The invention discloses a winding yarn-inserting robot comprising an arranging device, a grabbing device provided with a gripper, and a base. The arranging device is used for arranging bobbin yarn to enable the big end and the small end of the bobbin yarn to be arranged in the set direction; the grabbing device is used for grabbing the arranged bobbin yarn, taking the bobbin yarn end, inserting the bobbin yarn into an empty bobbin position of a yarn store of a winding machine, and feeding the bobbin yarn end into a suction opening of the yarn store of the winding machine, so that it is guaranteed that the yarn store of the winding machine is supplemented with the bobbin yarn all the time, and continuous winding of a station is achieved; and the arranging device and the grabbing device are connected to the base. According to the winding yarn-inserting robot, in the winding process, the bobbin yarn end can be extracted automatically, the bobbin yarn can be inserted into the empty bobbin position of the yarn store of the winding machine, and thus manual operation is replaced.