CN207953919U - A kind of plant protection drone multiaxis holder joint structure - Google Patents

Abstract

The utility model is related to a kind of plant protection drone multiaxis holder joint structures；Plane rocking component includes rotation seat and swing arm link block, and rotation seat includes linking arm and rotation supporting shell；Swing arm link block is rotationally connected with rotation supporting shell；Actuating arm is additionally provided on swing arm link block, actuating arm is equipped with compensator arm；Compensator arm includes several support chips, and the axial both ends of support chip are mounted to inside link block, are connected by cable between the end and link block of link block linear drives bar；Include swinging support set around axis wobble component, linking arm is rotationally connected with swinging support set, the inner wall of connector sleeve is also rotatably connected to actuating sleeve, the inner annular array of actuating sleeve is equipped with straight line driving mechanism, it is connected between straight line driving mechanism and linear drives bar, the outer wall of actuating sleeve is also coaxially provided with drive ring；Swinging support, which is put on, sets rotary drive mechanism, and the rotary output of rotary drive mechanism is equipped with rotating ring, is sequentially connected between rotating ring and drive ring.

Description

A kind of plant protection drone multiaxis holder joint structure

Technical field

The utility model is related to a kind of plant protection drone multiaxis holder joint structures, belong to robot and Multi-shaft mechanical arm Field.

Background technology

In the electric drive holder of unmanned plane, often the small sway of the straight line of Liang Ge bindiny mechanisms is often by two groups Exposed straight line cylinder or oil cylinder, is connected to using link mechanism on swing arm, and two groups of straight line cylinders or oil cylinder are passed through It moves back and forth realization or direct-connected one group of rotary oil cylinder or motor realizes rotation；Above several structure oil cylinders need certain Degree it is exposed, degree of safety is low, if while oil cylinder installation site can increase entirety using the oil cylinder and connecting rod of long span Weight reduces stability, if using the oil cylinder and connecting rod of short span, just needs connecting rod and oil cylinder being installed to close to pendulum The position of the moving axis heart can thus increase the counterweight of swing position, increase the burden of structure nearby, reduce the stability of equipment； Coaxial motor structure and rotary oil cylinder structure need coaxially to be arranged in rotating mechanism simultaneously, can not only increase the weight of rotating mechanism Amount, while the burden of rotary shaft can be increased；And empty-weight directly influences the continuation of the journey of unmanned plane, especially for carrying The plant protection drone of medicine-chest, so the holder swing arm weight of traditional structure is larger, limitation is larger.

Utility model content

The technical problems to be solved in the utility model is：Overcome existing unmanned machine head weight big, the low technology of safety Problem provides a kind of plant protection drone multiaxis holder joint structure.

Technical solution adopted by the utility model to solve its technical problems is：

A kind of plant protection drone multiaxis holder joint structure, including plane rocking component and around axis wobble component；Wherein The plane rocking component includes rotation seat and swing arm link block, and the rotation seat includes the linking arm and one of a rod structure The rotation supporting shell of a hollow shell-like structure, the rotation supporting shell are fixed on axial one end of linking arm；The swing arm connects It connects and is fixed with swing arm connecting shaft on block；The swing arm link block is rotationally connected with the middle part of rotation supporting shell；The swing It is also set up on arm link block there are one actuating arm, compensator arm is provided on the actuating arm；The linking arm is internally provided with two Group linear drives bar；

The compensator arm includes the support chip of the elastic construction of several group pattern settings, and the support chip, which is inlayed, is fixed on drive On swing arm, the support chip is the arcuate structure being arranged by axle center of the axis of swing arm link block, is concentric between support chip It is arranged in parallel, the compensator arm further includes two groups of link blocks, and the axial both ends of support chip are mounted to inside the link block, described There are one cable clamping seats for rotation connection on link block；Pass through cable between the end and cable clamping seats of the linear drives bar The inner wall of connection, the rotation supporting shell is symmetrically arranged with two groups of cable sliding sleeves, and the cable sliding sleeve passes through a universal connection Axis B is connected on the inner wall of rotation supporting shell；

Described to include a swinging support set around axis wobble component, there are one the axial end portion settings of the swinging support set Connector sleeve, the linking arm are rotationally connected on the inner wall of connector sleeve, and the inner wall of the connector sleeve is also rotatablely connected that there are one drive Dynamic set, the inner annular array of the actuating sleeve are provided with several straight line driving mechanisms, the driving end of the straight line driving mechanism It is connect by universal connecting shaft A between linear drives bar, the outer wall of the actuating sleeve is also coaxially disposed that there are one drive rings；Institute The screw rod being arranged by several annular arrays between the end of actuating sleeve and the end of connector sleeve is stated to be fixedly connected；

The outer wall of the swinging support set is also set up there are one support frame, rotation driving that there are one the interior settings of the support frame Mechanism is provided with rotating ring on the rotary output of the rotary drive mechanism, the company of transmission between the rotating ring and drive ring It connects.

