CN207118272U - A kind of both hands plant the intelligent robot of rice seedling - Google Patents

Abstract

The intelligent robot that a kind of both hands plant rice seedling is the utility model is related to, belongs to robot application technology field.With Beidou navigation new technology intelligent robot can be made to implement precisely to plant, improve rice transplanting quality.Electric current caused by solar energy power generating cap on the intelligence machine number of people and the electric current of the output of the lithium ion battery with intelligent robot input electronic computer together, electronic computer operated by the left servomotor first of conductive line, left servomotor second, left servomotor third, drives left transplanting hand to take out rice shoot in seedling box from holding, and is planted in paddy field.Electronic computer is operated by the right servomotor first of conductive line, right servomotor second, right servomotor third, drives right transplanting hand to take out rice shoot from seedling box is held, and is planted in paddy field.Computer instruction is highly flexible and skid controller controls the elongation and shortening of left retractor device and right retractor device, at the same control left glider and right glider slide forward and backward skating.

Description

A kind of both hands plant the intelligent robot of rice seedling

Technical field

The intelligent robot that a kind of both hands plant rice seedling is the utility model is related to, belongs to robot application technology neck Domain.

Background technology

Over the past thousands of years, the work that peasant plants rice seedling is a kind of arduous heavy manual labor, and two light legs steep In the muddy water in rice field, curved back is towards the blue sky towards paddy field, and left hand holds a rice shoot, and the right hand is taken out 2-4 strains every time Rice shoot is inserted into paddy field.One labour get up early band evening extricate oneself rice shoot, choose rice shoot certainly, transplant seedlings seedling certainly, five points can only be planted within one day The rice seedling in field.

Nearly ten years, occur planting a part of rice seedling with rice transplanter in rural area.The first five years, with semimechanized people Based on power rice transplanter, people's body when using hand transplanting machine rice transplanting is stood erectly, and efficiency has some raisings, latter 5 years, with Based on power rice-transplantor, efficiency is obviously improved, however, the gasoline engine on power rice-transplantor is constantly arranged into air Carbon dioxide and sulfur dioxide are put, pollutes the air above rice terrace.Power rice-transplantor is turned inconvenience in small piece paddy field, In the terraced fields in mountain area, more it is difficult with.

Utility model content

The purpose of this utility model is to overcome deficiency of the prior art, there is provided a kind of both hands plant the intelligence of rice seedling Can robot.

