Aerial moving device for live detection robot of suspension insulator

Abstract

The application discloses a high-altitude moving device for a live detection robot of a suspension insulator, which comprises a shell, the upper surface of the base shell is provided with a rotating assembly, both sides of the rotating assembly are provided with a jaw rotating assembly, the jaw rotating assembly comprises a jaw supporting arm, one side of the jaw supporting arm is fixedly connected with a first steering engine, one side of the jaw supporting arm is rotationally connected with an outer shell through a bearing, and the main shaft of the first steering engine is fixedly connected with the outer shell through the bearing. The device is hung on a high-voltage line through four jaws, when moving, the two jaws behind the forward direction are separated from each other, the high-voltage line is loosened, the rotating assembly is rotated, the two jaws behind are rotated to the front, the high-voltage line is clamped again, and the cycle is repeated. When moving on the high-voltage line, the insulator is subjected to live detection through an insulator detection assembly when being close to the insulator, and the detection is carried out at a high altitude, so that a worker does not need to carry out high-altitude operation, and the safety is improved.

Description

Technical Field

[0001] This invention relates to the technical field of insulator live-line testing equipment, specifically a high-altitude mobile device for a suspended insulator live-line testing robot. Background Technology

[0002] An insulator is a device installed between conductors at different potentials or between a conductor and a grounding component, capable of withstanding voltage and mechanical stress. Insulators come in many types and shapes. Although different types of insulators vary considerably in structure and appearance, they all consist of two main parts: insulating components and connecting hardware.

[0003] Substations contain a large number of insulators. During operation, they are subject to long-term chemical corrosion, mechanical stress, and severe weather, which reduces their electrical performance, turning them into low-value or even zero-value insulators. Manual inspection methods require power outages and have disadvantages such as high workload, low overall efficiency, and high safety risks. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a high-altitude mobile device for live-line testing robots of suspension insulators. This device solves the problems of existing insulators, which suffer from long-term chemical corrosion, mechanical stress, and severe weather during operation, resulting in reduced electrical performance and becoming low-value or even zero-value insulators. Manual testing methods require power outages and have drawbacks such as high workload, low overall efficiency, high safety risks, and susceptibility to missed or false detections.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a high-altitude mobile device for a suspended insulator live-line inspection robot, comprising a base housing, a rotating assembly on the upper surface of the base housing, gripper rotating assemblies on both sides of the rotating assembly, the gripper rotating assembly comprising a gripper support arm, a first servo motor fixedly connected to one side of the gripper support arm, and a housing rotatably connected to one side of the gripper support arm via a bearing, the main shaft of the first servo motor passing through the bearing and fixedly connected to the housing, a gripper motor base fixedly connected to the upper end of the housing, clamping plates fixedly connected to both sides of the gripper motor base, two grippers rotatably connected between the two clamping plates, a first arc-shaped groove and two second arc-shaped grooves on the opposite side of the two grippers, steel clips fixedly connected to the edges of the first arc-shaped grooves, wherein the two first arc-shaped grooves are opposite each other, and the second arc-shaped grooves on the two grippers are opposite each other, a control device is provided inside the housing, and an insulator inspection assembly is provided on one side of one of the clamping plates.

[0006] As a preferred embodiment of the present invention, the control device includes a DC motor, which is fixedly connected to the gripper motor base. The DC motor is located inside the housing. The gripper motor base has a circular through hole, and a screw is rotatably connected to the circular through hole via a bearing. The screw is fixedly connected to the main shaft of the DC motor. A screw sleeve is slidably connected between two clamping plates. The screw sleeve has a circular through groove. A nut is fixedly connected to the lower surface of the screw sleeve, and the nut is threadedly connected to the screw. Clamps are rotatably connected to both sides of the screw sleeve, and the two clamps are rotatably connected to the two grippers respectively.

