CN117157232A - Tray positioning and loading system - Google Patents

Abstract

A container packaging system (20) includes a registration system (22) for arranging articles (24) at a staging location (26) into a loading registration configuration. The loader (28) lifts the product (24) from the staging position (26) for placement into a predetermined location in the container (30). Although this is not necessarily the case, the container (30) can be sized and configured to receive a plurality of articles (24). The control system (32) controls operation of the packaging system, including controlling the registration system (22) such that the articles (24) are placed in a proper registration configuration at the staging location (26), and controlling operation of the loader (28) to transfer the articles (24) into a predetermined location in the container (30).

Description

Tray positioning and loading system

Background

During the distribution of food products, it is often desirable to integrate individual articles or packages containing the food product into larger groupings, such as containers, boxes, cartons, or trays. This is typically performed manually, wherein the articles or packages arrive at a packaging station on a conveyor, and then a worker manually places the articles or packages into containers, boxes, cartons, or trays.

In some cases, automated equipment is now used to package articles or packages into larger groupings. A lift head mounted on a robot is used to pick up groups of articles or packages. The lifting head is configured to move the articles or packages relative to each other such that they are in position for placement into the containers/boxes/cartons/trays. This requires a rather complex construction of the lifting head with separate parts that can be attached to the packaged product, and the parts of the lifting head must be able to move relative to each other in order to achieve a correct registration of the packaged product.

The present disclosure addresses the shortcomings of existing methods and systems for packaging packaged articles into larger groupings. The present disclosure is applicable not only to food product distribution, but also to the distribution of many other types of goods that are integrated for transportation or distribution.

Disclosure of Invention

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

According to one embodiment of the present disclosure, a container packaging system for placing articles into one or more containers, comprises: a registration system for arranging the articles at the temporary storage location of the packaging system into a loading registration configuration, wherein the location of the articles corresponds to the location and configuration of the one or more containers; a loader for transferring the articles from the staging position to a predetermined location in one or more containers; and a control system for controlling operation of the registration system to arrange the articles into a loading registration configuration at the staging location, and for operating the loader to transfer the articles from the staging location into one or more containers.

In any of the embodiments disclosed herein, wherein the registration system comprises a first conveyor for delivering articles to a second conveyor, the articles are positioned relative to each other on the second conveyor to enter the loading registration configuration.

In any of the embodiments disclosed herein, wherein the second conveyor comprises a staging location.

In any of the embodiments disclosed herein, further comprising: a sensor for sensing the position of the article on the first conveyor and generating data related to those positions, and a control system using the data from the sensor to controllably operate the first conveyor and the second conveyor such that the article is delivered from the first conveyor to the second conveyor into loading registration on the second conveyor.

In any of the embodiments disclosed herein, wherein the loader comprises: an interface for attachment to an article to be placed into a container; an actuation system for moving an interface between the staging location and one or more containers to transfer articles from the staging location into the one or more containers, the control system controlling operation of the actuation system.

In any of the embodiments disclosed herein, wherein the interface comprises a lifting head for attachment to the article, the lifting head for lifting the article from the staging position.

In any of the embodiments disclosed herein, wherein the article comprises a top, and the lifting head is configured to be attached to the top of the article.

In any of the embodiments disclosed herein, wherein the actuation system comprises a five-bar linkage to which the interface is mounted.

In any of the embodiments disclosed herein, wherein the five bar linkage is located above the staging position.

In any of the embodiments disclosed herein, wherein the five-bar linkage is configured to removably mount the interface.

In any of the embodiments disclosed herein, wherein two of the five-bar linkage are driven to move the interface between the staging location and the one or more containers.

In any of the embodiments disclosed herein, further comprising an auxiliary linkage mounted on the five bar linkage and connected to the interface to maintain the interface in a selected orientation relative to the articles lifted from the staging position and placed into the one or more containers.

In any of the embodiments disclosed herein, wherein the auxiliary linkage is connected to the five-bar linkage so as to operate on the auxiliary linkage based on movement of the five-bar linkage.

