The invention discloses a device for automatically transporting, discharging and inserting a pipe of a doffer, which comprises a roller arranged on an electric propelling trolley, a second electric motor connected with the roller and a connecting rod matched with the roller, a mechanism of a bracket-shaped pipe transporting and discharging channel, a concave cambered plate and a vertical hollow spool, and a pipe inserting mechanism consisting of a photoelectric sensor, an electromagnetic pipe impactor and a PLC control system. The hollow spool is transported in the bracket-shaped pipe transporting and discharging channel through the roller and a propelling wheel, and the hollow spool is inserted through the pipe inserting mechanism, so that operation of automatically transporting, discharging and inserting the hollow spool can be realized, phenomena of spool retaining and dropping are avoided, the production efficiency is improved, the labor strength of workers excessively dependent on manual operation is reduced, the doffing speed is fast, and the operation of 240-ingot pipe inserting can be finished only in 48 seconds; and the device has high stability and tightness, and avoids damage to a spindle blade of a spinning machine in the operation of the conventional pipe inserting device.