When you publish an article with your ORCID iD, your ORCID iD will be part of the metadata of the article. Crossref will then be able to auto-update your ORCID record for you, but they need your explicit permission to do this. Crossref will ask for this permission via a message in your ORCID Inbox and via email. 

To make sure you receive this message, check the notification preferences of your ORCID record: the setting below 'An ORCID member wants your permission to add or update my ORCID record' should not be 'Never'. The other choices are daily, weekly, quarterly or immediately.

Selection of the notificiation preference to receive a message when an ORCID member wants to add or update your ORCID record

Message in ORCID Inbox from Crossref - do you give permission to auto-update your ORCID record?

If you want to know what Crossref adds to your ORCID record, check the settings for 'Items added or edited in your record by a trusted party'.