Grafted seedling aperture disk planting manipulator end effector and corresponding planting mechanism and method

The invention provides a grafted seedling aperture disk planting manipulator end effector and a corresponding planting mechanism and a corresponding planting method. The grafted seedling aperture disk planting manipulator end effector comprises a connecting disk, a gas claw, a seedling clamping claw, a seedling clamping sponge and a soil compacting mechanism; the gas claw comprises a cylinder, a gas pipe, a cylinder linear sliding guide rail and a claw hand; one end of the cylinder is connected with the connecting disk and the other end of the cylinder is connected with the claw hand; the cylinder linear sliding guide rail is connected with the cylinder; one end, which is connected with the cylinder, of the claw hand is connected with the cylinder linear sliding guide rail; the other end of the claw hand is connected with the seedling clamping claw; the seedling clamping sponge is connected with the seedling clamping claw; the soil compacting mechanism is in threaded connection with a cylinder body; the gas pipe comprises a gas inlet pipe and a gas outlet pipe; one ends of both the gas inlet pipe and the gas outlet pipe are connected with the cylinder. The invention also provides the corresponding grafted seedling aperture disk planting mechanism. The grafted seedling aperture disk planting manipulator end effector provided by the invention has a compact structure, is accurate in seedling taking and planting motion, has a good soil compacting effect and high working efficiency and is green and environment-friendly.