A power transmission inspection unmanned aerial vehicle

Abstract

The application discloses a power transmission inspection unmanned aerial vehicle, and belongs to the technical field of aircrafts. The fuselage is arranged along a reference axis and is internally provided with a camera assembly. A part of the camera assembly can be exposed at one end of the fuselage. The arm can drive the driving device to swing relative to the fuselage. When the arm is in a cruising mode, the arm drives the driving device to be close to and connected to the tail end of the fuselage. The driving device is located below the center of gravity of the unmanned aerial vehicle, which is beneficial to improve flight control performance. The faster the flight speed is, the smaller the included angle between the fuselage and the horizontal plane is, and the smaller the wind resistance of the fuselage is. When the arm is in a hovering mode, the driving device is located above the center of gravity of the unmanned aerial vehicle, which is beneficial to improve flight stability and make hovering more stable.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and in particular to an unmanned aerial vehicle for power transmission inspection. Background Technology

[0002] In power transmission systems, regular inspections of transmission towers and lines are an indispensable task to ensure the normal operation and safety of power facilities. Inspection work mainly includes a detailed check for foreign objects adhering to transmission lines and close monitoring of transmission towers for foreign object accumulation or illegal climbing. Currently, multi-rotor drones have become the mainstream tool for performing such inspection tasks. Their hovering capabilities allow them to accurately observe and record target areas from specific locations, bringing convenience to inspection work.

[0003] However, these drones generate significant wind resistance during flight. Due to their design, they have a large frontal area, resulting in substantial air resistance. This not only increases the energy consumption of the drone's power system, indirectly shortening its effective flight time, but may also lead to decreased stability in strong winds, affecting the smooth execution of inspection missions. Furthermore, the center of gravity of these drones is typically located below the rotor. While this layout helps maintain flight stability, it sacrifices some degree of maneuverability. Especially in complex terrain environments or situations requiring rapid response and high-speed flight, the current maneuverability of these drones struggles to meet the demands of efficient and agile inspections, limiting their adaptability to missions under special conditions. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the purpose of this invention is to provide a power transmission inspection unmanned aerial vehicle to solve the problems of high air resistance and inability to adapt to high-speed flight of current inspection drones.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A power transmission inspection unmanned aerial vehicle includes a fuselage, an arm, and a drive unit;

[0007] The body has a front end and a rear end, and extends along a reference axis. A camera assembly is provided inside the body, and at least a portion of the camera assembly can be exposed at the front end or the rear end.

[0008] One end of the boom is rotatably connected to the fuselage, and the other end of the boom is rotatably connected to the drive device. The boom has a cruise mode and a hovering mode. When the boom switches from the cruise mode to the hovering mode, the boom swings relative to the fuselage to bring the drive device closer to the front end of the fuselage. When the boom switches from the hovering mode to the cruise mode, the boom swings relative to the fuselage to bring the drive device closer to and connect to the rear end of the fuselage.

[0009] Preferably, the body is a hollow cylindrical shape with both ends connected, and the inner wall of the body is provided with a slide rail parallel to the reference axis. The camera component is slidably connected to the slide rail, so that the camera component can move along the slide rail between the front and rear ends of the body, and the camera component can rotate relative to the slide rail.

[0010] Preferably, the fuselage is provided with a guide rail, the guide rail including a first guide segment parallel to the reference axis and two second guide segments extending along an L-shaped arc, the two second guide segments being located at both ends of the first guide segment, making the guide rail U-shaped, with one second guide segment located at the beginning and the other second guide segment located at the end;

[0011] The camera assembly is provided with a guide block that is movably connected to the guide rail, and the guide block is located on one side of the rotation axis between the camera assembly and the slide rail;

[0012] When the camera assembly moves along the slide rail to the front end, the second guide segment located at the front end drives the camera assembly to rotate in the forward direction relative to the slide rail, so that the image acquisition direction of the camera assembly faces the front end of the body; when the camera assembly moves along the slide rail to the rear end, the second guide segment located at the rear end drives the camera assembly to rotate in the reverse direction relative to the slide rail, so that the image acquisition direction of the camera assembly faces the rear end of the body.

