Pin inserting equipment

Abstract

The invention discloses a pin inserting device which comprises a control mechanism, a material supply mechanism, a feeding mechanism, a pin inserting mechanism and a waste folding mechanism, the control mechanism, the material supply mechanism, the feeding mechanism, the pin inserting mechanism and the waste folding mechanism are all arranged on a workbench, and the feeding mechanism comprises a track and a moving part moving in the extending direction of the track. The needle inserting mechanism comprises a pushing part, a linkage part, a first rotating disc and a first servo motor enabling the first rotating disc to rotate, an eccentric rod rotationally connected with the linkage part is arranged on the first rotating disc, the axis of the eccentric rod is perpendicular to the table top of the workbench and parallel to the center line of the first rotating disc, and the end, away from the eccentric rod, of the linkage part is connected with the pushing part. According to the pin inserting mechanism, pin inserting is achieved through eccentric circle transmission, the manufacturing difficulty and cost are lower, the structure is simpler, and the machining rate can meet the assembly efficiency requirement of most parts.

Description

Technical Field

[0001] The invention belongs to the technical field of pin insertion machines, and in particular relates to a pin insertion device. Background Art

[0002] Pin insertion equipment is a device used to insert pins into electronic components. It is mainly used for insulating skeletons of various coils and transformers. It has the advantages of simple operation and high work efficiency.

[0003] The pin insertion equipment usually includes a control mechanism, a feeding mechanism, a feeding mechanism, a pin insertion mechanism and a scrapping mechanism. The pin strip is rolled into a disc and hung on the feeding mechanism. The feeding mechanism transports the parts that need pins to the processing station of the pin insertion mechanism. At the same time, the feeding mechanism transports the pin strip to the processing station of the pin insertion mechanism. The pin insertion mechanism inserts the pins into the parts. After the pin insertion mechanism completes the processing, the feeding mechanism moves the completed pin parts to the processing station of the scrapping mechanism. After the scrapping mechanism removes excess waste from the pins, the completed parts are moved to the next process or transported to the parts box.

[0004] The pin insertion mechanism and scrapping mechanism of the existing pin insertion equipment are not only complex in structure and noisy, but also cannot meet the factory's requirements for processing efficiency and finished product yield at the same time. Summary of the invention

[0005] In order to overcome the deficiencies of the prior art, the present invention provides a pin insertion device which has a simpler structure and lower noise than the prior art and has a higher processing efficiency while ensuring the yield rate.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a pin insertion device, including a control mechanism, a feeding mechanism, a feeding mechanism, a pin insertion mechanism and a scrapping mechanism, wherein the control mechanism, the feeding mechanism, the feeding mechanism, the pin insertion mechanism and the scrapping mechanism are all arranged on a workbench, the feeding mechanism includes a track and a moving part moving along the extension direction of the track, the pin insertion mechanism includes a pushing part, a linkage part, a turntable and a servo motor for rotating the turntable, an eccentric rod rotatably connected to the linkage part is provided on the turntable, the axis of the eccentric rod is perpendicular to the table surface of the workbench, the axis of the eccentric rod is parallel to the center line of the turntable, the end of the linkage part away from the eccentric rod is connected to the pushing part, and the pushing part is located on the side of the eccentric rod close to the track.

[0007] With the above solution, turntable 1 rotates around the center line of turntable 1 under the action of servo motor 1.

[0008] The pin strip is rolled into a disc and hung on the feeding mechanism. When the present invention is actually used, the moving part moves the part that needs pin insertion along the track to a position opposite to the pushing part, and the feeding mechanism transports the pin strip to the position where the pushing part is located. The turntable 1 rotates under the action of the servo motor 1, and the turntable 1 applies force to the linkage part through the eccentric rod, so that the pushing part inserts the pin into the part under the action of the linkage part. After the pin is inserted, the moving part moves along the track to the processing station of the scrapping mechanism with the part with the pin inserted. After the scrapping mechanism removes excess waste on the pin, the processed part is moved to the next process or moved into the part frame.

[0009] The pin insertion mechanism of the present invention realizes pin insertion through eccentric circle transmission, has lower manufacturing difficulty and cost, simpler structure, and the processing rate can meet the assembly efficiency requirements of most parts.

