Mosquito coil stack transfer device and method

Abstract

The mosquito coil stack transfer device and method described in this invention propose a solution specifically for the transfer, storage, and packaging of mosquito coil stacks, aiming to achieve digital, intelligent, and automated control in mosquito coil production and manufacturing. It implements unmanned operation throughout the entire material conveying and transfer process, achieving the design goal of cost reduction and efficiency improvement. The device includes a lifting and receiving assembly, a lateral material cylinder assembly, a three-axis truss gripper assembly, and a mosquito coil stack pallet positioning assembly. The lifting and receiving assembly includes a column frame and a fork-arm telescopic lifting assembly that is vertically slidably connected to the column frame via guide rails set on the side of the column frame. The lateral material cylinder assembly includes an equipment support, a photoelectric detection switch set on the vertical column of the equipment support, at least one set of material cylinder slide rails connected horizontally, and an array of material cylinder switching assemblies slidably connected and running on the material cylinder slide rails. The three-axis truss gripper assembly includes a truss and at least one set of robotic arm assemblies.

Description

Technical Field

[0001] This invention relates to a stacking and transfer device and method specifically for the fully automated production and assembly process of mosquito coils, belonging to the field of logistics warehousing and automated production. Background Technology

[0002] Currently, in the fields of industrial production and logistics warehousing, intelligent and fully automated control technologies have been widely adopted to achieve high efficiency and high quality in operational processes.

[0003] The current mosquito coil production site lacks a post-processing equipment such as a coil collecting machine. During the process of conveying the continuously formed mosquito coil sheets to the final assembly process, the material handling and transfer operations can only be carried out manually. This not only results in low work efficiency and high production costs, but also easily causes damage and loss of mosquito coil sheets, leading to unnecessary material waste and backward production management.

[0004] In view of the above, this patent application is hereby filed. Summary of the Invention

[0005] The mosquito coil stack transfer device and method described in this invention aim to solve the problems existing in the prior art by proposing a solution for the transfer, storage and packaging of mosquito coil stacks, in order to realize the digital, intelligent and automated control of mosquito coil production and manufacturing, and to achieve unmanned operation in the entire process of material conveying and transfer, thereby achieving the design goal of cost reduction and efficiency improvement.

[0006] To achieve the above design objectives, the mosquito coil stack transfer device includes a lifting and receiving assembly, a transverse material cylinder assembly, a three-axis truss gripper assembly, and a mosquito coil stack pallet positioning assembly. The lifting and receiving assembly includes a column frame and a fork-arm telescopic lifting assembly that is slidably connected to the column frame along the vertical direction via guide rails provided on the side of the column frame. The transverse material cylinder assembly includes an equipment support, a photoelectric detection switch provided on the vertical column of the equipment support, at least one set of material cylinder slide rails connected in the horizontal direction, and an array of material cylinder switching assemblies that are slidably connected to and run on the material cylinder slide rails. The three-axis truss gripper assembly includes a truss and at least one set of robotic arm assemblies that are provided on the truss and driven by an X-axis drive assembly, a Y-axis drive assembly, and a Z-axis drive assembly.

[0007] Furthermore, the lifting and receiving assembly is provided with a vertically connected rack on the side of the column frame. A telescopic cylinder controlled by a solenoid valve control assembly, a servo motor, and a set of horizontally distributed guide rails are installed on the fork arm telescopic lifting assembly. The drive end of the servo motor is fitted with a gear, which meshes with the rack. The output end of the telescopic cylinder is connected to a horizontally set fork arm fork plate, and the bottom sides of the fork arm fork plate are slidably connected to the guide rails via sliders.

[0008] Furthermore, the lifting and receiving assembly, one end of the fork arm telescopic lifting assembly is fixedly connected to the cable chain, and a travel limit switch for limiting the vertical travel position of the fork arm telescopic lifting assembly is provided at the bottom of the column frame.

[0009] Furthermore, the barrel switching assembly includes a slide frame with a barrel slider at the bottom, the barrel slider being snapped into the barrel slide rail from both sides, and an array of limiting rods with limiting rings at the top being vertically connected to the slide frame.

[0010] Furthermore, the inner rings of the array limiting rings are all located on the circumference of the same circle, the radius of which is slightly larger than the outer diameter of the mosquito coil stack.