Solar energy power generating cap is installed on the crown of intelligent robot, sunshine irradiation is arranged on photovoltaic and sent out Electric current caused by solar cell on electric cap inputs current divider by conductor wire, controller, leads to from the electric current of current divider output Crossing conductor wire, vision sensor, right vision sensor and Beidou navigator are powered to the left respectively, left vision sensor and right vision Sensor is a kind of eyes for the intelligent robot that both hands plant rice seedling, its resolution ratio, camera lens, spectral range, all much The eyes of people are exceeded, the eyes than people can more see those place rice transplantings in rice field clearly, and those places do not have rice transplanting, seedling also Whether seedling inserted directly or not, in shallow water rice transplanting, floats seedling either with or without generation.Beidou navigator on solar energy power generating cap Reception antenna receives Beidou satellite navigation electric signal, and Beidou satellite navigation electric signal input Beidou navigator is handled, is Intelligent robot carries out work offer real-time high-precision position and the navigation information that both hands plant rice seedling, improves the work of rice transplanting Industry efficiency, reduce rice transplanting operation overlapping and omit, make line by line rice shoot carried in paddy field straight, the bending of rice row does not occur Phenomenon.The rice field and the image information of rice shoot that left vision sensor and right vision sensor on intelligence machine head part obtain turn Change electric signal input electronic computer, the reality that Beidou satellite navigation electric signal provides in Beidou navigator for intelligent robot into When high precision position and navigation information by conductor wire input electronic computer, from the left lithium on the left shoulder of intelligent robot The electric current of ion battery output is powered by conductor wire to electronic computer, and electronic computer is by that can provide electric power and information The left servomotor first of conductive line, left robotic arm epimere, left servomotor second, left robotic arm hypomere, left servo electricity Machine third and left transplanting hand hold the rice shoot in seedling box from left crawl according to electric signal synergic rotation, left transplanting hand, When left retractor device and right retractor device shorten length, the body falling head of intelligent robot simultaneously, left transplanting hand will grab The rice shoot that takes injects rice field, from the electric current of the right lithium ion battery output on the right shoulder of intelligent robot by conductor wire to Electronic computer is powered, and electronic computer passes through the right servomotor first of the conductive line that can provide electric power and information, right machine Device arm epimere, right servomotor second, right robotic arm hypomere, right servomotor third and right transplanting hand cooperate with according to electric signal Rotate, right transplanting hand holds the rice shoot in seedling box from right crawl, shortens simultaneously in left retractor device and right retractor device When length, the body falling head of intelligent robot, the rice shoot of crawl is injected rice field by right transplanting hand.Rice transplanting specifications control device By electronic computer and the rice transplanting specification of the left transplanting hand of conductive line traffic control and right transplanting hand, such as：In soil fertility condition ratio It is the specification that line-spacing is 6 cun, spacing in the rows is 4 cun by the format change that line-spacing is 5 cun, spacing in the rows is 3 cun in preferable rice terrace.From The electric current of electronic computer output holds seedling box by conductor wire input, is provided with the bottom for holding seedling box not exposed Pressure sensor, pressure sensor can perceive the quantity for holding the rice shoot held in seedling box, and by how many turns of rice shoot quantity Change electric signal into, handled by conductor wire input electronic computer, subsequently inputted from the electric current of electronic computer output Highly flexible and skid controller.Inputted to the left from the electric current and information that height is flexible and skid controller is exported by conductor wire Left retractor device, the elongation and shortening of left retractor device are controlled, then inputs left glider, controls sliding forward for left glider Or step back and slide.Right flexible fill is inputted to the right from the electric current and information that height is flexible and skid controller export by conductor wire Put, control the elongation and shortening of right retractor device, then input right glider, control right glider slides forward or step back cunning OK.Left retractor device and right retractor device extend simultaneously when, the height and position rise of the body of intelligent robot, left transplanting hand Rice shoot is taken out in seedling box from holding respectively with right transplanting hand, left retractor device and right retractor device shorten simultaneously when, intelligence The height and position of the body of robot declines, and left transplanting hand and right transplanting hand plant rice shoot into paddy field respectively.

In order to solve the above-mentioned technical problem, the utility model is achieved through the following technical solutions：

By intelligent robot 1, solar energy power generating cap 2, Beidou navigator 3, Beidou navigator reception antenna 4, control Device 5, current divider 6, left vision sensor 7, right vision sensor 8, electronic computer 9, conductor wire 10, left charging device 11, a left side Lithium ion battery 12, left servomotor first 13, left robotic arm epimere 14, left servomotor second 15, left robotic arm hypomere 16, Left servomotor the third 17, left transplanting hand 18, right charging device 20, right lithium ion battery 21, right servomotor first 22, right machine Arm epimere 23, right servomotor second 24, right robotic arm hypomere 25, right servomotor the third 26, right transplanting hand 27, rice transplanting rule Lattice controller 28, hold flexible seedling box 29, middle lithium ion battery 30, height and skid controller 31, left retractor device 32, a left side Glider 33, right retractor device 34 and right glider 35 collectively constitute；

