Handheld gimbal and folding structure

Abstract

A handheld gimbal (100) and a folding structure. The handheld gimbal (100) comprises a handle (10) and a gimbal (20). The gimbal (20) is connected to the handle (10). The gimbal (20) comprises at least two shaft assemblies. The at least two shaft assemblies are rotatably connected. The shaft assembly comprises a motor. The gimbal (20) can switch between a folded state and an unfolded state. In the folded state, the motors of at least two shaft assemblies are stacked up and down along the same straight line. In the unfolded state, the motors of at least two shaft assemblies are arranged separately.

Description

Technical Field

[0001] The present application relates to the technical field of gimbals, and in particular to a handheld gimbal and a folding structure. Background Art

[0002] At present, more and more people use camera devices to take photos or videos to record their lives and work. When people use handheld camera devices, the camera devices are inevitably affected by the vibration of the user's hand and the picture is easily blurred. Usually, the camera device is installed on a handheld gimbal, and the handheld gimbal is used to stabilize the camera device or adjust the shooting angle to take clearer photos or videos. However, in the related art, the handheld gimbal is large in size and cannot be stored and transported, which affects the user experience. Summary of the invention

[0003] Embodiments of the present application provide a handheld gimbal and a folding structure.

[0004] The handheld gimbal of the present application embodiment includes:

[0005] handle,

[0006] A gimbal connected to the handle, the gimbal comprising:

[0007] At least two axis assemblies are rotatably connected, and the axis assemblies include motors. The gimbal can switch between a folded state and an unfolded state. In the folded state, the motors of the at least two axis assemblies are stacked up and down along the same straight line, and in the unfolded state, the motors of the at least two axis assemblies are separately arranged.

[0008] When the handheld gimbal is in the folded state, the motors of at least two axis assemblies are stacked up and down along the same straight line, so that the handheld gimbal takes up less space when in the folded state, is easy to store and transport, and improves the user experience.

[0009] The handheld gimbal of the present application embodiment includes:

[0010] handle,

[0011] A gimbal connected to the handle, the gimbal comprising:

[0012] At least two axis assemblies are rotatably connected, the axis assembly includes a motor, the motor of the at least two axis assemblies includes a motor shaft, the gimbal can be switched between a folded state and an unfolded state, and in the folded state, the axes of the motor shafts of the at least two axis assemblies are parallel to each other.

[0013] When the handheld gimbal is in the folded state, the axes of the motor shafts of at least two axis assemblies are parallel to each other, so that the handheld gimbal takes up less space when in the folded state, is easy to store and transport, and improves the user experience.

[0014] The handheld gimbal of the present application embodiment includes:

[0015] handle,

[0016] A gimbal connected to the handle, the gimbal comprising:

[0017] At least two axis assemblies are rotatably connected, and the axis assembly includes a motor and an axis arm connected to the motor. The gimbal can be switched between a folded state and an unfolded state. When the gimbal is in the folded state, the axis arms of the at least two axis assemblies are located on the same side of the handle and are locked together.

[0018] The above-mentioned handheld gimbal, when in the folded state, the axis arms of at least two axis assemblies are located on the same side of the handle and are locked together, so that the handheld gimbal occupies less space when in the folded state, is easy to store and transport, and improves the user experience.

[0019] The folding structure of the embodiment of the present application includes:

[0020] Supporting part,

[0021] A rotating part connected to the supporting part, wherein the rotating part comprises:

[0022] At least two shaft assemblies are rotatably connected, the shaft assembly includes a motor and a shaft arm connected to the motor, the rotating part can switch between a folded state and an unfolded state, and when the rotating part is in the folded state, the shaft arms of the at least two shaft assemblies are located on the same side of the support part and are locked together.

[0023] In the folded state, the shaft arms of at least two shaft assemblies are located on the same side of the support portion and are locked together, so that the folding structure occupies less space when in the folded state, is easy to store and transport, and improves the user experience.

