Box body shape righting and box sleeving system and automatic box sleeving method

Abstract

The invention provides a box body shape righting and box sleeving system and an automatic box sleeving method, and relates to the technical field of automatic production, and the box body shape righting and box sleeving system comprises a product positioning unit, a box body shape righting unit and a grabbing mechanism. The product positioning unit is used for positioning a product at a pouring jacket station; the box body shape righting unit is arranged at the box sleeving station and is provided with a first positioning surface and a second positioning surface which are perpendicular to each other; the grabbing mechanism is used for grabbing and moving the carton; the grabbing mechanism is configured to grab a carton, enable the first side face of the carton to abut against the first positioning face, move the carton in the state that the first side face abuts against the first positioning baffle, enable the second side face adjacent to the first side face to abut against the second positioning face, and move the carton in the state that the first side face abuts against the second positioning baffle. And then the carton is arranged on the product in a sleeving mode. Carton correction before carton sleeving is achieved, and the problems that in the prior art, due to carton deformation, the failure rate of automatic carton sleeving is high, and stability is poor are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation production, and in particular to a box body straightening and boxing system and an automatic boxing method. BACKGROUND

[0002] At the end of the production line of large products such as air conditioner cabinet, boxing packaging is a key link. Traditionally, this link is mainly completed by manual operation, usually requiring two or more workers to operate in coordination to put the pre-formed paper box on the product. This manual method has obvious disadvantages: first, the labor intensity is large, and the workers are easy to be tired; second, the production efficiency is limited by the speed of manual operation, the rhythm is unstable, and it is difficult to meet the needs of large-scale production; finally, the consistency of manual operation is poor, which may cause fluctuations in packaging quality.

[0003] In order to solve the above problems, attempts have been made in the industry to use industrial robots for automatic boxing. Existing automation solutions usually include using robots to grab paper boxes and move them above the product for boxing. However, in actual application, the success rate and stability of such automation solutions are often not ideal, especially when dealing with large-size, thin-walled paper boxes, there is a technical problem that has not been effectively solved.

[0004] Specifically, after the paper box is stacked, transported or grabbed by the robot suction cup, its inherent non-rigid characteristics will cause the box body to deform, and the original rectangular opening will often become a rhombus or an irregular parallelogram. When the robot carries such a deformed paper box for boxing, the inner wall of the paper box will interfere with and collide with the corners of the product, resulting in boxing failure.

[0005] Therefore, it is necessary to improve the existing automatic boxing technology of products to overcome the defects of the prior art. SUMMARY

[0006] In order to overcome the problems in the related art, the purpose of the present application is to provide a box body straightening and boxing system, which sets a box body straightening unit with mutually perpendicular positioning surfaces, and forces the straight shape of the grabbed paper box by abutting it against the two positioning surfaces in turn by a grabbing mechanism, so as to overcome the problem of high automatic boxing failure rate and poor stability caused by paper box deformation in the prior art.

[0007] A box body straightening and boxing system, comprising: a product positioning unit having a boxing station, the product positioning unit being configured to position a product at the boxing station; a box body straightening unit provided at the boxing station, the box body straightening unit being provided with a first positioning surface and a second positioning surface perpendicular to each other; a grabbing mechanism configured to grab and move a paper box; The grabbing mechanism is configured to: grab the carton, abut a first side of the carton against the first positioning face, move the carton to abut a second side adjacent to the first side against the second positioning face while maintaining the first side against the first positioning face, and then set the carton on the product.

[0008] Further, the carton straightening unit comprises a first positioning baffle and a second positioning baffle fixedly arranged, the first positioning baffle is perpendicular to the second positioning baffle; The positioning face of the first positioning baffle constitutes the first positioning face, and the positioning face of the second positioning baffle constitutes the second positioning face.

[0009] The mechanical baffle structure is non-powered. No additional driving elements (such as air cylinders, motors) and sensors are needed, the structure is very simple, and the manufacturing cost is low. At the same time, there is no moving part, which means fewer failure points, stable and reliable operation, and almost no maintenance. On the basis of achieving the above-mentioned excellent straightening effect, it has the additional advantages of simple structure, low cost, and high reliability.

[0010] Further, the carton straightening unit is arranged above the product positioning unit and higher than the product located at the carton setting station.

[0011] The straightening unit is located above the product positioning unit, and the straightening action is completed directly above the product. Therefore, after the carton is straightened, the grabbing mechanism only needs to perform a single, vertical downward movement to complete the carton setting. This layout avoids long horizontal translation of the carton after straightening, reduces the risk of secondary deformation caused by movement, simplifies the motion trajectory of the robot, shortens the operation cycle time, and improves the overall production efficiency.

[0012] Further, the product positioning unit comprises: a product conveying line having the carton setting station and configured to convey the product to the carton setting station; a product arrival detector configured to detect whether the product arrives at the carton setting station; a first product positioning mechanism configured to position the product in a width direction of the product conveying line; a second product positioning mechanism configured to position the product in a length direction of the product conveying line.

[0013] The product positioning unit is composed of a product conveying line, a detector, and a first product positioning mechanism and a second product positioning mechanism for limiting in the width direction and the length direction respectively. A complete scheme for accurately positioning the product in two dimensions of the XY plane is provided. The product is firmly limited in the length and width directions, so that no matter what the slight deviation of the incoming position is, the position of the product reaching the box fitting station will be unique and high-precision. A reliable reference is provided for subsequent high-precision box fitting actions, ensuring that the rectified carton can be accurately aligned with the product, further ensuring the success rate of box fitting.

[0014] Further, the first product positioning mechanism comprises a first driving member, a push plate and a limiting baffle, the first driving member is connected with the push plate, and the first driving member and the limiting baffle are respectively arranged on both sides of the product conveying line, and the first driving member is used for driving the push plate to move along the width direction of the product conveying line. The second product positioning mechanism comprises a second driving member, and the second driving member is used for blocking the movement of the product along the length direction of the product conveying line.

[0015] The first product positioning mechanism and the second product positioning mechanism adopt the mode of driving members (such as air cylinders), have fast response speed, accurate positioning, and are easy to be automatically controlled by a PLC controller or the like. A mature, cost-controllable and stable and reliable product accurate positioning implementation mode is provided.

[0016] Further, the box body rectification and box fitting system further comprises: A box body pressing unit, the box body pressing unit is arranged at the box fitting station and is used for pressing the carton.