[0010] As a further configuration of the present invention, the linkage part includes an active part, a passive part, a connecting part, a connecting rod and a fixed part fixed to the workbench, the fixed part limits the connecting part from moving along the extension direction of the track, the active part and the passive part are both arranged on the connecting part, the pushing part includes a movable seat fixed to the passive part and a fixed seat fixed to the connecting part, the movable seat is arranged on the side of the fixed seat away from the workbench, the active part and the eccentric rod are both rotatably connected with the connecting rod, a passive rod parallel to the table surface of the workbench is passed through the passive part, an active hole for the passive rod to penetrate is provided on the active part, the active hole is a circular arc hole bent in a direction away from the eccentric rod, the connecting part is provided with a connecting hole for the end of the passive rod away from the active hole to be inserted, and the connecting hole is an oblong hole extending toward the workbench.

[0011] With the above solution, the joint part limits the moving direction of the active part and the passive part. When the turntable rotates, the active part is driven to make linear reciprocating motion through the connecting rod. With the cooperation of the passive rod, the active hole and the joint hole, the movable seat and the fixed seat are in a clamped state when they move toward the track, and in a separated state when they move away from the track. This enables the pin insertion mechanism to achieve fast and stable pin insertion.

[0012] As a further configuration of the present invention, a limiting portion 1 and a limiting portion 2 are also provided on the connecting portion, and the passive portion, the limiting portion 1 and the limiting portion 2 are arranged in sequence in the direction away from the track, a limiting rod 1 is provided on the limiting portion 1, and a limiting rod 2 is provided on the limiting portion 2, and the active portion is provided with a limiting hole 1 for the limiting rod 1 to penetrate and a limiting hole 2 for the limiting rod 2 to insert, the shape of the limiting hole 1 is consistent with the active hole, and the limiting hole 2 is an arc hole bent from the side away from the eccentric rod to the direction close to the workbench, and a limiting block is provided on the fixing portion; when the limiting portion 1 forms a limit with the limiting block, the distance between the fixing seat and the track is the largest; when the limiting portion 2 forms a limit with the limiting block, the distance between the fixing seat and the track is the smallest.

[0013] By adopting the above solution, the moving distance of the passive part and the joint part is limited, a better and more stable pin insertion effect is achieved, and the yield rate of the finished product is guaranteed.

[0014] As a further configuration of the present invention, the folding mechanism includes a folding part, a turntable 2 and a servo motor 2 for rotating the turntable 2, the folding part includes a folding end facing the track and a movable groove facing the turntable 2, the turntable 2 is provided with a cylindrical eccentric block inserted into the movable groove, the center line of the eccentric block is parallel to the table surface of the workbench, the center line of the eccentric block and the center line of the turntable 2 are parallel to each other, and a fixing rod fixed to the workbench is passed through the folding part, and the fixing rod is perpendicular to the table surface of the workbench.

[0015] With the above solution, the turntable 2 rotates around the center line of the turntable 2 under the action of the servo motor 2. The fixed rod limits the moving direction of the scrapping part. When the present invention is working, the servo motor 2 rotates the turntable 2, and the scrapping part makes a linear reciprocating motion along the axis of the fixed rod under the cooperation of the eccentric block and the movable groove. The movable part moves the parts with completed pin insertion into the scrapping end. The scrapping end scraps the excess part on the pin as the scrapping part moves.

[0016] As a further configuration of the present invention, the waste folding end includes a concave cavity and a waste folding opening which is arranged through the concave cavity on one side of the track, the two opposite side walls of the waste folding opening are both arc surfaces, and a collecting opening which is connected to the outside is provided on the inner wall of the concave cavity facing the workbench.

[0017] With the above solution, the movable part moves the completed pin-insertion parts into the scrap opening, and as the scrap opening moves, the excess parts on the pins are folded off, and the collection opening can collect the scraps after folding. The shape of the inner wall of the concave cavity facilitates the collection of the trimmed scraps to the collection opening, which is convenient for the collection of scraps.

[0018] As a further configuration of the present invention, the inner wall of the cavity is cylindrical, and the folding and scrapping opening is arranged at a position where the distance from the inner wall of the cavity to the outer wall of the folding and scrapping portion is the shortest.

