US Patent 11691827 Robotic surgical tool with pivotable transmission linkage on translating carriage

An automated system for singulating items is provided. The automated system includes a singulation apparatus. The singulation apparatus includes multiple conveyor modules and a vertical frame structure. Each of the multiple conveyor modules has an identical physical structure. The vertical frame structure provides multiple horizontal mounting locations, each at a different height along the vertical frame structure. Each of the conveyor modules is mounted to a different one of the multiple horizontal mounting locations.