[0017] In the box fitting process, especially for cartons with large size or tight fit, the friction between the inner wall of the carton and the surface of the product may hinder the smooth sliding, and even cause the upper part of the carton to arch. The box body pressing unit is additionally provided, which can apply an additional active pressing force to the top of the carton during box fitting. The pressing force can effectively overcome the frictional resistance. It is ensured that the carton can be smoothly and completely fitted in place, avoiding the problem of incomplete fitting or jamming caused by friction, and improving the final packaging quality.

[0018] Further, the box body pressing unit comprises a third driving member and a pressing plate, the third driving member is connected with the pressing plate, and the third driving member is used for driving the pressing plate to move in the vertical direction.

[0019] One specific implementation of the box pressing unit is composed of a third driving member (such as a pneumatic cylinder) and a pressing plate. With the structure of the driving member and the pressing plate, the timing, stroke and force of pressing can be conveniently controlled to adapt to paper boxes of different specifications. A general-purpose, flexible and reliable auxiliary pressing implementation mode is provided.

[0020] Further, the box rectification and sleeving system further comprises a box secondary positioning device for pre-positioning the paper box before the grabbing mechanism grabs the paper box, and the box secondary positioning device comprises: a fixed right-angle positioning base; a pushing mechanism for pushing the paper box to the right-angle positioning base.

[0021] The grabbing mechanism first grabs the paper box from the stock bin and moves the paper box to the box secondary positioning device, and the box secondary positioning device pushes the paper box to a fixed right-angle positioning base for pre-positioning through the pushing mechanism, and then the grabbing mechanism grabs the pre-positioned paper box again and performs subsequent sleeving work. If there is no pre-positioning, the position and posture of the incoming paper box are random, and the grabbing mechanism needs to be equipped with a vision system to identify the grabbing point, which increases the cost and complexity. By adding the secondary positioning device, each paper box to be grabbed is placed in a fixed reference position in advance. The grabbing mechanism can use fixed program points for grabbing without visual guidance, which not only greatly simplifies the control system and programming difficulty of the grabbing mechanism and reduces the equipment cost, but also makes the grabbing action faster and more stable, and improves the beat and reliability of the entire automation process.

[0022] Further, the pushing mechanism comprises a first pushing mechanism and a second pushing mechanism; The first pushing mechanism and the second pushing mechanism are respectively used to push the paper box along two right-angle positioning edges of the right-angle positioning base.

[0023] The pushing mechanism comprises a first pushing mechanism and a second pushing mechanism for pushing the paper box along two right-angle edges of the right-angle positioning base. Through the cooperative action of the pushing mechanisms in two directions, it can be ensured that the two adjacent edges of the paper box are tightly fitted with the two reference edges of the positioning base. A high-precision two-dimensional plane pre-positioning is achieved, which is more reliable and accurate than single-edge pushing.

[0024] The second object of the present application is to provide an automatic sleeving method, which applies the box rectification and sleeving system as described above, and comprises the following steps: The product positioning unit positions the product to the sleeving station; The grabbing mechanism grabs the paper box; The grabbing mechanism makes the first side of the paper box abut against the first positioning surface; The grabbing mechanism moves the carton until a second side adjacent to the first side abuts the second positioning surface while maintaining the abutment of the first side and the first positioning surface; The carton after shape correction is sleeved on the product at the sleeving station.

[0025] The existing automatic sleeving method, i.e., the robot directly grabs the carton and then sleeves it, has the problem of carton deformation, resulting in a high failure rate of sleeving. The method adds a key shape correction step between grabbing and sleeving, i.e., making the first side of the carton abut the first positioning surface, and then making the second side abut the second positioning surface while maintaining the abutment. The step of forcibly correcting the shape by using the mutually perpendicular positioning surfaces can actively eliminate the shape deviation of the carton before sleeving. The problem of automatic sleeving caused by carton deformation is solved, and a new automatic sleeving process flow with much higher success rate and stability than the existing method is provided.

[0026] The beneficial effects of the present application are: The box shape correction and sleeving system provided by the present application is provided with a box shape correction unit having mutually perpendicular first and second positioning surfaces, and through specific actions of the grabbing mechanism, the first side of the carton is first made to abut the first positioning surface, and then the second side is made to abut the second positioning surface while maintaining the abutment. Since the carton (especially large-sized cartons) is non-rigid, its opening will often change from rectangular to diamond-shaped after being grabbed. In the prior art, when such a deformed carton is directly sleeved onto a product, it is prone to failure due to corner interference. Through the above specific action of "first positioning and then translational shape correction", the two rigid, mutually perpendicular positioning surfaces are used to forcibly reshape the deformed carton held by the grabbing mechanism, so that its opening returns to the standard rectangular shape. The carton is corrected to a regular shape at a moment before sleeving, so it can be smoothly and non-interferingly sleeved on the product positioned below. The problem of automatic sleeving failure caused by carton deformation is solved, and the success rate of automatic sleeving and the running stability of the system are greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is the overall schematic diagram of the box shape correction and sleeving system provided in the embodiments of the present application; Figure 2 is the overall top view of the box shape correction and sleeving system provided in the embodiments of the present application; Figure 3 is the schematic diagram of the grabbing mechanism provided in the embodiments of the present application; Figure 4 is the schematic diagram of the grabbing jig provided in the embodiments of the present application; Figure 5is a schematic view of a product positioning unit, a box straightening unit and a box pressing down unit provided in an embodiment of the present application; Figure 6 is a schematic view of a box secondary positioning device provided in an embodiment of the present application; Figure 7 is a schematic view of a state that a first side surface of a carton abuts against a first positioning surface; Figure 8 is a top view of a state that a first side surface of a carton abuts against a first positioning surface; Figure 9 is a schematic view of a state that a second side surface of a carton abuts against a second positioning surface; Figure 10 is a top view of a state that a second side surface of a carton abuts against a second positioning surface.

[0028] Reference signs: 100, product positioning unit; 110, product conveying line; 120, product in-place detector; 130, first product positioning mechanism; 131, first driving member; 132, push plate; 133, limiting baffle; 140, second product positioning mechanism; 141, second driving member; 200, box straightening unit; 210, first positioning baffle; 220, second positioning baffle; 300, grabbing mechanism; 310, six-axis industrial robot; 320, grabbing jig; 400, box pressing down unit; 410, third driving member; 420, pressing plate; 500, box secondary positioning device; 510, right-angle positioning base; 521, first pushing mechanism; 522, second pushing mechanism. DETAILED DESCRIPTION

[0029] Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application is more thoroughly and completely conveyed to those skilled in the art, and the scope of the present application is fully conveyed to those skilled in the art.

