Holder and unmanned aerial vehicle

Abstract

The utility model belongs to the technical field of unmanned aerial vehicles, and discloses a holder and an unmanned aerial vehicle. The holder comprises a connecting frame and a mounting mechanism arranged on the connecting frame, wherein the mounting mechanism comprises a base, a clamping plate, an elastic piece and a locking screw rod. The base is arranged on the connecting frame and comprises two connecting arms which are oppositely arranged; the number of the clamping plates is two, and the two clamping plates are arranged between the two connecting arms and can be close to or away from each other so as to clamp and fix the camera. Each clamping plate is correspondingly provided with an elastic piece, one end of each elastic piece is connected with the corresponding clamping plate, the other end of each elastic piece is connected with the adjacent connecting arm, and each elastic piece is configured to have the tendency of pushing the corresponding clamping plate to be close to the other clamping plate all the time. The locking screws and the connecting arms are arranged in a one-to-one correspondence mode, threaded holes are formed in the connecting arms, the connecting arms are connected with the locking screws through the threaded holes, and the ends of the locking screws can abut against the clamping plates adjacent to the locking screws so that the clamping plates can abut against the camera. The holder is suitable for cameras of various sizes, and the universality is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field especially, relate to a kind of holder and unmanned plane. BACKGROUND

[0002] Unmanned plane is a kind of unmanned aircraft controlled by radio remote control equipment or self-program control device. With the rapid development of unmanned plane industry, more and more unmanned planes are applied to agriculture, forestry, power, inspection, remote control and other industries.

[0003] At present, inspection unmanned plane is generally carried by holder at the bottom of fuselage. However, the existing unmanned plane holder can generally match only single size camera, and the structure is complex, the camera is inconvenient to replace after being fixed, and the practicality is poor.

[0004] Therefore, an holder and unmanned plane are needed to solve the above technical problems. UTILITY MODEL CONTENT

[0005] According to one aspect of the utility model, the utility model provides an holder suitable for cameras of various sizes, with high universality, simple structure, convenient installation and disassembly of cameras, and high practicality.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] The holder is used for unmanned plane, and comprises a connecting frame connected with the shell of the unmanned plane and a mounting mechanism arranged on the connecting frame.

[0008] The base is arranged on the connecting frame, and comprises two oppositely arranged connecting arms.

[0009] Two clamping plates are arranged between the two connecting arms and can approach or move away from each other to clamp and fix the camera.

[0010] An elastic member is arranged corresponding to each clamping plate, one end of the elastic member is connected with the clamping plate, and the other end is connected with the adjacent connecting arm, and the elastic member is configured to always have a tendency to push the clamping plate connected thereto to approach the other clamping plate.

[0011] A locking screw is arranged corresponding to each connecting arm, a threaded hole is arranged on the connecting arm, the connecting arm is connected with the locking screw through the threaded hole, and the end of the locking screw can abut against the clamping plate adjacent thereto to press the clamping plate against the camera.

[0012] Optionally, each clamping plate is provided with a corresponding sliding rod. One end of the sliding rod is connected to the clamping plate, and the other end slides through the connecting arm adjacent to it. The elastic element is sleeved on the sliding rod, with one end of the elastic element abutting against the clamping plate and the other end abutting against the connecting arm.

[0013] Optionally, the end of the slide bar away from the clamping plate is provided with a boss, which can abut against the side of the connecting arm opposite to the clamping plate;

[0014] And / or, the outer surface of the slide bar is provided with an anti-slip coating;

[0015] And / or, the connecting arm has a mounting groove on the side facing the elastic member, and one end of the elastic member is inserted into the mounting groove.

[0016] Optionally, each clamping plate is provided with a corresponding guide rod, one end of which is connected to the clamping plate and the other end is slidably inserted through the connecting arm adjacent to it.

[0017] Optionally, the clamps are in the shape of an "U", and the openings of the two clamps are arranged opposite each other.

