The utility model discloses an inserting and taking device. The inserting and taking device comprises an inserting and taking head base, an inserting and taking head arranged at the end of the inserting and taking head base and idler wheels used for being connected with an object to be moved. The inserting and taking head comprises an inserting and taking head base, a first gasket, a second gasketand a spring; the first gasket and the second gasket are both in an arc shape, the second gasket is connected to the two sides of the inserting and taking head base through a rotating shaft, one endof the second gasket is hinged to the free end of the cantilever, and the other end of the second gasket abuts against the surface of the first gasket. When the second gasket is pressed, the second gasket is extruded to move downwards, the idler wheel connected with the object to be inserted and taken rolls into the concave part, it is fully guaranteed that the idler wheel is not prone to fallingoff from the inserting and taking head, and safe and stable operation can be achieved in the goods transferring process. The device provided by the utility model is suitable for a working environmentwhich is compact in fit space and simple to operate, and can reduce unnecessary energy waste.