[0030] Embodiment 1 As shown in Figures 1 to 10 The present embodiment provides a box straightening and boxing system, which comprises a grabbing mechanism 300, a product positioning unit 100 and a box straightening unit 200.

[0031] The grabbing mechanism 300 is responsible for performing all physical operations related to cartons, including picking up cartons from the stockpile, transporting cartons to the designated workstations, and completing the orthotic and boxing actions according to a specific trajectory. As shown in FIGS. Figure 3 , Figure 4 In this embodiment, the grabbing mechanism 300 is preferably a six-axis industrial robot 310, the end of which is equipped with a jig specially designed for grabbing cartons, such as an array of vacuum cups.

[0032] The six-axis industrial robot 310 is chosen because of its high flexibility and freedom of movement, which can achieve complex spatial trajectory movements, which is crucial for subsequent execution of precise "abutment, translation, and lowering" compound orthotic actions. Using vacuum cups as jigs can provide stable and reliable grabbing force without damaging the surface of the carton.

[0033] In addition to the preferred six-axis industrial robot 310, any grabbing mechanism 300 capable of performing "abutment, translation, and lowering" compound orthotic actions can be used. In other embodiments, for example, for occasions where the movement trajectory is relatively fixed, a gantry coordinate robot (i.e., an XYZ three-axis Cartesian coordinate robot) or a SCARA robot suitable for high-speed planar operations can also be used. Similarly, the grabbing jig 320 is not limited to vacuum cups, and can be replaced by an internal strutting air bag clamp (strutting from the inside of the carton to achieve fixation) or a side mechanical gripper, depending on the weight and hardness of the carton.

[0034] The product positioning unit 100 is a set of devices arranged at the boxing workstations, and its function is to accurately position the products delivered from the upstream process in three-dimensional space (especially in the horizontal plane), so that they are in exactly the same position each time the boxing operation is performed.

[0035] The accuracy and repeatability of the product position are the foundation of the success of automated boxing. The boxing action performed by the grabbing mechanism 300 is based on pre-set programs and coordinate points. If the actual position of the product deviates, and the carton is still lowered according to the program trajectory, it will inevitably result in collision between the carton and the product corners, causing the boxing to fail. Therefore, the product positioning unit 100 must be set up to eliminate the uncertainty of the incoming product position.

[0036] There are many ways to achieve product positioning, such as pushing the product from two directions to a fixed mechanical stop block by a pneumatic or electric push rod, or using a vision sensor to cooperate with a movable stop block for adaptive positioning, or for products of a specific shape, a special positioning mold with grooves or protrusions can be designed.

[0037] The box straightening unit 200 is a physical reference device, which is structurally provided with a first positioning surface and a second positioning surface arranged perpendicularly to the first positioning surface. The two surfaces together form a standard right-angle space.

[0038] The fundamental reason for setting this unit is the non-rigid nature of the carton. After being grabbed by the suction cup, the opening of the carton will almost always change from an ideal rectangle to a rhombus due to uneven force or stress release. If the carton is directly sleeved, the deformed opening of the carton cannot be smoothly sleeved into the rectangular product. The role of the box straightening unit 200 is to provide a "forced calibration" process at the moment before sleeving. By allowing the two adjacent sides of the carton to abut against the two perpendicular positioning surfaces of the unit in turn, the deformed carton after being grabbed is "squeezed" back to the standard cuboid shape by the rigid constraint of the positioning surface, thereby clearing the way for the subsequent precise sleeving.

[0039] The simplest implementation of the first positioning surface and the second positioning surface is two fixed, mutually perpendicular steel plates or profiles. In more demanding situations, the positioning surface can also be a surface composed of rows of freely rotating rollers to reduce the frictional force when the carton abuts against it; alternatively, the positioning surface itself can be an active baffle that can be driven by a servo motor to actively exert a clamping force, so as to adapt to cartons of different sizes.

[0040] The complete workflow of the present embodiment is as follows: The product to be packaged enters the sleeving station through the conveying line, and the product positioning unit 100 is activated to accurately position and fix the product.

[0041] The grabbing mechanism 300 moves to the carton stacking area, and the jig at the end thereof is activated to grab a carton from above. At this time, the opening of the carton grabbed usually assumes an irregular rhombus shape.

[0042] The grabbing mechanism 300 carries the deformed carton and moves stably above the box straightening unit 200. Subsequently, the grabbing mechanism 300 performs a precise combination of lowering and horizontal movement, so that a first side of the carton is in complete contact with and abuts against the first positioning surface of the box straightening unit 200.

[0043] Under program control, the grabbing mechanism 300 must perform the next action while maintaining the state of continuous abutment of the first side against the first positioning surface. This means that the grabbing mechanism 300 must continuously exert a small but constant force or position locking instruction directed at the first positioning surface to ensure that the carton does not deviate or deflect. Under this premise, the grabbing mechanism 300 moves the entire carton in a direction parallel to the first positioning surface until the second side adjacent to the first side also contacts and completely abuts against the second positioning surface.

[0044] When two adjacent sides of the carton are firmly pressed against two mutually perpendicular positioning surfaces, the opening of the carton is forced back to a standard rectangle. While maintaining this corrective state, the gripping mechanism 300 descends smoothly along a direction perpendicular to the horizontal plane (i.e., the Z-axis direction), accurately and precisely placing the carton, now restored to its standard shape, onto the product already positioned below from top to bottom.

[0045] After confirming that the carton has been fully seated, the fixture of the gripping mechanism 300 releases the carton (e.g., by closing the vacuum), then lifts it up and returns it to its initial position, ready to execute the next work cycle.

[0046] Example 2 like Figures 1 to 10 As shown, this embodiment, based on the box-shaped orthosis system described in Embodiment 1, provides a more detailed definition of the specific physical structure and spatial layout of the box-shaped orthosis unit 200 and the product positioning unit 100. The aim is to provide a specific engineering solution that is simple in structure, highly reliable, and easy to implement.

[0047] In this embodiment, the carton straightening unit 200 consists of two independent, fixedly installed physical components: a first positioning baffle 210 and a second positioning baffle 220. Both baffles are rigid structures, for example, made of thick steel plates or robust metal profiles. The working surface of the first positioning baffle 210, which contacts the carton, constitutes the first positioning surface; similarly, the working surface of the second positioning baffle 220 constitutes the second positioning surface. These two baffles are precisely set to be perpendicular to each other during installation, thereby forming a stable and standard right-angle reference in space.