[0018] Optionally, the base or the connecting frame is provided with a supplementary lighting device, which is used to provide supplementary lighting for the camera.

[0019] Optionally, the connecting frame includes a frame body and a rotating base. The frame body is used to connect to the shell of the UAV, and the rotating base is rotatably connected to the frame body. The mounting mechanism is disposed on the rotating base. The frame body is also provided with a rotation drive component, which is connected to the rotating base and is used to drive the rotating base to rotate.

[0020] Optionally, the frame includes:

[0021] A connecting plate for connecting to the casing of the drone;

[0022] The device includes two hanging platforms, one end of which is connected to the connecting plate. The two hanging platforms are arranged in parallel and spaced apart, and are perpendicular to the connecting plate.

[0023] Each of the hanging plates is provided with a support base, and two support bases are arranged opposite to each other. The two ends of the rotating base are rotatably connected to the corresponding support base through a rotating shaft. The rotating drive is provided on one of the hanging plates, and the output shaft of the rotating drive is connected to the adjacent rotating shaft to drive the rotating shaft to rotate.

[0024] Optionally, the rotating drive component is covered with a protective cover.

[0025] According to another aspect of the utility model, the utility model also provides a kind of unmanned aerial vehicle, including shell and the gimbal of any of the above technical solutions described, the gimbal is connected with the shell.

[0026] The utility model has the advantages of:

[0027] The utility model provides a kind of gimbal for unmanned aerial vehicle, including connecting frame and mounting mechanism, and mounting mechanism includes base, clamping plate, elastic member and locking screw.When assembling camera, first, two clamping plates are pulled to the direction of mutual separation by hand, and elastic member is stored elastic potential energy under pressure at this time;Then, camera is placed between two clamping plates while removing the pulling force applied to clamping plate, and elastic member will push clamping plate under the action of elastic restoring force, so that two clamping plates clamp camera;Finally, locking screw is screwed, so that two locking screws are all pressed on corresponding clamping plate.This gimbal is simple in structure, and is convenient for the installation and disassembly of camera.And, since the distance between two clamping plates is adjustable, the fixation of camera of different sizes can be realized, and the universality is higher.

[0028] By setting elastic member, two clamping plates can pre-fix camera, so that camera does not need to be manually held when locking screw is operated, and the installation of camera is facilitated.And, elastic member can assist locking screw to drive clamping plate to clamp camera, and the firmness of camera fixation is improved.

[0029] The utility model also provides a kind of unmanned aerial vehicle, including shell and the gimbal above.This unmanned aerial vehicle can adapt to camera of multiple sizes by using the above-mentioned gimbal, and the universality is higher, and the installation and disassembly of camera are also relatively simple. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical scheme in the embodiments of the utility model, the drawings needed to be used in the description of the embodiments of the utility model will be simply introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to the contents of the embodiments of the utility model and these drawings without creative labor for those skilled in the art.

[0031] Figure 1 It is the structure schematic view of the gimbal provided by the first embodiment of the utility model;

[0032] Figure 2 It is the structure schematic view of the mounting mechanism provided by the first embodiment of the utility model;

[0033] Figure 3 It is the cooperation schematic view of the rotating seat and rotating drive member provided by the first embodiment of the utility model;

[0034] Figure 4It is the structural schematic diagram of the holder provided in the second embodiment of the utility model.

[0035] In the drawing:

[0036] 10, camera;

[0037] 100, connecting frame; 110, frame body; 111, connecting plate; 112, hanging plate; 113, support base; 120, rotating base; 121, rotating shaft;

[0038] 200, mounting mechanism; 210, base; 211, connecting arm; 212, bottom plate; 220, clamping plate; 230, elastic piece; 240, locking screw; 250, sliding rod; 251, boss; 260, guide rod;

[0039] 300, rotating driving part; 310, shaft coupling; 320, protective cover;

[0040] 400, light supplementing device. DETAILED DESCRIPTION

[0041] The utility model will be further explained in detail in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the utility model, and not limited to the utility model. In addition, it should be noted that, in order to facilitate the description, only the part related to the utility model is shown in the drawings, not all structures.