[0011] Furthermore, the three-axis truss gripper assembly has a gripping arm cylinder, a gripping arm slide rail, and a fixed arm fixedly connected in the vertical direction on the manipulator assembly. The drive end of the gripping arm cylinder is connected to a gripping arm that is distributed in the vertical direction and has a gripping arm slider. The gripping arm slider is engaged with the gripping arm slide rail.

[0012] Based on the structural design of the mosquito coil stack transfer device described above, this application also proposes the following mosquito coil stack transfer method:

[0013] The mosquito coils produced by the blank receiving machine are continuously transported in multiple queues to the blank receiving machine conveyor line. They are then conveyed by a variable pitch conveyor to the stacking and trimming machine, where mosquito coils are grouped into sets of a set quantity and sequentially processed, stacked, and trimmed. The grouped mosquito coils are then pushed by the material pushing component to the mosquito coil stacking component for lifting and receiving.

[0014] The lifting receiving assembly receives the mosquito coil stack and lifts it to a height slightly higher than the top of the transverse conveyor assembly, after which the mosquito coil stack is transferred vertically downward into the transverse conveyor assembly;

[0015] The mosquito coil tablets are transferred to the transverse material cylinder assembly until the material cylinder switching assembly is full. After the material cylinder switching assembly is full, it moves to the docking position with the three-axis truss gripper assembly.

[0016] The three-axis truss gripper assembly transfers the stack of mosquito coil tablets from the gripping cylinder switching assembly to the mosquito coil stack tray material level assembly, followed by the final assembly process.

[0017] Furthermore, as the material pushing component pushes out the mosquito coil stack, the telescopic cylinder pushes the fork arm fork plate to extend horizontally to receive the mosquito coil stack; subsequently, the servo motor drives the telescopic lifting component of the fork arm and one end of the drag chain to move vertically along the rack, thereby lifting the mosquito coil stack to the working height required for docking the transverse material cylinder component.

[0018] Furthermore, driven by the cylinder cylinder and cylinder solenoid valve assembly, the cylinder switching assembly moves horizontally along the cylinder slide rail to connect with the lifting receiving assembly and transfer the mosquito coil stack; when a set of cylinder switching assemblies connects with the fork arm telescopic lifting assembly, the bottom of the fork arm plate is slightly higher than the top of the cylinder switching assembly. When the telescopic cylinder drags the fork arm plate back, the mosquito coil stack is blocked by the top of the cylinder switching assembly and detaches from the fork arm plate, and then falls vertically and horizontally into the cylinder switching assembly.

[0019] Furthermore, the X-axis drive assembly, Y-axis drive assembly, and Z-axis drive assembly of the robotic arm assembly jointly drive the robotic arm assembly to move to the docking position with the material cylinder switching assembly; the control system PLC controls the clamping arm cylinder to extend the clamping arm horizontally, and the clamping arm and the fixed arm work together to clamp the full stack of mosquito coil tablets located in the open receiving cavity formed by the array of limit rods; the first robotic arm assembly transfers the mosquito coil tablet stack to the empty temporary storage position in the mosquito coil stack tray material position assembly.

[0020] In summary, the mosquito coil stack transfer device and method described in this application have the following advantages:

[0021] 1. This application realizes a fully automated mosquito coil tablet stack transfer process, achieving unmanned operation throughout the entire process after the material handling and stacking processes, which is conducive to realizing the intelligent and digital control capabilities of the entire process of mass production of mosquito coil tablets.

[0022] 2. Since the pallet transfer process does not require manual intervention, the mechanized equipment has high operating efficiency and low production cost, resulting in significant cost reduction and efficiency improvement, which is conducive to improving the management efficiency of the entire product production process.

[0023] 3. The transfer equipment proposed in this application features a modular design, making operation and maintenance relatively simple, thus simplifying and making the process more intelligent. Attached Figure Description

[0024] The present invention will now be further described with reference to the following figures.