[0013] Preferably, a drive screw is provided inside the machine body;

[0014] The camera assembly is provided with a slide table rotatably connected thereto, and the guide block is located on the side of the pivot between the camera assembly and the slide table;

[0015] The slide table is slidably connected to the slide rail, and the slide table is movably connected to the drive screw.

[0016] Preferably, the slide rail is located between the guide rail and the drive screw.

[0017] Preferably, the arm includes a first arm and a second arm, the two ends of the first arm are rotatably connected to the body and the drive device respectively, the two ends of the second arm are rotatably connected to the body and the drive device respectively, and the body, the first arm, the second arm and the drive device form a quadrilateral structure, wherein the length of the first arm is greater than the length of the second arm;

[0018] When the arm is in the cruise mode, the rotation plane of the drive device is perpendicular to the reference axis; when the arm is in the hover mode, the rotation plane of the drive device is inclined to the reference axis, and the pressure surface of the drive device faces the outside of the fuselage.

[0019] Preferably, the end of the first support arm has a transmission gear, and the transmission gears of the two first support arms mesh with each other;

[0020] The machine body is equipped with a drive gear connected to the transmission gear, and the drive gear meshes with the drive screw.

[0021] Preferably, the body has a clearance hole communicating with its interior, and a locking pin is provided inside the body adjacent to the clearance hole, the locking pin being slidably connected to the body; the driving device has a locking member on the side near the body, the locking member having a locking hole, and the locking pin passing through the locking hole when the locking member passes through the clearance hole.

[0022] Preferably, a locking mechanism is provided inside the body. The locking mechanism includes an elastic element and a driving electromagnet. The two ends of the elastic element are respectively connected to the body and the locking pin. The driving electromagnet is used to drive the locking pin to slide relative to the body.

[0023] Preferably, the camera assembly includes a base frame, a gimbal, and a camera device, wherein the base frame is connected to the body, and the camera device is movably connected to the base frame via the gimbal.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] The fuselage extends along a reference axis and houses a camera assembly. A portion of the camera assembly protrudes from one end of the fuselage. The arm drives a drive unit to swing relative to the fuselage. In cruise mode, the arm drives the drive unit to approach and connect to the tail end of the fuselage. The drive unit is located below the center of gravity of the unmanned aerial vehicle (UAV), which improves flight control. The faster the flight speed, the smaller the angle between the fuselage and the horizontal plane, and the lower the wind resistance. In hover mode, the drive unit is located above the center of gravity of the UAV, which improves flight stability and makes hovering more stable. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0027] Figure 1 A schematic diagram of the overall structure of the invented unmanned aerial vehicle for power transmission inspection.

[0028] Figure 2 A schematic diagram of the fuselage nose section of the invented unmanned aerial vehicle for power transmission inspection.

[0029] Figure 3 A schematic diagram of the tail section structure of the invented unmanned aerial vehicle for power transmission inspection.

[0030] Figure 4 A cross-sectional structural diagram of the invented unmanned aerial vehicle for power transmission inspection.

[0031] Figure 5 A schematic diagram of the arm of the invented power transmission inspection unmanned aerial vehicle in cruise mode;

[0032] Figure 6 A schematic diagram of the arm of the invented power transmission inspection unmanned aerial vehicle in hovering mode;

[0033] Figure 7 for Figure 2 Enlarged view of point A in the middle;

[0034] Figure 8 for Figure 3 Enlarged view of point B in the middle;

[0035] Figure 9 for Figure 4 Enlarged view of point C in the middle;

[0036] Explanation of reference numerals in the attached figures:

[0037] 10. Body; 11. Head end; 12. Tail end; 13. Slide rail; 14. Guide rail; 141. First guide section; 142. Second guide section; 15. Drive screw; 20. Arm; 21. First support arm; 22. Second support arm; 221. Drive gear; 30. Drive device; 40. Camera assembly; 41. Base frame; 42. Camera device; 43. Slide table; 431. Guide block; 50. Protective shell. Detailed Implementation

[0038] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0039] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0041] Combination Figures 1 to 9 The diagram schematically illustrates the power transmission inspection unmanned aerial vehicle of the present invention, including a fuselage 10, an arm 20, and a drive unit 30. The drive unit 30 includes a rotatable rotor that rotates to generate thrust.

