One could make a case for "The Trouble With Tribbles," "A Peice Of The Action" and "I, Mudd" deliberately veering into camp, particularly the latter two episodes. But two or three episodes deliberately humourous episodes out of seventy-nine does not make the series predominantly camp as a whole.
People seem to use the word "camp" a lot and I'm not sure I understand how they mean it. Traditionally it meant an exaggerated and conscious theatricality or outrageousness, and especially that which referred to or hinted at gay culture.
The episodes mentioned above were just comedy, or at least comedic, episodes. It was quite common at the time for dramatic or action shows to have occasional comedic episodes. Gunsmoke
had them, as did The Big Valley, Wild Wild West, The Man from U.N.C.L.E.
and so on. Bonanza
was practically half comedy in its later seasons.