the controller may control one or more pin drive components configured to move (e.g., translate and / or rotate) the pins along the track(s) by which the pins are coupled to the bottom plate. To initiate adjustment of the positions of the pins along tire bottom plate, one or more sensors included in the object feeder system may detect and identify the type of objects included on the top plate. The sensors may include a presence sensor, such as a camera, LiDAR sensor, ultrasonic sensor, laser depth sensor, capacitance sensor, infrared sensor, a light reflection sensor, and a combination thereof. Based on measurements obtained by the presence sensor, the controller may determine the positions to which to move the pins coupled to the bottom plate. In some variations, the sensors may include an RFID sensor, such as an RFID reader configured to read an RFID tag included on an object supported by the top plate of the bin or an RFID tag included on the top plate of the bin, with the RFID tag storing information identifying desired positions of the pins coupled to the bottom plate. Based on information obtained by the RFID sensor, the controller may determine the positions to which to move the pins coupled to tire bottom plate. When the controller determines the positions to which to move the pins coupled to the bottom plate (e.g., obtained by reading an RFID tag using an RFID sensor), the controller can cause movement of the pins to the determined positions using the pin drive components.

[0155] In some embodiments, when the object on the top plate is within a threshold distance of the end effector and / or the one or more sensors, the controller may automatically cause the plate drive component to stop moving the top plate upward along the vertical post (e.g., defining a Z-axis). The controller may cause tire plate drive component to stop moving the top holder and top plate when the distance between a particular location on the object and tire end effector and / or the one or more sensors is equal to or less than a threshold distance. As an 54IPTS / 200295437.1Attorney Docket No. NBL-068WOexample, the controller may cause the plate drive component to stop moving the top holder when the distance between (i) a location on the object directly under the pick element of the end effector and (ii) the end effector and / or the one or more sensors is equal to or less than a threshold distance. In some variations, one or more sensors (e.g., ultrasonic, laser, and / or imaging sensors) positioned on the frame may measure the distance(s) between (i) a particular location on the object (e.g., directly under the pick element of the end effector) and (ii) the end effector and / or the one or more sensors. The controller may use the sensor(s) to detect when the distance between a particular location on the object and the end effector and / or one or more sensors is equal to or less than a threshold distance. Hie controller may stop movement of the top holder and top plate (e.g., via the plate drive component) based on measurements obtained using the sensor(s). As an example, the controller may detect, using the sensors, when a top-most object of tire objects supported by tire top plate of tire bin enter a range of within 2 mm and 10 mm of a mechanical gripper and a range of within 0 mm and 2 mm of a needle gripper included on the end effector. Based on detecting the top-most object is within each the threshold distances via measurements obtained from the sensor(s), the controller may stop movement of the top plate by causing the plate drive component to stop moving the top plate of the bin along the vertical post. At least one of the objects on the top plate may be within a threshold distance of the end effector and / or the one or more sensors when the plate drive component stops moving the top plate. As an example, the top-most object of the stack of objects positioned on the top plate may be within a threshold distance of the end effector and / or the one or more sensors when the plate drive component stops moving the top plate.

[0156] In some embodiments, the threshold distance at which the controller causes the plate drive component to stop moving the top plate may be selected based on a height of the object (e.g., the top-most object) relative to heights of the pins disposed on the bottom plate. As an example, tire distance may be selected such that only one (e.g., the top-most) object of the objects on the top plate is positioned at a height above or equal to the heights of the pins disposed on the bottom plate, with the remaining objects being positioned at respective heights equal to or below the heights of tire pins. Such a threshold distance may provide specific advantages, including improving separation of an individual object from the group of objects supported by the top plate of the bin and contacting the pins. As an example, when the (e.g., top-most) object positioned at a height above or equal to the heights of the pins is selected and engaged by an end effector as described herein, the pins can act on and contact55IPTS / 200295437.1Attorney Docket No. NBL-068WOthe objects positioned below the object at respective heights equal to or below the heights of the pins to prevent adjacent objects from adhering to tire selected object during removal of the selected object from the top plate.

[0157] In some embodiments, when the top plate is stopped along the vertical post and tire object on the top plate is within a threshold distance, the extension mechanism and the end effector may be configured to engage with and select the object from the objects positioned on the top plate. To select the object from the top plate, the controller may cause the end effector drive component to move the end effector to a starting position when the end effector is not already positioned at the starting position. The starting position may be selected based on characteristics of an object to be singulated, such that one or more types of starting positions may correspond to one or more respective types of objects. In some variations, the starting position may be predetermined and stored in a computer-readable storage medium readable by the controller. In some variations, the starting position may be automatically determined based on the object configured to be singulated and the pick element(s) included in tire end effector. When the end effector is moved to the starting position, the controller may cause at least one of the pick element(s) to engage with a surface of the object. When one or more pick element drive components are configured to translate and / or rotate one or more pick elements, the one or more pick element drive components may translate and / or rotate one or more pick elements to cause at least one of the pick element(s) to engage with a surface of the object.

[0158] The controller may be configured to utilize one or more picking techniques to singulate objects as described herein. As an example, one picking technique may include the pick element engaging with a surface of the object and lifting and holding onto the object, thereby separating the object from the other objects positioned on the top plate. The end effector may include one or more sensors configured to detect when the pick element(s) of the end effector have engaged with the surface of the object. Some non-limiting examples of types of sensors configured to detect engagement between the object surface and pick element(s) may include a pressure sensor, camera, LiDAR sensor, ultrasonic sensor, laser depth sensor, capacitance sensor, infrared sensor, a light reflection sensor, tactile sensor, resistive sensor, or a combination thereof. As an example, when the end effector has a pick element including a suction cup, the end effector may include a pressure sensor configured to detect pressure between the suction cup and a vacuum source fluidically coupled to the56IPTS / 200295437.1Attorney Docket No. NBL-068WOsuction cup, thereby enabling measurement of pressure and detection of less than a threshold pressure to detect and sense that the suction cup has engaged with the object via suction.

[0159] In some embodiments, when at least one of the pick element(s) engages with the surface of the object (e.g., as detected by one or more sensors), the controller may automatically cause movement of the top plate downward along the vertical post (e.g., defining a Z-axis) to assist in separating the object from the objects positioned on the top plate of the bin. Movement of the top plate downward along the vertical post can include moving the top plate away from both the extension mechanism and the end effector having pick element(s) engaged with the surface of the object. To cause the top plate to move downward along the vertical post, the controller may cause the plate drive component to move the top plate downward along the vertical post. When the top plate is moved downward along the vertical post and the pick element(s) are engaged with the surface of the object, the downward movement may cause and / or increase separation between the object engaged by the pick element(s) and the remaining object(s) positioned on the top plate, such that the remaining object(s) remain positioned on tire top plate without adhering to the object engaged by the pick element(s). When at least one of the pick element(s) engages with the surface of the object (e.g., as detected by one or more sensors) and one or more pick element drive components are configured to translate and / or rotate one or more pick elements, the controller may automatically cause translation and / or rotation of the one or more pick elements to assist in separating the object from the objects positioned on the top plate of the bin. Such separation between the object engaged by the pick element(s) and the remaining object(s) positioned on the top plate may eliminate and / or reduce instances where the pick element(s) inadvertently engage with and select more than one object from the objects positioned on the top plate, thereby improving singulation of objects by the object feeder system.

[0160] In some embodiments, the object feeder system may include one or more sensors and / or may be configured to execute techniques to detect when the pick element(s) of the end effector have engaged with and lifted only one object. Some non-limiting examples of types of sensors configured to detect engagement between the object surface and pick element(s) may include a pressure sensor, camera, LiDAR sensor, ultrasonic sensor, laser depth sensor, capacitance sensor, infrared sensor, a light reflection sensor, tactile sensor, resistive sensor, or a combination thereof. As an example, when the end effector has a pick element including a suction cup, the end effector may include a pressure sensor configured to detect pressure between the suction cup and a vacuum source fluidically coupled to the suction cup, thereby 57IPTS / 200295437.1Attorney Docket No. NBL-068WOenabling measurement of pressure and detection of less than a threshold pressure to detect and sense that the suction cup has engaged with the object via suction.

[0161] In some embodiments, the object feeder system may use the sensor(s) and / or techniques to detect when the pick element(s) of the end effector have not engaged with and lifted an object from the top plate or engaged with and lifted more than one object from the top plate. In some variations, an end effector may include one or more sensors configured to detect the absence of an object or presence of more than one object engaged by the pick element(s). As an example, tire end effector may include a light measurement sensor (e.g., a fiber-optic light measurement sensor) including an emitter and a receiver, where the emitter emits an optical signal and the receiver receives the optical signal or a portion thereof from the emitter and provides an indication of an intensity of the received optical signal to the controller. When pick element(s) of the end effector engage with an object positioned on the top plate, the object can be positioned between the emitter and receiver of the light measurement sensor (e.g., on opposite sides of the object) and block at least a portion of the emitted optical signal, such that the receiver only receives a portion of the emitted optical signal having a reduced intensity relative to the full, uninhibited optical signal. Based on the intensity of the optical signal detected by the receiver, the controller may determine whether the pick element(s) have engaged with no objects, only one object, or more than one object selected from the top plate. As an example, when the receiver detects an intensity’ of the optical signal is less than first threshold intensity level, the controller may determine that the pick element(s) have engaged with one or more objects. As another example, when the receiver detects an intensity of the optical signal is less than first threshold intensity level and a second threshold intensity level that is less than the first threshold intensity level, the controller may determine that the pick element(s) have engaged with two or more objects. The intensity of the optical signal received by the receiver may be based on material properties (e.g., opacity) of the objects to be singulated by the object feeder system.

[0162] In some embodiments, when the controller determines the pick element(s) of the end effector have not engaged with and lifted an object from the top plate after attempting to engage with the object, the controller may cause the pick element(s) to retry’ engaging with and lifting the object from the top plate. The controller may cause execution of a number of attempts for the pick element(s) to engage with and lift the object from the top plate. When the controller causes execution of a number of attempts greater than or equal to a first threshold number of attempts for the pick element(s) to engage with and lift the object 58IPTS / 200295437.1Attorney Docket No. NBL-068WOwithout successful engagement and lifting of the object, the controller may cause movement of the top holder and top plate (e.g., via the plate drive component) toward the pick element(s) and end effector. For example, the controller may cause movement of the top holder and top plate (e.g., via the plate drive component) toward the pick element(s) and end effector by a pre-defined distance (e.g., in a range of 0.1 mm to 1.5 mm, such as 0.5 mm to 1 mm) and then cause execution of a number of additional attempts for the pick element(s) to engage with and lift the object from the top plate. When tire controller causes execution of a number of attempts greater than or equal to a second threshold number of attempts for the pick element(s) to engage with and lift the object without successful engagement and lifting of the object, the controller may generate an alert (e.g., visual alert, auditory alert, etc.) for a user indicating that an object cannot be selected.

[0163] In some embodiments, the object feeder system may include a dislodge mechanism configured to cause disengagement between objects engaged with and lifted by pick element(s) of the object feeder system. The dislodge mechanism may include a source of compressed air configured to be directed toward the object(s) engaged with tire pick element(s) to dislodge one or more objects (i) engaged with and lifted by the pick elements) and / or adhering to one or more objects engaged with and lifted by the pick element(s). When the controller determines the pick element(s) of the end effector have engaged with and lifted more than one object from the top plate (e.g., via one or more sensors), the controller may activate the dislodge mechanism to attempt to dislodge object(s) from the pick element(s). When the controller determines the dislodge mechanism has successfully dislodged object(s) from the pick element(s) such that the pick element(s) are engaged with and lift only one object, the controller may proceed to move the object as described herein. When the controller determines the dislodge mechanism has unsuccessfully dislodged object(s) from tire pick element(s) such that the pick element(s) remain engaged with and lifting more than one object, the controller can cause the pick element(s) to disengage with and release the held objects, thereby dropping the objects from the end effector onto the top plate of the bin from which the objects were selected. In response to dropping the objects from the end effector onto the top plate of the bin from which the objects were selected, the controller may cause the pick element(s) to retry’ engaging with and lifting the object from the top plate. Tire controller may cause execution of a number of attempts for the pick element(s) to engage with and lift only one object from the top plate. When the controller causes execution of a number of attempts greater than or equal to a first threshold number of attempts for the pick59IPTS / 200295437.1Attorney Docket No. NBL-068WOelement(s) to engage with and lift only one object without successful engagement and lifting of the object, the controller may cause movement of the top plate (e.g., via the plate drive component) away from the pick element(s) and end effector. For example, the controller may cause movement of the top plate (e.g., via the plate drive component) away from the pick element(s) and end effector by a pre-defined distance (e.g., in a range of 0.1 mm to 1.5 mm, such as 0.5 mm to 1 mm) and then cause execution of a number of additional attempts for the pick element(s) to engage with and lift the object from the top plate. When the controller causes execution of a number of attempts greater than or equal to a second threshold number of attempts for the pick element(s) to engage with and lift only one object without successful engagement and lifting of the object, the controller may generate an alert (e.g., visual alert, auditory alert, etc.) for a user indicating that an object cannot be selected.