[0025] Figure 1 This is a top-down schematic diagram of the automatic material handling, stacking, and transfer assembly equipment for mosquito coil mats using this application;

[0026] Figure 2 This is a structural diagram of the lifting receiving assembly;

[0027] Figure 3 This is a structural schematic diagram of the fork arm telescopic lifting assembly;

[0028] Figure 4 This is a schematic diagram of the transverse material cylinder assembly;

[0029] Figure 5 This is a structural schematic diagram of a three-axis truss gripper assembly;

[0030] Figure 6 This is a structural schematic diagram of the first robotic arm component; Detailed Implementation

[0031] Example 1, such as Figures 1 to 6 As shown, a novel automatic mosquito coil mat stacking and transfer assembly equipment comprises, along the production process route, two main parts: an automatic mosquito coil mat stacking device consisting of a receiving blank machine conveyor line 1, a number of variable-pitch conveyors connected to the receiving blank machine conveyor line 1 and having the same number of conveyor channels as the receiving blank machine conveyor line 1, an array of stacking and straightening material sorting machines 4 docked to each variable-pitch conveyor, and a material pushing component 5 set at the conveying end of each array of stacking and straightening material sorting machines 4; and this application.

[0032] The mosquito coil stack transfer device described in this application includes a lifting and receiving assembly 6, a transverse material cylinder assembly 7, a three-axis truss gripper assembly 8, and a mosquito coil stack pallet positioning assembly 9.

[0033] The receiving blank conveyor line 1 is connected to the blank receiving machine of the front-end mosquito coil production. The receiving blank conveyor line 1 can be selected from various types of conveying devices, such as roller conveyors, narrow belt conveyors or belt conveyor lines. On the receiving blank conveyor line 1, single mosquito coils are conveyed forward in a queue along each set of conveyor belts. During the conveying process, the entry and exit of mosquito coils can be counted by the detection photoelectric component.

[0034] The variable-pitch conveying device includes a first variable-pitch conveying line 2 extending obliquely to both sides and a second variable-pitch conveying line 3 extending straight in the middle; wherein, the first variable-pitch conveying line 2 is used to significantly increase the spacing of mosquito coil sheets conveyed from the receiving blank conveying line 1 by means of conveying speed and conveying distance; the second variable-pitch conveying line 3 is located in the middle part of the variable-pitch conveying device and is also used to connect and convey mosquito coil sheets conveyed from the receiving blank conveying line 1, and the second variable-pitch conveying line 3 has a smaller pulling effect on the front and rear conveying of mosquito coil sheets.

[0035] The stacking and trimming material handling machine 4 is used to connect to and convey mosquito coil tablets from the first variable pitch conveyor line 2 or the second variable pitch conveyor line 3 of the variable pitch conveyor device. Then, the mosquito coil tablets are sorted, stacked and trimmed in sequence in a set quantity (e.g., 5 tablets), thereby realizing a fully automatic material handling and stacking process.

[0036] After the mosquito coil tablets in groups are conveyed from the stacking and straightening machine 4 to the material pushing component 5, the material pushing component 5 pushes the mosquito coil tablets to the lifting and receiving component 6.

[0037] The lifting and receiving assembly 6 includes a column frame 6.2 and a fork arm telescopic lifting assembly 6.1 that is slidably connected to the column frame 6.2 along the vertical direction via a guide rail 6.4 provided on the side of the column frame 6.2. One end of the fork arm telescopic lifting assembly 6.1 is fixedly connected to a cable chain 6.6. A travel limit switch 6.5 is provided at the bottom of the column frame 6.2 to limit the vertical travel position of the fork arm telescopic lifting assembly 6.1.

[0038] Specifically, a vertically connected rack 6.3 is provided on the side of the column frame 6.2, and a telescopic cylinder 6.1.2 controlled by a solenoid valve control component 6.1.1, a servo motor 6.1.4, and a set of horizontally distributed guide rails 6.1.5 are installed on the fork arm telescopic lifting assembly 6.1.

[0039] The drive end of the servo motor 6.1.4 is fitted with a gear, which meshes with the rack 6.3; under the drive of the servo motor 6.1.4, one end of the fork arm telescopic lifting assembly 6.1 and the drag chain 6.6 moves vertically along the rack 6.3, thereby carrying the transfer of mosquito coil stacks between different working heights.