[0048] The design of the box-type orthotic unit 200, consisting of two fixed, mutually perpendicular baffles, is based on a comprehensive consideration of reliability, cost, and maintainability. This solution is a purely mechanical structure, containing no driving components (such as motors or cylinders), transmission components, or sensors. The absence of moving parts means the elimination of problems such as wear, fatigue, and control signal delays, thereby greatly improving the stability and reliability of the equipment and reducing the failure rate. Manufacturing and installing two fixed metal baffles is far less costly than constructing a complex orthotic device with an active drive and control system. This makes the technical solution of this invention highly economical; the baffles can be designed to be very robust, sufficient to withstand the long-term, repetitive impact forces generated by the gripping mechanism 300 during orthotic movements without deformation or displacement, ensuring the long-term accuracy of its right-angle reference.

[0049] While a fixed baffle is the preferred method, the box-shaped straightening unit 200 can also be implemented in other ways in other application scenarios. For example: The first positioning baffle 210 and the second positioning baffle 220 can not be fixedly welded or bolted, but installed on linear slides with scales. In this way, when different sizes of cartons need to be replaced, the operator can manually adjust the positions of the two baffles to adapt to the new size, improving the flexibility of the equipment.

[0050] In a production line with higher automation, the first positioning baffle 210 and the second positioning baffle 220 can be driven by servo motors or stepper motors respectively, and through the program preset in the control system, the automatic and rapid size switching can be realized.

[0051] In order to reduce the friction of the carton during abutting and moving, the working surface of the baffle can be covered with a layer of low-friction coefficient material such as polytetrafluoroethylene (PTFE) film, or the positioning surface of the baffle can be designed as a row of unpowered rollers, further improving the smoothness of the orthopedic action.

[0052] In the embodiment, the relative positions of the carton orthopedic unit 200 and the product positioning unit 100 are optimized. Specifically, the entire carton orthopedic unit 200 (i.e. the right-angle device composed of the first positioning baffle 210 and the second positioning baffle 220) is arranged directly above the product positioning unit 100. This means that when the product is precisely positioned below, the orthopedic action of the carton will be completed in the space vertically above it.

[0053] Because the orthopedic station and the cartoning station coincide in the vertical direction, when the carton is orthopedic to a standard rectangle, the grabbing mechanism 300 does not need to perform any long-distance horizontal movement, but only needs to perform a single and direct vertical downward movement to complete the cartoning. This greatly shortens the movement path, reduces the operation cycle time, and thus improves the overall production efficiency.

[0054] After the orthopedic is completed, if long-distance horizontal handling is required, the acceleration and deceleration and vibration of the carton during movement may cause it to be deformed again. The layout of the embodiment minimizes the time and displacement between "orthopedic completion" and "cartoning start", ensuring that the carton is cartoned in the most standard form, thereby improving the success rate of cartoning.

[0055] Integrating the two functional units in the vertical space can more effectively utilize the vertical space and reduce the overall floor space of the equipment in the factory workshop, compared to the linear layout of separating the orthopedic station and the cartoning station.

[0056] Although the vertical layout is optimal, other layouts can also be used in special cases where the factory height or other process flow is limited: the box straightening unit 200 can be arranged to the side of the product positioning unit 100. The gripping mechanism 300 moves horizontally a short distance after completing the box straightening at this station, reaches above the product, and finally vertically descends to complete the box sleeving; in some double-station or circulating production lines, the straightening station and the box sleeving station can be arranged on opposite sides of a rotating workbench, and the station switching is realized by rotating the workbench.

[0057] More specifically, as shown in Figure 5 the box straightening unit 200 in this embodiment is embodied as a gantry frame structure spanning above the product conveying line 110. The core functional components of this frame, namely the first positioning baffle 210 and the second positioning baffle 220.

[0058] The first positioning baffle 210 is specifically two fixed vertical plates arranged in parallel along the length direction of the product conveying line 110. To ensure that the entire side surface of the carton can be stably and continuously supported when the gripping mechanism 300 performs subsequent horizontal movement.

[0059] The second positioning baffle 220 is specifically a fixed vertical plate perpendicular to the width direction of the product conveying line 110 and spanning above it.

[0060] The two positioning baffles are rigidly connected by a sturdy frame. This open gantry frame design, on the one hand, leaves sufficient space for the product conveying and positioning below, and on the other hand, provides convenience for the gripping mechanism 300 (such as an industrial robot) to enter this area from the side or above to perform straightening actions.

[0061] Embodiment 3 As shown in Figures 1 to 10 the box straightening and sleeving system provided in this embodiment elaborates on the composition and working method of the product positioning unit 100 based on the box straightening and sleeving system described in embodiment 1.

[0062] In the entire automated box sleeving process, the box sleeving action performed by the gripping mechanism 300 is based on pre-programmed fixed spatial coordinates. Therefore, to ensure that each box sleeving can be successful, it is necessary to ensure that the product as the target of box sleeving appears at the preset box sleeving station with exactly the same position and posture each time. However, the conventional industrial conveying line itself has inherent positioning errors, for example, the product may have slight left and right deviation on the conveying belt, or the final stop position may have millimeter-level difference due to the start-stop inertia of the conveying belt. These small deviations are enough to cause the failure of high-speed and high-precision box sleeving action.

[0063] To eliminate this uncertainty, the product positioning unit 100 in this embodiment is an independent mechatronic module, whose core function is to enforce a high-precision two-dimensional planar positioning of the incoming product before the sleeve box action takes place. In this embodiment, the product positioning unit 100 is specifically composed of the following four parts: The product conveying line 110 is the basic carrier for the product to enter the positioning unit. Its function is to carry the product from the upstream process and convey it to the general area of the sleeve box station.

[0064] The product in-place detector 120 is responsible for real-time monitoring of whether there is a product entering the product conveying line 110, and determining whether the leading edge of the product has reached the preset triggering position.

[0065] The first product positioning mechanism 130 is responsible for limiting the product in the width direction of the product conveying line 110 (i.e. perpendicular to the direction of product advancement).

[0066] The second product positioning mechanism is responsible for limiting the product in the length direction of the product conveying line 110 (i.e. the direction of product advancement).

[0067] The working process of the product positioning unit 100 in this embodiment is as follows: 1. The product is placed on the product conveying line 110 and moves towards the sleeve box station as the conveying line runs.