[0164] In some embodiments, the controller can cause two or more of the pick elements to engage with the object at the same time (e.g., simultaneously). As an example, when the end effector has pick elements including a suction cup and mechanical gripper (e.g., needle gripper), the controller may activate the suction cup to contact and lift the object. When the suction cup has contacted and lifted the object, the controller may simultaneously control and cause the mechanical gripper to engage with and hold the object, such that the object is held by both the suction cup and the mechanical gripper simultaneously. In some variations, the controller may cause only a subset (e.g., one) of the pick elements to engage with the object at a particular time, such that two or more of the pick elements do not simultaneously engage with the surface of the object at the particular time when the object is held by the end effector. As an example, after the mechanical gripper holds onto the object, tire controller may deactivate the suction cup while the mechanical gripper continues holding the object, such that the object is held by only the mechanical gripper. By engaging with the object, the pick element(s) can hold the object while the extension mechanism moves the end effector to separate the object from the objects positioned on the top plate, thereby singulating the object from the top plate.

[0165] In some embodiments, when at least one of the pick elements of the end effector has engaged with the object, the controller may cause the end effector drive component to move the end effector along and / or via the extension mechanism. The controller may cause movement of the end effector from the starting position to the target position. When the end effector drive component moves the end effector from the starting position tow ards the target position, the pick element(s) may continue to hold onto the object selected from the objects 60IPTS / 200295437.1Attorney Docket No. NBL-068WOon the top plate, thereby removing and separating the object from the objects on the top plate. As the end effector drive component moves the end effector from the starting position towards the target position, the held object may be moved along with the end effector to the target position. In some variations, the target position may be selected to be different from the starting position and away from the area of the frame of the object feeder system, such that the object may be moved away from an initial location on the top plate of the bin and objects placed thereon to a target location. When the end effector reaches the target position, the controller may stop movement of the end effector and may cause each of the pick elements to disengage with and release the held object. As each of the pick element(s) disengages with the object, the object may be released from the end effector and the extension mechanism, thereby dropping away from the object feeder system. The object dropped by the pick element(s) may be dropped onto a designated target location (e.g., area and / or surface) for subsequent picking and placement (e.g., by a robotic element). As an example, the object maybe dropped onto a target location on a tray or conveyor available to another end effector connected to a robotic arm element, with that end effector picking and placing the object as a part of a manufacturing process for an article of footwear or apparel.

[0166] In some embodiments, when the object is released from the end effector and the extension mechanism, the controller may cause the end effector drive component to move the end effector via the extension mechanism. The controller may cause movement of the end effector from the target position to the starting position. When the end effector reaches the starting position, the controller may stop movement of the end effector to allow for subsequent engagement of the end effector with another object positioned on the top plate (if available).

[0167] In some embodiments, the controller may automatically cause the plate drive component to move the top plate upward along the vertical post (e.g., defining a Z-axis) toward the extension mechanism after separation and removal of an object from the object(s) positioned on the top plate. As an example, after separation and removal of an object from the objects by the end effector, the controller may again automatically cause movement of the top plate upward along the vertical post until at least one of the objects positioned on the top plate is detected as being within a threshold distance of the end effector and / or one or more sensors. Accordingly, the controller may be configured to continuously move, by the plate drive component, the objects on the top plate to within a threshold distance of the end effector and / or one or more sensors as individual objects are separated and removed from the 61IPTS / 200295437.1Attorney Docket No. NBL-068WOtop plate as described herein. The controller may repeat the steps described herein for each of the objects positioned on the top plate until the top plate is empty and no objects are positioned on the top plate, thereby iteratively moving the top plate along the vertical post closer to the extension mechanism and end effector after an object is singulated from the top plate. When the last of the objects is removed from the top plate by the end effector, the controller may move the top plate downward along the vertical post (e.g,, defining a Z-axis) to the loading position.

[0168] In some embodiments, the controller may automatically determine when the top plate of the bin is empty and does not include any objects to be singulated by the object feeder system. To detect when the top plate is empty, one or more sensors included in the object feeder system may detect and identify the presence or absence of at least one object on the top plate. The sensors may include a presence sensor, such as a camera, LiDAR sensor, ultrasonic sensor, laser depth sensor, capacitance sensor, infrared sensor, a light reflection sensor, and a combination thereof. Based on measurements obtained by the presence sensor, the controller may determine whether at least one object is positioned or is not positioned on the top surface of the top plate of the bin, Additional techniques for detecting the presence of at least one object on the top plate are described further herein at least with respect to FIGs.15A-15C. Tlie controller may cause movement of the top plate to a loading position when the controller determine the top plate is empty. The controller may cause adjustment to the positions at which the pins are coupled to the bottom plate when tire controller determine the top plate is empty.

[0169] In some variations, the sensors may include an ultrasonic depth sensor configured to measure a distance between the sensor and a surface towards which the sensor is directed. In some cases, the top plate of the bin may define an opening, with the ultrasonic sensor being directed through the opening toward the bottom plate of the bin. When one or more objects are positioned and supported on the top plate of the bin, the objects may cover the opening through which the ultrasonic sensor is directed, such that the ultrasonic sensor detects and measures a distance less than a threshold distance based on the sensor measuring a distance between the sensor and a top-most object that covers the opening of the bin. When no objects are positioned and supported on the top plate of the bin (e.g., based on being selected and moved by the end effector), the opening defined by the bin towards which the ultrasonic sensor is directed may be uncovered, such that the ultrasonic sensor detects and measures a distance greater than or equal to the threshold distance based on the sensor measuring a 62IPTS / 200295437.1Attorney Docket No. NBL-068WOdistance between the sensor and the bottom plate of the bin. Based on measurements obtained by the ultrasonic sensor, the controller may determine whether an object is present or is not present on the top surface of the top plate of the bin. As an example, the controller may determine at least one object is present on the top plate when the ultrasonic sensor measures less than a threshold distance and may determine no object is present on the top plate when the ultrasonic sensor measures greater than or equal to the threshold distance. When the controller determines at least one object is present on the top plate, the controller may repeat the steps for selecting and moving an object as described herein for each of the objects positioned on the top plate until the top plate is empty and no objects are positioned on the top plate. When the controller determines no objects are present on the top plate, the controller may cause the plate drive component to move the top holder and top plate coupled thereto downward along the vertical post (e.g., defining a Z-axis) to tire loading position.

[0170] In some variations, the sensors may include an RFID sensor, such as an RFID reader configured to read and obtain information from an RFID tag included on an object supported by the top plate of the bin. Based on information obtained by tire RFID sensor, the controller may determine whether an object is present or is not present on the top surface of the top plate of the bin. When the controller determines at least one object is present on the top plate, the controller may repeat the steps described herein for each of the objects positioned on the top plate until the top plate is empty and no objects are positioned on the top plate. When the controller determines no objects are present on the top plate, tire controller may cause the plate drive component to move the top plate downward along the vertical post (e.g., defining a Z-axis) to the loading position.

[0171] In place of the con troller causing the plate drive component to move the top plate downward along the vertical post (e.g., defining a Z-axis) to the loading position, the controller may cause the top plate to move upward along the vertical post to a track exit area. The top plate may disengage from the vertical post upon reaching the track exit area as described herein.

[0172] In some embodiments, referring to FIG. 13, a method 1300 for singulating an object from a group of objects using an object feeder system may include one or more of the following steps, such as steps 1302 to 1310. In some cases, an object feeder system may perform singulation of the object to move the object between initial and target locations during a manufacturing process. The steps of the method 1300 may be iteratively repeated until each of the objects is singulated from a top plate and the top plate is empty, thereby 63IPTS / 200295437.1Attorney Docket No. NBL-068WOenabling picking and placement of individual objects from the group of objects.Embodiments of an object feeder system described herein, such as embodiments of an object feeder system including a plate holder or a carriage may be configured to perform the steps of the method 1300.

[0173] At step 1302, atop plate may be disposed (e.g., loaded) in a frame of an object feeder system. A top holder of the frame may engage with the top plate to receive and retain the top plate therein. A group of objects may be positioned onto a surface (e.g., top surface) of a top plate. The objects may be aligned within a stack, with the objects being placed between extensions extending through the top plate. Tire objects may be positioned onto the top surface by a user or a robotic element. A bottom plate may be disposed in the frame of the object feeder system. A bottom holder of the frame may engage with the bottom plate to receive and retain the bottom plate therein. The top and bottom plates may form a bin.

[0174] At step 1304, a controller of the object feeder system may cause movement of the top plate (e.g., using a plate drive component) towards an end effector to position a particular object of the objects at a first location (e.g., within a threshold distance of an end effector). Tire movement of the top plate may occur while the objects are positioned on the top surface. The movement of the top plate may be along a vertical post, such as along a Z-axis defined by the vertical post. While the top plate moves towards the end effector, the controller may detect the object at the first location using a sensor. Tire controller may stop the movement of the top plate towards the end effector in response to detecting the object at the first location.

[0175] At step 1306, the controller may cause the end effector (e.g., a pick element of the end effector) to engage with a surface of the object after the object is positioned at the first location and / or in response to the movement of tire top plate towards the end effector to position the object at the first location. In some variations, the controller may cause the end effector to engage with a surface of the object in response to detecting, using a sensor, the object at the first location. By engaging with the surface of the object, the end effector may contact the surface of the object to hold the object and enable movement of the object from the first location via movement of the end effector. The controller may detect, using a sensor, the engagement between the end effector with the surface of the object.

[0176] At step 1308, the controller may cause movement of the object from the first location while the object is engaged with the end effector. In some cases, moving the object from the first location may include separating the object from the other objects on tire top plate. The64IPTS / 200295437.1Attorney Docket No. NBL-068WOcontroller may cause the movement of the object in response to detecting, using a sensor, the engagement between the end effector and the surface of the object, thereby signaling the end effector is ready to move the object from the first location. The controller may cause movement of the end effector from a starting position to move the object from the first location.

[0177] At step 1310, the controller may cause the end effector (e.g., apick element of the end effector) to disengage from the surface of the object after moving the object from the first location, to move the object to a second location different from the first location. In some cases, disengaging the end effector from the surface of the object may cause the end effector to release the object at the second location on a surface, thereby providing the object for a subsequent process. The controller may cause movement of the end effector from the starting position to a target position to move the object from the first location to the second location. Based on disengaging the end effector from the surface of the object, the controller may cause movement of the end effector from the target position to the starting position. At the starting position, the controller may detect, using a sensor, whether at least one object is positioned on the surface of the top plate or no objects are positioned on the surface of the top plate. After disengaging the end effector from the surface of the object, the controller may¬ detect, using a sensor, (i) a presence of an additional object positioned on the surface of the top plate, or (fi) an absence thereof. When the controller detects an additional object positioned on the surface of the top plate, the controller may repeat steps 1304 to 1310 with respect to the additional object until the controller detects an absence on an object positioned on the surface of the top plate.Some Embodiments of a Computing System

[0178] FIG. 14 is a block diagram of an example computer system 1400 that may be used in implementing the technology described herein. General-purpose computers, network appliances, mobile devices, or other electronic systems may also include at least portions of the system 1400. The system 1400 includes a processor 1410, a memory' 1420, a storage device 1430, and an input / output device 1440. Each of the components 1410, 1420, 1430, and 1440 may be interconnected, for example, using a system bus 1450. The processor 1410 is capable of processing instructions for execution within the system 1400. In some implementations, the processor 1410 is a single-threaded processor. In some implementations, the processor 1410 is a multi-threaded processor. The processor 1410 is capable of processing instructions stored in the memory' 1420 or on the storage device 1430.65IPTS / 200295437.1Attorney Docket No. NBL-068WO

[0179] The memory 1420 stores information within the system 1400. in some implementations, the memory 1420 is a non-transitory computer-readable medium. In some implementations, the memory' 1420 is a volatile memory' unit. In some implementations, the memory 1420 is a non-volatile memory unit.

[0180] The storage device 1430 is capable of providing mass storage for the system 1400. In some implementations, the storage device 1430 is a non-transitory computer-readable medium. In various different implementations, the storage device 1430 may include, for example, a hard disk device, an optical disk device, a solid-date drive, a flash drive, or some other large capacity storage device. For example, the storage device may store long-term data (e.g., database data, file system data, etc.). The input / output device 1440 provides input / output operations for the system 1400. In some implementations, the input / output device 1440 may include one or more of a network interface devices, e.g., an Ethernet card, a serial communication device, e.g,, an RS-232 port, and / or a wireless interface device, e.g., an 802.11 card, a 3G wireless modem, a 4G wireless modem, or a 5G wireless modem. In some implementations, the input / output device may include driver devices configured to receive input data and send output data to other input / output devices, e.g., keyboard, printer and display devices 1460. In some examples, mobile computing devices, mobile communication devices, and other devices may be used.

[0181] In some implementations, at least a portion of the approaches described above may be realized by instructions that upon execution cause one or more processing devices to carry out the processes and functions described above. Such instructions may include, for example, interpreted instructions such as script instructions, or executable code, or other instructions stored in a non-transitory computer readable medium. Hie storage device 1430 may be implemented in a distributed way over a network, for example as a server farm or a set of widely distributed servers, or may be implemented in a single computing device.