In any of the embodiments disclosed herein, a conveyor system for transporting one or more containers to a staging location to be loaded and then for transporting the one or more containers away from the staging location after loading is further included, wherein the control system controls the conveyor system to position the containers in a predetermined location relative to the staging location.

Drawings

The foregoing aspects and many of the attendant advantages of this application will become more readily appreciated as the same become better understood by reference to the following detailed description, when taken in conjunction with the accompanying drawings, wherein:

FIG. 1 is an isometric view from above the downstream end of the system from the container packaging system of the present disclosure;

FIG. 2 is an isometric view of FIG. 1 taken from an upstream end of the system;

FIG. 3 is a partial plan view of FIGS. 1 and 2;

fig. 4 is a front view of fig. 3;

FIG. 5 is an upstream end view of FIGS. 1 and 2;

figures 6-9 are downstream end views of figures 1 and 2 showing the carrier in various positions when transferring the articles or packages to containers for centralized shipping; and

fig. 10 is a schematic diagram showing how individual articles are placed into a registration configuration for subsequent placement into a container.

Detailed Description

The description set forth below in connection with the appended drawings, wherein like reference numerals refer to like elements, is intended as a description of various embodiments of the disclosed subject matter and is not intended to represent the only embodiments. Each embodiment described in this disclosure is provided by way of example or illustration only and should not be construed to be preferred or advantageous over other embodiments. The illustrative examples provided herein are not intended to be exhaustive or to limit the disclosure to the precise forms disclosed. Similarly, any steps described herein may be interchanged with other steps, or combined with steps, to achieve the same or substantially similar results.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of exemplary embodiments of the present disclosure. It will be apparent, however, to one skilled in the art, that many embodiments of the present disclosure may be practiced without some or all of these specific details. In some instances, well known process steps have not been described in detail in order not to unnecessarily obscure aspects of the present disclosure. Furthermore, it should be understood that embodiments of the present disclosure may employ any combination of the features described herein.

The present application may include references to "directions" such as "forward", "rearward", "front", "rear", "upward", "downward", "above", "below", "top", "bottom", "right hand", "left hand", "inward", "outward", "extend", "advance", "retract", "proximal" and "distal". These and other similar references in the present disclosure are only used to aid in the description and understanding of the present disclosure, and are not intended to limit the present disclosure to these directions or to specific references.

The application may include modifiers such as the words "about," approximately, "or" substantially. These terms are intended to be used as modifiers to indicate that the "size," "shape," "temperature," "time," or other physical parameters discussed are not required to be precise, and may be varied so long as the desired function is performed. For example, in the phrase "substantially circular in shape," the shape need not be entirely circular so long as the desired structural function is achieved.

In the following description, various embodiments of the present disclosure are described. In the following description and the accompanying drawings, corresponding system components, devices, and units may be identified by the same part number, but with an alphabetical suffix. In the present application, descriptions of parts/components of the same or similar such system components, devices and units are not repeated to avoid redundancy.

In the present disclosure and claims, references to "tray," "carton," "box," and "container" are used interchangeably and are intended to include all manner of trays, cartons, and containers to receive articles packaged therein. Further, the present application and claims interchangeably refer to "articles," "packaging," and "articles" to be placed or packaged into trays, cartons, and containers.

Referring to the drawings, a container packaging system 20 is disclosed, the container packaging system 20 being comprised of a registration system 22 for arranging articles 24 at a staging location 26 into a loading registration configuration. The loader 28 lifts the product 24 from the staging position 26 for placement into a predetermined location in the container 30. Although this need not always be the case, the container 30 may be sized and configured to receive a plurality of articles 24. The control system 32 controls the operation of the packaging system, including controlling the registration system 22 such that the articles 24 are placed in the correct registration configuration at the staging location 26, and controlling the operation of the loader 28 to transfer the articles 24 into predetermined locations in the container 30.

