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In order to design a new rapeseed transplanting machine, a pure rolling-type transplanting hole-forming machine for rapeseed was developed in accordance with agricultural requirements for rapeseed transplanting and the features of transplanting hole formation. The motion mechanism of the pure rolling-type mechanism was analyzed to derive motion parametric equations for the hole-forming mechanism. Matlab was used to generate theoretical contour lines and outline drawings of the transplanting hole. CATIA was then used for simulation analysis to obtain the contour curve of the transplanting hole, and fitting as well as simulation were carried out to verify its structure and motion parameters. Based on different slip rates, Matlab was used to solve formed planting hole physical parameters, such as the longitudinally opening length, longitudinal length of planting hole at the depth of H and the upper lateral width. Subsequently, prototype trial-production was carried out, followed by field testing. The experimental results obtained indicated that when the machine was in low gear, its forward speed was in the range of 1.80~1.96km/h and field operation efficiency was in the range of 0.306~0.333hm2/h. When tested in three types of soil, i.e., clay, loamy and sandy soil, the average qualification rate of hole formation reached 94.4%, 93.3% and 90.4%, respectively. These results confirmed that the developed transplanting hole-forming machine satisfied design requirements, which was significant for the provision of technical support for the design of new transplanters.