Solar energy power generating cap 2 is installed on the crown of intelligent robot 1, installed in solar energy power generating cap 2 Beidou navigator 3, Beidou navigator reception antenna 4 is installed above Beidou navigator 3, in solar energy power generating cap 2 The lower section installation controller 5 in left side, installs current divider 6 and conductor wire 10 in the underface of solar energy power generating cap 2, is shunting Left vision sensor 7 is installed in the left of device 6, right vision sensor 8 is installed in the right of current divider 6, in the chest of intelligent robot 1 Electronic computer 9 is installed in portion, left lithium ion battery 12 is installed on the upper left side of electronic computer 9, in left lithium ion battery 12 Top, intelligent robot 1 left shoulder on left charging device 11 is installed, left servo is installed in the left side of the chest of intelligent robot 1 Motor first 13, left robotic arm epimere 14 is installed above left servomotor first 13, above left robotic arm epimere 14 Left servomotor second 15 is installed, left robotic arm hypomere 16 is installed above left servomotor second 15, under left robotic arm Left servomotor the third 17 is installed above section 16, left transplanting hand 18, left transplanting are installed above left servomotor the third 17 Hand 18 captures rice shoot 19 from left, the installation rice transplanting specifications control device 28 in the lower left of electronic computer 9, in electronic computer 9 Upper right side right lithium ion battery 21 is installed, right charging is installed on the top of right lithium ion battery 21,1 right shoulder of intelligent robot Device 20, right servomotor first 22 is installed on the right side of the chest of intelligent robot 1, installed above right servomotor first 22 Right robotic arm epimere 23, right servomotor second 24 is installed above right robotic arm epimere 23, in right servomotor second 24 Above right robotic arm hypomere 25 is installed, right servomotor the third 26 is installed above right robotic arm hypomere 25, watched on the right side Take and right transplanting hand 27 is installed above motor the third 26, right transplanting hand 27 captures rice shoot 19 from right, in intelligent robot 1 Installation holds seedling box 29, middle lithium ion battery 30 on belly and height is stretched and skid controller 31, is holding seedling box 29 Lower section setting height(from bottom) is flexible and skid controller 31, seedling box 29 and height be flexible and the centre of skid controller 31 holding Lithium ion battery 30 in installation；

Beidou navigator 3 is connected by built-in conductor wire with Beidou navigator reception antenna 4, and Beidou navigator 3 is by leading Electric wire 10 is connected with current divider 6, and solar energy power generating cap 2 is connected by conductor wire 10 with controller 5, and controller 5 is by leading Electric wire 10 is connected with current divider 6, and current divider 6 is connected by conductor wire 10 with left vision sensor 7, and current divider 6 passes through conductor wire 10 are connected with right vision sensor 8, and current divider 6 is connected by conductor wire 10 with electronic computer 9, and electronic computer 9 is by leading Electric wire 10 is connected with left lithium ion battery 12, and left lithium ion battery 12 is connected by conductor wire 10 with left charging device 11, Zuo Li Ion battery 12 passes through conductor wire 10 and left servomotor first 13, left servomotor second 15, left servomotor the third 17 and the left machine transplanting of rice Seedling hand 18 connects, and electronic computer 9 passes through conductor wire 10 and left servomotor first 13, left servomotor second 15, left servomotor The third 17 and left transplanting hand 18 connect, electronic computer 9 is connected by conductor wire 10 with rice transplanting specifications control device 28, and electronics calculates Machine 9 is connected by conductor wire 10 with holding seedling box 29, and electronic computer 9 is connected by conductor wire 10 and right lithium ion battery 21 Connect, right lithium ion battery 21 is connected by conductor wire 10 with right charging device 20, right lithium ion battery 21 by conductor wire 10 with Right servomotor first 22, right servomotor second 24, right servomotor the third 26 and right transplanting hand 27 connect, and electronic computer 9 is logical Cross conductor wire 10 and right servomotor first 22, right servomotor second 24, right servomotor the third 26 and right transplanting hand 27 to be connected, electricity Sub- computer 9 is connected by conductor wire 10 with holding seedling box 29, hold seedling box 29 by conductor wire 10 and height it is flexible and Skid controller 31 connects, and holds seedling box 29 and is connected by conductor wire 10 with middle lithium ion battery 30, middle lithium ion battery 30 It is flexible and skid controller 31 is connected by conductor wire 10 and height, height is flexible and skid controller 31 by conductor wire 10 with Left retractor device 32 and left glider 33 connect, and height is flexible and skid controller 31 passes through conductor wire 10 and right retractor device 34 Connected with right glider 35.

