The present invention discloses a rod inserting device, comprising: a rotating shaft, a first driving module, a material receiving tray, a material blocking plate, a bottom plate, a material receiving seat, a second driving module, a rod pressing rod, and a third driving module. The rotating shaft extends horizontally; the first driving module is connected to the rotating shaft and is used to drive the rotating shaft to rotate; one side edge of the material receiving tray is fixedly connected to the rotating shaft, the material receiving tray extends horizontally and is provided with a material receiving groove, and the extending direction of the material receiving groove is perpendicular to the axis of the rotating shaft; the material blocking plate is in an arc shape, the bottom plate is fixedly connected with a guiding tube, the material receiving seat is provided with a through hole, the third driving module is connected to the rod pressing rod and is used to drive the rod pressing rod to reciprocate up and down, and the guiding tube is within the movement range of the rod pressing rod. Compared with the prior art, when inserting a rod by the rod inserting device provided by the present invention, the rod material is inserted into the material receiving tray, and the structure of the material receiving tray is simpler than that of the prior art.