Aiming　at　the　problems　of　poor　automation　and　low　efficiency　in　tomato　planting,　this　paper　designed　a　fully　automatic　rock　wool　seedling　planting　machine.　We　designed　the　machine＇s　overall　structure　according　to　the　agronomic　requirements　of　tomatoes　and　the　actual　site.　In　addition,　according　to　the　uncertainty　of　contact　between　the　rock　wool　block　(RWB)　and　soil　matrix,　the　corresponding　motion　behavior　model　after　collision　contact　was　established　to　predict　the　motion　of　RWB.　The　parameterized　modeling　of　the　soil　matrix　was　carried　out,　and　then　a　structure　with　an　adaptive　function　was　added　to　the　original　machine　for　optimization.　The　machine　was　processed,　manufactured,　and　tested.　The　success　rate　of　colonization　was　99.4%,　and　the　efficiency　was　1500　per　hour.　The　study　can　provide　a　reference　for　the　automatic　tomato　planting　machine　design.　©　Published　under　licence　by　IOP　Publishing　Ltd.