Left vision sensor 7 and right vision sensor 8 are 3D vision sensors or intelligent vision sensor.

Left lithium ion battery 12, right lithium ion battery 21 and middle lithium ion battery 30 are ferric phosphate lithium ion battery or cobalt Sour lithium ion battery or manganate lithium ion battery or lithium titanate lithium ion battery.

The weight for holding rice shoot 19 for holding seedling box 29 is 15 kilograms to 20 kilograms.

The difference in height of the controllable stretching of left retractor device 32 and right retractor device 34 and retraction is 40 centimeters to 60 Centimetre.

The quantity for capturing rice shoot 19 each time of left transplanting hand 18 and right transplanting hand 27 is can regulate and control 1 plant to 6 Strain.

Compared with prior art, the beneficial effects of the utility model are：1. intelligent robot strong adaptability, turn round flexibly, Both can the rice transplanting in bulk paddy field, rice shoot can also be planted in fritter rice field, mountain area terraced fields.2. intelligent robot plants seedling The quality of seedling is good, Beidou navigation precise positioning operation, makes the rice row planted straight, the line-spacing and spacing in the rows of rice shoot are consistent, rice transplanting Specification it is good.Vision sensor is seen clearly, and is overlapped or is leaked when avoiding transplanting seedlings and inserts.

Brief description of the drawings

Fig. 1 is structural representation of the present utility model.

Embodiment

Robot of the world conference in 23-27 of August in 2017 is held in Beijing.The machine of 13 frees degree of displaying can be gone up The bionical dragonfly of device can be lightly flown towards any direction, robot pianist is with 53 finger playing pianos, the speed than people Degree is fast, and biped robot can do gesture crawl article, and industrial robot, service humanoid robot have attracted numerous spectators.2016 Year, Chinese robot shipment amount about 90,000, rise 27%, close to 1/3rd of global total output, by 2019, machine People's shipment amount will be close to 160,000.Many peasants are old in Chinese countryside, and highly desirable robot substitutes manpower to be engaged in The heavy manual labor such as rice transplanting, it is believed that in future soon, occur that robot is engaged in agriculture work in Chinese countryside, Er Qiehui Appearance more and more plants rice seedling intelligent robot, teds paddy intelligent robot etc..

The utility model will be further described with reference to the embodiment in accompanying drawing below：