[0042] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0043] In the utility model, unless otherwise explicitly specified and limited, the first feature is "on" or "below" the second feature, which can include the direct contact of the first and second features, or the indirect contact of the first and second features through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0044] In the description of the embodiments, the terms "upper", "lower", "left", "right", and the like orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0045] Embodiment one

[0046] The embodiment provides a holder for unmanned aerial vehicles, which is suitable for cameras of various sizes, has high universality, simple structure, and is convenient to install and dismount the camera, and has high practicability.

[0047] As shown in Figure 1 and Figure 2 , the holder comprises a connecting frame 100 and a mounting mechanism 200. The connecting frame 100 is used to be connected with the shell of the unmanned aerial vehicle to be fixed on the unmanned aerial vehicle, and the mounting mechanism 200 is arranged on the connecting frame 100 and used to mount the camera 10. Alternatively, in a possible embodiment, the mounting mechanism 200 can also be used to mount other devices, which can be used according to actual needs.

[0048] Specifically, the mounting mechanism 200 comprises a base 210, a clamping plate 220, an elastic member 230 and a locking screw 240. The base 210 is arranged on the connecting frame 100, and the base 210 comprises two connecting arms 211 arranged oppositely. Two clamping plates 220 are arranged between the two connecting arms 211 and can approach or move away from each other to clamp and fix the camera 10. One elastic member 230 is arranged corresponding to each clamping plate 220, one end of the elastic member 230 is connected with the clamping plate 220, and the other end is connected with the adjacent connecting arm 211. The elastic member 230 is configured to always have a tendency to push the clamping plate 220 connected thereto to approach the other clamping plate 220, that is, the two clamping plates 220 can approach each other under the action of the elastic member 230 connected thereto. The locking screw 240 is arranged corresponding to the connecting arm 211, the connecting arm 211 is provided with a threaded hole, the connecting arm 211 is connected with the locking screw 240 through the threaded hole, and the end of the locking screw 240 can abut against the clamping plate 220 adjacent thereto to press the clamping plate 220 against the camera 10.

[0049] For the convenience of understanding, the mounting steps of the camera 10 will be briefly introduced as follows:

[0050] First, rotate the two locking screws 240 to move the two locking screws 240 away from the respective clamping plates 220 to leave a movement space for the clamping plates 220;

[0051] Then, pull the two clamping plates 220 away from each other by hand so that the space between the two clamping plates 220 allows the camera 10 to enter. At this time, the elastic member 230 is compressed to store elastic potential energy;

[0052] After that, place the camera 10 between the two clamping plates 220 and simultaneously remove the pulling force applied to the clamping plates 220. The elastic member 230 will push the clamping plates 220 under the action of the elastic restoring force, so that the two clamping plates 220 clamp the camera 10;

[0053] Finally, rotate the two locking screws 240 in sequence so that the end of each locking screw 240 approaches the clamping plate 220 adjacent to itself and presses against the clamping plate 220. In this way, under the action of the two locking screws 240, the two clamping plates 220 clamp and fix the camera 10 on both sides of the camera 10 respectively.

[0054] The distance between the two clamping plates 220 of the mounting mechanism 200 is adjustable. Therefore, it is possible to fix cameras 10 of different sizes, and the universality is relatively high. By providing the elastic member 230, the two clamping plates 220 can pre-fix the camera 10, so that it is not necessary to manually hold the camera 10 when operating the locking screw 240, which is convenient for installing the camera 10. Moreover, the elastic member 230 can assist the locking screw 240 to drive the clamping plate 220 to clamp the camera 10, improving the firmness of fixing the camera 10. In addition, the mounting mechanism 200 has a simple structure, which is convenient for installing and disassembling the camera 10.

[0055] It can be understood that the elastic member 230 can be selected but is not limited to a spring.