[0007] In a preferred embodiment of the present invention, the rotating assembly includes a first rotating arm support plate, which is fixedly connected to the base housing. The upper surface of the first rotating arm support plate is rotatably connected to a second rotating arm support plate via a bearing. The upper surface of the second rotating arm support plate is fixedly connected to a second servo motor. The spindle of the second servo motor passes through the bearing and is fixedly connected to the first rotating arm support plate. A rotating arm mounting plate is fixedly connected to one side of both the first and second rotating arm support plates. A third servo motor is fixedly connected to one side of each of the two rotating arm mounting plates. One side of each of the two rotating arm mounting plates is rotatably connected to a gripper support arm via a bearing. The spindles of the two third servos pass through the bearing and are fixedly connected to the gripper support arm.

[0008] As a preferred embodiment of the present invention, the insulator detection assembly includes a mounting housing, which is fixedly connected to a clamping plate. A probe motor is fixedly connected inside the mounting housing, and a probe mounting head is fixedly connected to the main shaft of the probe motor. Detection probes are installed on both sides of the probe mounting head.

[0009] As a preferred embodiment of the present invention, a gripper motor cover is fixedly connected to one side of each of the two gripper support arms, and the gripper motor cover covers the first servo motor.

[0010] As a preferred embodiment of the present invention, a flip motor cover is fixedly connected to one side of each of the two rotating arm mounting plates, and the flip motor cover covers the third servo motor.

[0011] As a preferred embodiment of the present invention, the upper surface of the second rotating arm support plate is fixedly connected to the intermediate motor cover, the intermediate motor cover covers the second servo motor, and the upper surface of the intermediate motor cover is fixedly connected to the camera.

[0012] Compared with the prior art, the present invention provides insulator liveness detection, which has the following beneficial effects:

[0013] 1. This invention relates to a high-altitude mobile device for a suspended insulator live-line inspection robot. By using four grippers, the device is suspended above a high-voltage line. As it moves along the high-voltage line and approaches the insulator, the two rear grippers in the forward direction separate, releasing the high-voltage line. At this point, the contact point between the device and the high-voltage line changes from two points to one. Then, the rotating component rotates, causing the two rear grippers to rotate to the front and clamp the high-voltage line again. This cycle repeats, enabling the device to move along the high-voltage line. Upon approaching the insulator, the insulator inspection component performs live-line inspection. The entire device is remotely controlled from the ground and performs inspections at high altitudes, eliminating the need for personnel to work at heights, thus enhancing safety.

[0014] 2. The present invention relates to a high-altitude moving device for a suspended insulator live-line inspection robot. By setting a first arc-shaped groove and a second arc-shaped groove, two grippers separate and clamp the insulator within the first arc-shaped groove on the grippers. Two steel clips are secured to the protrusions of the insulator, supporting the device. The device repeats the above-mentioned process of gripping and releasing the grippers, thereby achieving movement on the insulator string. Two different sized holes are formed between the two grippers. The larger hole is used to clamp the insulator, allowing the device to move on the insulator string, facilitating continuous inspection of a large number of insulators on high-voltage lines. The smaller hole is used to clamp the high-voltage line, facilitating movement on the high-voltage line to the next insulator string for inspection.

[0015] 3. The high-altitude moving device for the suspended insulator live-line testing robot of the present invention, by setting up an insulator testing component, when the gripper clamps the insulator, the probe motor drives the probe mounting head to rotate, so that the originally downward-facing testing probe gradually turns upward. During rotation, the testing probes on both sides of the probe mounting head contact the outside of the insulator to perform live-line testing. When the device moves, before the gripper clamps the insulator, the probe mounting head is facing downward to avoid snagging on the high-voltage line during movement. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention;

[0017] Figure 2 This is a schematic diagram of the insulator detection assembly.

[0018] Figure 3 This is a schematic diagram of the gripper rotation assembly;

[0019] Figure 4 A schematic diagram of the component installation of the control device;

[0020] Figure 5 This is a schematic diagram of the first and second arc-shaped grooves.