[0019] The above scheme is adopted to ensure the scrapping effect of the scrapping opening and the strength of the entire scrapping part.

[0020] As a further configuration of the present invention, a receiving hole facing the collecting port is provided on the workbench, a baffle extending toward the waste folding portion is provided in the receiving hole, and the baffle and the track surround the concave cavity.

[0021] By adopting the above solution, the baffle can prevent the waste from splashing, and at the same time the waste can be completely collected into the collection frame in the workbench, so as to ensure the cleanliness of the workbench and the normal operation of the equipment.

[0022] As a further configuration of the present invention, the moving part includes an electric screw, a fixed shell linked to the electric screw, a movable block inserted on the fixed shell and a movable block arranged on a track, the movable block is inserted on the fixed shell on the side away from the track, a control hole is provided on the movable block, the control hole is an oblong hole extending in the direction of the track, one end of the control hole is bent toward the direction close to the track, the moving block is provided with a control block inserted into the control hole, the fixed shell is provided with an electric push rod for controlling the movable block to move along the extension direction of the track, and a limit groove is provided on the surface of the moving block facing away from the fixed shell.

[0023] With the above scheme, the fixed shell performs linear reciprocating motion with the electric lead screw. When the present invention is actually used, the movable block drives the moving block to move in the direction close to the track under the action of the electric push rod through the cooperation of the control block and the control hole, until the limit groove and the protrusion on the part form a limit, and then the fixed shell moves along the track with the moving block, so that the moving block drives the part to the corresponding processing position through the cooperation of the limit groove and the protrusion on the part. After the moving block moves the part to the scrapping port, the movable block drives the moving block to move away from the track and disengage from the part under the action of the electric push rod through the cooperation of the control block and the control hole, and at the same time, the fixed shell drives the moving block to move to the initial position under the action of the electric lead screw.

[0024] As a further configuration of the present invention, a main frame is mounted on the track, a contact block is passed through the main frame, the contact block includes an enlarged end that forms a limit with the surface of the main frame facing away from the track, a sub-frame mounted on the enlarged end is provided on the surface of the main frame facing away from the track, and a spring is provided between the enlarged end and the sub-frame.

[0025] With the above solution, the abutment block abuts against the part under the action of the spring, so that the part remains stable during the processing and the yield rate of the finished product is improved. The enlarged end prevents the abutment block from separating from the main frame.

[0026] As a further configuration of the present invention, an inclined guiding surface is provided on the surface of the abutment block facing the rail.

[0027] By adopting the above solution, the guide surface enables the part to move smoothly between the abutment block and the track, thereby preventing the abutment block from interfering with the movement of the part.

[0028] The present invention will be further described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Attached Figure 1 It is an overall schematic diagram of a specific embodiment of the present invention;

[0030] Attached Figure 2 This is a schematic diagram of the cooperation between the active part and the passive part of the pin insertion mechanism according to a specific embodiment of the present invention;

[0031] Attached Figure 3 It is a partial exploded schematic diagram of the pin insertion mechanism of a specific embodiment of the present invention;

[0032] Attached Figure 4 This is a schematic diagram of the interior of the feeding mechanism channel of a specific embodiment of the present invention;

[0033] Attached Figure 5 This is a schematic diagram of a dismantling mechanism according to a specific embodiment of the present invention;

[0034] Attached Figure 6 This is a diagram showing the coordination between the dismantling mechanism and the workbench in a specific embodiment of the present invention;

[0035] Attached Figure 7 It is a schematic diagram of a feeding mechanism according to a specific embodiment of the present invention;

[0036] Attached Figure 8 It is a schematic diagram of the track portion of the feeding mechanism of a specific embodiment of the present invention.

