Abstract: In order to solve the problems of low seedling efficiency of the automatic transplanting machine and the mechanism impact of seedling transfer, This paper combines the requirements of Xinjiang nursery agronomy to design a sprocket-link combination type seedling picking mechanism. The transfer path is planned, and the motion posture of each movement are designed to meet the operation requirements. Then building a cartesian coordinate system, using the pose equation to solve the parameter equation of the seedling end, seedling trajectory was simulatedby software, whichcan meet the design requirements of the expected trajectory. The test results showed:the device had less damage and high reliability when the success rate of seedlings was 97.1%, the rate of substrate damage is 2.9%, and the stem damage rate is 1.7%,It can provide reference for the automation research of transplanting equipment.