[0040] The output end of the telescopic cylinder 6.1.2 is connected to a horizontally set fork arm plate 6.1.3. The bottom sides of the fork arm plate 6.1.3 are slidably connected to the guide rail 6.1.5 by sliders. When the telescopic cylinder 6.1.2 pushes the fork arm plate 6.1.3 to extend in the horizontal direction, it can pick up the mosquito coil stack pushed by the material pushing component 5.

[0041] First, the mosquito coil stack pushed by the material pushing component 5 is received by the fork arm fork plate 6.1.3. Then, the servo motor 6.1.4 drives the fork arm telescopic lifting component 6.1 to lift the mosquito coil stack together to a certain height, which is usually slightly higher than the top of the transverse material cylinder component 7. Finally, the mosquito coil stack is kept horizontal by the lifting receiving component 6 and falls into the transverse material cylinder component 7.

[0042] The transverse material cylinder assembly 7 includes an equipment support 7.4, a first photoelectric detection switch 7.5 and a second photoelectric detection switch 7.6 respectively installed at the top and bottom of the vertical column of the equipment support 7.4, a set of material cylinder slide rails connected in the horizontal direction, and an array of material cylinder switching components 7.1 slidably connected to the material cylinder slide rails and driven by the material cylinder cylinder 7.2 and the material cylinder solenoid valve assembly 7.3;

[0043] Driven by the cylinder cylinder 7.2 and the cylinder solenoid valve assembly 7.3, the cylinder switching assembly 7.1 moves horizontally along the cylinder slide rail to connect with the lifting receiving assembly 6 and transfer the mosquito coil stack. When one of the cylinder switching assemblies 7.1 connects with the fork arm telescopic lifting assembly 6.1, the bottom of the fork arm fork plate 6.1.3 is slightly higher than the top of the cylinder switching assembly 7.1. When the telescopic cylinder 6.1.2 drags the fork arm fork plate 6.1.3 to retract, the mosquito coil stack is blocked by the top of the cylinder switching assembly 7.1 and detaches from the fork arm fork plate 6.1.3. Then it falls vertically and horizontally into the cylinder switching assembly 7.1.

[0044] The feed cylinder switching assembly 7.1 can be used to accommodate multiple sets of mosquito coil stacks, such as up to 225 mosquito coils that can be stacked in one set of feed cylinder switching assembly 7.1, depending on the limitations of the production process and on-site equipment installation conditions.

[0045] Furthermore, to improve efficiency and uniformity during the stacking of mosquito coil tablets, the material cylinder switching assembly 7.1 includes a slide 7.8 with a material cylinder slider 7.10 at the bottom. The material cylinder slider 7.10 is snapped into the material cylinder slide rail from both sides. A series of limiting rods 7.11 with limiting rings 7.9 at the top are vertically connected to the slide 7.8. The inner rings of the series of limiting rings 7.9 are all on the circumference of the same circle, and the radius of the circle is slightly larger than the outer diameter of the mosquito coil tablet stack.

[0046] When a certain cylinder switching component 7.1 slides along the cylinder slide rail to the docking position with the fork arm telescopic lifting component 6.1, the mosquito coil stack is blocked by the limiting ring 7.9 and disengages from the fork arm fork plate 6.1.3 when the fork arm fork plate 6.1.3 retracts. After the fork arm fork plate 6.1.3 is fully retracted, the mosquito coil stack falls vertically into the open receiving cavity formed by the array of limiting rods 7.11, and the cycle repeats.

[0047] When the first set of mosquito coil stacks falls to the bottom of the aforementioned receiving cavity, it triggers the second photoelectric detection switch 7.6 located at the bottom of the vertical column of the equipment support 7.4. When the set of material cylinder switching components 7.1 is filled with 225 mosquito coils, it triggers the first photoelectric detection switch 7.5 located at the top of the vertical column of the equipment support 7.4. At the same time, the triggered photoelectric signal is transmitted to the control system. The PLC controls the material cylinder solenoid valve assembly 7.3 and the material cylinder cylinder 7.2 to push out the set of material cylinder switching components 7.1 to switch to the docking position with the three-axis truss gripper assembly 8. At the same time, another set of empty material cylinder switching components 7.1 is pushed to the docking position with the fork arm telescopic lifting assembly 6.1.

