Pin insertion device

Abstract

This invention discloses a pin insertion device, including a control mechanism, a feeding mechanism, a feeding mechanism, a pin insertion mechanism, and a scrapping mechanism. All three mechanisms are mounted on a worktable. The feeding mechanism includes a track and a moving component that moves along the track's extension direction. The pin insertion mechanism includes a pushing part, a connecting part, a turntable, and a servo motor that rotates the turntable. An eccentric rod is rotatably connected to the connecting part on the turntable. The axis of the eccentric rod is perpendicular to the worktable surface and parallel to the center line of the turntable. The end of the connecting part away from the eccentric rod is connected to the pushing part, which is located on the side of the eccentric rod closest to the track. This pin insertion mechanism achieves pin insertion through eccentric circular transmission, resulting in lower manufacturing difficulty and cost, a simpler structure, and a processing speed that meets the assembly efficiency requirements of most parts.

Description

Technical Field

[0001] This invention belongs to the field of pin insertion machine technology, and specifically relates to a pin insertion device. Background Technology

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

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

[0004] The existing pin insertion equipment has a complex pin insertion mechanism and a high noise level, and it cannot simultaneously meet the factory's requirements for processing efficiency and finished product yield. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention provides a pin insertion device that is simpler in structure, quieter, and more efficient in processing while ensuring a high yield rate.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a pin insertion device, comprising a control mechanism, a feeding mechanism, a feeding mechanism, a pin insertion mechanism, and a discarding mechanism. The control mechanism, feeding mechanism, feeding mechanism, pin insertion mechanism, and discarding mechanism are all arranged on a worktable. The feeding mechanism includes a track and a moving component that moves along the extension direction of the track. The pin insertion mechanism includes a pushing part, a connecting part, a turntable, and a servo motor that rotates the turntable. An eccentric rod is provided on the turntable and is rotatably connected to the connecting part. The axis of the eccentric rod is perpendicular to the surface of the worktable and parallel to the center line of the turntable. The end of the connecting 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 closer to the track.

[0007] Using the above scheme, turntable one rotates around the center line of turntable one under the action of servo motor one.

[0008] The pin guide is rolled into a disc and hung on the feeding mechanism. In actual use, the moving part moves the part that needs to be pinned along the track to the position opposite to the pushing part. The feeding mechanism transports the pin guide to the position of the pushing part. Turntable 1 rotates under the action of servo motor 1. 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 pinning is completed, the moving part carries the pinned part and moves along the track to the processing station of the scrapping mechanism. After the scrapping mechanism removes the excess waste material 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 circular transmission, which reduces manufacturing difficulty and cost, simplifies the structure, and can meet the assembly efficiency requirements of most parts.

[0010] As a further feature of the present invention, the linkage includes an active part, a passive part, a connecting part, a connecting rod, and a fixed part fixed to the worktable. The fixed part restricts the movement of the connecting part along the extension direction of the track. The active part and the passive part are both mounted 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 located on the side of the fixed seat away from the worktable. The active part and the eccentric rod are rotatably connected to the connecting rod. A passive rod parallel to the surface of the worktable is mounted on the passive part. The active part has an active hole for the passive rod to pass through. The active hole is an arc-shaped hole that bends away from the eccentric rod and away from the worktable. The connecting part has a connecting hole for the end of the passive rod away from the active hole to be inserted. The connecting hole is an elongated hole extending towards the worktable.

[0011] Using the above scheme, the connecting part restricts the movement direction of the active and passive parts. When the turntable rotates, the connecting rod drives the active part to perform linear reciprocating motion. With the cooperation of the passive rod, the active hole, and the connecting hole, the movable seat and the fixed seat are clamped when moving towards the track, and separated when moving away from the track. This enables the pin insertion mechanism to achieve fast and stable pin insertion.