[0068] 2. When the leading end of the product blocks or triggers the product in-place detector 120 installed at a specific position of the conveying line, the detector immediately outputs an in-place signal to the central controller of the system.

[0069] 3. After receiving the in-place signal, the controller immediately drives the first product positioning mechanism 130. The mechanism (e.g. a liftable pneumatic stopper) quickly acts to extend from below or the side of the conveying line, blocking the product from continuing to advance. At this time, even if the product conveying line 110 is still running, the product will be firmly stopped by the stopper, and its position in the length direction is accurately fixed.

[0070] 4. At the same time or later when the product is limited in the length direction, the controller drives the first product positioning mechanism 130. The mechanism (e.g. a pneumatic push rod installed on one side of the conveying line) starts to smoothly push the product from the side until the other side of the product tightly abuts against the fixed reference stop or guardrail set on the other side of the conveying line.

[0071] 5. After the above steps, the X-axis and Y-axis coordinates of the product in the horizontal plane are completely locked, the positioning process is completed, and the system can execute the subsequent sleeve box action at any time.

[0072] Reference Figure 5The specific physical structure of the product positioning unit 100 in this embodiment is described.

[0073] The product conveying line 110 is a horizontal conveyor belt, i.e. a flow line, which constitutes the base for product movement.

[0074] The product in-place detector 120 is specifically an optical sensor installed on one side of the product conveying line 110. The sensor is usually used in pairs, including a transmitting end and a receiving end, for transmitting and receiving a light beam. When the product passes by, the light beam is blocked, thus generating an electrical signal of the product in place, triggering the subsequent positioning action.

[0075] The first product positioning mechanism 130 for limiting in the length direction of the product conveying line 110 is specifically implemented by a pneumatic cylinder in this embodiment. The cylinder is installed on the side of the product conveying line 110, and the movement direction of its piston rod is perpendicular to the surface of the conveying line. After receiving the signal of the product in place, the cylinder acts, and its piston rod extends as a rigid stop block to block the advancement of the product, completing the positioning in the length direction.

[0076] The second product positioning mechanism 140 for limiting in the width direction of the product conveying line 110 is implemented by two parts working together in this embodiment: One part is a limiting baffle 133 fixedly arranged on one side of the product conveying line 110, which is a fixed long strip-shaped baffle extending along the length direction of the conveying line, providing a stable and flat reference base surface.

[0077] The other part is a movable pushing assembly arranged on the opposite side. The assembly is specifically composed of a pneumatic cylinder and a pushing plate 132. When the positioning in the length direction is completed, the cylinder drives the pushing plate 132 connected thereto to push the product transversely in a posture perpendicular to the product conveying line 110 (i.e. in the width direction) until the other side of the product tightly abuts against the fixed limiting baffle 133, completing the positioning in the width direction.

[0078] Each component of the product positioning unit 100 can be implemented by other equivalent technical solutions to achieve the same function.

[0079] As for the product conveying line 110, in addition to the common belt-type conveying line, according to the weight, shape and production environment of the product, it can be replaced by a roller conveying line, a chain plate conveying line, or for a flexible manufacturing system, even an automatic navigation trolley (AGV) can be used to directly transport and park the product to the sleeve box station.

[0080] For the product-in-place detector 120, in addition to the preferred photoelectric sensor in this embodiment, it can also be replaced by: a proximity switch, such as an inductive sensor (for metal products) or a capacitive sensor; a laser distance measuring sensor, which can more accurately control the stopping position of the product; a mechanical travel switch, triggered by physical contact of the product, simple and reliable in structure; a machine vision system, which can identify the position and attitude of the product through a camera and image processing algorithm, with the highest flexibility and can adapt to positioning of various different products.

[0081] For the first product positioning mechanism 130 and the second product positioning mechanism 140: the driving and limiting methods are also diverse. In addition to using a cylinder-driven push plate 132 or a stop block, it can also be replaced by: an electric push rod or a servo cylinder, which can more accurately control the speed, position and pushing force of the push, suitable for gentle positioning of fragile products; a servo motor combined with a ball screw or a gear rack mechanism, which can achieve high-precision and high-speed positioning. Bilateral synchronous clamping mechanism, in the width direction, can use clamping jaws or stop plates that move from both sides to the center to achieve automatic centering positioning of the product, rather than one-sided pushing. Lifting positioning nest, design a positioning template or "nest" that matches the shape of the product bottom, after the product is roughly positioned, lift it from below the conveying line, lift the product off the conveying line and accurately embed it in the nest, achieving extremely high-precision positioning.

[0082] Embodiment 4 As shown in Figures 1 to 10 The box orthopedic sleeve box system provided in this embodiment adds a box pressing unit 400 on the basis of the above-mentioned embodiments. It aims to improve the success rate of system operation and the final packaging quality.

[0083] The box pressing unit 400 is an independent, active force applying device, which can be installed directly above the sleeve box station, located near the box orthopedic unit 200 or integrated into its structure. Its basic composition includes a third driving member 410 and a pressing plate 420 connected to the end of the driving member. The third driving member 410 is the power source, responsible for providing vertical downward driving force; the pressing plate 420 is the execution component that directly contacts the carton, and its shape and area are designed to evenly apply the force generated by the third driving member 410 to the top surface of the carton.

[0084] In an ideal situation, the orthopedic carton should be able to smoothly fit on the product under the action of gravity and the guidance of the grabbing mechanism 300. However, in actual production, especially when dealing with the following situations, it is often difficult to handle: when the size of the carton and the size of the product have a small mating tolerance (i.e., a tight fit), or the surface of the product is not smooth, a significant friction force will be generated between the inner wall of the carton and the outer surface of the product. This friction force will hinder the downward sliding of the carton; for a carton with a large size or a thin wall and soft material, when its downward sliding is blocked, the downward force from the grabbing mechanism 300 is likely to cause the carton to bend and deform, such as the top arching or the side wall bulging outward, rather than smoothly sliding down as a whole. When the carton fitting speed is high, the air between the product and the carton is difficult to quickly exhaust, forming a certain air pressure resistance, which will also hinder the carton fitting process.

[0085] In these cases, relying solely on the gravity of the carton and the guiding force of the grabbing mechanism 300 may not be enough to overcome the above-mentioned resistance. Therefore, a special carton pressing unit 400 is added, which is designed to apply an additional, controllable, and vertically downward active pressure to forcibly help the carton overcome various resistances during the key stage of carton fitting, ensuring that it can be smoothly and completely fitted in place, avoiding problems such as carton fitting jamming, not fitting to the bottom, or carton damage due to uneven stress.