The solar cell that sunshine irradiation is arranged on above the solar energy power generating cap on the intelligence machine number of people produces Electric current, electric current are adjusted by conductor wire input controller, and then inputting current divider by conductor wire carries out shunting power supply, from The electric current of current divider output inputs Beidou navigator by conductor wire, is provided to Beidou navigator and Beidou navigator reception antenna Receive Beidou satellite navigation electric signal, Beidou satellite navigation electric signal is inputted for being intelligence by electronic computer by conductor wire Robot carries out providing navigation Service when both hands plant rice seedling operation, realizes accurate rice transplanting, improves rice transplanting quality.From installation The electric current of left lithium ion battery output on the left shoulder of intelligent robot inputs electronic computer by conductor wire, is calculated from electronics The electric current and information of machine output input left servomotor first, left servomotor second, left servomotor third and left machine by conductor wire Seedling planting hand, it is left servomotor first, left robotic arm epimere, left servomotor second, left robotic arm hypomere, left servomotor third Operating with left transplanting hand and plant rice seedling power source be provided, from the right lithium on the right shoulder of intelligent robot from The electric current of sub- battery output inputs electronic computer by conductor wire, passes through conduction from the electric current and information of electronic computer output Line inputs right servomotor first, right servomotor second, right servomotor third and right transplanting hand, is right servomotor first, right machine Device arm epimere, right servomotor second, right robotic arm hypomere, right servomotor third and right transplanting hand operating and plant water Rice sprouts provides power source, from the electric current of electronic computer output by conductor wire input hold seedling box and height it is flexible and Skid controller, meanwhile, to holding, seedling box and height are flexible and skid controller is powered respectively for middle lithium ion battery.To holding The electric current of seedling box supply, which is mainly used in being placed in, holds pressure sensor in seedling box by conductor wire to electronic computer Transmission holds the information such as rice shoot or how many rice shoot is whether there is in seedling box.Powered to height is flexible with skid controller for controlling Left retractor device, left glider, right retractor device and right glider.Intelligent robot has 5 points of differences with manpower rice transplanting：1. intelligence Can robot with the hands rice transplanting, be to hold a rice shoot with singlehanded rice transplanting, another hand during manpower rice transplanting.2. intelligent robot By driven by power rice transplanting, the muscle power of people is leaned in manpower rice transplanting.3. being provided with the body of intelligent robot and holding seedling box, manpower is used The peasant of rice transplanting does not hold seedling box with it.4. during manpower rice transplanting, the two legs of peasant will bend body of squatting down, while curved Waist, body is extended forwards, do not bent over during intelligent robot rice transplanting, not rhaeboscelia, but by left retractor device and right retractor device Full retraction is entered, and reduces the height of the body of intelligent robot, left transplanting hand and right transplanting hand is touched water The topsoil in field, carry out rice transplanting.After having inserted seedling, left retractor device and right retractor device all extend out, raise intelligence machine The height of the body of people.Left transplanting hand and right transplanting hand take out rice shoot from holding in seedling box.5. during rice transplantation by hand, peasant Left foot and right threading moved in the mud in paddy field, intelligent robot, left foot equivalent to people left glider can be In paddy field it is autonomous slide or step back forward slide, intelligent robot, right crus of diaphragm equivalent to people right glider can be in paddy field In it is autonomous slide or step back forward slide.

It is as follows now to enumerate embodiment：

Embodiment one：

In one piece of paddy field, there are six intelligent robot for the hands planting rice seedling in-lines to arrange, prepare rice transplanting. One flat to slide canoe and is fully loaded with rice seedling and slided in rice field, is held to each and rice shoot is filled in seedling box, and with small Lithium ion battery full charge of the charging pile waterborne to every intelligent robot on ship.Sunshine irradiation is arranged on photovoltaic Monocrystaline silicon solar cell on the upper surface of generating cap produces electric current, electric current by conductor wire input controller, current divider, from The electric current of current divider output is by conductor wire respectively to Beidou navigator, left vision sensor, right vision sensor and electrometer Calculation machine is powered, because six intelligent robots are all use Beidou navigation, navigation accuracy height, two adjacent intelligent robots it Between, together during rice transplanting, it will not overlap or omit.The left servomotor first of computer instruction, left servomotor second, a left side are watched Taking motor third drives left transplanting hand to take out rice shoot, working machines arm in seedling box from holding, with left transplanting hand by rice shoot Planted according to 3 cun × 5 cun of specification in paddy field.The right servomotor first of computer instruction, right servomotor second, right servo Motor third drives right transplanting hand to take out rice shoot in seedling box from holding, working machines arm, by rice shoot according to 3 cun × 5 cun Specification is planted in paddy field.Electronic computer by conductor wire driving height is flexible and skid controller control left retractor device and The elongation and contraction of right retractor device, while control sliding forward or step back and sliding for left glider and right glider.

