Abstract: A produce packing device comprising: a robot positioning apparatus with an end effector, wherein the robot positioning apparatus provides at least three degrees of freedom to move the end effector in three axial (x, y and z) directions or combination of at least two of these directions with respect to items of produce to be packaged, wherein the end effector is adapted in use for individually picking up an item of produce; a sensor to determine a size of each item of produce in a plurality of items of produce presented to the robot positioning apparatus and end effector; and a controller configured to receive one or more outputs from the sensor and: determine a selection of items of produce to be picked from the plurality of items of produce based on the one or more outputs from the sensor to achieve an acceptable stack height of items of produce within a package; and cause the robot positioning apparatus and end effector to move and pick up the selection of items of produce and place within said package.

Abstract: An end effector adapted to be carried by a robot positioning apparatus for packing items of produce, the end effector adapted in use for holding an open topped elongate container (tube) in an inverted orientation, wherein the tube has a closed bottom end and an open top end; the end effector comprising: at least one actuatable movable element located on the end effector so as to be adjacent the open end of a tube held by the end effector; wherein the actuatable movable element is configured to be operable between: an extended position which at least partially extends over the open end of a tube held by the end effector to at least partially obstruct the open end of the tube; and a retracted position so that the open end of the container is substantially unobstructed to allow items of produce to be received in the tube.