[0012] As a further feature of the present invention, the connecting part is also provided with a limiting part one and a limiting part two. The passive part, the limiting part one, and the limiting part two are arranged sequentially in the direction away from the track. A limiting rod one is passed through the limiting part one, and a limiting rod two is passed through the limiting part two. The active part is provided with a limiting hole one for the limiting rod one to pass through and a limiting hole two for the limiting rod two to be inserted. The shape of the limiting hole one is the same as that of the active hole. The limiting hole two is an arc hole that bends from the side away from the eccentric rod towards the worktable. The fixed part is provided with a limiting block. When the limiting part one and the limiting block form a limiting position, the distance between the fixed seat and the track is the largest. When the limiting part two and the limiting block form a limiting position, the distance between the fixed seat and the track is the smallest.

[0013] By adopting the above solution, the movement distance of the passive part and the connecting part is limited, resulting in a better and more stable pin insertion effect and ensuring the yield rate of finished products.

[0014] As a further feature of the present invention, the waste disposal mechanism includes a waste disposal section, a turntable 2, and a servo motor 2 for rotating the turntable 2. The waste disposal section includes a waste disposal end facing the track and a movable groove facing the turntable 2. The turntable 2 is provided with a cylindrical eccentric block that is inserted into the movable groove. The center line of the eccentric block is parallel to the table surface of the worktable, and the center line of the eccentric block is parallel to the center line of the turntable 2. A fixing rod that is fixed to the worktable passes through the waste disposal section, and the fixing rod is perpendicular to the table surface of the worktable.

[0015] Using the above scheme, turntable two rotates around the center line of turntable two under the action of servo motor two. The fixed rod restricts the movement direction of the scrap part. When the present invention is working, servo motor two makes turntable two rotate. With the cooperation of eccentric block and movable groove, the scrap part makes linear reciprocating motion along the axis of fixed rod. The movable part moves the part with the completed pin to the scrap end. As the scrap part moves, the scrap end performs scrapping processing on the excess part on the pin.

[0016] As a further feature of the present invention, the waste disposal end includes a concave cavity and a waste disposal opening through the concave cavity facing the track side. The two side walls opposite to the waste disposal opening are both arc surfaces. The inner wall of the concave cavity facing the worktable is provided with a collection port communicating with the outside.

[0017] Using the above scheme, the movable part moves the completed pin insertion part into the scrap opening. As the scrap section moves, the excess part on the pin is folded off, and the collection port collects the scrap material after scrapping. The shape of the inner wall of the cavity facilitates the collection of the trimmed scrap material to the collection port, making scrap collection convenient.

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

[0019] By adopting the above scheme, the scrapping effect of the scrapping joint is guaranteed, and the strength of the entire scrapping section is guaranteed.

[0020] As a further feature of the present invention, the workbench is provided with a storage hole facing the collection port, and a baffle extending toward the waste section is provided in the storage hole, the baffle and the track surrounding the cavity.

[0021] By adopting the above solution, the baffle can prevent waste from splashing and can also collect all waste into the collection box inside the workbench, ensuring the cleanliness of the workbench and the normal operation of the equipment.

[0022] As a further feature of the present invention, the moving component includes an electric lead screw, a fixed housing connected to the electric lead screw, a movable block inserted into the fixed housing, and a moving block disposed on a track. The side of the moving block away from the track is inserted into the fixed housing. The movable block is provided with a control hole, which is an elongated hole extending along the track direction. One end of the control hole is bent towards the track. The moving block is provided with a control block inserted into the control hole. The fixed housing is provided with an electric push rod for controlling the movement of the movable block along the track extension direction. The surface of the moving block facing away from the fixed housing is provided with a limiting groove.

[0023] Using the above scheme, the fixed shell reciprocates linearly with the electric lead screw. In actual use, through the cooperation of the control block and the control hole, the movable block, under the action of the electric push rod, drives the moving block to move closer to the track until the limiting groove and the protrusion on the part form a limit. Then, the fixed shell carries the moving block along the track, so that the moving block, through the cooperation of the limiting groove and the protrusion on the part, drives the part to the corresponding processing position. After the moving block moves the part to the waste outlet, through the cooperation of the control block and the control hole, the movable block, under the action of the electric push rod, drives the moving block to move away from the track, disengaging from the part. At the same time, the fixed shell, under the action of the electric lead screw, drives the moving block to move back to the initial position.