The foregoing supplement to the container packaging system 20 is described in greater detail below, the packaging system including a frame structure 40 having a front portion that supports the registration system 22 and the loader 28 above the registration system. Although not shown, the housing encloses the frame structure 40 as well as the registration system 22 and the loader 28. The housing has been removed from the figure so that the components of the packaging system 20 can be viewed without obstruction.

The frame structure 40 is also configured with a rear portion that supports a conveyor system 42 disposed within the housing, the container 30 being positioned on the conveyor system 42 relative to the registration system 22 for receiving the articles 24 from the loader 28. The conveyor system 42 includes a central conveyor belt 44, which central conveyor belt 44 corresponds to the location of the registration system 22 on which the containers 30 are located when loaded. Upstream from the central conveyor belt 44, a feed conveyor 46 delivers empty containers 30 to the central conveyor belt.

In fig. 1-4, the empty container 30 travels on a lower conveyor 48 moving from right to left to the feed conveyor 46. The infeed conveyor 46 is pivoted so that its end adjacent the central conveyor belt 44 may be lowered to receive containers 30 from the underlying conveyor system 48 and then raised to the level of the central conveyor belt 44 to transfer empty containers from the infeed conveyor to the central conveyor belt. The transfer operation is controlled by the control system 32, and the control system 32 also controls the overall operation of the conveyor system 42, including the central conveyor belt 44, the infeed conveyor 46, and the underlying conveyor 48.

Also controlled by the control system 32, the finish conveyor 49 is positioned to receive the filled containers 30 from the central conveyor 44. The finished conveyor 49 is shown as a roller conveyor, but other configurations are possible. In addition, the finish conveyor 49 may be interconnected with one or more other conveyors (not shown) for transferring filled containers to other downstream locations, such as a refrigerated compartment or a transport area.

The basic form of registration system 22 includes a first feed conveyor 50 aligned with a second registration conveyor 52, the first feed conveyor 50 and the second registration conveyor 52 each extending along the conveyor system 42 and positioned in front of the conveyor system 42 while supported on the frame structure 40. Conveyors 50 and 52 are configured with respective endless flat belts 54 and 56, with endless flat belts 54 and 56 approaching each other end-to-end to facilitate transfer of articles 24 from belt 54 to belt 56, as described below. The conveyors 54 and 56 are each driven by a separate servo motor so that the belts can be started, moved and stopped under the control of the control system 32 to arrange the articles 24 into a desired registration configuration on the conveyor 52, as described below.

An optical sensor system 58 is positioned near the downstream end of the feed conveyor 50 for sensing the position and size (length) of the articles 24 fed by the conveyor 50. A reflective plate 59 is mounted across the feed conveyor 50 from the location of the optical sensor 58 to receive and reflect back the optical signals emitted by the sensor 58. It will be appreciated that other types of position sensing systems (e.g., radar or lidar systems) may also be used to sense the position and size of the article 24 on the conveyor 50.

Delivery conveyor 60 delivers articles 24 to feed conveyor 50. The delivery conveyor 60 includes a frame structure 62 supported by legs 64. Conveyor belt 66 is mounted on frame structure 62 to deliver articles 24 to infeed conveyor 50.

Side rails 68 extend along conveyor 66 to position articles 24 to desired locations transverse to the width of conveyor 66. To this end, side rail 68 may be laterally adjusted by loosening knob screws 70 extending through slots formed in lateral protrusions extending from side rail 68, and then laterally moving the side rail relative to the width of conveyor belt 66. It should be appreciated that such adjustments may be made to the side rails 68 to accommodate the width of the articles 24 and to align the articles 24 relative to the width of the feed conveyor 58.