The rotary drive mechanism is rotary cylinder as a further improvement of the utility model,.

Belt transmission connects between the rotating ring and drive ring as a further improvement of the utility model,.

The link position setting of the inner wall and support frame of the swinging support set as a further improvement of the utility model, There are two groups of cable-through holes, the cable-through hole inner wall to be provided with the lubricating sleeve of nylon, the belt passes through the middle part of lubricating sleeve.

As a further improvement of the utility model, rotation support machine is provided between the swinging support set and drive ring Structure, the rotary support mechanism include a promotion ring for being set to swinging support set inner wall, are pushed in ring and swinging support set Connection is threadably secured between wall, the rotary support mechanism further includes a support ring, and one is provided in the support ring The bucket-shaped groove of a tapered configuration, there are one one end settings of the drive ring, and section is semicircular contact ring, the contact Ring is contacted with the tapered madial wall of bucket-shaped groove；It is embedded in by one between the support ring and promotion ring and pushes ring side Support copper coin contact.

There are one supports for the outer wall rotation connection of the swing arm link block as a further improvement of the utility model, , being slidably connected on the outer wall of the swinging support set, there are one support cylinder, the outer wall of the swinging support set to be further fixed on One push rod, the push rod are screw-rod structure, screw rod end and support tail cylinder rotation connection, the cylinder of the support cylinder It is connected by the elastic steel sheet of an arc between boom end and support base.

Two groups of straight line guiding mechanisms are additionally provided with inside the linking arm as a further improvement of the utility model, even It connects arm and is internally provided with a supported hole, the straight line guiding mechanism includes the guide sleeves for being fixed on supported hole inner wall, institute The tail end for stating supported hole is slidably connected linear drives bar, and there are one connector sleeve, the companies for the internal slide connection of the guide sleeves The end set of female connector is there are one fixture block, and there are one cable-through hole, the tail end of the cable is provided with one for fixture block middle part setting A diameter is more than the limit lead of cable-through hole；It is slidably connected by keyway fit structure between the connector sleeve and guide sleeves；Institute The bearing that fixture block is mounted to by one inside connector sleeve is stated to be rotationally connected with inside connector sleeve, the tail end of the connector sleeve with it is straight It is fixedly connected between line drive rod.

There are one sliding seat, the drives for setting on the swing arm link block as a further improvement of the utility model, It is slidably connected by keyway fit structure between the end of swing arm and the endoporus of sliding seat, the bottom of the sliding seat endoporus and drive There are one support springs for setting between the end of swing arm；There are one damping block, institutes for the other end rotation connection of the actuating arm It states and is slidably connected between damping block and rotation supporting shell inner wall.

Through connection, there are one pass through to swing at the middle part of the rotation supporting shell as a further improvement of the utility model, Support shaft in the middle part of arm link block.

As a further improvement of the utility model, between the actuating arm and compensator arm 90 ° be vertically arranged.

The utility model has the beneficial effects that：

1, the utility model is realized and is tied to swinging by stable Wire pulling structure and resilient support collocation structure first The wobble drive of structure pulls the linear structure of steel wire that can be arranged in any position of equipment because being steel wire drive structure Set, between can also be carried out by rod structure or piston structure transmission be used as relay be attached, structure of steel wire is compared to bar Structure piston structure can effectively reduce whole weight, while can easily adjust the weight proportion of total；Simultaneously The utility model use it is built-in be pivoted structure, realize the rotation driving of front portion structure, use is disposed in parallel Rotary cylinder rotation driving is to reduce the length of total, and convenient for arrangement and driving, while belt composition can be preferable Compensation total during exercise, existing stagger.