[0182] Although an example processing system has been described in FIG. 14, embodiments of the subject matter, functional operations and processes described in this specification can be implemented in other types of digital electronic circuitry', in tangibly-embodied computer software or firmware, in computer hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Embodiments of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible nonvolatile program carrier for execution by, or to control the operation of, data processing apparatus. Alternatively or in addition, the program instructions 66IPTS / 200295437.1Attorney Docket No. NBL-068WOcan be encoded on an artificially generated propagated signal, e.g., a machine -generated electrical, optical, or electromagnetic signal that is generated to encode information for transmission to suitable receiver apparatus for execution by a data processing apparatus. The computer storage medium can be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or a combination of one or more of them.

[0183] The term “sys tem” may encompass all kinds of apparatus, devices, and machines for processing data, including by way of example a programmable processor, a computer, or multiple processors or computers. A processing system may include special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit). A processing system may include, in addition to hardware, code that creates an execution environment for tire computer program in question, e.g., code that constitutes processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of them.[01841 A computer program (which may also be referred to or described as a program, software, a software application, a module, a software module, a script, or code) can be written in any form of programming language, including compiled or interpreted languages, or declarative or procedural languages, and it can be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program may, but need not, correspond to a file in a file system. A program can be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub programs, or portions of code). A computer program can be deployed to be executed on one computer or on mul tiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.

[0185] The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can also be implemented as, special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit).

[0186] Computers suitable for the execution of a computer program can include, by way of example, general or special purpose microprocessors or both, or any other kind of central 67IPTS / 200295437.1Attorney Docket No. NBL-068WOprocessing unit. Generally, a central processing unit will receive instructions and data from a read-only memory or a random access memory or both. A computer generally includes a central processing unit for performing or executing instructions and one or more memory¬ devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g,, magnetic, magneto optical disks, or optical disks. However, a computer need not have such devices. Moreover, a computer can be embedded in another device, e.g., a mobile telephone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a Global Positioning System (GPS) receiver, or a portable storage device (e.g., a universal serial bus (USB) flash drive), to name just a few.

[0187] Computer readable media suitable for storing computer program instructions and data include all forms of nonvolatile memory, media and memory devices, including by way of example semiconductor memory' devices, e.g,, EPROM, EEPROM, and flash memory¬ devices; magnetic disks, e.g., internal hard disks or removable disks; magneto optical disks; and CD-ROM and DVD-ROM disks. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry-.

[0188] To provide for interaction with a user, embodiments of the subject matter described in this specification can be implemented on a computer having a display device, e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, for displaying information to the user and a keyboard and a pointing device, e.g,, a mouse or a trackball, by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback, e.g., visual feedback, auditory- feedback, or tactile feedback; and input from the user can be received in any form, including acoustic, speech, or tactile input. In addition, a computer can interact with a user by sending documents to and receiving documents from a device that is used by the user; for example, by sending web pages to a w-eb browser on a user’s user device in response to requests received from the web browser.

[0189] Embodiments of tire subject mater described in this specification can be implemen ted in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a client computer having a graphical user interface or a Web browser through w-hich a user can interact with an implementation of the subject matter described in this specification, or any combination of one or more such back end, middleware, or front end components. The components of the system can be interconnected by any- form or medium of 68IPTS / 200295437.1Attorney Docket No. NBL-068WOdigital data communication, e.g., a communication network. Examples of communication networks include a local area network (“LAM”) and a wide area network (“WAN”), e.g., the Internet.

[0190] Tire computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.Some Embodiments of Methods for Detecting an Object

[0191] Referring to FIGs 15A-15C, an embodiment of an object feeder system 1500 may include a bin 1502 including a top plate 1504. The top plate 1504 of the bin 1502 may include atop surface 1506. A frame of the object feeder system 1500 may include an extension mechanism 1508 and an end effector 1510. lire end effector 1510 may include one or more sensors 1512 configured to detect and identify the presence or absence of at least one object 1514 on the top plate 1504. An end effector drive component (not shown) may be configured to move (e.g., translate) the end effector 1510 along and / or via the extension mechanism 1508. As shown in FIGs. 15A-15C, the end effector drive component may include a lead screw 1516 and a motor (not shown), with activation of the motor causing movement of the end effector 1510 along the lead screw 1516. The one or more sensors 1512 may include one or more light reflection sensors disposed on the end effector 1510 adjacent to pick element(s) 1518 of the end effector 1 10. An example of a type of light reflection sensor may be a retro-reflective sensor, e.g., an O8P202 retro-reflective sensor manufactured by IFM. Each sensor 1512 may be communicatively coupled to a computing system (e.g., controller) (not shown) and configured to measure a reflectance of particular location on a surface within a field of view (FOV) of that light reflection sensor 1 12.

[0192] A light reflection sensor may include an integrated emitter and receiver. The emitter may be configured to emit an optical signal and the receiver may be configured to receive the optical signal or a portion thereof originating from the emitter and directed toward a location on a surface within a FOV of the light reflection sensor. Using the optical signal received by the receiver, the controller may determine an intensity of the received optical signal. A reflectance of the location on the surface toward which the emitted optical signal was directed may be determined based on the intensity of the received optical signal. In the example shown in FIGs. 15A-15C, the end effector 1510 may include first and second sensors 1512a, 1512b disposed adjacent to respective first and second pick elements 1518a, 1518b. In some69IPTS / 200295437.1Attorney Docket No. NBL-068WOcases, an emiter may be omited from the light reflection sensor, such that the receiver of the light reflection sensor is configured to receive optical signal(s) derived from ambient light in an environment in which the light reflection sensor operates.

[0193] Using the sensor(s) 1512, the controller may be configured to obtain one or more measurements of reflectance at particular locations within the FOV of the sensor(s) 1512, To enable the controller to distinguish between an empty top plate 1504 and a top plate 1504 with at least one object 1514 positioned thereon using the sensor(s) 1512, the top surface 1506 of the top plate 1504 and / or a component (e.g., a top holder 1520 and / or a carriage) coupling the top plate 1504 to at least one vertical post (not shown) may include one or more reflective material portions 1522 disposed thereon. As shown in FIG. 15A, the reflective material portions 1522 may be formed as one or more strips on both the top surface 1506 and the top holder 1520, with the reflective material portions 1522 being positioned within the FOV of the sensors 1512 during movement of the end effector 1510. An example of a type of reflective material portion is a reflective tape, such as a white DOT-C2 reflective tape. The reflective material portions 1522 may have a different (e.g., greater) reflectance than the objects to be singulated by the object feeder system. As an example, optical signals reflected by the reflective material portions 1522 may have a greater intensity relative to optical signals reflected by the objects to be singulated by the object feeder system.

[0194] The reflective material portion(s) 1522 may be positioned underneath objects 1514 when the objects 1514 are positioned on the top plate 1504, such that the objects 1514 at least partially cover the reflective material portion(s) 1522 and prevent the one or more sensors 1512 from measuring the reflectance of the reflective material portion(s) 1522 covered by the objects 1514. Accordingly, the objects 1514 configured to be positioned on the top surface 1506 of the top plate 1504 may have a reflectance different from (e.g., less than) the reflectance of the reflective material portions 1522, such that the controller may be configured to determine whether (i) the top plate 1504 is empty with no object 1514 positioned thereon (e.g., as shown in FIG. 15 A) or (ii) at least one object 1514 is positioned on the top plate 1504 (e.g., as shown in FIGs. 15B and 15C) based on the measured reflectance obtained using the sensor(s) 1512. Based on the top surface 1506 of the top plate 1504 being in the FOV of a sensor 1512, a sensor 1512 may be configured to measure a reflectance of at least one of a reflective material portion 1522 on the top surface 1506 or at least one object 1514 supported by the top surface 1506 that covers a reflective material portion 1522. When at least one object 1514 is supported on the top surface 1506 and70IPTS / 200295437.1Attorney Docket No. NBL-068WOcovering the reflective material portion 1522 (e.g., as shown in FIGs. 15B and 15C), the controller may be configured to detect the at least one object 1514 positioned on the top surface 1506, such as the presence of the at least one object 1514, based on the measured reflectance obtained by the sensor 1512. In response to detecting the at least one object 1514, the controller may continue with singulation of the remaining object(s) 1514 positioned on the top surface 1506. When no objects 1514 are supported on the top surface 1506 (e.g., as shown in FIG. 15A), the controller may be configured to fail to detect any object 1514 as supported on the top surface 1506 based on the measured reflectance. When no objects 1514 are supported on the top surface 1506 (e.g., as shown in FIG. 15A), the controller may be configured to detect the absence of any object 1514 supported on the top surface 1506 based on the measured reflectance. In response to failing to detect any object 1514 as supported on the top surface 1506, the controller may determine the top plate 1504 is empty and may move (e.g., lower) the top plate 1504 in response thereto. In response to detecting the absence of any object 1514 supported on the top surface 1506, the controller may determine the top plate 1504 is empty and may move (e.g., lower) the top plate 1504 in response thereto. As an example, the controller may move the top plate 1504 along a vertical post via a plate drive component to a loading position and / or otherwise eject the top plate 1504 from the frame, thereby allowing for a new bin 1502 to be loaded into the frame.

[0195] In some variations, the controller may be configured to use the sensor(s) 1512 to detect objects 1514 along a secondary axis (e.g., an X-axis) based on movement of the end effector 1510 including the sensor(s) 1512 (e.g., via the extension mechanism 1508). By providing the reflective material portions 1522 in one or more strips along the top surface 1506 of the top plate 1504, the controller may be configured to move the end effector 1510 over the top plate 1504 via the end effector drive component until at least one of the sensors 1512 directed toward the top surface 1506 of the top plate 1504 detects a reflectance different from the reflectance of the reflective material portions 1522, thereby indicating that an object 1514 is present on the top surface 1506 and within range of the pick elements 1518 of the end effector 1510. As an example, the controller may move the end effector 1510 from the position shown in FIG. 15B to the position of FIG. 15C over the top plate 1504 via the end effector drive component. When at least one of the sensors 1512 fails to detect any reflective material portion 1522 with the end effector 1510 positioned over the top plate 1504, the controller may determine that at least one object 1514 is positioned on the top surface 1506 and may cause singulation of the object 1514.71IPTS / 200295437.1Attorney Docket No. NBL-068WO

[0196] In some embodiments, to enable the controller to detect when the pick element(s) 1518 have engaged with an object 1514, at least one reflective material portion 1522 may be disposed between the object feeder system 1500 and a surface onto which an object 1514 is configured to be placed by the end effector 1510. The reflective material portion 1522 may be configured to be within a FOV of the sensor(s) 1512 during movement of the end effector 1510 from a starting position to a target position, e.g., to move an object 1514 selected from the top plate 1504 to another surface (e.g., a tray or a conveyor). As an example, the reflective material portion(s) 1522 may be positioned underneath the sensor(s) 1512 during movement of the end effector 1510 from a starting position to a target position. When an object 1514 is engaged with the end effector 1510, the object 1514 may prevent the one or more sensors 1512 from measuring the reflectance of the reflective material portion 1522 disposed between the object feeder system 1500 and the surface onto which the object 1514 is configured to be placed. When an object 1514 is not engaged with the end effector 1510, the one or more sensors 1512 may measure the reflectance of the reflective material portion 1522 disposed between the object feeder system 1500 and the surface onto which an object 1514 is configured to be placed. Accordingly, the controller may be configured to detect whether an object 1514 has successfully engaged with the end effector 1510 during movement of the end effector 1510 between the starting and target positions using measurements of reflectance obtained using the sensor 1512. When the sensor 1512 detects the reflective material portion 1522 disposed between the object feeder system 1500 and the surface onto which an object 1514 is configured to be placed during movement of the end effector 1510 from the starting position to the target position, the controller may determine that the end effector 1510 has not engaged with an object 1514 (e.g., based on the bin being empty or a failure of the pick elements to engage with the surface of the object 1514), In response to determining that the end effector 1510 has not engaged with an object 1514, the controller may retry causing the pick element(s) to engage with and lift the object from the top plate by moving the end effector 1510 to the starting position. When the sensor 1512 fails to detect the reflective material portion 1522 disposed between the object feeder system 1500 and the surface onto which an object 1514 is configured to be placed during movement of the end effector 1510 from the starting position to the target position, the controller may determine that the end effector has properly engaged with an object 1514, such that the object 1514 may be placed on the surface. Such techniques for detecting engagement between the end effector 1510 and an object 1514 may be applied, for example, with non-suction-based pick elements 1518.72IPTS / 200295437.1Attorney Docket No. NBL-068WOSome Embodiments of an Object Feeder System With a Carriage

[0197] Referring to FIG. 16, an embodiment of an object feeder system may include a frame 1602. The frame 1602 may include a vertical post 1604 along which a bin or a portion thereof may be configured to move. The vertical post 1604 may be configured to engage with embodiments of a carriage as described herein. The vertical post 1604 may include a vertical track 1606. The vertical track 1606 may include one or more track walls 1608 and a lead screw 1610. As shown in FIG. 16, the vertical track 1606 may include first and second track walls 1608a, 1608b defining the vertical track 1606. The vertical post 1604 may define an axis along which a bin or a portion thereof may be configured to move, such as a Z-axis of an X-Y-Z Cartesian coordinate system. The lead screw 1610 may be disposed adjacent to and / or within the vertical post 1604 and may include a top end 1612 and a bottom end 1614. The frame 1602 may include a plate drive component configured to move a bin or a portion thereof along the vertical track 1606. The plate drive component may be configured to control a position of the bin or a portion thereof along the vertical post 1604 via the lead screw 1610. As an example, the plate drive component may include a linear actuator including the lead screw 1610 and a motor (not show n) operatively coupled to the lead screw 1610. In some cases, the plate drive component may be configured to rotate the lead screw 1610 about a central axis defined by the lead screw, with the rotation of the lead screw 1610 being configured to cause movement (e.g., translation) of a carriage and a top plate coupled thereto along the lead screw 1610 and the vertical post 1604 via engagement between an engagement structure of tire carriage and the lead screw 1610. The central axis defined by the lead screw 1610 may be parallel to the axis defined by the vertical post 1604 along which a bin or a portion thereof may be configured to move.