As shown in fig. 1-4, an exit conveyor 80 is positioned at the downstream end of registration conveyor 52. The exit conveyor 80 receives articles 24 that have not been lifted off of the registration conveyor 52 for some reason (e.g., because the loader 28 was not attached to the articles). The articles 24 slide down the exit conveyor 80 to the end wall 82 thereof from which they can be manually removed. Side walls 84 are provided along the exit conveyor to retain the articles 24 on the conveyor. If desired, a final product conveyor (not shown) may be positioned at the end of exit conveyor 80, or at the end of registration conveyor 52, to send the articles that are not engaged by the loader to a desired location for further processing.

As described more fully below, the operation of the feed conveyor 50, registration conveyor 52, delivery conveyor 60, and exit conveyor 80 are controlled by the control system 32. To this end, encoders may be integrated into conveyors 50, 52, 60, and 80, as well as into the conveyor of system 42, such that the location of the articles/containers on the conveyor is known. In addition, the control system sends signals to servo motors or other types of motors for driving the various conveyors of the packaging system 20.

Referring to the figures, the carrier 28 includes an interface 90 for attachment to the articles 24, the articles 24 being disposed in registration on the registration conveyor 52 for placement of the articles in the containers 30. The cartridge 28 further includes an actuation system 92 with an interface 90 mounted on the actuation system 92 for operation. As with the various conveyors described above, the operation of the loader and interface is controlled by the control system 32.

The actuation system 92 is in the form of a five-bar linkage mounted above the frame structure 40 by an upper frame structure 94, the upper frame structure 94 being suspended above the registration station 22 by a pair of upstanding struts 96 extending upwardly from the frame structure 40. A cross bar 98 is attached to the upper end of the post 96. In turn, the side panels 100 and 101 of the upper frame structure 94 are attached to the cross bar 98. The front and rear connecting brackets 102 and 104 interconnect the upper edge portions of the side panels 100 and 101 to maintain the desired separation of the side panels.

The proximal ends of the actuator links 110 and 112 are rotatably mounted to the frame structure 94 at the lower portions of the side plates 100 and 101. Motors 114 and 116 are mounted on plate 101 to extend outwardly. The motors 114 and 116 operate to rotate the actuator links 110 and 112 through various operating positions of the actuator, as shown in fig. 6-9. Torque tubes 118 and 120 span between actuator links 110 and 112, and actuator links 110 and 112 are mounted to respective side plates 100 and 101, respectively. The torque tube is attached to the actuator links and spans between the actuator links 110 and 112 mounted to the side plates 100 and 101 such that the actuator links on opposite sides of the actuation system 92 rotate together during operation of the motors 114 and 116. The torque tubes 118 and 120 also function to maintain the desired separation between the lower portions of the side plates 100 and 101.

The five-bar linkage of the actuation system 92 further includes a link 122 extending between the distal end of the link 110 and the interface 90. A corresponding link 124 extends between the distal end of link 112 and interface 90. The ends of links 122 and 124 are pivotally attached to respective links 110 and 112 and interface 90.

Interface 90 includes an attachment head 126, with distal ends of links 112 and 124 pivotally connected to attachment head 126. The interface 90 further includes a longitudinally extending quick release attachment tool 130 that is removably connected to the attachment head 126. The attachment tool 130 includes an upper beam portion 132, and three sets of suction plates 134 depend downwardly from the upper beam portion 132 via connector posts 136 that span between the beam portion 132 and the suction plates 134. Suction tubes 140 also depend downwardly from the beam portion 132 to extend through longitudinal slots formed in the suction plate. A suction head 142 is mounted on the lower end of the suction tube 140 for engagement with the top of the articles 24 disposed on the registration conveyor 52. The suction tube 140 is connected to a vacuum source associated with the container packaging system 20.

Although the attachment tool 130 described above utilizes a vacuum to attach to the top of the article 24, other types of attachment tools may be utilized, such as a clamping or gripping unit for securing the article for transfer from the registration conveyor 52 to the container 30.

As best shown in fig. 5-9, an auxiliary linkage 150 is provided for maintaining the interface 90, and in particular the attachment tool 130, in a fixed orientation with the suction head 142 as the articles 24 are transferred from the registration conveyor 52 to the container 30. During this transfer, the article 24 is maintained in a horizontal position or orientation as shown.