Embodiment two：

In a bulk of paddy field raked, there are ten intelligent robots for the hands planting rice seedling to line up in-line length Snake battle array, soon plants rice seedling.One flat fully loaded rice seedling of ship that slides is slided into face of intelligent robot, to every intelligence Holding for robot of energy places rice shoot in seedling box, and the lithium-ion electric of every intelligent robot is given with the charging pile waterborne on ship Pond full charge.Polysilicon solar cell of the sunshine irradiation on the upper surface of solar energy power generating cap produces electricity Stream, electric current is by conductor wire input controller, current divider, and the electric current exported from current divider is by conductor wire respectively to Beidou navigation Instrument, left vision sensor, right vision sensor and electronic computer power supply, because ten intelligent robots are all to use Beidou navigation , navigation accuracy is high, between two adjacent intelligent robots, together during rice transplanting, will not overlap or omit.Electronics calculates Machine instructs left servomotor first, left servomotor second, left servomotor third to drive left transplanting hand to be taken out in seedling box from holding Rice shoot, working machines arm, rice shoot is planted in paddy field according to 4 cun × 6 cun of specification with left transplanting hand.Electronic computer Right servomotor first, right servomotor second, right servomotor third is instructed to drive right transplanting hand to take out seedling in seedling box from holding Seedling, working machines arm, rice shoot is planted in paddy field according to 4 cun × 6 cun of specification.Electronic computer is driven by conductor wire Highly flexible and skid controller controls the elongation and contraction of left retractor device and right retractor device, at the same control left glider and Sliding forward or stepping back for right glider is slided.

Claims (6)

1. a kind of both hands plant the intelligent robot of rice seedling, it is characterized in that, by intelligent robot（1）, photovoltaic hair Electric cap（2）, Beidou navigator（3）, Beidou navigator reception antenna（4）, controller（5）, current divider（6）, left vision sensor （7）, right vision sensor（8）, electronic computer（9）, conductor wire（10）, left charging device（11）, left lithium ion battery（12）、 Left servomotor first（13）, left robotic arm epimere（14）, left servomotor second（15）, left robotic arm hypomere（16）, a left side watches Take motor third（17）, left transplanting hand（18）, right charging device（20）, right lithium ion battery（21）, right servomotor first（22）、 Right robotic arm epimere（23）, right servomotor second（24）, right robotic arm hypomere（25）, right servomotor third（26）, right machine Seedling planting hand（27）, rice transplanting specifications control device（28）, hold seedling box（29）, middle lithium ion battery（30）, height is flexible and slides Controller（31）, left retractor device（32）, left glider（33）, right retractor device（34）With right glider（35）Collectively constitute；

In intelligent robot（1）The crown on install solar energy power generating cap（2）, in solar energy power generating cap（2）Interior peace Fill Beidou navigator（3）, in Beidou navigator（3）Above install Beidou navigator reception antenna（4）, sent out in photovoltaic Electric cap（2）Left side lower section installation controller（5）, in solar energy power generating cap（2）Underface installation current divider（6）With Conductor wire（10）, in current divider（6）Left left vision sensor is installed（7）, in current divider（6）Right right vision be installed passed Sensor（8）, in intelligent robot（1）Chest installation electronic computer（9）, in electronic computer（9）Upper left side installation it is left Lithium ion battery（12）, in left lithium ion battery（12）Top, intelligent robot（1）Left shoulder on left charging device is installed （11）, in intelligent robot（1）The left side of chest left servomotor first is installed（13）, in left servomotor first（13）Above Left robotic arm epimere is installed（14）, in left robotic arm epimere（14）Above left servomotor second is installed（15）, watched on a left side Take motor second（15）Above left robotic arm hypomere is installed（16）, in left robotic arm hypomere（16）Above left servo is installed Motor third（17）, in left servomotor third（17）Above left transplanting hand is installed（18）, left transplanting hand（18）Grabbed from left Seedling taking seedling（19）, in electronic computer（9）Lower left installation rice transplanting specifications control device（28）, in electronic computer（9）The right side Top is installed by right lithium ion battery（21）, in right lithium ion battery（21）Top, intelligent robot（1）The right side is installed on right shoulder to fill Electric installation（20）, in intelligent robot（1）The right side of chest right servomotor first is installed（22）, in right servomotor first（22） Above right robotic arm epimere is installed（23）, in right robotic arm epimere（23）Above right servomotor second is installed（24）, In right servomotor second（24）Above right robotic arm hypomere is installed（25）, in right robotic arm hypomere（25）Above install Right servomotor third（26）, in right servomotor third（26）Above right transplanting hand is installed（27）, right transplanting hand（27）From Right captures rice shoot（19）, in intelligent robot（1）Belly on installation hold seedling box（29）, middle lithium ion battery（30）With Highly flexible and skid controller（31）, holding seedling box（29）Lower section setting height(from bottom) is flexible and skid controller（31）, Holding seedling box（29）With height is flexible and skid controller（31）Among install in lithium ion battery（30）；

