China’s small arched shed-building machinery suffers from a low degree of mechanization, building efficiency, and qualification rate for frame insertion. Therefore, we designed a rotary double-insertion device and established the equation for its motion trajectory. The analysis shows that in the rotary insertion process, a better point of entry into the soil exists. A simulation model was constructed in ADAMS, and the static and dynamic trajectories were analyzed. Additionally, the optimal planting and insertion speed ratios were determined. Considering the qualified rate of the insertion frame as the evaluation index to establish a regression model, we adopted a three-factor three-level experimental design and established the planting speed ratio, center distance of the planting arm, and length of the pressing rod arm as the main influencing factors. We used Design-Expert 13 to perform the analysis of variance and determined the optimal parameter combinations. The experimental results show that the planting speed ratio was 0.7, the center distance of the planting arm group was 554 mm, the length of the pressing rod arm was 923 mm, and the qualification rate of trellis planting at this time was 98.05%. The bench was adjusted and tested based on the optimal parameter combination. The average value of the measured trellis qualification rate was 96.73%, and the relative error between the test value and the theoretical optimization value was 1.32%, thereby verifying the reliability of the optimal parameter combination. Field verification test results show that the rotary double-insertion device had a planting speed ratio of 0.7 and a trellis qualified rate of 95.74% compared with the theoretical optimization value of 2.31%. Conforming to the design requirements of small arch shed-building machinery, the prototype operation performance was stable.

China’s small-arched shed-building machinery mostly adopts manual pole casting and mechanical planting, which have low building efficiency and mechanization. Therefore, we designed an automatic feeding device for shed poles to realize automatic single separation, orderly conveyance and timely dropping of poles. Considering shed pole-pitching pass rate as the evaluation index for the regression model, we adopted a three-factor, three-level experimental design and established the speed of the reclaiming ring, height of the falling shed poles and reclaiming ring spacing as the main influencing factors, obtaining 23.94 r/min, 408.799 mm and 1350 mm, respectively in experiments with a trellis qualification rate of 95.36%. Design-Expert 13 was used to perform analysis of variance and determine the optimal parameter combinations. The average measured trellis qualification rate in tests with the bench adjusted and the optimal parameter combination was 94.23%, with 1.13% relative error between test and theoretical optimization values. This confirmed the optimal parameter combination’s dependability. In field verification test results, pick-up card ring speed was 24 r/min; height of trellis pole drop, 410 mm; pick-up card ring spacing, 1350 mm; and pitching rate, 95.37%, obtaining 0.01% error compared with theoretically optimized values. The prototype operational performance was stable and satisfied design requirements.