[0042] The camera body 10 has a front end 11 and a rear end 12, and extends along a reference axis, making the camera body 10 an elongated structure. A camera assembly 40 is housed within the camera body 10, at least a portion of which can be exposed at the front end 11 or the rear end 12 to capture images of the environment outside the camera body 10. The camera assembly 40 can be fixedly connected to the camera body 10 or movably connected to it, allowing it to move between the front end 11 and the rear end 12 to switch the image acquisition direction.

[0043] Combination Figure 5 and Figure 6One end of the arm 20 is rotatably connected to the fuselage 10, and the other end is rotatably connected to the drive unit 30. This allows the arm 20 to swing relative to the fuselage 10, thereby adjusting the relative position between the drive unit 30 and the fuselage 10. The arm 20 has a cruise mode and a hovering mode. When the arm 20 switches from cruise mode to hovering mode, the arm 20 swings forward relative to the fuselage 10 to bring the drive unit 30 closer to the tip 11 of the fuselage 10. Preferably, the distance between the drive unit 30 and the fuselage 10 is greatest when the arm 20 is in hovering mode. When multiple drive units 30 are provided, the distance between each drive unit 30 is the greatest in hovering mode, which helps to improve flight stability. Moreover, when the arm 20 is in hovering mode, the drive unit 30 is located above the center of gravity of the unmanned aerial vehicle, which is beneficial to improving flight stability and making hovering more stable. When the arm 20 switches from hovering mode to cruise mode, the arm 20 swings in the opposite direction to the fuselage 10 so that the drive device 30 approaches and connects to the tail end 12 of the fuselage 10. At this time, the distance between the drive device 30 and the fuselage 10 is the closest. When the arm 20 is in cruise mode, the drive device 30 is located below the center of gravity of the unmanned aerial vehicle, which is beneficial to improving flight controllability. The faster the flight speed, the smaller the angle between the fuselage 10 and the horizontal plane, and the smaller the wind resistance of the fuselage 10.

[0044] Specifically, such as Figures 2 to 4 The body 10 is a hollow cylindrical shape with both ends connected. The reference axis is parallel to the axis of the cylindrical body 10. The inner wall of the body 10 is provided with a slide rail 13 parallel to the reference axis. The camera component 40 is slidably connected to the slide rail 13, so that the camera component 40 can move along the slide rail 13 between the front end 11 and the rear end 12 of the body 10. The camera component 40 can also rotate relative to the slide rail 13, which allows a part of the camera component 40 to be exposed at the front end 11 or the rear end 12 of the body 10. For example, when the arm 20 is in hover mode, the camera component 40 moves along the slide rail 13 to the tail end 12 of the fuselage 10, with the image acquisition direction of the camera component 40 facing the tail end 12 of the fuselage 10. When the arm 20 is in cruise mode, the camera component 40 moves along the slide rail 13 to the front end 11 of the fuselage 10, with the image acquisition direction of the camera component 40 facing the front end 11 of the fuselage 10. This allows a single camera component 40 to meet the image acquisition needs of different modes (hover mode and cruise mode) without requiring additional camera components 40. It should be noted that camera components 40 with higher image acquisition quality are heavier and more expensive. Therefore, fewer camera components 40 not only achieve lightweighting of the unmanned aerial vehicle (UAV) but also significantly reduce the overall cost of the UAV, which is beneficial for the large-scale mass production and promotion of UAVs.