[0056] Further, continue to refer to Figure 2 , in this embodiment, the clamping plate 220 is in a "C" shape, and the openings of the two clamping plates 220 are arranged opposite to each other. With this setting, it can not only increase the contact area between the clamping plate 220 and the camera 10, but also restrict all around the camera 10, improving the firmness of installing the camera 10.

[0057] Optionally, continue to refer to Figure 2 , in this embodiment, the base 210 further includes a bottom plate 212, and the two connecting arms 211 are respectively arranged on opposite sides of the bottom plate 212. After the camera 10 is installed, the camera 10 can be made to abut against the bottom plate 212, which is beneficial to improving the firmness of fixing the camera 10.

[0058] Optionally, continue to refer to Figure 2 , in order to improve the uniformity of the force on the clamping plate 220, the locking screw 240 can be arranged opposite to the middle of the clamping plate 220.

[0059] Further, continue to refer to Figure 2Each clamping plate 220 is provided with a slide rod 250, one end of the slide rod 250 is connected with the clamping plate 220, and the other end is slidably arranged in the connecting arm 211 adjacent to the clamping plate 220. The elastic member 230 is sleeved on the slide rod 250, one end of the elastic member 230 abuts against the clamping plate 220, and the other end abuts against the connecting arm 211. By arranging the slide rod 250, on the one hand, the installation of the elastic member 230 is facilitated; on the other hand, the movement of the clamping plate 220 can be guided, and the reliability of the work of the elastic member 230 is improved.

[0060] It can be understood that the first connecting hole is arranged on the connecting arm 211, and the other end of the slide rod 250 is slidably arranged in the first connecting hole, so as to realize the sliding connection with the connecting arm 211.

[0061] Alternatively, the slide rod 250 and the clamping plate 220 can be connected through a threaded connection, and the threaded connection structure is simple, facilitating the assembly of the slide rod 250 and the clamping plate 220, and the connection reliability is high.

[0062] Alternatively, since the slide rod 250 needs to slide constantly during the installation and disassembly of the camera 10, a wear-resistant coating can be arranged on the slide rod 250 to protect the slide rod 250.

[0063] Alternatively, continuing to refer to Figure 2 , the end of the slide rod 250 away from the clamping plate 220 is provided with a boss 251, and the boss 251 can abut against one side of the connecting arm 211 away from the clamping plate 220. By arranging the boss 251, the movement stroke of the clamping plate 220 can be limited, so as to avoid the mutual impact of the two clamping plates 220 under the elastic restoring force of the elastic member 230 at the moment of disassembling the camera 10, and the clamping plate 220 is protected. In addition, the arrangement of the boss 251 can also avoid that the slide rod 250 is pulled out of the connecting arm 211 by the elastic member 230, and the connection reliability between the slide rod 250 and the connecting arm 211 is improved.

[0064] Alternatively, in a possible embodiment, the side of the connecting arm 211 facing the elastic member 230 is provided with a mounting groove (not shown in the figure), and one end of the elastic member 230 is inserted into the mounting groove. The elastic member 230 is fixed through the mounting groove, and the structure is simple and the fixing effect is good.

[0065] Further, continuing to refer to Figure 2 Each clamping plate 220 is provided with a guide rod 260, one end of the guide rod 260 is connected with the clamping plate 220, and the other end is slidably arranged in the connecting arm 211 adjacent to the clamping plate 220. By arranging the guide rod 260, the movement of the clamping plate 220 can be guided.

[0066] Optionally, in the embodiment, the elastic member 230 and the guide rod 260 are respectively arranged on two sides of the locking screw 240. In this way, the uniformity of the force borne by the clamping plate 220 is improved, and the stability of the movement of the clamping plate 220 is improved.

[0067] It can be understood that the second connecting hole is arranged on the connecting arm 211, and the other end of the guide rod 260 is slidably arranged in the second connecting hole to achieve the sliding connection with the connecting arm 211.

