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Importing categories as a CSV file is OK in tiki-wiki, But how to import categorized articles to the system. Tiki supports media wiki and word press importing, While my data base has another format.
Is there any module for CSV upload/import?
Is there any flexible migration-like script to import articles?
In case that both of answers are NO, would you please give me a clue to write down the proper code to import articles directly to data base.
I went through understanding database, But I think accessing to database directly should be my last choice!

For custom import jobs, you can use Tiki's profiles. The profiles are a YAML-based format. While it is not the primary use for them, it might be the easiest way to perform what you want to do.
Normally, you need to place the profile in a repository to execute it, but there is a developer option to load content from a textarea. You can simply prepare your YAML definition and paste it in there.
Categorizing elements through the database could be harder than it seems as many tables are involved.