The present invention discloses an online inflating valve insertion device. The online inflating valve insertion device has a frame, a chassis, a lift cylinder, a support A, bearing seats, linear bearings, a mounting plate, guide shafts, a lift shaft, a servomotor A, a synchronous pulley A, a connecting plate, a synchronous belt, a synchronous pulley B, a base, a connecting shaft A, a servomotor B, a shaft sleeve A, a lower end cover, a connecting shaft B, a shaft sleeve B and the like. The online inflating valve insertion device provided by the present invention can meet the requirement of automatically inserting an inflating valve into a wheel, also has the characteristics of simple structure, convenience in manufacturing, stable performance, and capability of meeting the precision machining requirement, and can fit to the requirement of automatic production.