The invention belongs to the technical field of agricultural equipment, and relates to an opening and closing intelligent weeding device for obtaining seedling grass information based on binocular vision. Servo control system, inter-plant weeding end effector and parallel four-bar profiling unit; the binocular visual servo control system includes a binocular camera fixed on the front end of the crossbeam for collecting grass information in a large field, with Single chip microcomputer and servo controller with image processing function. The parallel four-bar profiling unit includes a parallel four-bar mechanism, a ground wheel rod and a ground wheel; the parallel four-bar mechanism includes an upper pull rod, a lower pull rod, a front mounting plate, a rear mounting plate, a hanging rod and a hook. The inter-row weeding end effector includes a top plate, a bottom plate, a hydraulic cylinder, a hoe bar and a hoe knife. The invention has the advantages of compact structure, high weeding efficiency, high accuracy, strong portability and wide applicability, and can be applied to various field working conditions.