[0086] Referring to Figure 5 The specific physical structure of the carton pressing unit 400 in this embodiment will be described.

[0087] In this embodiment, the carton pressing unit 400 is two pressing assemblies arranged at intervals along the length of the device. Each pressing assembly is composed of a third driving member 410 and a pressing plate 420. The third driving member 410 is responsible for providing linear driving force up and down. The pressing plate 420 is a long strip-shaped plate arranged transversely, one end of which is connected to the movable end of the third driving member 410.

[0088] The pressing plates 420 of the two pressing assemblies are parallel to each other and jointly span directly above the lower product conveying path. This ensures that multiple pressing plates 420 can simultaneously contact and act on different positions on the top of a large carton when performing a pressing action. When all third driving members 410 are activated synchronously, a uniformly distributed pressing force can be applied to the entire top stress surface of the carton. This structure not only ensures the stability and uniformity of the force through multi-point pressing, effectively preventing the carton from tilting or locally deforming due to uneven stress during pressing, but also increases the contact area with the carton through the design of the long strip-shaped pressing plate 420, avoiding damage to the surface of the carton due to stress concentration.

[0089] The cooperative working process of the carton pressing unit 400 in this embodiment is as follows: 1. The gripping mechanism 300 lowers the orthopedic finished carton in the vertical direction, so that its open end is sleeved into the top of the product, and then continues to descend for a short distance.

[0090] 2. When the control system confirms that the carton has completed the initial sleeving (which can be determined by the Z-axis coordinates of the gripping mechanism 300 or time delay), it issues an instruction to activate the box body pressing unit 400. The third driving part 410 is started, driving the pressing plate 420 to move downward until it contacts the top surface of the carton.

[0091] 3. Then, the third driving part 410 continuously outputs a stable pushing force, and the pressing plate 420 applies a constant downward pressure to the carton. At the same time, the gripping mechanism 300 can continue its predetermined downward trajectory, and the two work together to push the carton downward.

[0092] 4. When the carton has been sleeved in place, the jig of the gripping mechanism 300 releases the carton. At the same time, the third driving part 410 of the box body pressing unit 400 reverses its motion, lifting the pressing plate 420 back to its original position, making room for the next cycle.

[0093] In order to adapt to different cost budgets, control precision requirements and product types, the box body pressing unit 400 can have multiple specific implementation forms.

[0094] The third driving part 410 can have multiple options: Pneumatic cylinder, which is the most commonly used and cost-effective implementation method, with the advantages of fast action speed, simple structure and easy maintenance. By adjusting the air pressure, the output pressure can be easily controlled. Electric push rod or electric cylinder, compared with the pneumatic cylinder, the electric push rod can realize more precise position and speed control. For some applications that require precise control of the downward stroke or speed.

[0095] Servo motor with ball screw mechanism, which not only can accurately control the position and speed, but also can realize very precise force control through torque control mode. Suitable for precise product packaging with strict requirements on pressure.

[0096] The structure of the pressing plate 420 can have multiple options: Integral flat plate, the simplest structure, suitable for cartons with flat tops.

[0097] Hollow frame structure, which can reduce the weight of the pressing plate 420 itself, allowing the use of smaller specifications of the third driving part 410, reducing cost and energy consumption, while ensuring contact area and structural rigidity.

[0098] The soft cushioned platen 420, which adds a layer of rubber or polyurethane elastic material to the contact surface of the platen 420, can protect the surface of the carton from being scratched or indented while applying pressure, and better adapt to the slight unevenness of the top of the carton.

[0099] The platen 420 with free rollers, if there is still a possibility of slight horizontal displacement of the carton during the pressing process, the platen 420 is designed as a row of free-rotating rollers, which can minimize horizontal friction while applying pressure, allowing the carton to make self-adaptive fine adjustment.

[0100] In some designs, the function of the carton pressing unit 400 can not exist as an independent component, but is integrated into the jig of the grabbing mechanism 300. For example, one or more small pneumatic or electric cylinders are installed at the center or around the suction cup array as the third driving element 410. After completing the grabbing, these small driving elements can be extended to achieve the pressing function. This way is compact in structure, but requires higher design requirements for the jig.

[0101] Embodiment 5 As shown in Figures 1 to 10 , the present embodiment provides a carton straightening and boxing system, which adds a carton secondary positioning device to the upstream carton loading link based on the above-mentioned embodiments, and pre-positions the carton. The purpose is to improve the stability and efficiency of the entire automated process, and reduce the dependence on complex sensing systems.

[0102] The carton secondary positioning device is a set of independent mechanical systems located at the grabbing station of the grabbing mechanism 300 (robot). Its core function is to accurately adjust a carton with a relatively random position and attitude to a fixed, pre-set reference position. In this embodiment, the device mainly consists of two parts: a fixed right-angle positioning base 510 and a pushing mechanism.

[0103] The fixed right-angle positioning base 510 is an L-shaped, rigidly fixed mechanical structure that provides two mutually perpendicular, accurate physical reference surfaces. This right angle is the final target of all positioning actions.

[0104] The pushing mechanism is the active power component in the device, responsible for pushing the carton. In order to achieve accurate positioning in two-dimensional plane, the pushing mechanism is further divided into a first pushing mechanism 521 and a second pushing mechanism 522. The movement directions of these two pushing mechanisms are perpendicular to each other, and are respectively used to drive the two adjacent sides of the carton, so that it can finally tightly fit on the two reference surfaces of the fixed right-angle positioning base 510.

[0105] Without the secondary positioning device, the automation system faces a dilemma. One option is to require a human operator to place the carton in the same location of the picking area with extremely high precision every time, which is not only demanding for the worker and prone to errors, but also reduces the significance of automation. Another option is to equip the robot with a complex vision recognition system (including industrial cameras, light sources, image processing software, etc.), which allows the robot to identify the actual position and angle of each carton by looking at it before picking. Although feasible, the vision system significantly increases the initial investment cost, system complexity, and debugging difficulty of the equipment, and is easily disturbed by factors such as changes in light and differences in carton printing patterns, affecting stability.