[0048] The three-axis truss gripper assembly 8 includes a truss, and X-axis drive assembly 8.1, Y-axis drive assembly 8.2, first Z-axis drive assembly 8.3, second Z-axis drive assembly 8.4, and a first manipulator assembly 8.5 controlled by the first Z-axis drive assembly 8.3 to move vertically, and a second manipulator assembly 8.6 controlled by the second Z-axis drive assembly 8.4 to move vertically.

[0049] The first robotic arm assembly 8.5 and the second robotic arm assembly 8.6 can adopt the same structural design and control principle, but they are symmetrically distributed along the horizontal cross-section of the truss.

[0050] like Figure 6 Taking the first robotic arm assembly 8.5 as an example, a clamping arm cylinder 8.5.1, a clamping arm slide rail 8.5.5, and a fixed arm 8.5.2 fixedly connected in the vertical direction are mounted on it. The driving end of the clamping arm cylinder 8.5.1 is connected to a clamping arm 8.5.4 that is distributed in the vertical direction and has a clamping arm slider 8.5.3. The clamping arm slider 8.5.3 is snapped into the clamping arm slide rail 8.5.5.

[0051] Driven by the X-axis drive assembly 8.1, the Y-axis drive assembly 8.2, and the first Z-axis drive assembly 8.3, the first robotic arm assembly 8.5 moves to the docking position with the material cylinder switching assembly 7.1. The control system PLC controls the clamping arm cylinder 8.5.1 to extend the clamping arm 8.5.4 horizontally. The clamping arm 8.5.4 and the fixed arm 8.5.2 work together to clamp the stack of mosquito coil tablets (containing up to 225 mosquito coils) in the open receiving cavity formed by the array of limiting rods 7.11. Then, the first robotic arm assembly 8.5 transfers the mosquito coil tablet stack to the mosquito coil stack tray material position assembly 9 to complete the subsequent assembly process.

[0052] Based on the structural design of the mosquito coil stack transfer device described above, this application implements the following mosquito coil stack transfer method:

[0053] (a) The mosquito coils produced by the blank receiving machine are continuously transported in multiple queues to the blank receiving machine conveyor line 1. They are then conveyed to the stacking and trimming material sorting machine 4 via a variable pitch conveyor. The mosquito coils are sorted, stacked and trimmed in sequence in a set quantity (e.g., 5 pieces). Then, the group of mosquito coils is pushed to the mosquito coil stacking to the lifting and receiving material receiving component 6 via the material pushing component 5.

[0054] (ii) The lifting receiving assembly 6 receives the mosquito coil stack and lifts it to a height slightly higher than the top of the transverse conveyor assembly 7. Then the mosquito coil stack is transferred vertically downward into the transverse conveyor assembly 7.

[0055] Specifically, while the material pushing component 5 pushes out the mosquito coil stack, the telescopic cylinder 6.1.2 pushes the fork arm and fork plate 6.1.3 to extend horizontally to receive the mosquito coil stack;

[0056] Subsequently, the servo motor 6.1.4 drives the telescopic lifting assembly 6.1 and one end of the drag chain 6.6 to move vertically along the rack 6.3, thereby lifting the mosquito coil stack to the working height required for docking the transverse material cylinder assembly 7;

[0057] (iii) The mosquito coil tablets are transferred to the transverse material cylinder assembly 7 until the material cylinder switching assembly 7.1 is full. After the material cylinder switching assembly 7.1 is full, it moves to the docking position with the three-axis truss gripper assembly 8.

[0058] Driven by the cylinder 7.2 and the cylinder solenoid valve assembly 7.3, the cylinder switching assembly 7.1 moves horizontally along the cylinder slide rail to connect with the lifting receiving assembly 6 and transfer the mosquito coil stack;

[0059] When a set of cylinder switching components 7.1 is connected to the fork arm telescopic lifting component 6.1, the bottom of the fork arm fork plate 6.1.3 is slightly higher than the top of the cylinder switching component 7.1. When the telescopic cylinder 6.1.2 drags the fork arm fork plate 6.1.3 to retract, the mosquito coil stack is blocked by the top of the cylinder switching component 7.1 and detaches from the fork arm fork plate 6.1.3, and then falls vertically and horizontally into the cylinder switching component 7.1.