[0198] The first and second track walls 1608a, 1608b may be flat walls (e.g., sidewalls) disposed within the same plane. The first and second track walls 1608a, 1608b may be symmetric. The first and second track w'alls 1608a, 1608b may define a track exit area 1632 at a top end 1612 of the lead screw 1610 and a track entrance area 1634 at a bottom end 1614 of the lead screw 1610. Such a configuration may guide the bin into proper alignment with the lead screw 1610 at the track entrance area 1634 as the bin is loaded into the frame 1602.

[0199] The frame 1602 may include an extension mechanism including an end effector (not shown), with the object feeder system including the frame 1602 being configured to singulate objects using the extension mechanism and the end effector as described herein (e.g., with respect to the object feeder system 100). The frame 1602 may include a base 1616 configured 73IPTS / 200295437.1Attorney Docket No. NBL-068WOto enable the frame 1602 to stand upright on a surface. In some cases, the base 1616 may be omitted from the frame 1602, such as to allow a bin to be lifted up from a preloading position to a loading position at which the bin may be loaded into the frame. The frame 1602 may include a loading mechanism 1618. The loading mechanism 1618 may include a biasing element 1620 and a bin loading interface 1622 coupled thereto. The biasing element 1620 may generate a biasing force, with the bin loading interface 1622 being configured to apply the biasing force to a structure, such as a bin or a portion thereof (e.g., a top plate). An example of a type of biasing element 1620 may be a spring. In some variations, the loading mechanism 1618 may define an axis that is orthogonal to the axis defined by the vertical post 1604 along which a bin or a portion thereof may be configured to move. The biasing force may be configured to be applied along the axis defined by the loading mechanism 1618 toward the vertical post 1604.

[0200] The frame 1602 may include a frame alignment structure 1624 configured to engage with a bin or a portion thereof to align the bin relative to the vertical post 1604. As an example, the frame alignment structure 1624 may include an alignment track, The frame alignment structure 1624 may be disposed on the base 1616, In some variations, the frame alignment structure 1624 may define an axis that is orthogonal to the axis defined by tire vertical post 1604 along which a bin or a portion thereof may be configured to move.

[0201] Referring now to FIG. 17, an embodiment of an object feeder system may include a bin 1700. The bin 1700 may include a top plate 1702 having a top surface 1704 configured to support a group (e.g., a stack) of objects. The bin 1700 may include a carriage 1706 coupled to the top plate 1702. The top plate 1702 may optionally include one or more casters 1708 disposed on an edge of the top plate 1702 and configured to guide the top plate 1702 relative to one or more pins, such as to align the top plate 1702 relative to the pins during movement of the top plate 1702 along a vertical post 1604 of the frame 1602. Each caster 1708 may be configured to engage with a respective pin. Each caster 1708 may include a wheel 1710 configured rotate about a respective rotation axis. A wheel 1710 may rotate along a pin with which the caster 1708 including that wheel 1710 is engaged. Each rotation axis may be orthogonal to an axis defined by the vertical post 1604 along which the carriage 1706 and top plate 1702 are configured to move. In the example shown in FIG. 17, the top plate 1702 may include four casters 1708 disposed on corners of the bin 1700. The casters 1708 may be configured to prevent rotation of the carriage 1706 and the top plate 1702 coupled thereto about an axis (e.g., a Z-axis) defined by the vertical post along which the carriage 1706 and 74IPTS / 200295437.1Attorney Docket No. NBL-068WOthe top plate 1702 are configured to move, as well as prevent rotation of the carriage 1706 and top plate 1702 coupled thereto about a pair of axes (e.g., X- and Y-axes) that each orthogonal to each other and to the axis defined by the vertical post.

[0202] The bin 1700 may include a bottom plate (not shown) disposed below the top plate 1702, The top plate 1702 may be removably coupled to the bottom plate via one or more fasteners. The bottom plate may include one or more extensions configured to extend through openings (not shown) defined by the top plate 1702, as described herein.

[0203] Referring to FIGs. 18A and 18B, in some embodiments, the carriage 1706 may include an engagement structure 1802 and a plurality of wheels 1804. The engagement structure 1802 may be a threaded half nut engagement structure configured to removably engage with the lead screw 1610 of the frame 1602. The threaded half nut engagement structure may enable the bin 1700 to be selectively engaged with and disengaged from the lead screw 1610 of the vertical post 1604, thereby facilitating loading of the bin 1700 into and unloading of the bin 1700 from the frame 1602. Accordingly, the threaded half nut engagement structure may enable the bin 1700 to be loaded into the frame 1602 without the use of a separate plate holder positioned at a particular loading position. The threaded half nut engagement structure may be a concave structure complementary to an exterior structure of the lead screw 1610, w ith the threaded half nut engagement structure being configured to receive the lead screw 1610. As an example, each of the threaded half nut engagement structure and the lead screw 1610 may include a number of threads, with the threads of the threaded half nut engagement structure being complementary to the threads of the lead screw 1610. The lead screw 1610 may be configured to engage with the engagement structure 1802 to move (e.g., translate) the top plate 1702 and carriage 1706 along the vertical post 1604 of the frame 1602 (e.g., via rotation of the lead screw 1610 by the plate drive component), such as along a Z-axis defined by the vertical post 1604, The top plate 1702 and carriage 1706 may be moved to a number of positions along the vertical post 1604, with the positions including a first position at a first (e.g., bottom) end of the vertical post 1604 (e.g., adjacent to the track entrance area 1634), a second position at a second (e.g., top) end of the vertical post 1604 (e.g., adjacent to the track exit area 1632), and a number of intermediate positions between the first position and the second position.

[0204] Referring to FIGs. 18A and 18B, the carriage 1706 may include at least one mounting bracket 1806, a sled bracket 1808, a first drive bracket 1810a, and a second drive bracket 1810b. The at least one mounting bracket 1806 may be coupled to each of the top plate 170275IPTS / 200295437.1Attorney Docket No. NBL-068WOand the sled bracket 1808, thereby coupling the top plate 1702 to tire carriage 1706. The sled bracket 1808 may be coupled to and positioned between the at least one mounting bracket 1806 and the first and second drive brackets 1810a, 1810b, with the sled bracket 1808 including the engagement structure 1802. The first and second drive brackets 1810a, 1810b may be pivotally coupled to the sled bracket 1808 along a pivot axis. Each of the first and second drive brackets 1810a, 1810b may be pivotally coupled to the sled bracket 1808 via a respective mechanical linkage 1812 (e.g., a clevis pin mechanism). In some cases, each of the first and second drive brackets 1810a, 1810b may be pivotally coupled to the sled bracket 1808 along a respective slot (not shown), thereby allowing for movement (e.g., translation and rotation) of the first and second drive brackets 1810a, 1810b relative to the sled bracket 1808 along the respective slots. Via such coupling between the first and second drive brackets 1810a, 1810b and the sled bracket, the pivot axis may moveable along the respective slots.

[0205] While FIG. 18B illustrates the second drive bracket 1810b coupled to the sled bracket 1808 via the mechanical linkage 1812, the first drive bracket 1810a may include one or more features of the second drive bracket 1810b and may be similarly coupled to the sled bracket 1808 by a mechanical linkage 1812. As an example, the first drive bracket 1810a may be equivalent to the second drive bracket 1810b, with the first and second drive brackets 1810a, 1810b being coupled to opposite sides of the sled bracket 1808. Accordingly, each of the sled bracket 1808, the first drive bracket 1810a, and the second drive bracket 1810b may be configured to rotate about the pivot axis. The pivot axis may be orthogonal to an axis (e.g., a Z-axis) defined by the vertical post along which the top plate 1702 and carriage 1706 are configured to move.

[0206] Each of the first and second drive brackets 1810a, 1810b may include at least one respective wheel of the plurality of wheels 1804. In the example of FIGs. 18A and 18B, each of the first and second drive brackets 1810a, 1810b may include three wheels 1804. The first and second drive brackets 1810a, 1810b may include one or more types of wheels 1804. Some non-limiting examples of types of wheels 1804 may include idler wheels 1814 and rotary speed limiter wheels 1816, Each of the wheels 1804 may be configured to rotate about a respective rotation axis. Each rotation axis may be orthogonal to an axis (e.g., a Z-axis) defined by the vertical post 1604 along which the carriage 1706 and the top plate 1702 are configured to move. In the example of FIGs. 18A and 18B, each of the first and second drive brackets 1810a, 1810b may include a rotary’ speed limiter wheel 1816 and a pair of idler 76IPTS / 200295437.1Attorney Docket No. NBL-068WOwheels 1814 disposed on opposite sides of the rotary speed limiter wheel 1816. Hie idler wheels 1814 and the rotary speed limiter wheels 1816 may be configured to engage with the vertical track 1606 of the vertical post 1604 along which the top plate 1702 and carriage 1706 are configured to move. Each idler wheel 1814 may provide an interface between the carriage 1706 and the vertical track 1606, with the idler wheel 1814 being configured to engage with the vertical track 1606 to form a friction-drive. Each rotary speed limiter wheel 1816 may provide an interface between the carriage 1706 and the vertical track 1606, with the rotary speed limiter wheel 1816 being configured to (i) engage with the vertical track 1606 to form a friction-drive and (ii) limit a speed at w hich the carriage 1706 may move along the vertical track 1606. A rotary speed limiter wheel 1816 may provide controlled ascent and / or descent of the carriage 1706 and top plate 1702 coupled thereto along the vertical post 1604, such as controlled descent in the event of disengagement of the engagement structure 1802 from the lead screw 1610,

[0207] The wheels 1804 of the first and second drive brackets 1810a, 1810b may be configured to engage with the respective first and second track walls 1608a, 1608b of the vertical track 1606, thereby guiding the movement of the top plate 1702 and the carriage 1706 along the vertical post 1604. As an example, the wheels 1804 of the first drive bracket 1810a may be configured to engage with the first track wall 1608a, and the wheels 1804 of the second drive bracket 1810b may be configured to engage with the second track w'all 1608b. Accordingly, the first and second drive brackets 1810a, 1810b and the respective wheels 1804 thereof may be disposed on opposite sides of the axis (e.g., a Z-axis) defined by the vertical post 1604 along which the carriage 1706 and the top plate 1702 are configured to move. The wheels 1804 may be configured to prevent rotation of the carriage 1706 and the top plate 1702 coupled thereto about an axis (e.g., a Z-axis) defined by the vertical post 1604 along which the carriage 1706 and the top plate 1702 are configured to move, and to prevent rotation of the carriage 1706 and the top plate 1702 coupled thereto about a pair of axes (e.g., X- and Y-axes) that are each orthogonal to each other and to the axis defined by the vertical post 1604.

[0208] In some embodiments, in addition to or in place of the wheels, each of the first and second drive brackets 1810a, 1810b may include a respective plate (not shown). The plates of the first and second drive brackets 1810a, 1810b may be configured to engage with the respective first and second track walls 1608a, 1608b of the vertical track 1606, thereby guiding the movement of the top plate 1702 and the carriage 1706 along the vertical post 77IPTS / 200295437.1Attorney Docket No. NBL-068WO1604. Accordingly, the first and second drive brackets 1810a, 1810b and the respective plates thereof may be disposed on opposite sides of the axis (e.g., a Z-axis) defined by the vertical post 1604 along which the carriage 1706 and the top plate 1702 are configured to move. The plates may be configured to prevent rotation of the carriage 1706 and the top plate 1702 coupled thereto about an axis (e.g., a Z-axis) defined by the vertical post 1604 along which the carriage 1706 and the top plate 1702 are configured to move, and to prevent rotation of the carriage 1706 and the top plate 1702 coupled thereto about a pair of axes (e.g., X- and Y-axes) that are each orthogonal to each other and to the axis defined by the vertical post 1604.