2, lubricating sleeve can ensure that belt will not contact frame structure and generate abrasion when structure Integral swinging distorts, Improve the service life of belt.Rotatable support structure pushes ring to push a support ring by steel plate elastic connection using one, support Ring is contacted with the contact ring on drive ring, so realize drive ring stable rotation and support, ensure front swing mechanism around The stability of axis rotation.

3, it has been rotatablely connected a support base around the outside of the swing arm link block of axis swinging structure, has simultaneously supported seat and passes through One elastic steel sheet is connected on a cylinder, can be lifted to swing arm link block by cylinder, for different loads Weight situation provides additional support to swing arm link block and loads, while can be square by the precalculated position of screw rod adjusting cylinder Just realization is to the preload of elastic steel sheet and the pre-determined bit of swing arm link block.

4, in order to ensure the straight line stability of good cable tightening structure, the power pair for the different directions that cable tenses is reduced The burden in the Linear scaling portion of straight line driving mechanism, one sliding nested structure of this structure setting provide branch for Linear scaling portion Support improves stability, while the lead of cable and damper ends setting is fixed by an independently arranged fixture block, and fixture block can be used The relatively low material of hardness is made to reduce the frictional dissipation to cable；Anti-rotation support may be implemented in keyway cooperation, ensures straight Bonding strength between the Linear scaling portion and sliding nested structure of line driving mechanism, the shakiness that the big specification swivel bearing of wall surface is brought It is qualitative, ensure the output effect of torque；The fixture block of end set is rotatablely connected using shift sleeve structure bearing, and small dimension bearing Frame amount smaller stablizes higher, and further decreases the friction between cable and fixture block, improves the cable service life.

5, the elastic connection structure of sliding seat can not only provide the direction of more stress releases for support chip, while The cooperation of support chip and support spring can be passed through so that damping block can be tightly pressed at the inner wall of rotation supporting shell, ensure Good stability and damping of oscillations.

Description of the drawings

The utility model is further illustrated with reference to the accompanying drawings and examples.

Fig. 1 is the structural schematic diagram of the utility model；

In figure：1, supporting shell is rotated；2, linking arm；3, swing arm link block；4, swing arm connecting shaft；5, actuating arm；6、 Sliding seat；7, support spring；8, support chip；9, link block；10, cable clamping seats；11, cable；12, cable sliding sleeve；13, universal Connecting shaft B；14, fixture block；15, connector sleeve；16, guide sleeves；17, lead is limited；18, linear drives bar；19, support shaft；20, it hinders Buddhist nun's block；21, straight line driving mechanism；22, drive ring；23, support ring；24, ring is contacted；25, ring is pushed；26, swinging support set； 27, support frame；28, rotating ring；29, rotary drive mechanism；30, lubricating sleeve；31, belt；32, cylinder is supported；33, push rod；34、 Threaded block；35, elastic steel sheet；36, support base.

Specific implementation mode

The utility model is described in further detail presently in connection with attached drawing.These attached drawings are simplified schematic diagram, Only illustrate the basic structure of the utility model in a schematic way, therefore it only shows composition related with the utility model.

As shown in Figure 1, the utility model is a kind of plant protection drone multiaxis holder joint structure, including plane rocking group Part and around axis wobble component；The wherein described plane rocking component includes rotation seat and swing arm link block 3, and the rotation seat includes The rotation supporting shell 1 of the linking arm 2 of one rod structure and a hollow shell-like structure, the rotation supporting shell 1 are fixed on connection Axial one end of arm 2；It is fixed with swing arm connecting shaft 4 on the swing arm link block 3；The rotation of swing arm link block 3 connects It is connected to the middle part of rotation supporting shell 1, there are one pass through in swing arm link block 3 through connection at the middle part of the rotation supporting shell 1 The support shaft 19 in portion；The linking arm 2 is internally provided with two groups of linear drives bars 18, and two are additionally provided with inside the linking arm 2 Group straight line guiding mechanism, linking arm 2 are internally provided with a supported hole, and the straight line guiding mechanism is fixed on support including one The guide sleeves 16 of hole inner wall, the tail end of the supported hole are slidably connected linear drives bar 18, the internal slide of the guide sleeves 16 Connection is there are one connector sleeve 15, and for the end set of the connector sleeve 15 there are one fixture block 14,14 middle part of the fixture block is provided with one A cable-through hole is slidably connected between the connector sleeve 15 and guide sleeves 16 by keyway fit structure；The fixture block 14 passes through one A bearing being mounted to inside connector sleeve 15 is rotationally connected with inside connector sleeve 15, the tail end and linear drives of the connector sleeve 15 It is fixedly connected between bar 18；

