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Using Lightning Process builder you can make the record automatically submit to the approval process whenever it meets the criteria.
- Go to setup->Create->Workflow & Approval->Process builder
- Then select the object to which you want to perform the auto-approval submission
- Enter the criteria for the record
- In the set Action select 'Submit for Approval'
Check this blog post for the detailed steps
https://rakeshistom.wordpress.com/2015/05/25/getting-started-with-process-builder-part-25-auto-submit-record-into-approval-process/To learn more about Lighning Process builder check the salesforce Trailhead module - https://developer.salesforce.com/trailhead/force_com_admin_intermediate/business_process_automation/process_builder