[0060] Specifically, the material cylinder switching component 7.1 slides along the material cylinder slide rail to the docking position with the fork arm telescopic lifting component 6.1. When the fork arm fork plate 6.1.3 retracts, the mosquito coil stack is blocked by the limiting ring 7.9 and disengages from the fork arm fork plate 6.1.3. After the fork arm fork plate 6.1.3 is fully retracted, the mosquito coil stack falls vertically into the open receiving cavity formed by the array of limiting rods 7.11, and the cycle repeats.

[0061] When the first set of mosquito coil stacks falls to the bottom of the aforementioned receiving cavity, the second photoelectric detection switch 7.6 located at the bottom of the vertical column of the equipment support 7.4 is triggered. When the set of material cylinder switching components 7.1 is filled with 225 mosquito coils, the first photoelectric detection switch 7.5 located at the top of the vertical column of the equipment support 7.4 is triggered. At the same time, the triggered photoelectric signal is transmitted to the control system. The PLC controls the material cylinder solenoid valve assembly 7.3 and the material cylinder cylinder 7.2 to push out the set of material cylinder switching components 7.1 to switch to the docking position with the three-axis truss gripper assembly 8. At the same time, another set of empty material cylinder switching components 7.1 is pushed to the docking position with the fork arm telescopic lifting assembly 6.1.

[0062] (iv) The three-axis truss gripper assembly 8 transfers the stack of mosquito coil tablets from the gripping cylinder switching assembly 7.1 to the mosquito coil stack tray material position assembly 9, and then performs the final assembly process.

[0063] The X-axis drive assembly 8.1, Y-axis drive assembly 8.2, and first Z-axis drive assembly 8.3 of the first robotic arm assembly 8.5 jointly drive the first robotic arm assembly 8.5 to move to the docking position with the barrel switching assembly 7.1;

[0064] The control system PLC controls the clamping arm cylinder 8.5.1 to extend the clamping arm 8.5.4 horizontally. The clamping arm 8.5.4 and the fixed arm 8.5.2 work together to clamp the stack of mosquito coil tablets in the open receiving cavity formed by the array of limit rods 7.11.

[0065] Finally, the first robotic arm assembly 8.5 transfers the mosquito coil stack to the empty temporary storage station in the mosquito coil stack tray material position assembly 9.

[0066] As described above, the embodiments given in conjunction with the accompanying drawings are merely preferred solutions for achieving the objectives of this invention. Those skilled in the art can draw inspiration from this and directly derive other alternative structures that conform to the design concept of this invention. Other structural features derived therefrom should also fall within the scope of the solutions described in this invention.

Claims

1. A mosquito coil stack transfer device, characterized in that: This includes a lifting and receiving assembly, a transverse material cylinder assembly, a three-axis truss gripper assembly, and a mosquito coil stack pallet material leveling assembly; The lifting and receiving assembly includes a column frame and a fork arm telescopic lifting assembly that is vertically slidably connected to the column frame via a guide rail provided on the side of the column frame; a rack is provided vertically on the side of the column frame; a telescopic cylinder controlled by a solenoid valve control assembly is installed on the fork arm telescopic lifting assembly; the output end of the telescopic cylinder is connected to a horizontally set fork arm fork plate; the bottom sides of the fork arm fork plate are slidably connected to the guide rail via sliders. The transverse material cylinder assembly includes a device support, a photoelectric detection switch mounted on the vertical column of the device support, at least one set of material cylinder slide rails connected in the horizontal direction, and an array of material cylinder switching assemblies slidably connected to and running on the material cylinder slide rails; the material cylinder switching assembly includes a slide frame with a material cylinder slider at the bottom, and an array of limit rods with limit rings at the top connected vertically to the slide frame; The three-axis truss gripper assembly includes a truss and at least one set of manipulator assemblies mounted on the truss and driven by an X-axis drive assembly, a Y-axis drive assembly and a Z-axis drive assembly. When one of the cylinder switching components is connected to the fork arm telescopic lifting component, the bottom of the fork arm fork plate is slightly higher than the top of the cylinder switching component. When the telescopic cylinder drags the fork arm fork plate back, the mosquito coil stack is blocked by the limiting ring at the top of the cylinder switching component and detaches from the fork arm fork plate. Then it falls vertically and horizontally into the cylinder switching component.

