Abstract: Semi-automatic transplanter is the main type of transplanting machinery in China, its process of picking seedling needs to rely on casting seedlings by hand while planting by mechanical parts, which leads to high labor intensity and low production efficiency. The authors designed a picking up and delivering seedlings system for rape plug seedling, aiming to provide reference for designing a whole automatic rape seedling transplanting machine. The test bench was manufactured and the experiment was carried out. The results showed that, the seedling frequency had little effect on the lateral seedling feeding precision, and when the seedling frequency was 70 /min, the lateral error was ±1 mm, and the longitudinal seedling error was ±2 mm，the success rate of seedling pick-up was over 95%. The design can meet the application requirements.