[0106] Therefore, the fundamental purpose of introducing the secondary positioning device for cartons is to replace the expensive and complex vision-guided system with a simple, reliable, and cost-effective purely mechanical approach. It actively positions the carton to an absolute coordinate point, allowing the robot to pick blindly. The robot does not need to know where the carton was initially placed, but only needs to set a never-changing picking coordinate in its program. This greatly simplifies the control logic of the robot, reduces system cost, and fundamentally ensures the high repeatability and reliability of the picking action.

[0107] The working process of the secondary positioning device for cartons in this embodiment is as follows: 1. The robot or a human operator places a carton to be used on the device's carrying frame. At this time, the accuracy requirement for placement is very low, only to ensure that the carton is roughly within the working area.

[0108] 2. The system detects that the feeding is complete through a simple sensor (such as a photoelectric switch) or in coordination with the automation program, and then starts the positioning program.

[0109] 3. Simultaneously or sequentially drive the first pushing mechanism 521 (e.g., a cylinder parallel to the X-axis) and the second pushing mechanism 522 (e.g., a cylinder parallel to the Y-axis) to move. Until the two mutually perpendicular sides are fully in contact and abut against the two positioning arms of the fixed right-angle positioning base 510.

[0110] 4. When both pushing mechanisms complete the stroke, the two adjacent sides of the carton are firmly defined in the L-shaped right-angle base. At this time, the position and attitude of the carton in the horizontal plane have been uniquely determined. The robot picks up the carton and moves it to the pre-set, fixed picking coordinate point, performs the picking action, and then proceeds to the subsequent rectification and carton fitting process.

[0111] Each part of the secondary positioning device for cartons can be implemented using other equivalent technical solutions: For the driving mode of the pushing mechanism: In addition to the common cylinder drive, for occasions that require more precise speed and position control, an electric cylinder or a combination of a servo motor and a ball screw can be used; for lighter cartons, a motor combined with a linkage mechanism can also be used to achieve the reciprocating motion of the push plate 132; in some designs, two micro conveyors can also be used as the pushing mechanism, and by controlling the rotation of the conveyors, the cartons can be "conveyed" to the corner of the positioning base.

[0112] For the structure of the fixed right-angle positioning base 510: In order to reduce the friction of the carton during pushing, the two reference surfaces of the positioning base can not use solid baffles, but can be replaced by a row of freely rotating unpowered rollers; in order to adapt to cartons of different sizes, the positioning base can be designed to be adjustable, and the positions of the two positioning arms can be adjusted manually or automatically.

[0113] For the alternative of the overall positioning logic: In addition to the double-axis pushing to a fixed right-angle scheme, a four-sided clamping centering scheme can also be used. This scheme eliminates the fixed right-angle base and replaces it with four push plates 132 that can move in all four directions. The four push plates 132 move synchronously towards the center, clamping and positioning the carton at the geometric center of the device. This method is particularly suitable for production lines that need to accommodate cartons of multiple sizes; for lighter and flat-bottomed cartons, a vibrating inclined plane positioning scheme can also be used. The carrying surface of the device is designed as a platform with a slight inclination angle and a weak vibration function, and the lowest part of the platform is a fixed right-angle baffle. After the carton is placed on the platform, it will automatically slide and stably rest against the right-angle baffle under the combined action of gravity and vibration, achieving passive positioning without active pushing mechanism.

[0114] Embodiment 6 As shown in Figures 1 to 10 The present embodiment provides an automatic boxing method, which is realized by the box straightening boxing system in the foregoing embodiments, and includes a product positioning unit 100, a grabbing mechanism 300 (for example, a robot), and a box straightening unit 200 provided with a first positioning surface and a second positioning surface perpendicular to each other. The core of the method is that a unique, physical contact-based carton shape straightening step is introduced before formal boxing, aiming to fundamentally solve the problem of automatic boxing failure caused by carton deformation. The automatic boxing method includes the following steps: Firstly, the product positioning unit 100 positions the product to the boxing station; Secondly, the robot grabs the carton; Third step, the robot abuts the first side of the carton against the first positioning surface; then, the robot moves the carton while maintaining the first side against the first positioning surface until the second side adjacent to the first side abuts the second positioning surface Fourth step, the carton after shape correction is sleeved on the product at the sleeving station The first step is the preparation stage of the whole automation process. Its task is to ensure that the product to be packaged is accurately fixed in the preset sleeving working area, and the position and posture are highly consistent in each cycle. The automation equipment performs a pre-programmed trajectory, which "assumes" that the target object (product) is always in a fixed coordinate position. If the position of the product deviates, the subsequent sleeving action of the robot according to the fixed trajectory will inevitably interfere and collide. Therefore, accurate positioning of the product is an absolute prerequisite for the successful execution of all subsequent steps. In a typical embodiment, the product enters the sleeving station along the conveying line. When the product triggers a sensor (such as a photoelectric switch), the conveying line is paused or the product is stopped by a blocking mechanism, completing the rough positioning in the length direction. Then, one or more driving elements (such as air cylinders or servo push rods) push the product from the side to a fixed mechanical reference surface, completing the accurate positioning in the width direction. Through the positioning in the two directions, the product is firmly locked in the sleeving station, and its spatial coordinates are uniquely determined.

[0115] The second step is the material taking action performed by the robot. The robot moves to the carton storage area and picks up a carton to be used. This is a necessary step to prepare materials for subsequent packaging. It needs to be emphasized that it is at this step that the deformation problem of the carton begins to appear. Whether it is the natural deformation of the carton in the stack or the inward or outward expansion of the opening caused by uneven force when the robot suction cup grabs it from above, it will make the opening change from the ideal rectangle to an irregular rhombus or parallelogram. The robot moves its end effector to a known material taking point according to the preset program. The suction cup array on the end effector generates negative pressure through the vacuum generator, firmly adsorbing the top surface of the carton. Then, the robot vertically lifts the carton off the stack and prepares to move to the next station.

[0116] The third step is a continuous, constrained compound motion, aiming to force the deformed carton back to a standard rectangular shape. Directly using the deformed carton to sleeve is the root cause of failure. This step physically shapes the non-rigid carton by leveraging a rigid, standard right-angle reference (consisting of the first and second positioning faces). A sustained constraint is provided to prevent the carton from rotating or escaping when performing the second direction abutment, while maintaining the first side abutting the first positioning face, thus ensuring the certainty and reliability of the shaping action. The robot moves the carton to the carton shaping unit 200. The robot executes the movement instructions to smoothly rest a first side of the carton on the first positioning face and applies a small pushing force to ensure a tight fit. The coordinates perpendicular to the first positioning face direction are locked or continuously compensated to ensure that the fit state is not destroyed; at the same time, the robot is driven to move along the direction parallel to the first positioning face. During this movement, the second side of the carton gradually approaches and eventually contacts the second positioning face. When the robot moves to the preset coordinate point or its force sensor detects that the contact force in the second direction reaches the threshold value, the step is completed. At this time, the carton is firmly "squeezed" in a perfect right-angle corner, and its opening shape is forced to be corrected to a rectangle.