Also set up on the swing arm link block 3 there are one actuating arm 5, between the actuating arm 5 and compensator arm 90 ° it is vertical Setting, is provided with compensator arm on the actuating arm 5, and there are one sliding seat 6, the drivings for setting on the swing arm link block 3 Be slidably connected by keyway fit structure between the end and the endoporus of sliding seat 6 of arm 5, the bottom of 6 endoporus of the sliding seat with There are one support springs 7 for setting between the end of actuating arm 5；The compensator arm includes the elastic construction of several group pattern settings Support chip 8, the support chip 8, which is inlayed, to be fixed on actuating arm 5, and the support chip 8 is using the axis of swing arm link block 3 as axis The arcuate structure of heart setting, is arranged between support chip 8, the compensator arm further includes two groups of link blocks 9, support chip for concentric parallel 8 axial both ends are mounted to inside the link block 9, and there are one cable clamping seats 10 for rotation connection on the link block 9；It is described It is connected by cable 11 between the end and cable clamping seats 10 of fixture block 14, there are one diameter is big for the tail end setting of the cable 11 In the limit lead 17 of cable-through hole, the cable 11 is connected to by limiting the limit of lead 17 on fixture block 14 after passing through cable-through hole, The inner wall of the rotation supporting shell 1 is symmetrically arranged with two groups of cable sliding sleeves, and the cable sliding sleeve passes through a universal connecting shaft B13 It is connected on the inner wall of rotation supporting shell 1；There are one damping block 20, the resistances for the other end rotation connection of the actuating arm 5 It is slidably connected between Buddhist nun's block 20 and rotation 1 inner wall of supporting shell.

Described to cover 26 including a swinging support around axis wobble component, the axial end portion of the swinging support set 26 is provided with One connector sleeve 15, the linking arm 2 are rotationally connected on the inner wall of connector sleeve 15, the inner wall also company of rotation of the connector sleeve 15 It connects there are one actuating sleeve, the inner annular array of the actuating sleeve is provided with several straight line driving mechanisms 21, the linear drives It is connected by universal connecting shaft A between the driving end and linear drives bar 18 of mechanism 21, the outer wall of the actuating sleeve is also coaxially set Drive ring 22 there are one setting；The spiral shell being arranged by several annular arrays between the end and the end of connector sleeve 15 of the actuating sleeve Bar is fixedly connected；

The outer wall of the swinging support set 26 is also set up there are one support frame 27, rotation that there are one the interior settings of the support frame 27 Turn driving mechanism 29, the rotary drive mechanism 29 is rotary cylinder, and rotating ring is provided on the rotary output of rotary cylinder 28, it is sequentially connected by belt 31 between the rotating ring 28 and drive ring 22, the inner wall of the swinging support set 26 and support The link position of frame 27 is provided with two groups of cable-through holes, and the cable-through hole inner wall is provided with the lubricating sleeve 30 of nylon, the belt 31 Across the middle part of lubricating sleeve 30.

It is provided with rotary support mechanism between the swinging support set 26 and drive ring 22, the rotary support mechanism includes It is set to the promotion ring 25 that swinging support covers 26 inner walls, it is solid by screw thread between pushing ring 25 and swinging support to cover 26 inner walls Fixed connection, the rotary support mechanism further include a support ring 23, and there are one tapered configurations for the interior setting of the support ring 23 Bucket-shaped groove, there are one one end settings of the drive ring 22, and section is semicircular contact ring 24, the contact ring 24 and bucket The tapered madial wall of shape groove contacts；It is embedded in by one between the support ring 23 and promotion ring 25 and pushes 25 side of ring Support copper coin contact.

There are one support base 36, the outer walls of the swinging support set 26 for the outer wall rotation connection of the swing arm link block 3 On be slidably connected that there are one support cylinder 32, the outer wall of swinging support set 26 to be further fixed on a push rod 33, the push rod 33 be screw-rod structure, and screw rod end is rotatablely connected with 32 tail portion of support cylinder, the cylinder boom end and branch of the support cylinder 32 It is connected by the elastic steel sheet 35 of an arc between support seat 36.

