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An automatic feeding device for substrate filling was designed to address the challenges of difficult feeding and low efficiency in the citrus seedling pot filling and transferring machine. The device comprises a framework, tracks, overturning frame, drive system, etc. In order to ensure optimal performance, the frame's turning angle was set at a minimum of 110° and the angle between the frame's horizontal plane and slope was determined to be 120°. Following optimization, the number and intensity of sudden changes in velocity, angular velocity, and thrust were reduced, thereby prolonging the device's service life. The prototype test demonstrated that the device has an average feeding time of 9.86 s, is capable of raising 0.14 m3 of substrate in a single cycle, and has a handcart turning angle of 111°. Furthermore, no residual substrate remained in the handcart, and the handcart fixing mechanism operated correctly. The torque measurement results of the motor output shaft were found to be consistent with the simulation results in ADAMS, with a maximum force difference of only 298 N. The simulation was found to be accurate, with an error rate of only 3.67%. This model can be utilized as a dependable reference for the optimization of the design of the automatic feeding device. [ABSTRACT FROM AUTHOR]