[0021] Figure 6 This is a schematic diagram of the control device.

[0022] Figure 7 This is a schematic diagram of a camera.

[0023] In the diagram: 1. Base housing; 2. Rotating assembly; 21. First rotating arm support plate; 22. Second rotating arm support plate; 23. Second servo motor; 24. Rotating arm mounting plate; 25. Third servo motor; 3. Gripper rotating assembly; 31. Gripper support arm; 32. First servo motor; 33. Housing; 34. Gripper motor base; 35. Clamping plate; 36. Gripper; 37. First arc groove; 38. Second arc groove; 39. Steel clamp; 4. Control device; 41. DC motor; 42. Screw; 43. Screw sleeve seat; 44. Nut; 45. Clamp; 5. Insulator detection assembly; 51. Mounting housing; 52. Probe motor; 53. Probe mounting head; 54. Detection probe; 6. Gripper motor cover; 7. Tilting motor cover; 8. Intermediate motor cover; 9. Camera. Detailed Implementation

[0024] To more clearly illustrate the overall concept of the present invention, a detailed description will be provided below with reference to the accompanying drawings and examples.

[0025] In the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] In this invention, unless otherwise expressly specified and limited, the first feature "on" or "below" the second feature may be in direct contact with the first and second features, or indirect contact through an intermediate medium. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0029] Please see Figure 1-7 In this embodiment: The high-altitude mobile device for the suspended insulator live-line inspection robot of the present invention includes a base housing 1. A rotating assembly 2 is provided on the upper surface of the base housing 1. Gripper rotating assemblies 3 are provided on both sides of the rotating assembly 2. The gripper rotating assembly 3 includes a gripper support arm 31. A first servo motor 32 is fixedly connected to one side of the gripper support arm 31. A housing 33 is rotatably connected to one side of the gripper support arm 31 through a bearing. The main shaft of the first servo motor 32 passes through the bearing and is fixedly connected to the housing 33. A gripper motor base 34 is fixedly connected to the upper end of the housing 33. A clamping plate 35 is fixedly connected to both sides of the gripper motor base 34. Two grippers 36 are rotatably connected between two clamping plates 35. The grippers 36 are made of insulating material. Each gripper 36 has a first arc-shaped groove 37 and two second arc-shaped grooves 38 on its opposite side. Steel clips 39 are fixedly connected to the edges of the first arc-shaped grooves 37. The radius of the first arc-shaped groove 37 is larger than the radius of the second arc-shaped grooves 38. The two first arc-shaped grooves 37 are opposite each other, and the second arc-shaped grooves 38 on the two grippers 36 are opposite each other. A control device 4 is provided inside the outer casing 33. The control device 4 is used to control the opening and closing of the two grippers 36. An insulator detection component 5 is provided on one side of one of the clamping plates 35. Figure 1-3As shown, in use, the device is lifted by a lift or other equipment. The control device 4 controls the two opposing grippers 36 to open, clamping the high-voltage line between the two grippers 36. The high-voltage line is then locked in the second arc-shaped groove 38 between the two grippers 36. The device is suspended on the high-voltage line by the four grippers 36. When the device moves close to the insulator on the high-voltage line, the two grippers 36 at the rear in the forward direction separate from each other, releasing the high-voltage line. At this time, the contact point between the device and the high-voltage line changes from two points to one point. Then, the rotating component 2 rotates, and the two grippers 36 at the rear rotate to the front, clamping the high-voltage line again. When clamping, the first servo motor 32 drives the outer casing 33 to rotate, and the outer casing 33 drives the two grippers 36 to rotate, adjusting the position of the grippers 36 and promoting the grippers 36 to fall on both sides of the high-voltage line, making it easier for the grippers 36 to clamp the high-voltage line. This cycle is repeated to realize the movement of the device on the high-voltage line. The entire device is remotely controlled from the ground, eliminating the need for personnel to work at heights, making it safer.