As shown, swinging support set 26 is fixed on relevant engine base first；Simultaneously by swing arm connecting shaft 4 and pendulum Swing arm is fixedly connected, and the components such as relevant support cylinder 32, linear drives cylinder, rotary oil cylinder are connected to hydraulic pressure, aerostatic press On；Under default conditions, the straight line driving mechanism 21 of two groups of linear drives air cylinder structures is in half retracted state so that two groups of cables 11 are in relaxation state, while link block 9 drives support chip 8 in loosening, and plane rocking is in initial position, then drives The rotary drive mechanism 29 of rotary air cylinder structure drives drive ring 22 to rotate by belt 31, and drive ring 22 passes through straight line above-mentioned Driving mechanism 21 drives entire linking arm 2 to rotate so that pivoting mechanism is in initial position；Simultaneously by pushing ring 25, Support ring 23 is squeezed using itself flexible and lubricity of support copper coin, the extruding by support ring 23 to contact ring 24 is realized Control to 22 damping due to rotation of drive ring；It can start to drive after adjustment；When driving, plane rocking state passes through two Group

18 difference of linear drives bar moves, and under the driving of straight line driving mechanism 21, straight line is driven by universal connecting shaft A Drive rod 18 moves, and linear drives bar 18 drives connector sleeve 15 to be moved in guide sleeves 16, is pressed from both sides to be pulled by connector sleeve 15 Block 14 moves, and last fixture block 14 pulls cable 11 so that cable 11 is tightened up and exports tension, when side cable 11 is tightened up, separately When side cable 11 is relaxed, compensator arm drives actuating arm 5 to swing, and actuating arm 5 finally drives swing arm link block 3 to rotate, pendulum Swing arm connecting shaft 4 realizes plane rocking with swinging, and while plane rocking, compensator arm is passed through actuating arm by tension varicose 5 push damping block 20, rub between damping block 20 and rotation supporting shell 1, generate damping of oscillations；Around axis swing state, pass through pendulum The rotation connection of dynamic supporting sleeve 26 and rotation supporting shell 1, while driving two groups of straight line driving mechanisms 21 around axis by drive ring 22 Rotation is to drive the rotation of linking arm 2, the damping force of rotation then to push support ring 23, the friction of support ring 23 to squeeze by promotion ring 25 Press contacts ring 24 provides, and the output of rotation then drives the transmission of belt 31 to provide by rotating ring 28；It is adjusted finally by threaded block 34 The initial position of whole support cylinder 32 supports the cylinder rod of cylinder 32 to connect one by elastic steel sheet 35 and is set to swing arm company On the support base 36 for connecing 3 side of block, by supporting cylinder 32 to may further ensure that swing arm connects to the tension of elastic steel sheet 35 The stress-bearing capability of block 3 is connect, ensures integral strength.

It is enlightenment, through the above description, related work people with the above-mentioned desirable embodiment according to the utility model Member can carry out various changes and amendments in the range of without departing from this item utility model technological thought completely.This item is real It is not limited to the contents of the specification with novel technical scope, it is necessary to which its technology is determined according to right Property range.

Claims (10)

1. a kind of plant protection drone multiaxis holder joint structure, it is characterized in that：Including plane rocking component and around axis swing group Part；The wherein described plane rocking component includes rotation seat and swing arm link block, and the rotation seat includes the company of a rod structure The rotation supporting shell of arm and a hollow shell-like structure is connect, the rotation supporting shell is fixed on axial one end of linking arm；It is described Swing arm connecting shaft is fixed on swing arm link block；The swing arm link block is rotationally connected with the middle part of rotation supporting shell； It is also set up on the swing arm link block there are one actuating arm, compensator arm is provided on the actuating arm；Inside the linking arm It is provided with two groups of linear drives bars；

The compensator arm includes the support chip of the elastic construction of several group pattern settings, and the support chip, which is inlayed, is fixed on actuating arm On, the support chip is the arcuate structure being arranged by axle center of the axis of swing arm link block, is concentric parallel between support chip Setting, the compensator arm further includes two groups of link blocks, and the axial both ends of support chip are mounted to inside the link block, the connection There are one cable clamping seats for rotation connection on block；Connected by cable between the end and cable clamping seats of the linear drives bar It connects, the inner wall of the rotation supporting shell is symmetrically arranged with two groups of cable sliding sleeves, and the cable sliding sleeve passes through a universal connecting shaft B It is connected on the inner wall of rotation supporting shell；