[0037] Control mechanism 1, touch screen 11, pin mechanism 2, active part 21, active hole 211, limit hole 1 212, limit hole 2 213, passive part 22, passive rod 221, joint part 23, joint hole 231, limit hole 3 232, limit hole 4 233, connecting rod 24, fixed part 25, limit block 251, movable seat 26, fixed seat 27, turntable 1 28, eccentric rod 281, servo motor 1 29, limit part 1 2a, limit rod 1 2a1, limit part 2b, limit rod 2 2b1, feeding mechanism 3, track 31, electric lead screw 32, fixed shell 3 3. movable block 34, control hole 341, moving block 35, control block 351, electric push rod 36, feeding mechanism 4, bracket 41, fixed shaft 42, channel 43, gear 44, motor 45, through hole 46, waste folding mechanism 5, waste folding part 51, concave cavity 511, waste folding port 512, movable groove 513, collecting port 514, turntable 2 52, eccentric block 521, servo motor 2 53, fixed rod 54, workbench 6, storage hole 61, baffle 62, main frame 7, abutment block 71, enlarged end 711, guide surface 712, sub-frame 8, parts 9, protrusion 91. DETAILED DESCRIPTION

[0038] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be noted that, unless otherwise specified, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. used in the description to indicate the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0040] Specific embodiments of the present invention are shown in the accompanying drawings.

[0041] A pin insertion device comprises a control mechanism 1, a pin insertion mechanism 2, a feeding mechanism 3, a material supply mechanism 4 and a scrapping mechanism 5, wherein the control mechanism 1, the pin insertion mechanism 2, the feeding mechanism 3, the material supply mechanism 4 and the scrapping mechanism 5 are all arranged on a workbench 6.

[0042] The pin insertion mechanism 2 includes an active part 21, a passive part 22, a connecting part 23, a connecting rod 24, a fixed part 25, a movable seat 26, a fixed seat 27, a turntable 28 and a servo motor 29 for rotating the turntable 28. An eccentric rod 281 is provided on the turntable 28. The active part 21 and the eccentric rod 281 are both rotatably connected to the connecting rod 24. The axis of the eccentric rod 281 is perpendicular to the table surface of the workbench 6, and the axis of the eccentric rod 281 is parallel to the center line of the turntable 28. The turntable 28 rotates around the center line of the turntable 28 under the action of the servo motor 29. The fixed portion 25 is fixed to the workbench 6, and the fixed portion 25 limits the movement of the associated portion 23 along the extension direction of the track 31. The active portion 21 and the passive portion 22 are both arranged on the associated portion 23. The movable seat 26 is fixed to the end of the passive portion 22 away from the turntable 28, and the fixed seat 27 is fixed to the end of the associated portion 23 away from the turntable 28. The movable seat 26 is arranged on the side of the fixed seat 27 away from the workbench 6. A passive rod 221 parallel to the table surface of the workbench 6 is penetrated on the passive portion 22, and an active hole 211 is provided on the active portion 21 for the passive rod 221 to penetrate. The active hole 211 is a circular arc hole bent on the side away from the eccentric rod 281 in the direction away from the workbench 6. The associated portion 23 is provided with a associated hole 231 for the end of the passive rod 221 away from the active hole 211 to be inserted, and the associated hole 231 is an oblong hole extending toward the workbench 6.

[0043] The feeding mechanism 3 includes a track 31, an electric lead screw 32 extending along the extension direction of the track 31, a fixed shell 33 linked to the electric lead screw 32, a movable block 34 inserted on the fixed shell 33, and a moving block 35 arranged on the track 31. In this embodiment, the electric lead screw 32 is driven by a servo motor 45, the fixed shell 33 performs linear reciprocating motion with the electric lead screw 32, the moving block 35 is inserted on the fixed shell 33 on the side away from the track 31, the moving block 34 is provided with a control hole 341, the control hole 341 is an oblong hole extending in the direction of the track 31, one end of the control hole 341 is bent in the direction close to the track 31, the moving block 35 is provided with a control block 351 inserted into the control hole 341, the fixed shell 33 is provided with an electric push rod 36 for controlling the movable block 34 to move along the extension direction of the track 31, and a limit groove is provided on the surface of the moving block 35 facing away from the fixed shell 33.

[0044] The feeding mechanism 4 of this embodiment includes a bracket 41, a fixed shaft 42 arranged on the bracket 41, a channel 43 leading to the pin insertion mechanism 2, a gear 44 arranged outside the channel 43 and a motor 45 for driving the gear 44 to rotate. The motor 45 of this embodiment is a servo motor, and a through hole 46 for the teeth of the gear 44 to pass through is provided on the surface of the track 31 facing the gear 44.