[0068] Optionally, the guide rod 260 and the clamping plate 220 are connected through a threaded connection. The threaded connection structure is simple, facilitates the assembly of the guide rod 260 and the clamping plate 220, and has high connection reliability.

[0069] Optionally, since the guide rod 260 needs to slide constantly during the mounting and dismounting of the camera 10, a wear-resistant coating can be arranged on the guide rod 260 to protect the guide rod 260.

[0070] Further, as shown in Figure 1 and Figure 3 , the connecting frame 100 includes a frame body 110 and a rotating seat 120. The frame body 110 is used to be connected with the shell of the unmanned aerial vehicle. The rotating seat 120 is rotationally connected to the frame body 110, and the mounting mechanism 200 is arranged on the rotating seat 120. In addition, the frame body 110 is also provided with a rotating driving member 300 connected with the rotating seat 120 and used to drive the rotating seat 120 to rotate. Through the cooperation of the rotating seat 120 and the rotating driving member 300, the angle adjustment of the mounting mechanism 200 can be realized, and then the angle adjustment of the camera 10 fixed on the mounting mechanism 200 can be realized, so as to meet the multi-angle shooting requirement of the camera 10.

[0071] Optionally, continuing to refer to Figure 1 and Figure 3 , in the embodiment, the frame body 110 includes a connecting plate 111, a hanging plate 112 and a support seat 113. The connecting plate 111 is used to be connected with the shell of the unmanned aerial vehicle. Two hanging plates 112 are arranged, and one end of each of the two hanging plates 112 is connected with the connecting plate 111. The two hanging plates 112 are arranged in parallel and are spaced apart, and are perpendicular to the connecting plate 111. One support seat 113 is arranged on each of the hanging plates 112, and the two support seats 113 are oppositely arranged. The two ends of the rotating seat 120 are rotationally connected with the corresponding support seats 113 through rotating shafts 121. The rotating driving member 300 is arranged on one of the hanging plates 112, and the output shaft of the rotating driving member 300 is connected with the adjacent rotating shaft 121 to drive the rotating shaft 121 to rotate. The frame body 110 has a simple structure and is easy to process. In addition, the rotating seat 120 has good rotating smoothness.

[0072] Optionally, in a possible embodiment, the rotating driving member 300 is an electric motor, and an output shaft of the electric motor is connected to the rotating shaft 121 through the coupling 310.

[0073] Embodiment Two

[0074] The embodiment provides a holder which is substantially the same as the structure of the holder in embodiment one, and only has improvements based on the holder in embodiment one. Therefore, only the differences between the two holders are described herein, and the same structures of the two holders are not described herein again. In the embodiment, the same or corresponding technical features in embodiment one are indicated by the same reference numerals.

[0075] Specifically, as shown in Figure 4 , in the embodiment, the base 210 or the connecting frame 100 is provided with a light supplementing device 400, and the light supplementing device 400 is used for supplementing light for the camera 10. By arranging the light supplementing device 400, the definition of the camera 10 during shooting can be improved.

[0076] Optionally, the light supplementing device 400 can be a light supplementing lamp.

[0077] In a possible embodiment, the light supplementing device 400 is arranged on the base 210 and located between the two connecting arms 211, so as to be arranged opposite to the camera 10 arranged between the two clamping plates 220, and the light supplementing effect is better.

[0078] Further, continuing to refer to Figure 4 , the rotating driving member 300 is covered with a protective cover 320. By arranging the protective cover 320, the rotating driving member 300 can be protected.

[0079] Optionally, the protective cover 320 is provided with a detachable protective plate, so as to facilitate assembly with the rotating driving member 300.

[0080] Embodiment Three

[0081] The embodiment provides an unmanned aerial vehicle, which comprises a shell and the holder provided in embodiment one or embodiment two, and the holder is connected to the shell.

[0082] The unmanned aerial vehicle has the holder, can adapt to cameras 10 of various sizes, has high universality, and the camera 10 is also simple to mount and dismount.