[0030] When moving to the insulator, the movement method is the same as described above, except that the two grippers 36 separate, clamping the insulator in the first arc-shaped groove 37 on the grippers 36. Two steel clips 39 are secured to the protrusions of the insulator, supporting the device. The process of grippers 36 clamping and releasing is repeated, thereby realizing movement on the insulator string. At any given time, at least two grippers 36 are clamping the high-voltage line or the insulator for support. When the steel clips 39 on the grippers 36 are clamping the insulator, the insulator detection component 5 located on the clamping plate 35 detects the insulator. No power disconnection is required; the insulator can be directly tested in the air while energized, which is more convenient and safer. The first arc-shaped groove 37 is larger than the second arc-shaped groove 38. Two different sizes of holes are formed between the two grippers 36. The larger hole is used to clamp the insulator, facilitating movement on the insulator string and thus detecting all the insulators. The smaller hole is used to clamp the high-voltage line, facilitating movement on the high-voltage line to the next insulator string for detection.

[0031] In this embodiment, the control device 4 includes a DC motor 41, which is fixedly connected to a gripper motor base 34. The DC motor 41 is located inside the housing 33. The gripper motor base 34 has a circular through hole, through which a screw 42 is rotatably connected via a bearing. The screw 42 is fixedly connected to the main shaft of the DC motor 41. A threaded sleeve seat 43 is slidably connected between two clamping plates 35. The threaded sleeve seat 43 has a circular through groove, and a nut 44 is fixedly connected to the lower surface of the threaded sleeve seat 43. The nut 44 is threadedly connected to the screw 42. Clamps 45 are rotatably connected to both sides of the threaded sleeve seat 43, and the two clamps 45 are rotatably connected to two grippers 36 respectively. Figure 4As shown, the DC motor 41 drives the screw 42 to rotate. The screw 42 controls the screw sleeve seat 43 to slide up and down between the two clamping plates 35 through the nut 44. The screw sleeve seat 43 pulls the clamping claw 36 to open and close through the clamp 45, clamping and holding the insulator and the high-voltage line, thereby realizing the movement of the device on the high-altitude high-voltage line. The control device 4 is located inside the housing 33, which hides the control device, making the appearance neater and reducing the size of the device.

[0032] In this embodiment, the rotating assembly 2 includes a first rotating arm support plate 21, which is fixedly connected to the base housing 1. The upper surface of the first rotating arm support plate 21 is rotatably connected to a second rotating arm support plate 22 via bearings. The upper surface of the second rotating arm support plate 22 is fixedly connected to a second servo motor 23. The spindle of the second servo motor 23 passes through the bearings and is fixedly connected to the first rotating arm support plate 21. One side of both the first and second rotating arm support plates 21 is fixedly connected to a rotating arm mounting plate 24. One side of each of the two rotating arm mounting plates 24 is fixedly connected to a third servo motor 25. One side of each of the two rotating arm mounting plates 24 is rotatably connected to a gripper support arm 31 via bearings. The spindles of the two third servo motors 25 pass through the bearings and are fixedly connected to the gripper support arm 31. Figure 1 As shown, when the device moves, the second servo motor 23 drives the first rotating arm support plate 21 and the second rotating arm support plate 22 to rotate, thereby realizing the front and rear exchange of the gripper 36 and thus realizing the movement of the device. After the gripper 36 releases the high voltage line, the third servo motor 25 drives the gripper support arm 31 to rotate away from the high voltage line, so as to prevent the released gripper 36 from hitting the high voltage line and causing obstruction when the second servo motor 23 drives the first rotating arm support plate 21 and the second rotating arm support plate 22 to rotate forward. At the same time, when the gripper 36 rotates from the rear to the front and clamps the high voltage line or insulator again, the second servo motor 23 drives the gripper support arm 31 to rotate back and move closer to the high voltage line, so that the gripper 36 is located on both sides of the high voltage line or insulator, and the position of the gripper 36 is finely adjusted to facilitate the gripper 36 to clamp the high voltage line or insulator again.