[0209] The carriage 1706 may include one or more biasing elements 1818 coupling at least one of (i) the sled bracket 1808 and the first drive bracket 1810a or (ii) the sled bracket 1808 and the second drive bracket 1810b. As an example, the biasing elements 1818 may couple the sled bracket 1808 to each of the first and second drive brackets 1810a, 1810b. An example of a type of biasing element 1818 may be a spring. As shown in FIGs. 18A-18B, each of the first and second drive brackets 1810a, 1810b may include two biasing elements 1818 disposed on opposite sides of the pivot axis to couple the sled bracket 1808 to that drive bracket 1810, The one or more biasing elements 1818 may be configured to apply a rotational biasing force to the sled bracket 1808 about the pivot axis. In some variations, based on the first and second drive brackets 1810a, 1810b being pivotally coupled to the sled bracket 1808 along respective slots, the one or more biasing elements 1818 may be configured to apply a translational biasing force to the sled bracket 1808 along an axis defined by the respective slots that is orthogonal to the axis defined by the vertical post 1604. Such biasing force(s) may cause engagement between (i) the engagement structure 1802 and the lead screw 1610 and (ii) the wheels 1804 of the carriage 1706 and the first and second track walls 1608a, 1608b, thereby causing and maintaining engagement between the carriage 1706 and the vertical post 1604. Accordingly, when the carriage 1706 engages with the vertical track at the track entrance area 1634, the biasing elements 1818 may facilitate engagement between the wheels 1804 of the first and second drive brackets 1810a, 1810b and the first and second track w'alls 1608a, 1608b of the vertical track 1606.

[0210] Referring again to FIG. 16, the loading mechanism 1618 of the frame 1602 may be configured to apply a biasing force to the top plate 1702 to cause engagement between the carriage 1706 and the vertical post 1604, such as engagement between the engagement structure 1802 and the lead screw 1610. lire loading mechanism 1618 may include a biasing element 1620 and a bin loading interface 1622 coupled thereto. The biasing element 162078IPTS / 200295437.1Attorney Docket No. NBL-068WOmay be configured to generate a biasing force, with the bin loading interface 1622 being configured to apply the biasing force to the bin 1700 or a portion thereof (e.g., the top plate 1702). Tire loading mechanism 1618 may facilitate reliable coupling of the engagement structure 1802 to the lead screw 1610 during loading of the bin 1700 into the frame 1602, thereby enabling coupling between the carriage 1706 and the vertical post 1604 to allow the plate drive component 1902 to move the camage 1706 and the top plate 1702 along the vertical post 1604.

[0211] The frame alignment structure 1624 may be configured to align the bin 1700 and the carriage 1706 relative to the vertical post 1604 and the lead screw 1610, such that the engagement structure 1802 may be aligned with the lead screw 1610, thereby enabling the carriage 1706 to be received within the vertical post 1604 and enabling the wheels 1804 and the engagement structure 1802 to respectively engage with the vertical track 1606 and the lead screw 1610. The frame alignment structure 1624 may be configured to guide the bin 1700 into proper position as the bin 1700 is loaded into the frame 1602, thereby ensuring that the engagement structure 1802 properly engages with the lead screw 1610. As an example, the frame alignment structure 1624 may be configured to engage with a corresponding bin alignment structure disposed on a bottom surface of the bottom plate when the bottom plate is coupled to the top plate 1702, thereby facilitating alignment of the bin 1700 relative to the vertical post 1604. As another example, the frame alignment structure 1624 may be configured to engage with a corresponding bin alignment structure disposed on a bottom surface of the top plate 1702 when the bin 1700 omits a bottom plate, thereby facilitating alignment of the bin 1700 relative to the vertical post 1604. The frame alignment structure 1624 may be configured to align the bin 1700 relative to the vertical post 1604 to enable the loading mechanism 1618 to apply a biasing force to the top plate 1702 to cause engagement between the carriage 1706 and the vertical post 1604.

[0212] Referring to FIGs. 19A and 19B, an object feeder system may include the frame 1602 and the bin 1700. Such an object feeder system may include features of an object feeder system as described herein, such as an extension mechanism, end effector, and controller. The carriage 1706 coupled to the top plate 1702 (not shown) of a bin 1700 may engage with the vertical post 1604. Each of the first and second track walls 1608a, 1608b of the vertical track 1606 may define a respective angled portion 1904 to facilitate engagement between the carriage 1706 and the vertical track 1606. The carriage 1706 may be configured to enter the vertical post 1604 via the track entrance area 1634 defined by the first and second track walls 79IPTS / 200295437.1Attorney Docket No. NBL-068WO1608a. 1608b of the vertical track 1606. The loading mechanism 1618 may be configured to apply a biasing force to the carriage 1706 via the top plate 1702, thereby causing the engagement structure 1802 to engage with and contact the lead screw 1610. With the engagement structure 1802 in contact with the lead screw 1610 (e.g., while the loading mechanism 1618 applies a biasing force to the top plate 1702 and the carriage 1706 coupled thereto), a plate drive component 1902 (e.g., a motor) may be configured to rotate the lead screw 1610 while the threads of the lead screw 1610 are mated with the threads of the threaded half nut engagement structure 1802, thereby driving and moving the carriage 1706 and the top plate 1702 coupled thereto (e.g., upward) along the vertical post 1604. A bottom plate (not shown) and any extensions disposed thereon may remain fixed at the loading position while the carriage 1706 and the top plate 1702 move along the vertical post 1604. As the carriage 1706 and top plate 1702 are moved along the lead screw 1610, the wheels 1804 of the carriage 1706 may be configured to engage with the first and second track walls 1608a, 1608b of the vertical track 1606. Accordingly, the lead screw 1610 and the first and second track walls 1608a, 1608b of the vertical track 1606 may be configured to simultaneously apply opposite forces to the carriage 1706 via the engagement structure 1802 and wheels 1804 of the carriage 1706 to retain the carriage 1706 on and / or within the vertical post 1604, thereby enabling the plate drive component to move the carriage 1706 and top plate 1702 coupled thereto along the vertical post 1604 by maintaining engagement between the engagement structure 1802 and the lead screw 1610. Further, the biasing elements 1818 of the carriage 1706 may be configured to provide a combined biasing force to press the engagement structure 1802 and the wheels 1804 against the lead screw 1610 and the first and second track walls 1608a, 1608b, respectively, thereby enabling the plate drive component to move the camage and top plate coupled thereto along the vertical post by maintaining engagement between the engagement structure and tire lead screw. Maintaining engagement between the engagement structure 1802 and the lead screw 1610 may prevent slippage or disengagement therebetween. While the carriage 1706 and top plate 1702 are moved from the track entrance area 1634 along the vertical post 1604, the loading mechanism 1618 may be configured to disengage with the top plate 1702, thereby removing application of the biasing force from the loading mechanism 1618 to the top plate 1702. In some cases, the loading mechanism 1618 may be configured to only disengage with the top plate 1702 when the wheels 1804 of the carriage 1706 are sufficiently engaged with the first and second track walls 1608a, 1608b of the vertical track 1606 for the vertical track 1606 and lead screw 1610 to retain the carriage 1706 within the vertical post 1604.80IPTS / 200295437.1Attorney Docket No. NBL-068WO

[0213] The top plate 1702 of the bin 1700 may be configured to be moved in the proximity of an end effector coupled to an extension mechanism as described herein. Accordingly, the plate drive component 1902 may be configured to move the carriage 1706 and the top plate 1702 coupled thereto along the vertical post 1604 to position the top plate 1702 and any objects positioned thereon in proximity to the end effector coupled to the extension mechanism. Accordingly, the plate drive component 1902 may be configured to move the carriage 1706 and the top plate 1702 coupled thereto upward along the vertical post 1604 until each of the objects is removed from the top surface 1704 of the top plate 1702. The plate drive component 1902 may be configured to move the carriage 1706 and the top plate 1702 coupled thereto upward along the vertical post 1604 until the carriage 1706 reaches the track exit area 1632 defined by the first and second track walls 1608a, 1608b. When the carriage 1706 reaches the track exit area 1632, the wheels 1804 of the carriage 1706 may be configured to disengage with the first and second track walls 1608a, 1608b of the vertical track 1606, thereby causing disengagement between the carriage 1706 and the vertical post 1604 based on the absence of a force to maintain engagement between the engagement structure 1802 and the lead screw 1610. Further, when the carriage 1706 reaches the track exit area 1632, any extensions of the bottom plate (if present) that previously extended through openings of the top plate 1702 may be removed from the openings of the top plate 1702.

[0214] In some variations, an object feeder system including the frame 1602 and the bin 1700 may include an angled guide rail system (not shown) disposed adjacent to the track exit area 1632 of the vertical post 1604, with the angled guide rail system being configured to receive the disengaged top plate and the carriage coupled thereto from the track exit area. Upon receiving the disengaged top plate 1702 and tire carriage 1706 coupled thereto, the angled guide rail system may move the top plate to an unload station and / or an unloading position. In some variations, a secondary lead screw (not shown) may be disposed along an axis (e.g., an X-axis) adjacent to the track exit area 1632 of the vertical post 1604, with the secondary lead screw being configured to receive the disengaged top plate and carriage coupled thereto from the track exit. Upon receiving the disengaged top plate 1702 and the carriage 1706 coupled thereto, the secondary- lead screw may be configured to move the disengaged top plate 1702 into an unload track.

[0215] The embodiments of the frame and the bin described herein may provide specific advantages, including enabling multiple top plates and carriages coupled thereto to be moved 81IPTS / 200295437.1Attorney Docket No. NBL-068WOalong the vertical post at any given time. Further, top plates and carriages coupled thereto may be configured to disengage from the vertical post when the top plates and carriages exit the vertical post at the track exit area. Accordingly, an automated system for automated loading and unloading of an object feeder system may include one or more features of the frame and bin.Some Embodiments of a Bin of an Object Feeder System Having a Fixturing Bracket

[0216] In some embodiments, in addition to or as an alternative to a bottom plate, a bin of an object feeder system may include a fixturing bracket. Referring to FIGs. 20A-20C, in some embodiments, a bin 2000 may include a fixturing bracket 2002 and a top plate 2004, with the top plate 2004 having a top surface 2006 configured to support a group (e.g., a stack) of objects. The fixturing bracket 2002 may include at least one wall 2008. The at least one wall 2008 of the fixturing bracket 2002 may define a storage area 2012 configured to receive and store the top plate 2004. The at least one wall 2008 of the fixturing bracket 2002 may define an opening 2010 through which the storage area 2012 and an interior area 2014 defined by a number of pins 2016 may be accessed. As an example, an end effector coupled to an extension mechanism may access and engage with objects positioned within the storage area 2012 and / or the interior area 2014 via the opening 2010, with the end effector being configured to extend into the storage area 2012 and / or the interior area 2014 through the opening 2010.

[0217] In some embodiments, the bin 2000 may include a number of pins 2016 configured to support the top plate 2004. Each pin 2016 may include a top end 2018 and a bottom end 2020 opposite the top end 2018. Each pin 2016 may be moveable between a folded position and an unfolded position. In some variations, each pin 2016 may include a support structure 2022 coupled to the bottom end 2020 of the pin 2016. The support structure 2022 may be configured to enable the bin to stand upright on a surface when the pins are in the unfolded position and folded position, with the fixturing bracket positioned above the pins relative to the surface on which the bin is positioned. The bin 2000 may include one or more braces 2024. Each brace 2024 may couple two or more pins 2016 (e.g., for stability purposes). A group of pins 2016 coupled by a brace 2024 may be configured to move in unison, such that each pin of the group of pins moves together between the folded and unfolded positions.

[0218] In some embodiments, the bin 2000 may include a number of spring hinges 2026 coupling the pins 2016 to the fixturing bracket 2002. Each spring hinge 2026 may couple at least one pin of the pins 2016 to the fixturing bracket 2002. As an example, each spring hinge 82IPTS / 200295437.1Attorney Docket No. NBL-068WO2026 may couple a respective one of the pins 2016 to the fixturing bracket 2002. Each spring hinge 2026 may include a first hinge portion coupled to the fixturing bracket 2002 and a second hinge portion coupled to a top end 2018 of a pin 2016. The first and second hinge portions may be pivotally coupled, thereby allowing for folding and unfolding of the pin coupled to the second hinge portion via the pivot coupling of the spring hinge. Each pin 2016 may be configured to fold inward to optimize storage of the bin 2000. Each spring hinge 2026 may include a biasing element (not shown) configured to bias the at least one pin 2016 coupled to that spring hinge 2026 towards a folded position. An example of a type of biasing element included in a spring hinge may be a spring. Accordingly, based on the pins 2016 being foldable between folded and unfolded positions via the spring hinges 2026, the bin 2000 may be moveable between a storage configuration and a support configuration.

[0219] Referring to FIG. 20B, the bin 2000 may have a support configuration. In the support configuration, the pins 2016 coupled to the fixturing bracket 2002 may have the unfolded position and define an interior area 2014 therebetween. As shown in FIG. 20B, the interior area 2014 may be disposed below the storage area 2012 defined by the fixturing bracket 2002. The top plate 2004 may be positioned within the interior area 2014 defined by the pins 2016 and may be configured to move within the interior area 2014, such as by vertically translating along a vertical axis (e.g., a Z-axis) via a drive component as described herein with respect to an object feeder system. In the support configuration, the top plate 2004 may be configured to engage with the pins 2016 to bias each of the pins 2016 to the unfolded position. As an example, when the top plate 2004 is positioned within the interior area 2014 while the bin 2000 is in the support configuration, the top plate 2004 may engage with the pins 2016 to bias each of the pins 2016 to the unfolded position, thereby retaining the pins 2016 in the unfolded position against the biasing elements of the spring hinges 2026.