[0045] In this embodiment, the control mechanism 1 includes a touch screen 11 .

[0046] The pin strip is rolled into a disc and hung on the fixed shaft 42. When the present embodiment is actually used, the control block 351 cooperates with the control hole 341, so that the movable block 34, under the action of the electric push rod 36, drives the moving block 35 to move in the direction close to the track 31, until the limiting groove and the protrusion 91 on the part 9 form a limit, and then the fixed shell 33 moves along the track 31 with the moving block 35, so that the moving block 35 cooperates with the protrusion 91 on the part 9 through the limiting groove, and moves the part 9 that needs the pin along the track 31 to a position relative to the movable seat 26 and the fixed seat 27. The gear 44 transports the pin strip in the channel 43 to the fixed seat 27 by rotating, and the belt portion 23 limits the main The moving direction of the active part 21 and the passive part 22, the turntable 28 rotates under the action of the servo motor 29. When the turntable 28 rotates, the active part 21 is driven to make a linear reciprocating motion through the connecting rod 24. With the cooperation of the passive rod 221, the active hole 211 and the connecting hole 231, the movable seat 26 and the fixed seat 27 clamp the pin strip and move toward the track 31 at the same time to insert the pin into the part 9 to be inserted. After the pin is inserted, the movable seat 26 and the fixed seat 27 move away from the track 31, and the movable seat 26 moves away from the fixed seat 27 at the same time, so that the subsequent pin strip moves to the fixed seat 27, so that the pin insertion mechanism 2 can achieve fast and stable pin insertion. After the pin is inserted, the moving block 35 moves the part 9 to the processing station of the scrapping mechanism 5 along the track 31. The scrapping mechanism 5 removes the excess waste on the pin. At the same time, through the cooperation of the control block 351 and the control hole 341, the movable block 34 drives the moving block 35 to move away from the track 31 under the action of the electric push rod 36, and separates from the part 9. The fixed shell 33 drives the moving block 35 to move to the initial position under the action of the electric lead screw 32. The processed part 9 moves to the next process or moves into the part frame.

[0047] The pin insertion mechanism 2 of the present embodiment realizes pin insertion through eccentric circle transmission, which has lower manufacturing difficulty and cost, simpler structure, and the processing rate can meet the assembly efficiency requirements of most parts 9.

[0048] The associated portion 23 is also provided with a limiting portion 1 2a and a limiting portion 2b. The passive portion 22, the limiting portion 1 2a and the limiting portion 2b are arranged in sequence in a direction away from the track 31. The limiting portion 1 2a is provided with a limiting rod 1 2a1, and the limiting portion 2b is provided with a limiting rod 2b1. The active portion 21 is provided with a limiting hole 1 212 for the limiting rod 1 2a1 to penetrate and a limiting hole 213 for the limiting rod 2b1 to insert. The shape of the limiting hole 1 212 is consistent with that of the active hole 211. The limiting hole 213 is an arc hole bent from the side away from the eccentric rod 281 to the direction close to the workbench 6. The fixing portion 25 is provided with a limiting block 251. When the limiting portion 1 2a and the limiting block 251 form a limit, the distance between the fixing seat 27 and the track 31 is the largest; when the limiting portion 2b and the limiting block 251 form a limit, the distance between the fixing seat 27 and the track 31 is the smallest. In this embodiment, the joint part 23 is provided with a third limiting hole 232 for inserting the end of the limiting rod 1 2a1 away from the limiting hole 1 212 and a fourth limiting hole 233 for inserting the end of the limiting rod 2b1 away from the limiting hole 213. The limiting hole 3 232 and the limiting hole 4 233 have the same shape, and are both oblong holes extending in the direction close to the workbench 6. The limiting part 1 2a, the limiting part 2b and the limiting block 251 cooperate to limit the moving distance of the passive part 22 and the joint part 23, so as to achieve a better and more stable pin insertion effect and ensure the yield rate of the finished product.