[0024] The folding structure of the embodiment of the present application includes:

[0025] Supporting part,

[0026] A rotating part connected to the supporting part, wherein the rotating part comprises:

[0027] At least two shaft assemblies are rotatably connected, and the shaft assembly includes a motor. The rotating part can switch between a folded state and an unfolded state. In the folded state, the motors of the at least two shaft assemblies are stacked up and down along the same straight line, and in the unfolded state, the motors of the at least two shaft assemblies are separately arranged.

[0028] In the folded state, the motors of at least two shaft assemblies are stacked up and down along the same straight line, so that the foldable structure occupies less space when folded, is easy to store and transport, and improves the user experience.

[0029] The folding structure of the embodiment of the present application includes:

[0030] Supporting part,

[0031] A rotating part connected to the supporting part, wherein the rotating part comprises:

[0032] At least two shaft assemblies are rotatably connected, the shaft assembly includes a motor, the motors of the at least two shaft assemblies include a rotating shaft, the rotating portion can be switched between a folded state and an unfolded state, and in the folded state, the axes of the motor rotating shafts of the at least two shaft assemblies are parallel to each other.

[0033] In the folded state, the axes of the motor shafts of at least two shaft assemblies of the foldable structure are parallel to each other, so that the foldable structure occupies less space when folded, is easy to store and transport, and improves the user experience.

[0034] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0036] Figure 1 is a three-dimensional structural diagram of a handheld gimbal in an embodiment of the present application in a folded state;

[0037] Figure 2 is a three-dimensional structural diagram of a handheld gimbal in an intermediate state according to an embodiment of the present application;

[0038] Figure 3 is a three-dimensional structural diagram of a handheld gimbal in an embodiment of the present application in an unfolded state;

[0039] Figure 4 is another three-dimensional structural diagram of the handheld gimbal in the embodiment of the present application in a folded state;

[0040] Figure 5 is another three-dimensional structural diagram of the handheld gimbal in an embodiment of the present application in an unfolded state;

[0041] Figure 6 It is a three-dimensional structural diagram of the handheld gimbal according to an embodiment of the present application.

[0042] Description of main component symbols:

[0043] The handheld gimbal 100, the handle 10, the receiving groove 12, the limit block 122, the control unit 14, the gimbal 20, the first axis assembly 22, the first axis arm 222, the first sub-arm 2222, the second sub-arm 2224, the rotating shaft assembly 2226, the first motor 224, the second axis assembly 24, the second axis arm 242, the second motor 244, the third assembly 26, the third motor 262, the fixing mechanism 30, the load connecting member 40, and the load 200. DETAILED DESCRIPTION

[0044] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0045] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0046] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0047] See also Figures 1 to 3 The handheld gimbal 100 of the embodiment of the present application includes a handle 10 and a gimbal 20. The gimbal 20 is connected to the handle 10. The gimbal 20 includes at least two shaft assemblies, and the at least two shaft assemblies are rotatably connected. The shaft assembly includes a motor, and the gimbal 20 can be switched between a folded state and an unfolded state. In the folded state, the motors of at least two shaft assemblies are stacked up and down along the same straight line Z, and in the unfolded state, the motors of at least two shaft assemblies are separately arranged.

[0048] In this way, when the handheld gimbal 100 is in the folded state, the motors of at least two axis assemblies are stacked up and down along the same straight line Z, so that the handheld gimbal 100 occupies less space when in the folded state, is easy to store and transport, and improves the user experience.

[0049] See also Figures 1 to 5 The handheld gimbal 100 may include a handle 10 , a gimbal 20 , and a fixing mechanism 30 . The gimbal 20 is connected to the handle 10 .

[0050] The gimbal 20 includes at least two axis assemblies, and the at least two axis assemblies are rotatably connected. The motors of the at least two axis assemblies include motor shafts. In the folded state, the axes of the motor shafts of the at least two axis assemblies are parallel to each other. In this way, the motors of the at least two axis assemblies are closer in space, which can reduce the space occupied by the handheld gimbal 100 when it is in the folded state. Furthermore, when the axes of the motor shafts of the at least two axis assemblies coincide with the same straight line Z, the motors of the at least two axis assemblies are closest in space, so that the handheld gimbal 100 occupies less space when it is in the folded state, and is easy to store and transport.