Described to include a swinging support set around axis wobble component, there are one connections for the axial end portion setting of the swinging support set Set, the linking arm are rotationally connected on the inner wall of connector sleeve, and the inner wall of the connector sleeve is also rotatablely connected there are one actuating sleeve, The inner annular array of the actuating sleeve is provided with several straight line driving mechanisms, the driving end of the straight line driving mechanism and straight line It is connected by universal connecting shaft A between drive rod, the outer wall of the actuating sleeve is also coaxially disposed that there are one drive rings；The driving The screw rod being arranged by several annular arrays between the end of set and the end of connector sleeve is fixedly connected；

The outer wall of swinging support set is also set up there are one support frame, and there are one rotary driving machines for setting in the support frame Structure is provided with rotating ring on the rotary output of the rotary drive mechanism, is sequentially connected between the rotating ring and drive ring.

2. a kind of plant protection drone multiaxis holder joint structure as described in claim 1, it is characterized in that：The rotation driving Mechanism is rotary cylinder.

3. a kind of plant protection drone multiaxis holder joint structure as described in claim 1, it is characterized in that：The rotating ring with Belt transmission connects between drive ring.

4. a kind of plant protection drone multiaxis holder joint structure as claimed in claim 3, it is characterized in that：The swinging support The inner wall of set and the link position of support frame are provided with two groups of cable-through holes, and the cable-through hole inner wall is provided with the lubricating sleeve of nylon, The belt passes through the middle part of lubricating sleeve.

5. a kind of plant protection drone multiaxis holder joint structure as described in claim 1, it is characterized in that：The swinging support Rotary support mechanism is provided between set and drive ring, the rotary support mechanism includes be set to swinging support set inner wall one A promotion ring pushes and is threadably secured connection between ring and swinging support set inner wall, and the rotary support mechanism further includes one A support ring, there are one the bucket-shaped grooves of tapered configuration for the interior setting of the support ring, and there are one one end settings of the drive ring Section is semicircular contact ring, and the contact ring is contacted with the tapered madial wall of bucket-shaped groove；The support ring and promotion ring Between be embedded in by one the support copper coin of ring side pushed to contact.

6. a kind of plant protection drone multiaxis holder joint structure as described in claim 1, it is characterized in that：The swing arm connects The outer wall rotation connection of block is connect there are one support base, is slidably connected on the outer wall of the swinging support set there are one supporting cylinder, The outer wall of the swinging support set is further fixed on a push rod, and the push rod is screw-rod structure, screw rod end and support cylinder tail Portion is rotatablely connected, and is connected by the elastic steel sheet of an arc between the cylinder boom end and support base of the support cylinder.

7. a kind of plant protection drone multiaxis holder joint structure as described in claim 1, it is characterized in that：In the linking arm Portion is additionally provided with two groups of straight line guiding mechanisms, and linking arm is internally provided with a supported hole, and the straight line guiding mechanism includes one A guide sleeves for being fixed on supported hole inner wall, the tail end of the supported hole are slidably connected linear drives bar, the guide sleeves it is interior Portion is slidably connected, and there are one connector sleeves, and there are one fixture blocks for the end set of the connector sleeve, and there are one fixture block middle part settings Cable-through hole, there are one the limit leads that diameter is more than cable-through hole for the tail end setting of the cable；The connector sleeve and guide sleeves it Between be slidably connected by keyway fit structure；The bearing that the fixture block is mounted to by one inside connector sleeve is rotationally connected with company Inside female connector, it is fixedly connected between the tail end and linear drives bar of the connector sleeve.

8. a kind of plant protection drone multiaxis holder joint structure as described in claim 1, it is characterized in that：The swing arm connects Connecing setting on block, there are one sliding seats, are slided by keyway fit structure between the end of the actuating arm and the endoporus of sliding seat Connection, there are one support springs for setting between the bottom and the end of actuating arm of the sliding seat endoporus；The actuating arm it is another There are one damping blocks for one end rotation connection, are slidably connected between the damping block and rotation supporting shell inner wall.

9. a kind of plant protection drone multiaxis holder joint structure as described in claim 1, it is characterized in that：The rotation support Through connection, there are one the support shafts passed through in the middle part of swing arm link block at the middle part of shell.

10. a kind of plant protection drone multiaxis holder joint structure as described in claim 1, it is characterized in that：The actuating arm It is vertically arranged for 90 ° between compensator arm.