[0117] The fourth step is the final assembly action to sleeve the carton that has been restored to a standard shape on the product. After completing the shaping in the previous step, the robot performs a purely vertical downward linear motion while maintaining the shape of the carton (i.e., still making it abut the two positioning faces). The rectangular opening of the carton is accurately aligned with the rectangular profile of the product, smoothly slides down, and is completely sleeved. After the carton is sleeved in place, the robot releases the carton (e.g., releases the vacuum) and then lifts it back to the original position.

[0118] In the above embodiment, the first and second positioning faces are fixed, and the robot and the carton are moved to adapt to them. In another possible embodiment, the robot can move the grasped carton to a roughly fixed position in the air, and then the first and second positioning faces (e.g., baffles driven by air cylinders or servo motors) are moved in, respectively, to clamp and correct the carton from two directions.

[0119] In the above embodiment, position control is mainly used. In a more precise system, the shaping step can use force control. For example, the robot moves the carton to abut the first positioning face until the end force sensor reading reaches the preset value (e.g., 5 Newtons), and then moves in the second direction in force control mode until the force reading in the second direction also reaches the set value. This way can better adapt to small changes in carton hardness.

[0120] For the sleeveing process with larger mating interference or significant friction, a separate auxiliary down-pressing device (i.e. the box down-pressing unit 400 in the foregoing embodiment) can be activated to apply an additional pressure on the top of the carton to assist the robot to sleeve the carton more smoothly while performing the fourth step.

[0121] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the present application unless otherwise specifically stated. In all of the examples shown and discussed herein, any specific value should be interpreted as merely an example, and not as a limitation. Thus, other examples of the exemplary embodiments can have different values. It is noted that like numbers and letters refer to like elements throughout the several views of the drawings, and as such, no further discussion with regard thereto is required.

[0122] Further, it should be noted that the use of "first", "second", etc., words to describe various elements is only intended to differentiate between similar elements, and does not connote any special meaning to the elements themselves unless otherwise specifically stated. Thus, the use of these words is not intended to limit the scope of the present application.

[0123] The preferred embodiments of the present application are described above, and are not intended to limit the scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. A box-shaped orthopedic case system, characterized in that, include: The product positioning unit (100) has a box-packing station, and the product positioning unit (100) is used to position the product at the box-packing station; A box-shaped straightening unit (200) is provided at the box-making station. The box-shaped straightening unit (200) is provided with a first positioning surface and a second positioning surface that are perpendicular to each other. A gripping mechanism (300) for gripping and moving cartons; The gripping mechanism (300) is configured as follows: Grasp the carton so that the first side of the carton abuts against the first positioning surface. While maintaining the first side abutting against the first positioning baffle (210), move the carton so that the second side adjacent to the first side abuts against the second positioning surface, and then put the carton on the product.

2. The box-shaped orthopedic housing system according to claim 1, characterized in that: The box-shaped straightening unit (200) includes a first positioning baffle (210) and a second positioning baffle (220) that are fixedly installed, wherein the first positioning baffle (210) and the second positioning baffle (220) are perpendicular to each other; The positioning surface of the first positioning baffle (210) constitutes the first positioning surface, and the positioning surface of the second positioning baffle (220) constitutes the second positioning surface.

3. The box-shaped orthopedic housing system according to claim 1, characterized in that: The box-shaped unit (200) is located above the product positioning unit (100) and is higher than the product located at the box-making station.

4. The box-shaped orthopedic housing system according to claim 1, characterized in that: The product positioning unit (100) includes: The product conveyor line (110) has the box-packing station for conveying the product to the box-packing station; Product arrival detector (120) is used to detect whether the product has arrived at the packaging station; A first product positioning mechanism (130) is used to limit the product in the width direction of the product conveyor line (110); The second product positioning mechanism (140) is used to limit the product along the length of the product conveyor line (110).

5. The box-shaped orthopedic housing system according to claim 4, characterized in that: The first product positioning mechanism (130) includes a first driving member (131), a push plate (132), and a limiting baffle (133). The first driving member (131) is connected to the push plate (132). The first driving member (131) and the limiting baffle (133) are respectively disposed on both sides of the product conveying line (110). The first driving member (131) is used to drive the push plate (132) to move along the width direction of the product conveying line (110). The second product positioning mechanism (140) includes a second drive member (141) for blocking the movement of the product along the length of the product conveying line (110).

6. The box-shaped orthopedic housing system according to claim 1, characterized in that: The box-shaped orthopedic housing system also includes: A box pressing unit (400) is provided at the box-packing station and is used to press down the carton.

7. The box-shaped orthopedic housing system according to claim 6, characterized in that: The housing pressing unit (400) includes a third driving member (410) and a pressure plate (420). The third driving member (410) is connected to the pressure plate (420) and is used to drive the pressure plate (420) to move in the vertical direction.

8. The box-shaped orthopedic housing system according to claim 1, characterized in that: The carton-shaping and crimping system further includes a secondary positioning device (500) for pre-positioning the carton before the gripping mechanism (300) grips it. The secondary positioning device (500) includes: Fixed right-angle positioning base (510); A pushing mechanism is used to push the carton toward the right-angle positioning base (510).

9. The box-shaped orthopedic housing system according to claim 8, characterized in that: The pushing mechanism includes a first pushing mechanism (521) and a second pushing mechanism (522); The first pushing mechanism (521) and the second pushing mechanism (522) are respectively used to push the carton along the two right-angle positioning sides of the right-angle positioning base (510).

10. An automatic box-packing method, characterized in that, The application of the box-type orthotic sleeve system as described in any one of claims 1 to 9 includes the following steps: The product positioning unit (100) positions the product to the packaging station; The gripping mechanism (300) grips the carton; The gripping mechanism (300) causes the first side of the carton to abut against the first positioning surface; While maintaining the first side abutting against the first positioning surface, the gripping mechanism (300) moves the carton until the second side adjacent to the first side abuts against the second positioning surface. The shape-corrected cardboard box is then placed onto the product at the box-making station.

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