PURPOSE: To enable insertion pins to be inserted into a printed board from below at required positions by a method wherein a head main body is mounted on two guide levers as fitted crossing them at a right angle so as to be kept at a neutral position, and a guide hole where a guide pin is fitted and an insertion pin are provided to the upper part of the head main body.

CONSTITUTION: A printed board W placed on the guide rails 2 of a frame 1 is stopped on standby at a required position as kept horizontal, 1 by a board moving device as kept horizontal. set and stopped on standby at a prescribed position. Then, a guide pin lift device 21 is driven to fit a guide pin 22 into the guide hole 9 through the reference hole of the printed board W as an outer frame 12, an inner frame 14, and the head main body 17 are slightly moved in both a longitudinal and a lateral direction by the guide pin 22. A head elevation device 27 is made to start operating to make a pin insertion head ascend to a prescribed position and insert an insertion pin previously inserted into the pin insertion head to the insertion hole of the printed board W. By this setup, an insertion pin can be accurately inserted into a printed board W at a prescribed position from below without using pole screws and pulse motors which drive the screws concerned, and an anvil.