[0033] In this embodiment, the insulator detection assembly 5 includes a mounting housing 51, which is fixedly connected to a clamping plate 35. A probe motor 52 is fixedly connected inside the mounting housing 51, and the main shaft of the probe motor 52 is fixedly connected to a probe mounting head 53. Detection probes 54 are mounted on both sides of the probe mounting head 53. Figure 6As shown, when the gripper 36 clamps the insulator, the probe motor 52 drives the probe mounting head 53 to rotate. During rotation, the detection probes 54 on both sides of the probe mounting head 53 contact the insulator for detection. Before the gripper 36 clamps the insulator, the probe mounting head 53 faces downward to avoid hooking the high-voltage line during movement. The base housing 1 is equipped with a detection device. One side is connected to the detection probe 54 via a wire, and the other side is connected to the steel clip on the non-detection component. In use, the steel clip is clamped on the insulator, and the detection probe 54 contacts the insulator. A detection path is formed from the detection device, the detection probe 54, the insulator between the detection probe 54 and the other end steel clip 39, the steel clip 39, and back to the detection device. The zero value of the insulator between the detection probe 54 and the other end steel clip 39 is detected. The detection device includes a power supply device, a zero-value sensing device, etc. This is existing technology and will not be described in detail here. The detection device and the wire are not shown in the diagram.

[0034] In this embodiment, a gripper motor cover 6 is fixedly connected to one side of each of the two gripper support arms 31, covering the first servo motor 32. A tilting motor cover 7 is fixedly connected to one side of each of the two rotating arm mounting plates 24, covering the third servo motor 25. Figure 2 As shown, the gripper motor cover 6 and the tilting motor cover 7 protect the first servo motor 32 and the third servo motor 25 from damage during transportation.

[0035] In this embodiment, the upper surface of the second rotating arm support plate 22 is fixedly connected to the intermediate motor cover 8, which covers the second servo motor 23. The upper surface of the intermediate motor cover 8 is fixedly connected to the camera 9. Figure 7 As shown, the device is located at a high altitude, while the staff is on the ground. They can observe the status of the gripper 36 in real time through the camera 9 to see if the gripper 36 is clamping the high-voltage line and the insulator, thus preventing the gripper 36 from slipping and causing the equipment to fall.

[0036] The working principle and usage process of this invention: The device is lifted by a lift or similar equipment, and the operator remotely controls the device from the ground. The DC motor 41 drives the screw 42 to rotate. The screw 42, through the nut 44, controls the screw sleeve seat 43 to slide between the two clamping plates 35. The screw sleeve seat 43 pulls the clamping jaws 36 to open and close through the clamps 45, so that the high-voltage wire is clamped in the second arc-shaped groove 38 between the two clamping jaws 36. The device is suspended in the air, and the two clamping jaws 36 in the forward direction separate from each other, releasing the high-voltage wire. The second servo motor 23 drives the first The rotating arm support plate 21 and the second rotating arm support plate 22 rotate, and the two rear grippers 36 rotate to the front. The screw sleeve seat 43 pulls the grippers 36 to close through the clamps 45, clamping the high-voltage line again. This cycle repeats, and the device moves on the high-voltage line. When it moves to the insulator string, it moves forward in the same way. At the same time, the control grippers 36 clamp the insulator between the first arc grooves 37. While clamping, the probe motor 52 drives the probe mounting head 53 to rotate. The detection probes 54 on both sides of the probe mounting head 53 contact the insulator to perform detection.