[0045] In order for the camera assembly 40 to automatically rotate relative to the body 10, such asFigures 8 to 9 To facilitate image acquisition at the front end 11 or rear end 12 of the fuselage 10 in the corresponding direction, the fuselage 10 is provided with a guide rail 14, which includes a first guide segment 141 and two second guide segments 142. The first guide segment 141 is parallel to the reference axis, and the extension trajectory of the second guide segments 142 is an L-shaped arc, preferably a quarter-circle arc. The two second guide segments 142 are located at the two ends of the first guide segment 141, making the guide rail 14 U-shaped. One second guide segment 142 is located at the front end 11 of the fuselage 10, and the other second guide segment 142 is located at the rear end 12 of the fuselage 10. The U-shaped opening of the guide rail 14 faces the slide rail 13, and the slide rail 13 and the first guide segment 141 are parallel to each other.

[0046] Correspondingly, the camera assembly 40 is provided with a guide block 431 that is movably connected to the guide rail 14, such as Figure 2 and Figure 7 The guide block 431 is located on one side of the rotation axis between the camera assembly 40 and the slide rail 13, meaning the guide block 431 is eccentrically positioned. When the camera assembly 40 moves along the slide rail 13 to the first end 11, the second guide segment 142 located at the first end 11 drives the camera assembly 40 to rotate forward relative to the slide rail 13, so that the image acquisition direction of the camera assembly 40 faces the first end 11 of the body 10. When the camera assembly 40 moves along the slide rail 13 to the last end 12, the second guide segment 142 located at the last end 12 drives the camera assembly 40 to rotate in the opposite direction relative to the slide rail 13, so that the image acquisition direction of the camera assembly 40 faces the last end 12 of the body 10. Therefore, under the guidance of the guide rail 14, the camera assembly 40 will automatically rotate relative to the body 10 when it moves to the first end 11 or the last end 12, thereby changing the image acquisition direction of the camera assembly 40.

[0047] The camera assembly 40 includes a base frame 41, a gimbal, and a camera device 42. The base frame 41 is connected to the camera body 10. The camera device 42 is movably connected to the base frame 41 via the gimbal. The gimbal allows the camera device 42 to swing relative to the base frame 41, which not only changes the image acquisition direction of the camera device 42 within a certain angle range but also provides multi-axis image stabilization. The aforementioned guide block 431 is connected to the base frame 41.

[0048] like Figures 7 to 9As shown, in order to drive the camera assembly 40 to slide on the slide rail 13, a drive screw 15 parallel to the reference axis is provided inside the body 10. The camera assembly 40 is provided with a slide table 43 rotatably connected to it. The slide table 43 is rotatably connected to the base frame 41. The guide block 431 is located on the side of the rotating shaft between the camera assembly 40 and the slide table 43. The slide table 43 is slidably connected to the slide rail 13 and is movably connected to the drive screw 15. The drive screw 15 can be driven by an existing servo motor. When the drive screw 15 rotates, the slide table 43 is driven by the drive screw 15 and slides on the slide table 43. When the slide table 43 slides to the first end 11 or the last end 12 of the body 10, the guide block 431 moves to the second guide section 142. The guide block 431 drives the base frame 41 to rotate relative to the slide table 43, changing the image acquisition direction of the camera device 42.

[0049] In this embodiment, the slide rail 13 is located between the guide rail 14 and the drive screw 15.

