Box-taking mechanism is an important part of automatic cartoner, it also is a “bottleneck” in automatic cartoner. After analyzing the process of box-taking and the key movements for automatic cartoner, designed a new kind of box-taking mechanism with double cam five-bar combined mechanism. Combining five-bar mechanism and cam advantages, the mechanism can be realized the trajectory with the demand of velocity and gesture. The detailed and interchangeable gas circuit also be designed, which reduced the complexity of replacing the seal rings. Practical result shows that the mechanism could execute the box-taking gesture quickly and smoothly.