[0083] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A gimbal for use in drones, characterized in that: The pan-tilt head includes a connecting frame (100) for connecting to the housing of the drone and a mounting mechanism (200) provided on the connecting frame (100). The mounting mechanism (200) includes: A base (210) provided on the connecting frame (100). The base (210) includes two connecting arms (211) arranged oppositely; Two clamping plates (220) are provided. The two clamping plates (220) are arranged between the two connecting arms (211) and can approach or move away from each other to clamp and fix the camera (10); An elastic member (230). One elastic member (230) is correspondingly provided for each clamping plate (220). One end of the elastic member (230) is connected to the clamping plate (220), and the other end is connected to the adjacent connecting arm (211). The elastic member (230) is configured to always have a tendency to push the clamping plate (220) connected to it towards the other clamping plate (220); Locking screws (240) are provided corresponding to the connecting arms (211) one by one. Threaded holes are provided on the connecting arms (211). The connecting arms (211) are connected to the locking screws (240) through the threaded holes. The end of the locking screw (240) can abut against the adjacent clamping plate (220) to press the clamping plate (220) against the camera (10).

2. The gimbal according to claim 1, characterized in that, One sliding rod (250) is correspondingly provided for each clamping plate (220). One end of the sliding rod (250) is connected to the clamping plate (220), and the other end slidably passes through the adjacent connecting arm (211). The elastic member (230) is sleeved on the sliding rod (250). One end of the elastic member (230) abuts against the clamping plate (220), and the other end abuts against the connecting arm (211).

3. The gimbal according to claim 2, characterized in that, A boss (251) is provided at the end of the sliding rod (250) away from the clamping plate (220). The boss (251) can abut against the side of the connecting arm (211)背离 the clamping plate (220); And / or, an anti-slip coating is provided on the outer surface of the sliding rod (250); And / or, a mounting groove is provided on the side of the connecting arm (211) facing the elastic member (230). One end of the elastic member (230) is inserted into the mounting groove.

4. The gimbal according to claim 1, characterized in that, One guide rod (260) is correspondingly provided for each clamping plate (220). One end of the guide rod (260) is connected to the clamping plate (220), and the other end slidably passes through the adjacent connecting arm (211).

5. The gimbal according to claim 1, characterized in that, The clamping plate (220) is in a "C" shape, and the openings of the two clamping plates (220) are arranged oppositely.

6. The gimbal according to claim 1, characterized in that, A supplementary lighting device (400) is provided on the base (210) or the connecting frame (100). The supplementary lighting device (400) is used to supplement light for the camera (10).

7. The gimbal according to any one of claims 1-6, characterized in that, The connecting frame (100) includes a frame (110) and a rotating base (120). The frame (110) is used to connect to the shell of the UAV. The rotating base (120) is rotatably connected to the frame (110). The mounting mechanism (200) is disposed on the rotating base (120). The frame (110) is also provided with a rotation drive (300). The rotation drive (300) is connected to the rotating base (120) and is used to drive the rotating base (120) to rotate.

8. The gimbal according to claim 7, characterized in that, The frame (110) includes: A connecting plate (111) is used to connect to the casing of the UAV; There are two hanging plates (112), one end of each of the two hanging plates (112) is connected to the connecting plate (111), the two hanging plates (112) are arranged in parallel and spaced apart, and are perpendicular to the connecting plate (111); Each of the hanging plates (112) is provided with a support base (113), and the two support bases (113) are arranged opposite to each other. The two ends of the rotating base (120) are rotatably connected to the corresponding support base (113) through the rotating shaft (121). The rotating drive (300) is arranged on one of the hanging plates (112), and the output shaft of the rotating drive (300) is connected to the adjacent rotating shaft (121) to drive the rotating shaft (121) to rotate.

9. The gimbal according to claim 7, characterized in that, The rotating drive component (300) is covered with a protective cover (320).

10. An unmanned aerial vehicle (UAV), characterized in that, It includes a housing and a gimbal according to any one of claims 1-9, wherein the gimbal is connected to the housing.

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