[0024] As a further feature of the present invention, a main frame is mounted on the track, and an abutment block is mounted on the main frame. The abutment block includes an enlarged end that forms a limiting shape with the side of the main frame facing away from the track. A secondary frame is mounted on the enlarged end on the side of the main frame facing away from the track, and a spring is provided between the enlarged end and the secondary frame.

[0025] Using the above solution, the abutment block abuts against the part under the action of the spring, keeping the part stable during processing and improving the yield of finished products. The expanded end prevents the abutment block from detaching from the main frame.

[0026] As a further feature of the present invention, the surface of the abutment block facing the track is provided with an inclined guide surface.

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

[0028] The present invention will now be further described with reference to the accompanying drawings. Attached Figure Description

[0029] Appendix Figure 1 This is a schematic diagram of an overall embodiment of the present invention;

[0030] Appendix Figure 2 This is a schematic diagram illustrating the cooperation between the active and passive parts of the pin insertion mechanism in a specific embodiment of the present invention;

[0031] Appendix Figure 3 This is an exploded view of the pin insertion mechanism in a specific embodiment of the present invention;

[0032] Appendix Figure 4 This is a schematic diagram of the internal structure of the feeding mechanism channel in a specific embodiment of the present invention;

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

[0034] Appendix Figure 6 This is a diagram showing the assembly of the scrapping mechanism and the workbench in a specific embodiment of the present invention;

[0035] Appendix Figure 7 This is a schematic diagram of the feeding mechanism in a specific embodiment of the present invention;

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

[0037] Control mechanism 1, Touch screen 11, Pin insertion mechanism 2, Active part 21, Active hole 211, Limiting hole one 212, Limiting hole two 213, Passive part 22, Passive rod 221, Connecting part 23, Connecting hole 231, Limiting hole three 232, Limiting hole four 233, Connecting rod 24, Fixing part 25, Limiting block 251, Movable seat 26, Fixed seat 27, Turntable one 28, Eccentric rod 281, Servo motor one 29, Limiting part one 2a, Limiting rod one 2a1, Limiting part two 2b, Limiting rod two 2b1, Feeding mechanism 3, Track 31, Electric lead screw 32, Fixed housing 3 3. Movable block 34, Control hole 341, Moving block 35, Control block 351, Electric push rod 36, Feeding mechanism 4, Support 41, Fixed shaft 42, Channel 43, Gear 44, Motor 45, Through hole 46, Scrap mechanism 5, Scrap section 51, Cavity 511, Scrap opening 512, Movable groove 513, Collection port 514, Turntable II 52, Eccentric block 521, Servo motor II 53, Fixed rod 54, Workbench 6, Storage hole 61, Baffle 62, Main frame 7, Abutment block 71, Expanded end 711, Guide surface 712, Sub-frame 8, Parts 9, Protrusion 91. Detailed Implementation

[0038] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] In the description of this invention, it should be noted that, unless otherwise specified, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

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

[0041] A pin insertion device includes a control mechanism 1, a pin insertion mechanism 2, a feeding mechanism 3, a material supply mechanism 4, and a scrapping mechanism 5, all of which are mounted 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 that rotates the turntable 28. An eccentric rod 281 is provided on the turntable 28. Both the active part 21 and the eccentric rod 281 are rotatably connected to the connecting rod 24. The axis of the eccentric rod 281 is perpendicular to the table surface of the worktable 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 part 25 is fixed to the worktable 6. The fixed part 25 restricts the movement of the connecting part 23 along the extension direction of the track 31. The active part 21 and the passive part 22 are both mounted on the connecting part 23. The movable seat 26 is fixed to the end of the passive part 22 away from the turntable 28. The fixed seat 27 is fixed to the end of the connecting part 23 away from the turntable 28. The movable seat 26 is located on the side of the fixed seat 27 away from the worktable 6. The passive part 22 is provided with a passive rod 221 parallel to the table surface of the worktable 6. The active part 21 is provided with an active hole 211 for the passive rod 221 to pass through. The active hole 211 is an arc hole that bends away from the eccentric rod 281 in the direction away from the worktable 6. The connecting part 23 is provided with a connecting hole 231 for the end of the passive rod 221 away from the active hole 211 to be inserted. The connecting hole 231 is an elongated hole extending towards the worktable 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 housing 33 connected to the electric lead screw 32, a movable block 34 inserted into the fixed housing 33, and a moving block 35 disposed on the track 31. In this embodiment, the electric lead screw 32 is driven by a servo motor 45, the fixed housing 33 moves linearly back and forth with the electric lead screw 32, the side of the moving block 35 away from the track 31 is inserted into the fixed housing 33, the movable block 34 is provided with a control hole 341, the control hole 341 is an elongated hole extending along the direction of the track 31, one end of the control hole 341 is bent towards the track 31, the moving block 35 is provided with a control block 351 inserted into the control hole 341, the fixed housing 33 is provided with an electric push rod 36 for controlling the movement of the movable block 34 along the extension direction of the track 31, and the moving block 35 is provided with a limiting groove on the surface facing away from the fixed housing 33.