[0220] In some embodiments, the top plate 2004 may include one or more casters (not shown); the one or more casters may be coupled to (e.g. disposed on an edge of) the top plate 2004. The top plate 2004 may include a number of casters equivalent to a number of pins 2016 coupled to the fixturing bracket 2002, with multiple casters corresponding to multiple pins 2016 coupled to the fixturing bracket 2002. The one or more casters may be configured to guide the top plate 2004 relative to one or more pins 2016, such as to align the top plate 2004 relative to the pins 2016 during movement of the top plate 2004 along a vertical axis (e.g., a Z-axis). Each caster may include a wheel configured to engage with and rotate along a pin with which that caster engages. The casters may be configured to prevent rotation of the 83IPTS / 200295437.1Attorney Docket No. NBL-068WOtop plate 2004 coupled thereto about an axis (e.g., a Z-axis) along which the top plate 2004 may be configured to move, as well as prevent rotation of the top plate 2004 about a pair of axes (e.g., X- and Y-axes) that are each orthogonal to each other and to the axis along which the top plate 2004 may be configured to move. Accordingly, in the support configuration of the bin 2000, each caster may be configured to engage with a respective pin of the pins 2016, thereby guiding and aligning the top plate 2004 relative to the fixturing bracket 2002 (e.g., during movement of the top plate 2004).

[0221] In some variations, one or more of the pins 2016 may include a tapered end 2028 extending along a length of the pin from the top end 2018 to the bottom end 2020. As an example, one or more of the pins 2016 may include a tapered end 2028 defined by a V-shaped cross-sectional area of the pin. When a pin 2016 includes a tapered end 2028, a corresponding caster configured to engage with that pin 2016 when the top plate 2004 is positioned within the interior area 2014 defined by the pins 2016 may include a concave slot configured to receive the tapered end 2028 of that pin 2016. Accordingly, the geometries of the pin 2016 and the caster may be complementary, such that the caster may receive the tapered end 2028 of the pin 2016 to improve alignment of the caster during movement of the caster along the pin 2016 with the top plate 2004.

[0222] In some embodiments, one or more of the pins 2016 may be configured to contact and engage with surfaces of the objects supported by the top plate of the bin, such as sides and / or edges of the objects. When the bin 2000 is in the support configuration and a group of objects is supported by the top plate 2004 within the interior area 2014, at least one of the pins 2016 may be configured to engage with an edge of at least one of the objects supported on the top surface 2006 of the top plate 2004. The combination of the pins 2016 may constrain the objects to a particular location having a particular orientation on the top surface 2006 of the top plate 2004 of the bin 2000 and may align the individual objects included in the group of objects. As an example, the exterior surfaces of the pins 2016, such as the tapered ends 2028 thereof, may contact and constrain the objects included in the stack of objects, thereby providing substantially uniform alignment and positioning of the objects on the top surface 2006 of the top plate 2004.

[0223] In some embodiments, to enable the pins 2016 to contact and engage with surfaces of the objects supported by the top plate of the bin, the bin or a portion thereof may be shaped and sized to correspond to at least one cross-sectional surface of the objects configured to be supported by the top plate, The top plate 2004 and the fixturing bracket 2002 may each be84IPTS / 200295437.1Attorney Docket No. NBL-068WOshaped and sized to correspond to at least one cross-sectional surface of the objects configured to be supported by the top plate 2004, with the pins 2016 being coupled to the fixturing bracket 2002 and disposed to engage with the top plate 2004 as described herein. Accordingly, the top plate 2004, the fixturing bracket 2002, and the positioning of the pins 2016 along the fixturing bracket 2002 may be customized to correspond to particular dimensions of an object to be supported on the top surface of the top plate, thereby allowing the pins 2016 to align the objects on the top surface 2006 of the top plate 2004 during singulation of objects therefrom.

[0224] Referring to FIG. 20C, the bin 2000 may have a storage configuration. In the storage configuration, the fixturing bracket 2002 may be configured to receive and store the top plate 2004 within the storage area 2012 defined by the at least one wall 2008 of the fixturing bracket 2002. In the storage configuration, the fixturing bracket 2002 may store the top plate 2004 within the storage area 2012 with each of the pins 2016 in the folded position, such that the top plate 2004 may be seated on the folded pins 2016 within the storage area 2012. The pins 2016 may be coupled at staggered locations along the fixturing bracket 2002. By staggering the locations along the fixturing bracket 2002 at which the pins 2016 are coupled to the fixturing bracket 2002, each pin 2016 may be configured to avoid contacting any other pin 2016 coupled to the fixturing bracket 2002 and / or to avoid interfering with the folding and unfolding of any other pin 2016 coupled to the fixturing bracket 2002. 'The bin 2000 may be moveable between the support configuration and the storage configuration via movement (e.g., folding) of the pins 2016 from the unfolded position to the folded position. When the top plate 2004 is positioned within the interior area 2014 defined by the pins 2016, the top plate 2004 may engage with and bias the pins 2016 to the unfolded position against the biasing elements of the spring hinges 2026. When the top plate 2004 is moved from the interior area 2014 to the storage area 2012 (e.g., by a drive component during movement of the top plate 2004 along a Z-axis), the top plate 2004 may disengage from the pins 2016, such that the top plate 2004 no longer biases the pins 2016 to the unfolded position. When the top plate 2004 disengages from the pins 2016, the biasing elements of the spring hinges 2026 may bias and cause folding of the pins 2016 from the unfolded position to the folded position, thereby causing the bin 2000 to automatically collapse from the support configuration to the storage configuration with the top plate 2004 stored in the storage area 2012. When the top plate 2004 enters the storage area 2012 from the interior area 2014, the bin 2000 may therefore be configured to move from the support configuration to the storage configuration85IPTS / 200295437.1Attorney Docket No. NBL-068WOby movement of each of the pins 2016 from the unfolded position to the folded position via the biasing elements of the spring hinges 2026.

[0225] In some variations, the top plate 2004 may disengage from the pins 2016 as the top plate 2004 reaches the track exit of a track of an object feeder sy stem and disengages from the vertical post thereof, thereby allowing the top plate 2004 to fall into the storage area 2012 and the bin 2000 to automatically transition from the support configuration to the storage configuration. The automatic folding of the pins 2016 from the unfolded position to the folded position and the automatic collapse of the bin 2000 from the support configuration to the storage configuration may allow the bin 2000 to occupy a reduced volume, thereby facilitating storage of the bin 2000 including the top plate 2004 and / or enabling automatic loading of one or more bins into a frame of an object feeder system.Some Embodiments of a Guide Plate of an Object Feeder System

[0226] In some embodiments, an object feeder system may include a guide plate configured to support an object during movement of tire object from an initial location on a top surface of a top plate to a target location different from the initial location, Referring to FIGs. 21A-21B, an embodiment of an object feeder system 2100 may include a guide plate 2102 having a top surface 2104. The guide plate 2102 may be disposed adjacent to a frame 2106 of the object feeder system 2100. The guide plate 2102 may be disposed adjacent to a surface 2108 onto which an object is configured to be placed by an end effector (not shown). The guide plate 2102 may include a tapered proximal end 2112 and a distal end 2114 opposite the proximal end, although alternative configurations of guide plates may be used. In some variations, the dimensions of the guide plate may be configured based on characteristics of the object configured to be supported by the guide plate. The top surface 2104 of the guide plate 2102 or a portion thereof may be planar.

[0227] An extension mechanism 2110 of the object feeder system 2100 may be configured to move over both a top plate of the object feeder system 2100 and the guide plate 2102. As an example, the guide plate 2102 may be disposed adjacent to the frame of the object feeder system along the path of the end effector during movement of the end effector from a starting position to a target position, such that the end effector moves over the guide plate 2102 during movement of the end effector between the starting and target positions. The guide plate 2102 may be different from the top plate of a bin received by the frame of the object feeder system, such that the top surface 2104 of the guide plate 2102 provides an intermediate86IPTS / 200295437.1Attorney Docket No. NBL-068WOsurface configured to support an object during movement thereof between the initial and target locations.

[0228] In some variations, the guide plate 2102 may be configured to support an object while the end effector is engaged with a surface of the object during movement of the object. Based on a position at which the end effector engages with a surface of an object to lift the object, at least a portion of the object may drape from the end effector based on gravity. Accordingly, it may be desirable to support the object during movement of the object from an initial location on a top surface of a top plate to a target location on another surface, thereby preventing the object from contacting other system components and / or properly orienting the object before the object is placed at the target location on another surface by the end effector. The top surface 2104 of the guide plate 2102 may therefore function to support tire object after the object is selected from the initial location on the top plate and before the object is placed at the target location on another, which may prevent folding, creasing, and / or misalignment of the object relative to the target location on the surface at which the object is configured to be placed. Thus, the guide plate 2102 may function as a part smoother for the object.Some Embodiments of an Automatic Loading System

[0229] In some embodiments, an automatic loading system may be used in combination with an object feeder system to automatically (i) load a bin into a frame of the object feeder system for subsequent singulation of objects supported by the bin and / or (ii) unload the bin from the frame after each of tire objects has been removed from the bin via singulation. In some variations, an automatic loading system may be loaded with multiple bins, such that one or more bins may be queued within the automatic loading system for loading into the frame and / or one or more bins may be queued for removal from the automatic loading system after singulating objects from those bins.

[0230] Referring to FIG. 22, an automatic loading system 2200 may be configured to receive at least one bin (not shown). The bin may include a top plate having a top surface configured to support a group (e.g., a stack) of objects. The automatic loading system 2200 may be configured to move a bin between a preloading position 2202 at which the bin is loaded into the automatic loading system 2200, a loading position 2204 at which a drive component (not shown) may engage with the bin (e.g., via a plate holder and / or a carriage) to move the bin or a portion thereof and singulate objects from a surface of the bin, and an unloading position 2206 at which an empty bin lacking any remaining objects thereon may be removed from the automatic loading system 2200. The automatic loading system 2200 may include a lifting 87IPTS / 200295437.1Attorney Docket No. NBL-068WOmechanism 2208 having a top surface 2210 and configured to move the bin between the preloading position and the loading position. An example of the lifting mechanism 2208 may be a scissor lift mechanism as shown in FIG. 22 that is configured to move the top surface 2210 and a bin positioned thereon between raised and lowered positions. Alternative types of lifting mechanisms 2208 may be used.

[0231] The automatic loading system 2200 may include a lifting drive component (not shown) configured to control a position of the bin between the pre loading position 2202 and the loading position 2204 via the lifting mechanism. Accordingly, the lifting mechanism 2208 may be moved by the lifting drive component operatively coupled to the lifting mechanism 2208 to raise or lower the lifting mechanism. Some non-limiting examples of types of lifting drive components may include motors (e.g., stepper motors, servo motors, linear motors, etc.), pistons, linear actuators, rotary actuators, piezoelectric actuators, pneumatic drive components (e.g., pneumatic rotary actuators, pneumatic linear actuators, etc.), magnetic drive components, hydraulic drive components (e.g., hydraulic cylinders, hydraulic motors, etc.), and combinations thereof. Accordingly, the lifting mechanism 2208 may move the bin between the preloading position 2202 and the loading position 2204, such as by raising and lowering the bin between the preloading position 2202 and tire loading position 2204. As shown in the example of FIG. 22, the preloading position 2202 may be positioned below the loading position 2204.

[0232] The automatic loading system 2200 may include one or more retention structures (not shown) configured to engage with the bin to retain at least a portion of the bin at the loading position 2204. As an example, the one or more retention structures may be configured to engage with the bin to retain a top plate and / or a bottom plate of the bin at the loading position 2204, as well as disengage with the bin to release the top plate and / or the bottom plate of the bin at the loading position 2204. An example of a type of retention structure may be an active retention mechanism, such as a controllable pneumatic piston, although other types of retention structures may be used. In some cases, the one or more retention structures may be coupled to and / or included on a plate holder or a portion thereof (e.g., a top holder and / or a bottom holder), thereby allowing movement of the bin or a portion thereof along a vertical post when the bin or portion thereof is retained by the one or more retention structures.

[0233] The automatic loading system 2200 may include an unloading mechanism (not shown) configured to move the bin between the loading position 2204 and the unloading 88IPTS / 200295437.1Attorney Docket No. NBL-068WOposition 2206. An example of a type of unloading mechanism may be a track, although alternative types of unloading mechanisms may be used. The automatic loading system 2200 may include an unloading drive component configured to control a position of the bin between the loading position 2204 and the unloading position 2206 via the unloading mechanism. The unloading mechanism may be moved by an unloading drive component operatively coupled thereto. Some non-limiting examples of types of unloading drive components may include motors (e.g., stepper motor, servo motor, linear motor, etc.), pistons, linear actuators, rotary actuators, piezoelectric actuators, pneumatic drive components (e.g., pneumatic rotary actuators, pneumatic linear actuators, etc.), magnetic drive components, hydraulic drive components (e.g., hydraulic cylinders, hydraulic motors, etc.), and combinations thereof. Accordingly, the unloading mechanism may move the bin between the loading position 2204 and the unloading position 2206, such as by translating the bin along a horizontal plane (e.g., an X-Y plane) between the loading position 2204 and the unloading position 2206. As shown in the example of FIG. 22, the loading position 2204 may be adjacent to the unloading position 2206, such as along the same horizontal plane.