[0050] Furthermore, the robotic arm 20 includes a first arm 21 and a second arm 22. The two ends of the first arm 21 are rotatably connected to the body 10 and the drive device 30, respectively. The two ends of the second arm 22 are rotatably connected to the body 10 and the drive device 30, respectively. The body 10, the first arm 21, the second arm 22 and the drive device 30 form a quadrilateral structure, wherein the length of the first arm 21 is greater than the length of the second arm 22. Based on the above structure, when the arm 20 is in cruise mode, the rotation plane of the drive device 30 is perpendicular to the reference axis; when the arm 20 is in hover mode, the rotation plane of the drive device 30 is inclined to the reference axis, and the pressure surface of the drive device 30 faces the outside of the fuselage 10. Because the distance between the various drive devices 30 is relatively large when the arm 20 is in hover mode, if the rotation planes of all drive devices 30 were perpendicular to the reference axis, then when the unmanned aerial vehicle needs to make small adjustments to its horizontal position, the drive device 30 on one side of the fuselage 10 would need to increase its rotation speed significantly to tilt and horizontally displace the fuselage 10. However, in this embodiment, the rotation plane of the drive device 30 is inclined to the reference axis, and the pressure surface of the drive device 30 faces the outside of the fuselage 10. Figure 6 Since the pressure surface of the drive unit 30 is tilted to the horizontal plane when the unmanned aerial vehicle is hovering, the drive unit 30 on one side of the fuselage 10 only needs to increase its rotation speed slightly to make the fuselage 10 horizontally displace (the pressure surface of the tilted drive unit 30 itself can provide a certain horizontal component force). This makes the fuselage 10 sway less, which is conducive to more stable image acquisition when hovering.

[0051] In this embodiment, the number of robotic arms 20 is two, such as... Figure 1The end of the first arm 21 has a transmission gear (not shown), and the transmission gears of the two first arms 21 mesh with each other, allowing the two first arms 21 to move synchronously. Figure 7 and Figure 9 The body 10 is equipped with a drive gear 221 connected to the transmission gear. The drive gear 221 meshes with the drive screw 15. The drive screw 15 can drive the drive gear 221 to rotate, thereby driving the two arms 20 to swing relative to the body 10. Since the arms 20 are connected to the drive screw 15, the drive screw 15 can simultaneously drive the arms 20 to swing and the camera assembly 40 to move within the body 10. Based on this linkage, when the arms 20 are in the hovering mode, the camera assembly 40 is located at the tail end 12 of the body 10, and when the arms 20 are in the cruise mode, the camera assembly 40 is located at the head end 11 of the body 10.

[0052] To lock the drive unit 30 when the arm 20 is in cruise mode, the fuselage 10 has a clearance hole (not shown) communicating with its interior. A locking pin (not shown) is disposed adjacent to the clearance hole inside the fuselage 10 and is slidably connected to the fuselage 10. A locking member (not shown) is provided on the side of the drive unit 30 near the fuselage 10. The locking member has a locking hole. When the locking member passes through the clearance hole, the locking pin passes through the locking hole. After the locking pin passes through the locking hole, the drive unit 30 and the fuselage 10 are locked to prevent the drive unit 30 from separating from the fuselage 10 due to accidental swinging of the arm 20 during high-speed flight of the unmanned aerial vehicle.

[0053] The housing 10 includes a locking mechanism (not shown), comprising an elastic element and a driving electromagnet. The two ends of the elastic element are connected to the housing 10 and a locking pin, respectively. The driving electromagnet drives the locking pin to slide relative to the housing 10. When the driving electromagnet is energized, it drives the locking pin to slide forward relative to the housing 10, overcoming the elastic force of the elastic element, and the locking pin retracts from the lock hole. When the driving electromagnet is de-energized, the locking pin slides in the opposite direction relative to the housing 10 under the elastic force of the elastic element, and the locking pin re-enters the lock hole.

[0054] In this embodiment, in order to protect the camera component 40, a transparent protective shell 50 may be provided at the front end 11 and / or the rear end 12 of the body 10.

[0055] In summary, the fuselage 10 extends along a reference axis and houses a camera assembly 40. A portion of the camera assembly 40 is exposed at one end of the fuselage 10. The arm 20 can drive the drive device 30 to swing relative to the fuselage 10. When the arm 20 is in cruise mode, it drives the drive device 30 to approach and connect to the tail end 12 of the fuselage 10. The drive device 30 is located below the center of gravity of the unmanned aerial vehicle, which helps improve flight controllability. The faster the flight speed, the smaller the angle between the fuselage 10 and the horizontal plane, and the lower the wind resistance of the fuselage 10. When the arm 20 is in hovering mode, the drive device 30 is located above the center of gravity of the unmanned aerial vehicle, which helps improve flight stability and makes hovering more stable.