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

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

[0046] The pin inserter is coiled into a disc and hung on the fixed shaft 42. In actual use, the control block 351 and the control hole 341 work together to move the movable block 34 towards the track 31 under the action of the electric actuator 36, until the limiting groove and the protrusion 91 on the part 9 form a limit. Then, the fixed shell 33 moves the movable block 35 along the track 31, so that the movable block 35 moves along the track 31 through the limiting groove and the protrusion 91 on the part 9, moving the part 9 that needs to be inserted along the track 31 to the position opposite to the movable seat 26 and the fixed seat 27. The gear 44 rotates to transport the pin inserter in the channel 43 to the fixed seat 27. The connecting part 23 restricts the main... The moving part 21 and the passive part 22 move in the direction that the turntable 28 rotates under the action of the servo motor 29. When the turntable 28 rotates, it drives the active part 21 to make 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 needle belt and move towards the track 31 at the same time to insert the needle into the part 9 to be inserted. After the needle insertion is completed, the movable seat 26 and the fixed seat 27 move away from the track 31. At the same time, the movable seat 26 moves away from the fixed seat 27 to facilitate the subsequent movement of the needle belt onto the fixed seat 27, so that the needle insertion mechanism 2 can achieve fast and stable needle insertion. After the pin insertion is completed, the moving block 35 moves the part 9 along the track 31 to the processing station of the scrap mechanism 5. The scrap mechanism 5 removes excess waste material from the pin. At the same time, through the cooperation of the control block 351 and the control hole 341, the movable block 34, under the action of the electric push rod 36, drives the moving block 35 to move away from the track 31 and disengage from the part 9. The fixed shell 33, under the action of the electric lead screw 32, drives the moving block 35 to move back to the initial position. The processed part 9 is then moved to the next process or moved into the part frame.

[0047] In this embodiment, the pin insertion mechanism 2 uses eccentric circular transmission to insert the pin, which reduces manufacturing difficulty and cost, simplifies the structure, and allows the processing speed to meet the assembly efficiency requirements of most parts 9.

[0048] The connecting part 23 is also provided with a limiting part 2a and a limiting part 2b. The passive part 22, the limiting part 2a and the limiting part 2b are arranged in sequence in the direction away from the track 31. A limiting rod 2a1 is provided on the limiting part 2a and a limiting rod 2b1 is provided on the limiting part 2b. The active part 21 is provided with a limiting hole 212 for the limiting rod 2a1 to pass through and a limiting hole 213 for the limiting rod 2b1 to be inserted. The shape of the limiting hole 212 is the same as that of the active hole 211. The limiting hole 213 is an arc hole that bends towards the worktable 6 from the side away from the eccentric rod 281. The fixing part 25 is provided with a limiting block 251. When the limiting part 2a and the limiting block 251 form a limiting position, the distance between the fixing seat 27 and the track 31 is the largest. When the limiting part 2b and the limiting block 251 form a limiting position, the distance between the fixing seat 27 and the track 31 is the smallest. In this embodiment, the connecting part 23 is provided with a third limiting hole 232 for inserting the end of the first limiting rod 2a1 away from the first limiting hole 212, and a fourth limiting hole 233 for inserting the end of the second limiting rod 2b1 away from the second limiting hole 213. The third limiting hole 232 and the fourth limiting hole 233 have the same shape, both being elongated oval holes extending towards the worktable 6. The first limiting part 2a, the second limiting part 2b, and the limiting block 251 cooperate to limit the movement distance of the passive part 22 and the connecting part 23, achieving a better and more stable pin insertion effect and ensuring the yield rate of the finished product.