[0051] See also Figures 1 to 5 In one embodiment, at least two shaft assemblies include a first shaft assembly 22, a second shaft assembly 24, and a third assembly 26. The first shaft assembly 22, the second shaft assembly 24, and the third assembly 26 are rotatably connected. The first shaft assembly 22 includes a first shaft arm 222 and a first motor 224 that can be folded and unfolded. The second shaft assembly 24 includes a second shaft arm 242 and a second motor 244.

[0052] In one embodiment, the third component 26 includes at least one of a third motor 262, a load connector 40, and a shooting element. In one embodiment, the third component 26 includes a third motor 262, and the third motor 262 is connected to the second shaft arm 242. In another embodiment, the third component 26 includes a third motor 262 and a load connector 40, and the third motor 262 is connected to the second shaft arm 242 and the load connector 40. In another embodiment, the third component 26 includes a third motor 262 and a shooting element (not shown), and the shooting element is connected to the second shaft arm 242. In another embodiment, the third component 26 includes a load connector 40, and the load connector 40 is connected to the second shaft arm 242. In another embodiment, the third component 26 includes a shooting element, and the shooting element is connected to the second shaft arm 242.

[0053] In one embodiment, the third component 26 is a third shaft component 26, and the third shaft component 26 includes a third motor 262. The first shaft component 22 is rotatably connected to the second shaft component 24. When the gimbal 20 is in the folded state and the intermediate state, the first motor 224 and the second motor 244 are stacked up and down along the same straight line Z. When the gimbal 20 is in the unfolded state, the first motor 224 and the second motor 244 are separately arranged, so that the handheld gimbal 100 can switch between the folded state and the unfolded state, so that the handheld gimbal 100 takes up less space in the folded state, is easy to store and transport, and improves the user experience.

[0054] The first motor 224 includes a first motor shaft. The second motor 244 includes a second motor shaft. In the folded state and the intermediate state, the axis A of the first motor shaft and the axis B of the second motor shaft are parallel to each other. In this way, the first motor 224 and the second motor 244 are closer in space, which can reduce the space occupied by the handheld gimbal 100 in the folded state. Furthermore, when the axis A of the first motor shaft and the axis B of the second motor shaft coincide with the same straight line Z, the first motor 224 and the second motor 244 are closest in space, so that the handheld gimbal 100 occupies less space in the folded state and is easy to store and transport.

[0055] The first motor 224 includes a stator and a rotor. The second motor 244 includes a stator and a rotor. When the gimbal 20 is in the folded state and the intermediate state, the handheld gimbal 100 satisfies one of the following structures: the stator of the second motor 244, the rotor of the second motor 244, the stator of the first motor 224, and the rotor of the first motor 224 are arranged from top to bottom along the same straight line Z; the rotor of the second motor 244, the stator of the second motor 244, the stator of the first motor 224, and the rotor of the first motor 224 are arranged from top to bottom along the same straight line Z; the stator of the second motor 244, the rotor of the second motor 244, the rotor of the first motor 224, and the stator of the first motor 224 are arranged from top to bottom along the same straight line Z; the rotor of the second motor 244, the stator of the second motor 244, the rotor of the first motor 224, and the stator of the first motor 224 are arranged from top to bottom along the same straight line Z.

[0056] In one embodiment, the first motor 224 may be a yaw motor, and accordingly, the first motor shaft is a yaw motor shaft. The second motor 244 may be a pitch motor, and accordingly, the second motor shaft is a pitch motor shaft. The third motor 262 may be a roll motor, and accordingly, the third motor shaft is a roll motor shaft.