[0056] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A power transmission inspection unmanned aerial vehicle, characterized in that, Including the fuselage, arms, and drive system; The body has a front end and a rear end, and extends along a reference axis. A camera assembly is provided inside the body, and at least a portion of the camera assembly can be exposed at the front end or the rear end. One end of the arm is rotatably connected to the fuselage, and the other end of the arm is rotatably connected to the drive device. The arm has a cruise mode and a hovering mode. When the arm switches from the cruise mode to the hovering mode, the arm swings relative to the fuselage to bring the drive device closer to the front end of the fuselage. When the arm switches from the hovering mode to the cruise mode, the arm swings relative to the fuselage to bring the drive device closer to and connect to the tail end of the fuselage. The fuselage is a hollow cylindrical shape with both ends connected. The inner wall of the fuselage is provided with a slide rail parallel to the reference axis. The camera component is slidably connected to the slide rail, allowing the camera component to move along the slide rail between the front and rear ends of the fuselage. The camera component can also rotate relative to the slide rail. The fuselage is provided with a guide rail, which includes a first guide segment parallel to the reference axis and two second guide segments extending in an L-shaped arc. The two second guide segments are located at the two ends of the first guide segment, making the guide rail U-shaped. One of the second guide segments is located at the front end, and the other second guide segment is located at the tail end. The camera assembly is provided with a guide block movably connected to the guide rail, and the guide block is located on one side of the rotation axis between the camera assembly and the slide rail; When the camera assembly moves along the slide rail to the first end, the second guide section located at the first end drives the camera assembly to rotate in the forward direction relative to the slide rail, so that the image acquisition direction of the camera assembly faces the first end of the body; when the camera assembly moves along the slide rail to the last end, the second guide section located at the last end drives the camera assembly to rotate in the reverse direction relative to the slide rail, so that the image acquisition direction of the camera assembly faces the last end of the body, and a drive screw is provided inside the body; The camera assembly is provided with a slide table rotatably connected thereto, and the guide block is located on the side of the pivot between the camera assembly and the slide table; The slide table is slidably connected to the slide rail, and the slide table is movably connected to the drive screw; The arm includes a first arm and a second arm. The two ends of the first arm are rotatably connected to the body and the drive device, respectively. The two ends of the second arm are rotatably connected to the body and the drive device, respectively. The body, the first arm, the second arm and the drive device form a quadrilateral structure. The length of the first arm is greater than the length of the second arm. When the arm is in the cruise mode, the rotation plane of the drive device is perpendicular to the reference axis; when the arm is in the hover mode, the rotation plane of the drive device is inclined to the reference axis, and the pressure surface of the drive device faces the outside of the fuselage.

2. The unmanned aerial vehicle for power transmission inspection according to claim 1, characterized in that, The slide rail is located between the guide rail and the drive screw.

3. The unmanned aerial vehicle for power transmission inspection according to claim 1, characterized in that, The end of the first arm has a transmission gear, and the two transmission gears of the first arm mesh with each other; The machine body is equipped with a drive gear connected to the transmission gear, and the drive gear meshes with the drive screw.

4. The unmanned aerial vehicle for power transmission inspection according to claim 1, characterized in that, The machine body has a clearance hole communicating with its interior. A locking pin is provided inside the machine body adjacent to the clearance hole. The locking pin is slidably connected to the machine body. The driving device has a locking member on the side near the machine body. The locking member has a locking hole. The locking pin passes through the locking hole when the locking member passes through the clearance hole.

5. The unmanned aerial vehicle for power transmission inspection according to claim 4, characterized in that, The machine body is provided with a locking mechanism, which includes an elastic element and a driving electromagnet. The two ends of the elastic element are respectively connected to the machine body and the locking pin, and the driving electromagnet is used to drive the locking pin to slide relative to the machine body.

6. The unmanned aerial vehicle for power transmission inspection according to claim 1, characterized in that, The camera assembly includes a base frame, a gimbal, and a camera device. The base frame is connected to the body of the camera, and the camera device is movably connected to the base frame via the gimbal.

Images