[0049] The scrapping mechanism 5 includes a scrapping section 51, a second turntable 52, and a second servo motor 53 that rotates the second turntable 52. The scrapping section 51 includes a cavity 511 located near the track 31, a through scrapping opening 512 located on the side of the cavity 511 facing the track 31, and a movable groove 513 facing the second turntable 52. The two opposite side walls of the scrapping opening 512 are both arc surfaces. The inner wall of the cavity 511 facing the worktable 6 has a collection port 514 communicating with the outside. The second turntable 52 has 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 worktable 6, and the center line of the eccentric block 521 is parallel to the center line of the second turntable 52. A fixing rod 54, which is fixed to the worktable 6, passes through the scrapping section 51 and is perpendicular to the table surface of the worktable 6. The second turntable 52 rotates around its center line under the action of the second servo motor 53. The fixing rod 54 restricts the direction of movement of the scrap part 51.

[0050] The inner wall of the cavity 511 is cylindrical, and the break-off opening 512 is located at the position where the distance between the inner wall of the cavity 511 and the outer wall of the break-off portion 51 is shortest. This ensures the break-off effect of the break-off opening 512 and guarantees the strength of the entire break-off portion 51.

[0051] In this embodiment, during operation, servo motor 53 rotates turntable 52. With the cooperation of eccentric block 521 and movable slot 513, the scrap section 51 reciprocates linearly along the axis of fixed rod 54. Moving block 35 moves the completed pin-inserted part 9 into the scrap opening 512. As the scrap section 51 moves, excess material on the pin is folded off. Collection port 514 collects the scrap material after scrapping. The shape of the inner wall of cavity 511 facilitates the collection of trimmed scrap material to collection port 514, making scrap collection convenient.

[0052] The workbench 6 is provided with a collection hole 61 facing the collection port 514. Inside the collection hole 61 is a baffle 62 extending toward the waste disposal section 51. The baffle 62 and the track 31 surround the cavity 511. The baffle 62 can prevent waste from splashing and can completely collect the waste into the collection frame inside the workbench 6, ensuring the cleanliness of the workbench and the normal operation of the equipment.

[0053] A main frame 7 is mounted on track 31, and an abutment block 71 passes through the main frame 7. The abutment block 71 includes an enlarged end 711 that forms a limiting shape with the side of the main frame 7 facing away from track 31. A secondary frame 8 is mounted on the enlarged end 711 on the side of the main frame 7 facing away from track 31, and a spring is provided between the enlarged end 711 and the secondary frame 8. Under the action of the spring, the abutment block 71 abuts against the part 9, keeping the part 9 stable during processing and improving the yield of finished products. The enlarged end 711 prevents the abutment block 71 from detaching from the main frame 7.

[0054] The abutment block 71 has an inclined guide surface 712 on its surface 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] This invention is not limited to the specific embodiments described above. Those skilled in the art can implement this invention using various other specific embodiments based on the content disclosed herein. Any simple changes or modifications made to the design structure and concept of this invention fall within the protection scope of this invention.

