The production of slender plastic pipe bar stock and cleaning incense was manual loading and unloading. An automatic loading and unloading device for tube bar packing was designed and developed to solve the problems of low automation degree, high labor intensity, large manpower consumption, and unable to form stable automatic production. The device can realize quantitative, timing, direct transmission of tube bar from material feeder to packaging molding service location. The structure characteristics, working principle, structure design, and control scheme was expounded. The prototype was applied to the automatic cross-section shape packaging production practice for the tube rods such as incense stick and realized automatic packaging production.