To this end, the auxiliary linkage 150 includes a first link 152, the proximal end of which first link 152 is rotatably attached to the frame structure side panels 100 and 101. The distal end of the first link 152 is rotatably attached to the end of the long arm 154 of the first crank 156. The crank includes a short arm 158 extending substantially transverse to the long arm 154 for pivotal connection to the proximal end of a second link 160. The first crank is rotatably mounted in alignment with a pivot joint (pivot joint) between links 112 and 124. The distal end of the second link 160 is pivotally attached to an attachment link 162. The attachment link 162 has a base fixedly connected to the end of the attachment head 126. As shown in fig. 6, 7, 8 and 9, as the article 24 is lifted from the registration conveyor 52, moved laterally relative to the registration conveyor toward the central conveyor 49, and then lowered into the container 30, the article 24 is held in a horizontal orientation by the auxiliary linkage 150.

The auxiliary linkage 150 may be designed in other ways if, for example, the article to be transferred is placed into the container 30 in a non-horizontal orientation (e.g., in an angular orientation relative to the horizon). Furthermore, it may be that the article has been transferred to a flat top surface that is not as good as in article 24, and thus requires grasping or attaching to a surface of the article that is not horizontal but is disposed at an angle to the horizontal. In this case, the auxiliary linkage 150 may be designed such that the orientation of the attachment tool used may be attached to a desired surface or portion of the article being transferred. For example, one or both of the first link 152 and the second link 160 may be designed to be adjustable in length, including during actual operation of the loader 28.

Further, it may be that the article will be placed into the container in a different direction than it was when in the registration position on the registration conveyor. In this case, the auxiliary link may be designed to accommodate the "package" position of the article.

As described above, the control system 32 is used to control and operate the container packaging system 20 of the present disclosure, including the various conveyors and loaders 28. As shown in fig. 1, the control system 32 includes a computer or processor 170, which computer or processor 170 is operatively connected to an interface 172 for receiving signals and information from encoders of the various conveyors, as well as data from various sources of the system 20, including the loader 28 and the optical sensor 58 as described herein. Accordingly, the computer/processor 170 sends control signals to the motors controlling the conveyor, the motors operating the loader, the valves sending the vacuum to the attachment tool 130, and other components of the system 20. The memory unit 174 is provided for storing information used by a control system including the computer/processor 170. The touch screen interface 176 is provided to enable an operator to communicate with the control system 32 and also to output information from the control system, including information about the overall system 20 from the computer/processor 170. The components of control system 32 may be located in a housing 177 that mounts touch screen interface 167, or may be located at different locations of packaging system 20.

Control system 32 may be connected to network 178. Furthermore, rather than employing a local computer/processor 170, a network computing system may be used for this purpose.

As shown, the filled packages or articles 24 are loaded into containers 30 using pick and place loaders 28. Two side-by-side articles 24 are shown placed in each container 30. To automatically occur, when the tool is operated by the actuation system 92 to descend to the top of the article 24, grasp the article, lift the article from the staging position, properly position the article over the container 30, and then place the article into the container 30 at a predetermined location, the article 24 needs to be in the correct position or registration at the staging position 26 below the tool 130. Such container positions vary with each set of articles placed into the container. It should be understood that in other cases, more or less than two side-by-side packages may be placed into the container 30.

To properly position the articles at the staging position 26, the articles are passed from the delivery conveyor 60 to the staging position on the first servo motor driven feed conveyor 50 at random intervals between articles. The article sensing/measuring device 58 optically senses the position of the article on the first conveyor 50. The articles are transferred to the second servo-driven registration conveyor 52 at the correct relative spacing to match the relative spacing required to load the articles into the receptacles 30. This is achieved by a preprogrammed coordinated movement of the two conveyors 50 and 52. In this regard, when receiving articles 24 from the first feed conveyor 50, the registration conveyor 52 is indexed into position by the servo drive motor.