Claims

1. A pin insertion device, comprising a control mechanism, a feeding mechanism, a feeding mechanism, a pin insertion mechanism, and a discarding mechanism, wherein the control mechanism, the feeding mechanism, the feeding mechanism, the pin insertion mechanism, and the discarding mechanism are all disposed on a worktable, and the feeding mechanism comprises a track and a moving component that moves along the extension direction of the track, characterized in that: The pin insertion mechanism includes a pushing part, a connecting part, a turntable, and a servo motor for rotating the turntable. The turntable has an eccentric rod rotatably connected to the connecting part. The axis of the eccentric rod is perpendicular to the worktable surface and parallel to the center line of the turntable. The end of the connecting part away from the eccentric rod is connected to the pushing part, which is located on the side of the eccentric rod closest to the track. The connecting part includes an active part, a passive part, a connecting part, a connecting rod, and a fixed part fixed to the worktable. The fixed part restricts the movement of the connecting part along the track extension direction. The active part and the passive part are both mounted 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 located on the side of the fixed seat away from the worktable. The active part and the eccentric rod are rotatably connected to the connecting rod. The passive part has a passive rod parallel to the worktable surface. The active part has an active hole for the passive rod to pass through. The active hole is an arc-shaped hole that bends away from the worktable from the side away from the eccentric rod. The connecting part has a connecting hole for the end of the passive rod away from the active hole to be inserted. The connecting hole is an elongated hole extending towards the worktable. The scrapping mechanism includes a scrapping part, a turntable two, and a servo motor two for rotating the turntable two. The scrapping part includes a scrapping end facing the track and a movable groove facing the turntable two. The turntable two has a cylindrical eccentric block that is inserted into the movable groove. The center line of the eccentric block is parallel to the worktable surface. The center line of the eccentric block and the center line of the turntable two are parallel to each other. The scrapping part has a fixing rod fixed to the worktable. The fixing rod is perpendicular to the worktable surface.

2. The pin insertion device according to claim 1, characterized in that: The connecting part is also provided with a limiting part one and a limiting part two. The passive part, the limiting part one, and the limiting part two are arranged in sequence in the direction away from the track. A limiting rod one is passed through the limiting part one, and a limiting rod two is passed through the limiting part two. The active part is provided with a limiting hole one for the limiting rod one to pass through and a limiting hole two for the limiting rod two to be inserted. The shape of the limiting hole one is the same as the active hole. The limiting hole two is an arc hole that bends from the side away from the eccentric rod towards the worktable. The fixed part is provided with a limiting block. When the limiting part one and the limiting block form a limiting position, the distance between the fixed seat and the track is the largest. When the limiting part two and the limiting block form a limiting position, the distance between the fixed seat and the track is the smallest.

3. The pin insertion device according to claim 2, characterized in that: The waste disposal end includes a concave cavity and a waste disposal opening that extends through the concave cavity towards the track side. The two side walls opposite to the waste disposal opening are both arc surfaces. The inner wall of the concave cavity facing the worktable is provided with a collection port that communicates with the outside.

4. The pin insertion device according to claim 3, characterized in that: The inner wall of the cavity is cylindrical, and the breakage opening is located at the position where the distance from the inner wall of the cavity to the outer wall of the breakage part is the shortest.

5. The pin insertion device according to claim 4, characterized in that: The workbench is provided with a collection hole facing the collection port, and a baffle extending towards the waste section is provided in the collection hole. The baffle and the track surround the cavity.

6. The pin insertion device according to claim 5, characterized in that: The moving component includes an electric lead screw, a fixed housing connected to the electric lead screw, a movable block inserted into the fixed housing, and a moving block set on a track. The side of the moving block away from the track is inserted into the fixed housing. The movable block is provided with a control hole, which is an elongated hole extending along the track direction. One end of the control hole is bent towards the track. The moving block is provided with a control block inserted into the control hole. The fixed housing is provided with an electric push rod for controlling the movement of the movable block along the track extension direction. The surface of the moving block facing away from the fixed housing is provided with a limiting groove.

7. A pin insertion device according to claim 6, characterized in that: A main frame is mounted on the track, and an abutment block is mounted on the main frame. The abutment block includes an enlarged end that forms a limiting shape with the side of the main frame facing away from the track. A secondary frame is mounted on the enlarged end on the side of the main frame facing away from the track, and a spring is provided between the enlarged end and the secondary frame.

8. The pin insertion device according to claim 7, characterized in that: The abutment block has an inclined guide surface on its surface facing the track.

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