[0037] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0038] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A high-altitude mobile device for a robot used for live-line testing of suspended insulators, characterized in that: The system includes a base housing (1), with a rotating assembly (2) on the upper surface of the base housing (1). Both sides of the rotating assembly (2) are provided with gripper rotating assemblies (3). Each gripper rotating assembly (3) includes a gripper support arm (31). One side of the gripper support arm (31) is fixedly connected to a first servo motor (32), and the other side of the gripper support arm (31) is rotatably connected to a housing (33) via a bearing. The spindle of the first servo motor (32) passes through the bearing and is fixedly connected to the housing (33). The upper end of the housing (33) is fixedly connected to a gripper motor base (34). Both sides of the gripper motor base (34) are fixedly connected to clamping plates (35). Two grippers (36) are rotatably connected between the two clamping plates (35). Each gripper (36) has a first arc-shaped groove (37) and two second arc-shaped grooves (38) on its opposite side. Steel clips (39) are fixedly connected to the edges of both sides of the first arc-shaped groove (37). The two first arc-shaped grooves (37) are opposite to each other, and the two second arc-shaped grooves (38) on the two grippers (36) are... The slots (38) are opposite each other, and the outer shell (33) is equipped with a control device (4). One of the card plates (35) is equipped with an insulator detection component (5) on one side. The rotating component (2) includes a first rotating arm support plate (21), which is fixedly connected to the base shell (1). The upper surface of the first rotating arm support plate (21) is rotatably connected to a second rotating arm support plate (22) through a bearing. The upper surface of the second rotating arm support plate (22) is fixedly connected to a second servo motor (23). The main shaft of the second servo (23) passes through the bearing and is fixedly connected to the first rotating arm support plate (21). The first rotating arm support plate (21) and the second rotating arm support plate (22) are both fixedly connected to the rotating arm mounting plate (24) on one side. The two rotating arm mounting plates (24) are both fixedly connected to the third servo (25) on one side. The two rotating arm mounting plates (24) are rotatably connected to the gripper support arm (31) through the bearing on one side. The main shaft of the two third servos (25) passes through the bearing and is fixedly connected to the gripper support arm (31).

2. The high-altitude mobile device for a suspended insulator live-line testing robot according to claim 1, characterized in that: The control device (4) includes a DC motor (41), which is fixedly connected to the gripper motor seat (34). The DC motor (41) is located inside the housing (33). The gripper motor seat (34) has a circular through hole. A screw (42) is rotatably connected to the circular through hole through a bearing. The screw (42) is fixedly connected to the main shaft of the DC motor (41). A threaded sleeve seat (43) is slidably connected between two clamping plates (35). A circular through groove is provided on the threaded sleeve seat (43). A nut (44) is fixedly connected to the lower surface of the threaded sleeve seat (43). The nut (44) is threadedly connected to the screw (42). Both sides of the threaded sleeve seat (43) are rotatably connected to clamps (45). The two clamps (45) are rotatably connected to two grippers (36) respectively.

3. The high-altitude mobile device for a suspended insulator live-line inspection robot according to claim 1, characterized in that: The insulator detection assembly (5) includes a mounting housing (51), which is fixedly connected to a clamping plate (35). A probe motor (52) is fixedly connected inside the mounting housing (51). The main shaft of the probe motor (52) is fixedly connected to a probe mounting head (53). Detection probes (54) are installed on both sides of the probe mounting head (53).

4. The high-altitude mobile device for a suspended insulator live-line inspection robot according to claim 1, characterized in that: One side of each of the two gripper support arms (31) is fixedly connected to a gripper motor cover (6), which covers the first servo motor (32).

5. The high-altitude mobile device for a suspended insulator live-line inspection robot according to claim 1, characterized in that: One side of each of the two swing arm mounting plates (24) is fixedly connected to a flip motor cover (7), which covers the third servo motor (25).

6. The high-altitude mobile device for a suspended insulator live-line inspection robot according to claim 1, characterized in that: The upper surface of the second rotating arm support plate (22) is fixedly connected to the intermediate motor cover (8), which covers the second servo motor (23). The upper surface of the intermediate motor cover (8) is fixedly connected to the camera (9).

Images