[0234] In some embodiments, a particular use case for the automatic loading system 2200 may operate as follows. A user may load a bin supporting a number of objects into the automatic loading system 2200 at the preloading position. In response to loading the bin into the automatic loading system 2200 at the preloading position, the automatic loading system 2200 may be activated to move the bin from the preloading position 2202 to the loading position 2204. When the bin reaches the loading position 2204, the one or more retention structures may engage with the bin or a portion thereof (e.g., a top plate and / or a bottom plate) to retain the bin or portion thereof. When the bin is positioned at the loading position 2204 and retained by the retention structures, a top plate of the bin may be configured to engage with at least one vertical post of an object feeder system for movement thereof along the at least one vertical post (e.g., via a plate holder and / or a carriage), such as for singulation of objects supported by the top surface of the top plate. After each of the objects supported by the top surface are singulated and removed from the top plate, the top plate may be moved back to the loading position. When the bin returns to the loading position 2204, the one or more retention structures may disengage with the bin or a portion thereof to release the bin or portion thereof. When the bin is positioned at the loading position 2204 and released by the retention structures, the automatic loading system 2200 may move the bin from the loading89IPTS / 200295437.1Attorney Docket No. NBL-068WOposition 2204 to the unloading position 2206 to eject the bin. At the unloading position 2206, a user may remove the empty bin from the automatic loading system 2200.

[0235] In some embodiments, more than one bin may be loaded into the automatic loading system at any point in time, with each of the bins being positioned, for example, at different positions within the automatic loading system. Accordingly, while a first bin may be positioned within a frame of an object feeder system and with objects being removed from the first bin, a second bin may be loaded into the automatic loading system at the preloading position and held in an idle state. When the first bin is empty (e.g., as detected by one or more sensors), the automatic loading system may move the empty first bin to the loading position and may then automatically eject the first bin from the loading position to the unloading position. The automatic loading system may then move the second bin from the preloading position to the loading position, thereby loading the second bin into the frame of the object feeder system for subsequent singulation of objects. Such a configuration may provide specific advantages, including reducing the downtime between singulation operations by enabling continuous operation of the object feeder system and increasing system throughput with respect to a number of objects singulated by the object feeder system. The movement of the bins between different positions may be performed automatically by a computing system (e.g., a controller) included in the automatic loading system and communicatively coupled to each of the drive components thereof.

[0236] Referring to FIG. 23, an exemplary automatic loading system 2300 is shown. The automatic loading system 2300 may include a lifting mechanism 2302, a top surface 2304 on which at least one bin (not shown) may be positioned, a number of retention structures 2306, a housing 2308 configured to house the lifting mechanism 2302 and coupled to the retention structures 2306, and / or a plate holder 2310. In the example of FIG. 23, the automatic loading system 2300 may include eight retention structures, with four of the retention structures configured to retain a top plate of a bin and the other four of the retention structures configured to retain a bottom plate of a bin. In some cases, the retention structures 2306 configured to retain the top plate of the bin may be disposed on the plate holder 2310. The plate holder 2310 may be configured to retain the top plate via the retention structures disposed thereon and move along an axis (e.g., a Z-axis) via a plate drive component.Accordingly, a bin (not shown) positioned on the top surface of the lifting mechanism 2302 may be moved from a preloading position to a loading position by the lifting mechanism90IPTS / 200295437.1Attorney Docket No. NBL-068WO2302 using a lifting drive component (not shown), with the one or more retention structures 2306 engaging with and retaining the bin or a portion thereof at the loading position.

[0237] In some embodiments, the automatic loading system may be communicatively coupled to a computing system (e.g., a controller) configured to control operation of the automatic loading system and integrate the automatic loading system with the object feeder system. The controller may be configured to execute a pre-programmed schedule identifying characteristics (e.g., sizes, colors, or types) of objects expected to be loaded into the automatic loading system. The controller may be configured to automatically adjust operation of the object feeder system (e.g., starting and target positions of the end effector) to correspond to a next bin awaiting loading into the object feeder system when a current bin at the loading position is determined to be empty. In some variations, the controller may be configured to detect characteristics of objects in a next loaded bin using one or more sensors (e.g., an RFID sensor configured to read an RFID tag included on the bin or on an object supported by the bin) and automatically adjust the operation of the object feeder system based on the detected characteristics. Further, the same computing system (e.g., controller) may control both an object feeder system and automatic loading system as described herein. Some Embodiments of Additional Features of an Object Feeder System

[0238] In some embodiments, an object feeder system may be used in a manufacturing process, with the object feeder system making individual objects available to subsequent manufacturing processes. Accordingly, a system may include two or more object feeder systems, with different object feeder systems being configured to make different objects available to subsequent manufacturing processes. As an example, two object feeder systems may be used to make different individual parts of an article of footwear available to a robotic arm element including an end effector, with the end effector being used to pick and place the different parts to form an upper of an article of footw ear. To improve speeds at which objects are provided to subsequent manufacturing processes, in some variations, two or more object feeder systems may be positioned on a carousel, with the carousel rotating to change a rotational position of each of the object feeder systems relative to a reference point. As an example, the carousel may rotate relative to a tray on which individual objects are dropped from the object feeder systems and made available to a robotic arm element. In some variations, two or more object feeder systems may be positioned on an elevator, with different object feeder systems positioned on different levels of the elevator in a stacked configuration. The elevator may raise or lower individual object feeder systems to change a 91IPTS / 200295437.1Attorney Docket No. NBL-068WOheight of each of the object feeder systems relative to a reference point. As an example, the elevator may raise or lower different object feeder systems relative to a tray on which individual objects are dropped from the object feeder systems and made available to a robotic arm element.

[0239] In some embodiments, an object feeder system may include a material winder roll and a die cutter (not shown). Some objects (e.g., parts) may be cut out of a raw material roll prior to being loaded into the bin. The object feeder system may be configured to utilize a raw material roll and a cutting die to cut out parts from the roll on an as-needed basis. In some variations, the raw material roll may be configured to unwind, a die may be configured to be actuated to cut one or more parts from the roll, and the resulting cut parts may exit the object feeder system via engagement with the end effector and movement thereof as described herein.

[0240] In some embodiments, an object feeder system may include an integrated conveyor with a backlight (not shown). In some variations, the extension mechanism may be configured to deposit an object onto an integrated conveyor of the object feeder system. The conveyor may be configured to move the object outboard of the object feeder system over an integrated backlight, thereby allowing for post-feed processing of the object. In some variations, the conveyor may be sized to allow for queuing of a number of objects rather than selecting objects on demand.

[0241] In some embodiments, an object feeder system may include an automated backing removal system (not shown). Some objects may include a backing layer (e.g., a paper backing) that is configured to be removed prior to use of the objects in a manufacturing process. In some variations, the automated backing removal system may be installed in line with the object feeder system, such that objects may be loaded into the bin with the backing layer and the backing layer may be removed as part of the feeding process. After removal of the backing layer, the objects may be manipulated by a pick-and-place robot or other robotic element. In some variations, the object feeder system may be configured to perform one or more subsequent processes on the objects, with the subsequent processes such as pick-and-place operations, backing removal, application of adhesive, quality control inspection, or sewing.

[0242] In some embodiments, an object feeder system may include one or more smoothing elements configured to smooth an object during movement of the object by the end effector.92IPTS / 200295437.1Attorney Docket No. NBL-068WOIn some cases, when the end effector engages with and moves an object, the object may fold during transport and may not lie flat when the object is released by the end effector. In some variations, the one or more smoothing elements may include passive smoothing elements, such as a guide plate or one or more rails positioned along or below a path of the extension mechanism, with the passive smoothing elements being configured to contact and smooth the object before the end effector releases the object. In some variations, the one or more smoothing elements may include active smoothing elements, such as a source of compressed air configured to direct a flow of air toward the object, with the active smoothing elements being configured to smooth the object during movement thereof by the end effector.

[0243] Embodiments of an object feeder system may include one or more features and / or characteristics of any of the object feeder systems or portion(s) thereof (e.g., bins, frames,) as described herein. Tire terms and expressions employed herein are used as terms and expressions of description and not of limitation and there is no intention, in the use of such terms and expressions, of excluding any equivalents of the features shown and described or portions thereof. In addition, having described certain embodiments of the invention, it will be apparent to those of ordinary skill in the art that other embodiments incorporating the concepts disclosed herein may be used without departing from the spirit and scope of the invention. The structural features and functions of the various embodiments may be arranged in various combinations and permutations, and all are considered to be within the scope of the disclosed embodiments of the invention. Unless otherwise necessitated, recited steps in the various methods may be performed in any order and certain steps may be performed substantially simultaneously. Accordingly, the described embodiments are to be considered in all respects as only illustrative and not restrictive. Furthermore, the configurations described herein are intended as illustrative and in no way limiting. Similarly, although physical explanations have been provided for explanatory purposes, there is no intent to be bound by any particular theory or mechanism, or to limit the claims in accordance therewith.

[0244] While this specification contains many specific implementation details, these should not be construed as limitations on the scope of what may be claimed, but rather as descriptions of features that may be specific to particular embodiments. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination. Moreover, although features may93IPTS / 200295437.1Attorney Docket No. NBL-068WObe described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.

[0245] Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Moreover, the separation of various system components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0246] Particular embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. For example, the actions recited in the claims can be performed in a different order and still achieve desirable results. As one example, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In certain implementations, multitasking and parallel processing may be advantageous. Other steps or stages may be provided, or steps or stages may be eliminated, from the described processes. Accordingly, other implementations are within the scope of the following claims.

[0247] Although the present invention has been described herein in detail in relation to one or more preferred embodiments, it is to be understood that this disclosure is only illustrative and exemplary of embodiments of the present invention and is made merely for the purpose of providing a full and enabling disclosure of embodiments of the invention. The foregoing disclosure is not intended to be construed to limit the present invention or otherwise exclude any such other embodiments, adaptations, variations, modifications or equivalent arrangements; embodiments of the present invention being limited only by the claims appended hereto and the equivalents thereof.

[0248] What we claim is:94IPTS / 200295437.1

Claims

Attorney Docket No. NBL-068WOCLAIMS1. A controllable object feeder system for moving an object, the controllable object feeder system comprising:a bin comprising a top plate configured to support a plurality of objects, the plurality of objects comprising the object; anda frame comprising:a plate holder configured to receive the top plate,a vertical post mechanically coupled to the plate holder, wherein the plate holder is configured to move along the vertical post,a plate drive component configured to control, via the plate holder, a position of the top plate along the vertical post, andan extension mechanism comprising an end effector disposed above the plate holder and configured to (i) engage with a surface of the object supported by the top plate and (ii) move the object.

2. The controllable object feeder system of claim 1, wherein (i) the top plate comprises a top surface configured to support the plurality of objects, and (ii) at least a portion of the top surface of the top plate is planar.

3. The controllable object feeder system of claim 1, wherein the bin further comprises a bottom plate disposed below the top plate.

4. The controllable object feeder system of claim 3, wherein the plate drive component is configured to translate, via the plate holder, the top plate (i) away from the bottom plate, and (ii) towards the end effector.

5. The controllable object feeder system of claim 3, wherein the top plate and the bottom plate are disposed in parallel planes.

6. The controllable object feeder system of claim 3, wherein the top plate is removably coupled to the bottom plate by one or more fasteners.

7. Tlie controllable object feeder system of claim 6, wherein the plate drive component is configured to decouple the top plate and the bottom plate.95IPTS / 200295437.1Attorney Docket No. NBL-068WO8. The controllable object feeder system of claim 3, wherein (i) the top plate defines one or more openings, and (ii) the bottom plate comprises one or more extensions configured to extend through the one or more openings of the top plate.

9. The controllable object feeder system of claim 8, wherein (i) the top plate comprises a top surface configured to support the plurality of objects, (ii) the bottom plate comprises a top surface, and (iii) the one or more extensions extend normal to at least one of the top surface of the top plate or the top surface of the bottom plate.

10. The controllable object feeder system of claim 8, wherein (i) the bottom plate defines one or more attachment points, and (ii) the one or more extensions are coupled to the bottom plate by the one or more attachment points.

11. The controllable object feeder system of claim 8, wherein at least one extension of the one or more extensions is removably coupled to the bottom plate.

12. Tire controllable object feeder system of claim 8, wherein (i) the one or more extensions further comprises one or more pins, (ii) at least one pin of the one or more pins comprises an inner pin coupled to the bottom plate and an outer cover rotationally coupled to the inner pin, and (iii) the outer cover is configured to rotate about a central axis defined by the inner pin.

