Abstract: Abstract：At present, the vegetable planted by seedling cultivation and transplantation accounts for more than 60% of the totalvegetable planting. It has the advantages of high and stable yield, climate compensation and land use efficiency improvement.However, vegetable production belongs to labor-intensive industry, the increasingly serious problem of difficult employmentleads to the fact that the labor cost of vegetable production accounts for more than 50% of the total cost of vegetableproduction, which has become the main factor restricting its development. Therefore, it is an inevitable trend for thesustainable development of vegetable industry to study the mechanization and automation of vegetable transplantation. Takingand dropping seedlings is a very important link in vegetable transplanting. In view of the problems of automatic transplantingof vegetable seedlings in China, such as the complex and easy to fail of seedling picking and throwing device, a kind ofoblique inserting plug seedling taking and throwing device is designed in this paper. The principle of picking and seedingdevice was analyzed, and then the location of taking point, throwing point and any point in the process of picking seedlingswere selected. The projection method was used to design the device, and the structure and working parameters weredetermined. The length of the frame, driven rod, connecting rod, driving rod and seedling clip were 122, 196, 80, 186 and 227mm respectively. In order to ensure that the device has a good effect of taking and throwing seedlings, the tilt angle of theseedling tray and the parameters of the seedling clamping into the hole are designed, and the movement process is analyzed.The feasibility of the scheme is verified by comparing the simulation trace curve with the actual test trace curve. According tothe mathematical model of the working process of seedling taking and throwing device, kinematics analysis and simulationare carried out, and the position of seeding taking and throwing, speed and acceleration curve of the seedling clamp endpointare obtained, the design meets the requirements of automatic transplanting. Considering the factors affecting the effect oftaking and throwing seedlings, the spring stiffness coefficient, rotational speed of the active rod and the inclination angle ofthe seedling tray are selected as the experimental factors, and the orthogonal experiment was carried out. The results show thatthe best effect is obtained when the spring stiffness coefficient is 500 N/m, the speed of the active rod is 12 r/min, and theinclination angle of the seedling tray is 45°. Repeated experiments were conducted with the optimum parameters, the resultsshow that the broken rate of substrates is 3.13%, the expulsion rate of seedlings is 2.43%, the success rate of seedling takingand throwing is 94.44%, the reliability of the device is high. The design provides a reference for the study of full automatictransplanting