Beidou navigator（3）Pass through built-in conductor wire and Beidou navigator reception antenna（4）Connection, Beidou navigator（3）Pass through Conductor wire（10）With current divider（6）Connection, solar energy power generating cap（2）Pass through conductor wire（10）With controller（5）Connection, control Device processed（5）Pass through conductor wire（10）With current divider（6）Connection, current divider（6）Pass through conductor wire（10）With left vision sensor（7） Connection, current divider（6）Pass through conductor wire（10）With right vision sensor（8）Connection, current divider（6）Pass through conductor wire（10）With electricity Sub- computer（9）Connection, electronic computer（9）Pass through conductor wire（10）With left lithium ion battery（12）Connection, left lithium-ion electric Pond（12）Pass through conductor wire（10）With left charging device（11）Connection, left lithium ion battery（12）Pass through conductor wire（10）Watched with a left side Take motor first（13）, left servomotor second（15）, left servomotor third（17）With left transplanting hand（18）Connection, electronic computer （9）Pass through conductor wire（10）With left servomotor first（13）, left servomotor second（15）, left servomotor third（17）With the left machine transplanting of rice Seedling hand（18）Connection, electronic computer（9）Pass through conductor wire（10）With rice transplanting specifications control device（28）Connection, electronic computer （9）Pass through conductor wire（10）With holding seedling box（29）Connection, electronic computer（9）Pass through conductor wire（10）With right lithium-ion electric Pond（21）Connection, right lithium ion battery（21）Pass through conductor wire（10）With right charging device（20）Connection, right lithium ion battery （21）Pass through conductor wire（10）With right servomotor first（22）, right servomotor second（24）, right servomotor third（26）With right machine Seedling planting hand（27）Connection, electronic computer（9）Pass through conductor wire（10）With right servomotor first（22）, right servomotor second （24）, right servomotor third（26）With right transplanting hand（27）Connection, electronic computer（9）Pass through conductor wire（10）With holding seedling Seedling box（29）Connection, holds seedling box（29）Pass through conductor wire（10）With height is flexible and skid controller（31）Connection, holds Seedling box（29）Pass through conductor wire（10）With middle lithium ion battery（30）Connection, middle lithium ion battery（30）Pass through conductor wire（10） With height is flexible and skid controller（31）Connection, height is stretched and skid controller（31）Pass through conductor wire（10）Stretched with a left side Device（32）With left glider（33）Connection, height is stretched and skid controller（31）Pass through conductor wire（10）With right retractor device （34）With right glider（35）Connection.

2. a kind of both hands according to claim 1 plant the intelligent robot of rice seedling, it is characterized in that, described left view Feel sensor（7）With right vision sensor（8）It is 3D vision sensors or intelligent vision sensor.

3. a kind of both hands according to claim 1 plant the intelligent robot of rice seedling, it is characterized in that, described left lithium Ion battery（12）, right lithium ion battery（21）With middle lithium ion battery（30）It is ferric phosphate lithium ion battery or cobalt acid lithium lithium Ion battery or manganate lithium ion battery or lithium titanate lithium ion battery.

4. a kind of both hands according to claim 1 plant the intelligent robot of rice seedling, it is characterized in that, described holds Seedling box（29）Hold rice shoot（19）Weight be 15 kilograms to 20 kilograms.

5. a kind of both hands according to claim 1 plant the intelligent robot of rice seedling, it is characterized in that, a described left side is stretched Compression apparatus（32）With right retractor device（34）Controllable stretching with retraction difference in height be 40 centimeters to 60 centimeters.

6. a kind of both hands according to claim 1 plant the intelligent robot of rice seedling, it is characterized in that, described left machine Seedling planting hand（18）With right transplanting hand（27）Crawl rice shoot each time（19）Quantity be can regulate and control 1 plant to 6 plants.