For example, to achieve the side-by-side paired spacing of articles 24 shown in fig. 10, registration conveyor 52 receives a first article from feed conveyor 50 and then indexes forward just enough to receive a second article from feed conveyor 50 so that the second article is positioned in contacting relationship with the first article. The registration conveyor 52 is then moved forward a greater distance than last to receive the third article 24 such that there is a space between the second article and the third article. Thereafter, registration conveyor 52 indexes forward just enough to receive the fourth article from feed conveyor 50 so as to be in contacting relationship with third article 24.

Continuing with the foregoing sequence, registration conveyor 52 is moved forward/indexed a distance greater than the last movement such that there is a space between the fifth article and the previously received fourth article. The registration conveyor is then indexed just forward so that the sixth article is loaded from the infeed conveyor onto registration conveyor 52 so as to be in contacting relationship with the fifth article. In this way, the sixth article 24 is positioned in three sets of two side-by-side touch articles.

The operation of conveyors 50 and 52 may be preprogrammed such that the conveyors automatically position the articles in the proper relative position on the registration conveyor, which serves as a staging location so that articles may be automatically loaded into container 30. In this regard, it should be appreciated that the programming of the operation of conveyors 50 and 52 will take into account the number and size of articles/packages and the size and shape of container 30 to be filled. Further, it should be understood that the attachment tool 130 may be changed to correspond to the number, type, size, shape, configuration, material composition, etc. of articles loaded into the container 30.

Once the articles 24 are in the correct registration position at the staging position 26, the articles are transferred to a container 30, where a loader 28 operates, for example, in the order shown in fig. 6-9. As shown in fig. 6, the attachment tool 130 is positioned on the article 24 in registration at the staging position 26. The attachment tool 130 applies suction to the top of the article, thereby securely locking the article to the attachment tool.

Next, as shown in fig. 7, motors 114 and 116 operate on the five-bar links 110 and 112 to separate the distal ends of the links to simultaneously lift articles upwardly from the staging position 26 and move articles laterally from the staging position to the cartons 30. As shown in fig. 8, by further rotation of links 110 and 112 in a clockwise direction, attachment tool 130 positions article 24 at an open position above container 30 between articles previously positioned in the container. In fig. 9, the attachment tool 130 is lowered to place the article 24 in the open position within the container by a slight rotation of the link 110 in a counterclockwise direction and a slight rotation of the link 112 in a clockwise direction.

It will be appreciated that during transfer of the articles from the staging position 26 to the container 30 in the manner described above, the auxiliary linkage 150 operates to hold the attachment tool 130 in a vertical position, holding the articles 24 in a horizontal orientation, see fig. 6-9.

It should also be appreciated that due to the configuration of the container 30, the product 12 may not be able to be lowered directly down into the container due to the rim or flange extending inwardly from the upper edge of the container end wall toward the interior of the container. Thus, if the article is lowered vertically into the container, the rim or flange of the container will interfere with the lowering motion of the article. In this case the article may be lowered a distance inwardly from the rim or flange and then once fully lowered into the container may be advanced towards the container end wall and under the depending rim or flange.

Once the containers 30 have been filled with the articles 12, the central conveyor 44 may advance to place the containers on the final conveyor 49. A new set of containers 30 may then be transferred from the infeed conveyor 46 to the central conveyor 49, thereby placing the containers in position to receive a new set of articles 12 from the loader 28. This process may continue until all of the articles 12 are loaded into the container 30.

Packaging system 20 may then be "conditioned" to load other articles into continuum 30 or other containers. This may require changing the attachment tool 130 for a new article. This is easily accomplished by simply removing the attachment tool 130 from the attachment head 126 using a "quick" connection system of various configurations. Further, programs stored in control system 32 may be used to regulate the operation of the various conveyors of packaging system 20. Alternatively, the interface 172 may be used to input into the control system parameters required to operate the various conveyors and other components of the packaging system 20 for the new product. These new parameters may be stored in the memory unit 174 for future use.

