A device was designed to pick and drop the plug seeding of vegetable and tobacco, which consist of a translating mechanism and a picking and dropping mechanism. The plug seeding with 3 or 4 main leaves was used to test the performance of the device. The single factor test and orthogonal test was done to test the damage rate, the successful picking and dropping rate, dependent on the speed of picking seedlings, the mounting height of seedling clamp, and the insertion angle of seedling claw. The single factor test results show that when the speed of picking seedling was 120 r/min, the damage rate was 1.5%, the successful picking rate was 92.5%, and the successful dropping rate was 93.12%. As the mounting height of seedling clamp was 90 mm, the damage rate was 1.32%, the successful picking rate was 91.2%, and the successful dropping rate was 94.45%. When the insertion angle of seedling claw was 7°, the damage rate was 1.28%, the successful picking rate was 93.35%, and the successful dropping rate was 93.31%. Orthogonal experiment results show that the device has the best performance with the damage rate of 1.28%, the successful picking rate of 93.35%, and the successful dropping rate of 93.31%, when operating under the picking seedling speed of 120 r/min, the seedling clamp mounting height of 90 mm, and the seedling claw insertion angle of 7°.