13. The controllable object feeder system of claim 8, wherein (i) the top plate comprises a top surface configured to support the plurality of objects, (ii) the one or more extensions further comprises one or more pins, (iii) at least one pin of the one or more pins comprises a vertical portion and top portion, (iv) the vertical portion of the at least one pin extends through a respective opening of the top plate toward the extension mechanism, and (v) the top portion of the at least one pin extends from the vertical portion over the top surface of the top plate.

14. Tire controllable object feeder system of claim 1, wherein the vertical post comprises at least one of a track, a rail, or a shaft.96IPTS / 200295437.1Attorney Docket No. NBL-068WO15. The controllable object feeder system of claim 1, wherein the frame comprises at least two vertical posts arranged in parallel.

16. The controllable object feeder system of claim 1, wherein the plate drive component comprises at least one of: a motor, a piston, a linear actuator, a pneumatic drive component, or a hydraulic drive component.

17. The controllable object feeder system of claim 1, wherein (i) the plate drive component is configured to translate the top plate, via the plate holder, to a plurality of positions along the vertical post to control the position of the top plate along the vertical post, and (ii) the positions comprise a first position at a first end of the vertical post, a second position at a second end of the vertical post, and a plurality of intermediate positions between the first position and the second position.

18. The controllable object feeder system of claim 1, wherein the plate drive component is configured to translate the top plate, via the plate holder, along a single degree of freedom.

19. The controllable object feeder system of claim 18, wherein the single degree of freedom comprises a vertical axis defined by the vertical post.

20. The controllable object feeder system of claim 1, wherein the end effector comprises at least one of: a suction cup, a suction source, a fan, a gecko gripper, a mechanical gripper, an electro-adhesion gripper, or an adhesive gripper.

21. The controllable object feeder system of claim 20, wherein (i) the end effector comprises the suction cup and the suction source and (ii) the suction cup is fluidically coupled to the suction source.

22. The controllable object feeder system of claim 21, wherein (i) the end effector further comprises the mechanical gripper and (ii) the mechanical gripper comprises a needle gripper.

23. The controllable object feeder system of claim 1, wherein the end effector is moveable along a first axis.97IPTS / 200295437.1Attorney Docket No. NBL-068WO24. The controllable object feeder system of claim 23, wherein (i) the top plate comprises a top surface configured to support the plurality of objects, and (ii) the first axis is parallel to a first plane defined by the top surface of the top plate.

25. The controllable object feeder system of claim 1, wherein (i) the top plate comprises a top surface configured to support the plurality of objects, and (ii) a central axis of the end effector extends normal to the top surface of the top plate.

26. The controllable object feeder system of claim 1, wherein the extension mechanism comprises at least one of a track, a rail, a shaft, a robotic arm, a pivot arm, a swing clamp, or an X-Y gantry.

27. The controllable object feeder system of claim 1, wherein the extension mechanism comprises an end effector drive component configured to control a position of the end effector.

28. The controllable object feeder system of claim 27, wherein the end effector drive component comprises at least one of: a motor, a piston, a linear actuator, a pneumatic drive component, or a hydraulic drive component.

29. The controllable object feeder system of claim 28, wherein (i) the end effector drive component comprises the linear actuator and (ii) the linear actuator comprises the motor and a lead screw.

30. The controllable object feeder system of claim 28, wherein (i) the end effector drive component is configured to translate the end effector to a plurality of positions via the extension mechanism, and (ii) the positions comprise a starting position, a target position, and a plurality of intermediate positions between the starting position and the target position.

31. The controllable object feeder system of claim 28, wherein the end effector drive component is configured to translate the end effector along a single degree of freedom.

32. The controllable object feeder system of claim 28, wherein the end effector drive component is configured to translate the end effector away from the top plate of the bin.98IPTS / 200295437.1Attorney Docket No. NBL-068WO33. The controllable object feeder system of claim 28, wherein (i) the top plate comprises a top surface configured to support the plurality of objects, and (ii) the end effector drive component is configured to translate the end effector along a second plane that is parallel to a first plane defined by the top surface of the top plate.

34. A controllable object feeder system for moving an object, the controllable object feeder system comprising:a bin comprising:a top plate configured to support a plurality of objects, the plurality of objects comprising the object; anda carriage coupled to the top plate, the carriage comprising (i) an engagement structure and (ii) a plurality of wheels; anda frame comprising:a vertical post comprising a track and a lead screw, wherein (i) the plurality of wheels are configured to engage with the track, and (ii) the lead screw is configured to engage with the engagement structure to cause movement of the top plate along the vertical post via rotation of the lead screw;a plate drive component configured to control a position of the top plate along the vertical post via the lead screw; andan extension mechanism comprising an end effector disposed above the top plate and configured to engage with a surface of the object supported by the top plate and to move the object.

35. The controllable object feeder system of claim 34, wherein the carriage further comprises a mounting bracket coupling the top plate to the carriage.

36. The controllable object feeder system of claim 34, wherein the engagement structure comprises a threaded half nut engagement structure configured to removably engage with the lead screw.

37. The controllable object feeder system of claim 36, wherein the threaded half nut engagement structure is a concave structure complementary to the lead screw and configured to receive the lead screw.99IPTS / 200295437.1Attorney Docket No. NBL-068WO38. The controllable object feeder system of claim 34, wherein the carriage further comprises (i) a sled bracket comprising the engagement structure and (ii) first and second drive brackets pivotally coupled to the sled bracket along a pivot axis, and wherein each of the sled bracket, the first drive bracket, and the second drive bracket are configured to rotate about the pivot axis.

39. The controllable object feeder system of claim 38, wherein (i) the pivot axis is orthogonal to a vertical axis defined by the vertical post, and (ii) the top plate is configured to move along the vertical axis.

40. The controllable object feeder system of claim 38, wherein the carriage further comprises one or more biasing elements coupling at least one of (i) the sled bracket and the first drive bracket or (ii) the sled bracket and the second drive bracket, wherein the one or more biasing elements are configured to apply a rotational biasing force to the sled bracket about the pivot axis.

41. The controllable object feeder system of claim 38, wherein (i) the first drive bracket and the second drive bracket each comprise at least one wheel of the plurality of wheels, (ii) the plurality of wheels are configured to rotate about one or more rotation axes orthogonal to a vertical axis defined by the vertical post, and (iii) the top plate is configured to move along the vertical axis.

42. The controllable object feeder system of claim 38, wherein at least one of the plurality of wheels comprises an idler wheel or a rotary speed limiter wheel.

43. The controllable object feeder system of claim 34, wherein the track comprises first and second track walls (i) configured to engage with the plurality of wheels and (ii) defining a track entrance at a bottom end of the lead screw and a track exit at a top end of the lead screw.

44. The controllable object feeder system of claim 35, further comprising a loading mechanism configured to apply a biasing force to the top plate to cause engagement between the engagement structure and the lead screw.100IPTS / 200295437.1Attorney Docket No. NBL-068WO45. The controllable object feeder system of claim 35, further comprising an alignment track configured to engage with the bin to cause alignment of the bin relative to the vertical post.

46. The controllable object feeder system of claim 1 or claim 34, further comprising a guide plate comprising atop surface and disposed adjacent to the frame, the guide plate being different from the top plate, wherein the extension mechanism is configured to move over the top plate and the guide plate.

47. The controllable object feeder system of claim 46, wherein, when the end effector moves the object away from the top plate over the guide plate, the top surface of the guide plate is configured to support at least a portion of the object,48. The controllable object feeder system of claim 46, wherein the guide plate further comprises a tapered proximal end and a distal end opposite the proximal end.

49. The controllable object feeder system of claim 46, wherein at least a portion of the top surface of the guide plate is planar.

50. The controllable object feeder system of claim 1 or claim 34, wherein the top plate comprises a top surface configured to support the plurality of objects, and further comprising a controller and a reflective material disposed on the top surface of the top plate, wherein the end effector further comprises a sensor communicatively connected to the controller,wherein the sensor is configured to measure a reflectance of at least one of (i) the reflective material or (ii) at least one object of the plurality of objects supported by the top plate.

51. The controllable object feeder system of claim 50, wherein, and (ii) when the at least one object is supported on the top surface of the top plate, the controller is configured to detect the at least one object based on the measured reflectance.101IPTS / 200295437.1Attorney Docket No. NBL-068WO52. The controllable object feeder system of claim 50, wherein when none of the plurality of objects are supported on the top surface of the top plate, the controller is configured to fail to detect any of the plurality of objects as supported on the top surface of the top plate based on the measured reflectance.

53. The controllable object feeder system of claim 50, wherein the sensor comprises a light reflection sensor.

54. A bin for a controllable object feeder system, the bin comprising:a plate comprising a top surface configured to support a plurality of objects;a fixturing bracket comprising at least one wall, the at least one wall defining a storage area configured to store the plate;a plurality of pins configured to support the plate, each pin (i) comprising a top end and a bottom end opposite the top end and (ii) being moveable between a folded position and unfolded position; anda plurality of spring hinges coupling the plurality of pins to the fixturing bracket, each spring hinge coupling at least one pin of the plurality of pins to the fixturing bracket and comprising:a first portion coupled to the fixturing bracket;a second portion coupled to the top end of the at least one pin, wherein the first portion and the second portion are pivotally coupled; anda biasing element configured to bias the at least one pin coupled to the spring hinge towards the folded position,wherein the bin is moveable between a storage configuration and a support configuration.

55. The bin of claim 54, wherein in the support configuration, the plurality of pins have the unfolded position and define an interior area therebetween.

56. The bin of claim 55, wherein in the support configuration, the plate is further configured to vertically translate along a vertical axis within the interior area.

57. The bin of claim 55, wherein the bin is configured to move from the support configuration to the storage configuration by movement of each pin of the plurality of pins 102IPTS / 200295437.1Attorney Docket No. NBL-068WOfrom the unfolded position to the folded position via the biasing elements, when the plate enters the storage area from the interior area.

58. The bin of claim 54, wherein in the support configuration, the plate is further configured to engage with the plurality of pins to bias each of the plurality of pins to the unfolded position,59. The bin of claim 54, further comprising a plurality of casters coupled to the top plate, each caster being configured to engage with a respective pin of the plurality of pins when the bin is in the support configuration.

60. The bin of claim 54, wherein in the storage configuration, the fixturing bracket is configured to receive and store the plate within the storage area,61. The bin of claim 54, wherein the bin is shaped and sized to correspond to at least one cross-sectional surface of at least one of the plurality of objects.

62. The bin of claim 54, wherein one or more pins of the plurality of pins comprises a tapered end.

63. The bin of claim 54, wherein at least one pin of the plurality of pins is further configured to engage with an edge of at least one object of the plurality of objects when (i) the bin is in the support configuration and (ii) the plurality of objects are supported by the top surface of the plate,64. An automated loading system for a controllable object feeder system, the automated loading system comprising:a bin comprising a top plate having a top surface configured to support a plurality of objects, the bin being moveable between a preloading position, a loading position, and an unloading position;a lifting mechanism configured to move the bin between the preloading position and the loading position;a lifting drive component configured to control a position of the bin between the preloading position and the loading position;103IPTS / 200295437.1Attorney Docket No. NBL-068WOa retention structure configured to engage with the bin to retain at least a portion of the bin at the loading position;an unloading mechanism configured to move the bin between the loading position and the unloading position; andan unloading drive component configured to control the position of the bin between the loading position and the unloading position.

65. The automated loading system of claim 64, wherein the lifting mechanism comprises a scissor lifting mechanism.

66. The automated loading system of claim 64, wherein the retention structure comprises one or more pneumatic pistons configured to engage with the bin.

67. The automated loading system of claim 64, wherein, when the bin is positioned at the loading position, the top plate of the bin is configured to engage with a vertical post for movement thereof along the vertical post.

68. A method of moving an object during a manufacturing process, the method comprising the steps of:disposing a top plate in a frame, the top plate comprising a top surface; moving the top plate towards an end effector to position the object at a first location, wherein a plurality of objects comprising the object are positioned on the top surface;engaging, after the object is positioned at the first location, the end effector with a surface of the object;moving the object from the first location while the object is engaged with the end effector; anddisengaging, after moving the object from the first location, the end effector from the surface of the object to move the object to a second location different from the first location.

69. The method of claim 68, further comprising disposing a bottom plate in the frame, wherein the top plate and the bottom plate are configured to form a bin.

70. The method of claim 68, further comprising:detecting, using a sensor, the object at the first location.104IPTS / 200295437.1Attorney Docket No. NBL-068WO71. The method of claim 70, further comprising:stopping, in response to detecting the object at the first location, the movement of the top plate towards the end effector.

72. The method of claim 68, further comprising:detecting, using a sensor, engagement between the end effector with the surface of the object.

73. The method of claim 68, further comprising:after disengaging the end effector from the surface of the object, detecting, using a sensor, (i) a presence of an additional object of the plurality of objects positioned on the surface of the top plate, or (ii) an absence thereof,74. A method of moving an object during a manufacturing process, the method comprising the steps of:positioning a plurality of objects onto a surface of a top plate, the plurality of objects comprising the object;moving the top plate towards an end effector to position the object of the plurality of objects at a first location;engaging the end effector with a surface of the object;moving, via the end effector, the object from the first location to a second location different from the first location; anddisengaging the end effector from the surface of the object.105IPTS / 200295437.1

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