Although exemplary embodiments have been shown and described, it should be understood that various changes may be made therein without departing from the spirit and scope of the application.

Claims (19)

1. A container packaging system for placing articles into one or more containers, comprising:

a registration system for arranging the articles at a temporary location of a packaging system into a loading registration configuration, wherein the location of the articles corresponds to the location and configuration of the one or more containers;

a loader for transferring the articles from the staging position to a predetermined location in the one or more containers; and

a control system for controlling operation of the registration system to arrange the articles into a loading registration configuration at the staging location, and for operating the loader to transfer the articles from the staging location into the one or more containers.

2. The container packaging system of claim 1, wherein the registration system comprises a first conveyor for delivering the articles to a second conveyor, the articles being positioned relative to each other on the second conveyor to enter a loading registration configuration.

3. The container packaging system of claim 2, wherein the second conveyor includes the staging location.

4. A container packaging system according to claim 2 or 3, further comprising:

a sensor for sensing the position of the article on the first conveyor and generating data relating to these positions; and

the control system uses data from the sensors to controllably operate the first conveyor and the second conveyor such that the articles are delivered from the first conveyor to the second conveyor into loading registration on the second conveyor.

5. The container packaging system of any one of claims 1 to 4, wherein the loader comprises:

an interface for attaching to the article to be placed into the container;

an actuation system for moving the interface between the staging location and the one or more containers to transfer the articles from the staging location into the one or more containers;

the control system controls operation of the actuation system.

6. The container packaging system of claim 5, wherein the interface includes a lifting head for attachment to the article, the lifting head for lifting the article from the staging position.

7. The container packaging system of claim 6, wherein:

the article includes a top; and is also provided with

The lifting head is configured to be attached to the top of the article.

8. The container packaging system of any one of claims 5 to 7, wherein the actuation system comprises a five-bar linkage to which the interface is mounted.

9. The container packaging system of claim 8, wherein the five bar linkage is located above the staging position.

10. The container packaging system of claim 8 or 9, wherein the five-bar linkage is configured to removably mount the interface.

11. The container packaging system of any one of claims 8 to 10, wherein two links of the five-bar linkage are driven to move the interface between the staging position and the one or more containers.

12. The container packaging system of any one of claims 8 to 11, further comprising an auxiliary linkage mounted on the five-bar linkage and connected to the interface to retain the interface in a selected direction relative to the articles lifted from the staging position and placed into the one or more containers.

13. The container packaging system of claim 12, wherein the auxiliary linkage is connected to the five-bar linkage to operate on the auxiliary linkage based on movement of the five-bar linkage.

14. The container packaging system according to any one of claim 1 to 13,

a transport system for transporting the one or more containers to the staging location to be loaded and then for transporting the one or more containers away from the staging location after loading; and

wherein the control system controls the conveyor system to position the container in a predetermined position relative to the staging position.

15. A method of automatically placing articles into one or more containers, comprising:

arranging the articles at a staging location into a loading registration configuration, wherein the location of the articles corresponds to the location and configuration of the one or more containers;

transferring said articles from said staging position to a predetermined position in said one or more containers with a loader, and

controlling operation of a registration system to arrange the articles into a loading registration configuration at the staging location, and controlling operation of the loader to transfer the articles from the staging location into the one or more containers.

16. The method of claim 15, further comprising configuring the actuation system in the form of a five-bar linkage.

17. The method of claim 16, further comprising positioning the five-bar linkage above the staging position.

18. The method of any one of claims 15 to 17, further comprising maintaining lifting the article in a selected direction from the staging position until the article is placed into the one or more containers.

19. The method of any of claims 15 to 18, further comprising:

transporting the one or more containers to the staging location to be loaded, and then transporting the one or more containers away from the staging location after loading; and

positioning the container in a predetermined position relative to the staging position.