[0049] The scrapping mechanism 5 includes a scrapping part 51, a turntable 52 and a servo motor 53 for rotating the turntable 52. The scrapping part 51 includes a concave cavity 511 arranged on the side close to the track 31, a scrapping port 512 arranged on the side of the concave cavity 511 facing the track 31 and a movable groove 513 facing the turntable 52. The two opposite walls of the scrapping port 512 are both arc surfaces. The inner wall of the concave cavity 511 facing the workbench 6 is provided with a collecting port 514 connected to the outside. The turntable 52 is provided with a cylindrical eccentric block 521 inserted into the movable groove 513. The center line of the eccentric block 521 is parallel to the table surface of the workbench 6. The center line of the eccentric block 521 is parallel to the center line of the turntable 52. The scrapping part 51 is provided with a fixing rod 54 fixed to the workbench 6. The fixing rod 54 is perpendicular to the table surface of the workbench 6. The turntable 52 rotates around the center line of the turntable 52 under the action of the servo motor 53. The fixing rod 54 restricts the moving direction of the scrapping portion 51 .

[0050] The inner wall of the concave cavity 511 is cylindrical, and the scrapping opening 512 is arranged at the position where the distance between the inner wall of the concave cavity 511 and the outer wall of the scrapping portion 51 is the shortest, so as to ensure the scrapping effect of the scrapping opening 512 and the strength of the entire scrapping portion 51.

[0051] When the embodiment is working, the servo motor 2 53 rotates the turntable 2 52, and the eccentric block 521 and the movable groove 513 cooperate to make the scrapping part 51 do linear reciprocating motion along the axis of the fixed rod 54, and the moving block 35 moves the part 9 with the completed pin insertion to the scrapping opening 512. As the scrapping part 51 moves, the excess part on the pin is folded off, and the collection opening 514 can collect the scrapped material. The shape of the inner wall of the concave cavity 511 facilitates the collection of the trimmed waste material to the collection opening 514, which is convenient for the collection of waste material.

[0052] The workbench 6 is provided with a receiving hole 61 facing the collecting port 514, and a baffle 62 extending toward the waste folding portion 51 is provided in the receiving hole 61, and the baffle 62 and the track 31 surround the concave cavity 511. The baffle 62 can prevent the waste from splashing, and at the same time, the waste can be completely collected into the collecting frame in the workbench 6, so as to ensure the cleanliness of the table and the normal operation of the equipment.

[0053] The main frame 7 is mounted on the track 31, and the main frame 7 is provided with a contact block 71, which includes an enlarged end 711 that forms a limit with the surface of the main frame 7 facing away from the track 31, and a sub-frame 8 mounted on the enlarged end 711 is provided on the surface of the main frame 7 facing away from the track 31, and a spring is provided between the enlarged end 711 and the sub-frame 8. The contact block 71 is in contact with the part 9 under the action of the spring, so that the part 9 remains stable during the processing and the yield rate of the finished product is improved. The enlarged end 711 prevents the contact block 71 from detaching from the main frame 7.

[0054] An inclined guide surface 712 is provided on the surface of the abutment block 71 facing the track 31. The guide surface 712 allows the part 9 to move smoothly between the abutment block 71 and the track 31, preventing the abutment block 71 from interfering with the movement of the part 9.

[0055] The present invention is not limited to the above-mentioned specific implementation modes. A person skilled in the art may adopt other various specific implementation modes to implement the present invention based on the contents disclosed in the present invention, or any simple changes or modifications made to the design structure and concept of the present invention shall fall within the protection scope of the present invention.

Claims

1. A pin insertion device, comprising a control mechanism, a feeding mechanism, a feeding mechanism, a pin insertion mechanism and a scrapping mechanism, wherein the control mechanism, the feeding mechanism, the feeding mechanism, the pin insertion mechanism and the scrapping mechanism are all arranged on a workbench, and the feeding mechanism comprises a track and a moving part moving along the extension direction of the track, characterized in that: The pin insertion mechanism includes a pushing part, a linkage part, a turntable and a servo motor for rotating the turntable. The turntable is provided with an eccentric rod rotatably connected to the linkage part. The axis of the eccentric rod is perpendicular to the table surface of the workbench, and the axis of the eccentric rod is parallel to the center line of the turntable. One end of the linkage part away from the eccentric rod is connected to the pushing part, and the pushing part is located on the side of the eccentric rod close to the track.

