The present invention relates to the electronic manufacturing field and provides an automatic inserting method, an inserting system and an inserting device for a PCB board The method includes: obtaining the insertion paths for insertion of components in the PCB, calling the optimization program to adjust the insertion parameters, generating the optimized insertion paths based on the insertion parameters adjusted, and carrying out the insertion based on the optimized insertion paths. In an embodiment of the present invention, the optimization programs are used to adjust the insertion parameters in the original insertion programs, generate the optimized insertion paths based on the parameters adjusted, and carry out the insertion as per the optimized insertion paths, which not only improves the insertion efficiency, but also avoids a waste of manpower and the improvement of insertion efficiency is inconspicuous in relation to man-made modification of insertion programs.