2. The mosquito coil stack transfer device according to claim 1, characterized in that: The lifting and receiving assembly includes a servo motor and a set of horizontally distributed guide rails. The drive end of the servo motor is fitted with a gear, which meshes with a rack.

3. The mosquito coil stack transfer device according to claim 2, characterized in that: The lifting and receiving assembly has one end of the fork arm telescopic lifting assembly fixedly connected to the cable chain, and a travel limit switch is provided at the bottom of the column frame to limit the vertical travel position of the fork arm telescopic lifting assembly.

4. The mosquito coil stack transfer device according to claim 1, characterized in that: The aforementioned barrel switching assembly has a barrel slider that is snapped into the barrel slide rail from both sides.

5. The mosquito coil stack transfer device according to claim 4, characterized in that: The inner rings of the array limit rings are all on the circumference of the same circle, the radius of which is slightly larger than the outer diameter of the mosquito coil stack.

6. The mosquito coil stack transfer device according to claim 5, characterized in that: The three-axis truss gripper assembly includes a gripper cylinder, a gripper slide rail, and a fixed arm fixedly connected in the vertical direction on the manipulator assembly. The drive end of the gripper cylinder is connected to a gripping arm that is distributed in the vertical direction and has a gripper slider. The gripper slider is engaged with the gripper slide rail.

7. A method for transferring mosquito coil stacks using the mosquito coil stack transfer device as described in any one of claims 1 to 6, characterized in that: The mosquito coils produced by the blank receiving machine are continuously transported in multiple queues to the blank receiving machine conveyor line. They are then conveyed by a variable pitch conveyor to the stacking and trimming machine, where mosquito coils are grouped into sets of a set quantity and sequentially processed, stacked, and trimmed. The grouped mosquito coils are then pushed by the material pushing component to the mosquito coil stacking component for lifting and receiving. The lifting receiving assembly receives the mosquito coil stack and lifts it to a height slightly higher than the top of the transverse conveyor assembly, after which the mosquito coil stack is transferred vertically downward into the transverse conveyor assembly; The mosquito coil tablets are transferred to the transverse material cylinder assembly until the material cylinder switching assembly is full. After the material cylinder switching assembly is full, it moves to the docking position with the three-axis truss gripper assembly. The three-axis truss gripper assembly transfers the stack of mosquito coil tablets from the gripping cylinder switching assembly to the mosquito coil stack tray material level assembly, followed by the final assembly process.

8. The method for transporting mosquito coil stacks according to claim 7, characterized in that: As the material pushing component pushes out the mosquito coil stack, the telescopic cylinder pushes the fork arm fork plate to extend horizontally to receive the mosquito coil stack. Subsequently, the servo motor drives the telescopic lifting assembly of the fork arm and one end of the drag chain to move vertically along the rack, thereby lifting the mosquito coil stack to the working height required for docking the transverse material cylinder assembly.

9. The method for transporting mosquito coil stacks according to claim 8, characterized in that: Driven by the cylinder and solenoid valve assembly, the cylinder switching assembly moves horizontally along the cylinder slide rail to connect with the lifting receiving assembly and transfer the mosquito coil stack. When a set of cylinder switching components is connected to the fork arm telescopic lifting component, the bottom of the fork arm fork plate is slightly higher than the top of the cylinder switching component. When the telescopic cylinder drags the fork arm fork plate back, the mosquito coil stack is blocked by the top of the cylinder switching component and detaches from the fork arm fork plate. Then it falls vertically and horizontally into the cylinder switching component.

10. The method for transporting mosquito coil stacks according to claim 9, characterized in that: The X-axis drive assembly, Y-axis drive assembly, and Z-axis drive assembly of the robotic arm assembly work together to move the robotic arm assembly to the docking position with the material switching assembly; The control system PLC controls the clamping arm cylinder to extend the clamping arm horizontally. The clamping arm and the fixed arm work together to clamp the stack of mosquito coil tablets in the open receiving cavity formed by the array of limit rods. The first robotic arm component transfers the mosquito coil stack to an empty temporary storage station in the mosquito coil stack tray material position component.

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