2. A pin insertion device according to claim 1, characterized in that: The linkage part includes an active part, a passive part, a connecting part, a connecting rod and a fixed part fixed to the workbench, the fixed part limits the connecting part from moving along the extension direction of the track, the active part and the passive part are both arranged on the connecting part, the pushing part includes a movable seat fixed to the passive part and a fixed seat fixed to the connecting part, the movable seat is arranged on the side of the fixed seat away from the workbench, the active part and the eccentric rod are both rotatably connected with the connecting rod, a passive rod parallel to the table surface of the workbench is passed through the passive part, an active hole for the passive rod to penetrate is provided on the active part, the active hole is a circular arc hole bent in the direction away from the eccentric rod, the connecting part is provided with a connecting hole for the end of the passive rod away from the active hole to be inserted, and the connecting hole is an oblong hole extending toward the workbench.

3. A pin insertion device according to claim 2, characterized in that: The connecting part is also provided with a limiting part 1 and a limiting part 2, and the passive part, the limiting part 1 and the limiting part 2 are arranged in sequence in the direction away from the track, the limiting part 1 is provided with a limiting rod 1, and the limiting part 2 is provided with a limiting rod 2, and the active part is provided with a limiting hole 1 for the limiting rod 1 to penetrate and a limiting hole 2 for the limiting rod 2 to insert, the shape of the limiting hole 1 is consistent with the active hole, and the limiting hole 2 is an arc hole bent away from the side of the eccentric rod toward the workbench, and the fixing part is provided with a limiting block; when the limiting part 1 forms a limit with the limiting block, the distance between the fixing seat and the track is the largest; when the limiting part 2 forms a limit with the limiting block, the distance between the fixing seat and the track is the smallest.

4. A pin insertion device according to claim 3, characterized in that: The scrapping mechanism includes a scrapping part, a second turntable and a second servo motor for rotating the second turntable. The scrapping part includes a scrapping end facing the track and a movable groove facing the second turntable. The second turntable is provided with a cylindrical eccentric block inserted into the movable groove. The center line of the eccentric block is parallel to the table surface of the workbench. The center line of the eccentric block and the center line of the second turntable are parallel to each other. A fixing rod fixed to the workbench is passed through the scrapping part, and the fixing rod is perpendicular to the table surface of the workbench.

5. A pin insertion device according to claim 4, characterized in that: The waste folding end comprises a concave cavity and a waste folding opening which is arranged through the concave cavity on one side of the track, the two opposite side walls of the waste folding opening are both arc surfaces, and a collecting opening which is connected to the outside is arranged on the inner wall of the concave cavity facing the workbench.

6. A pin insertion device according to claim 5, characterized in that: The inner wall of the concave cavity is cylindrical, and the folding and discarding opening is arranged at a position where the distance from the inner wall of the concave cavity to the outer wall of the folding and discarding portion is the shortest.

7. A pin insertion device according to claim 6, characterized in that: The workbench is provided with a receiving hole facing the collecting port, the receiving hole is provided with a baffle extending toward the waste folding portion, and the baffle and the track surround the concave cavity.

8. A pin insertion device according to claim 7, characterized in that: The movable part includes an electric screw, a fixed shell linked to the electric screw, a movable block inserted on the fixed shell and a movable block arranged on the track, the movable block is inserted on the fixed shell on the side away from the track, a control hole is provided on the movable block, the control hole is an oblong hole extending in the direction of the track, one end of the control hole is bent toward the direction close to the track, the movable block is provided with a control block inserted into the control hole, the fixed shell is provided with an electric push rod for controlling the movable block to move along the extension direction of the track, and a limit groove is provided on the surface of the movable block facing away from the fixed shell.

9. A pin insertion device according to claim 8, characterized in that: A main frame is mounted on the track, and an abutment block is passed through the main frame. The abutment block includes an enlarged end that forms a limit with the surface of the main frame facing away from the track. A sub-frame mounted on the enlarged end is provided on the surface of the main frame facing away from the track, and a spring is provided between the enlarged end and the sub-frame.

10. A pin insertion device according to claim 9, characterized in that: An inclined guiding surface is arranged on the surface of the abutment block facing the rail.

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