In order to achieve efficient and high-quality seedling picking by the automatic transplanter, one working method of picking seedlings in a row and throwing them at the same time was proposed. Taking the finger-clamping seedling picking claw as the research object, the structure and working principle of seedling picking claw were expounded. A mathematical model of the seeding picking claw movement was established, combined with the mechanical characteristics of the pot and the root distribution characteristics, the size parameters of the various structural parts that made up the claws were optimized, and the virtual prototype model was established in RecurDyn. The mechanical properties of the bowl were tested through experiments, the data obtained from the experiment were processed, and the physical characteristic parameters of the particles were obtained, and then the bowl particle model was established in EDEM. Through EDEM-RecurDyn coupling to simulate the process of inserting, clamping and lifting the seedling picking claws. The influence of claws insertion depth and initial clamping depth on the effect of bowl while picking was analyzed. Simulation optimization showed that when the insertion depth of the seedling claw Id=34mm, the average insertion velocity Iv=280mm/s, the initial clamping depth Ci=4mm, and the average clamping velocity Cv=250mm/s, a better pot body integrity can be obtained. At 16 times/min, 20 times/min, 24 times/min, the claw picking test was carried out. The test showed that the finger-clamp claw picking success rate was above 96%, the pot body fragmentation rate was less than 1%, which had a good effect of picking and putting seedlings, which can maintain a good pot body integrity during seedling picking operations.