[0057] In one embodiment, the axes of the first motor shaft, the second motor shaft, and the third motor shaft are non-orthogonal to each other. It is understandable that in other embodiments, the first motor shaft, the second motor shaft, and the third motor shaft can be set to any other suitable arrangement according to the actual application scenario, for example, the axis A of the first motor shaft is approximately perpendicular to the axis B of the second motor shaft, and the axis A of the first motor shaft is approximately perpendicular to the axis C of the third motor shaft. Wherein, approximately perpendicular can mean that the angle between the axes of the two motor shafts is 85°-95°. The angle between the axis B of the second motor shaft and the axis C of the third motor shaft is an acute angle, for example, 50°.

[0058] The handle 10 is generally in the shape of an inclined rod, and is used for the user to hold and control the handheld gimbal 100. A receiving groove 12 is provided on the side of the handle 10. When the gimbal 20 is in the folded state and the intermediate state, the third motor 262 is at least partially located in the receiving groove 12, and the receiving groove 12 can limit the third motor 262 from rotating along the circumferential direction of the handle 10. For example, the receiving groove 12 may include at least two limit blocks 122 symmetrically arranged in the horizontal direction, which are used to abut the third motor 262 when the third motor 262 is partially located in the receiving groove 12 to prevent the second shaft arm 242 from shaking back and forth relative to the handle 10, thereby increasing the stability of the folded state. When the gimbal 20 is in the unfolded state, the third motor 262 is located outside the receiving groove 12. The handle 10 also includes a control unit 14, which is arranged on the side opposite to the receiving groove 12. The gimbal 20 can be controlled by the control unit 14, so as to adjust the position and orientation of the first motor 224 and the second motor 244, thereby realizing the functions of stabilizing or maintaining the posture of the gimbal 20. In other embodiments, the handle may be in the shape of a vertical rod, and the side of the handle may not have a receiving groove. When the gimbal 20 is in a folded state and an intermediate state, the third motor 262 abuts against the side of the handle, and the side of the handle can limit the circumferential rotation of the third motor 262 along the handle 10.

[0059] The first motor 224 is installed on the top of the handle 10. That is to say, the pan / tilt head 20 is connected to the handle 10 through the first motor 224.

[0060] The first shaft arm 222 connects the first motor 224 and the second motor 244. When the gimbal 20 is in the folded state and the unfolded state, the first shaft arm 222 is folded, and when the gimbal 20 is in the unfolded state, the first shaft arm 222 is unfolded.

[0061] Specifically, the first shaft arm 222 can connect the stator of the first motor 224 and the stator of the second motor 244, or the first shaft arm 222 can connect the rotor of the first motor 224 and the stator of the second motor 244, or the first shaft arm 222 can connect the stator of the first motor 224 and the rotor of the second motor 244, or the first shaft arm 222 can connect the rotor of the first motor 224 and the rotor of the second motor 244, which is not limited here. It should be pointed out that when the first shaft arm 222 is connected to the stator of the first motor 224, the rotor of the first motor 224 is installed on the top of the handle 10, and when the first shaft arm 222 is connected to the rotor of the first motor 224, the stator of the first motor 224 is installed on the top of the handle 10, so that the stator of the first motor 224 rotates relative to the rotor of the first motor 224, and can drive the gimbal 20 to rotate around the first motor shaft.

[0062] The first shaft arm 222 includes a first sub-arm 2222, a second sub-arm 2224 and a shaft assembly 2226. The first sub-arm 2222 connects the first motor 224 and the shaft assembly 2226. The second sub-arm 2224 connects the second motor 244 and the shaft assembly 2226. The shaft assembly 2226 is configured to connect the first sub-arm 2222 and the second sub-arm 2224 to hinge the first motor 224 and the second motor 244. In this way, the first shaft arm 222 changes the spatial position of the first motor 224 and the second motor 244 by folding and unfolding, thereby achieving the effect of changing the space occupied by the handheld gimbal 100. When the first shaft arm 222 is folded, the spatial position of the first motor 224 and the second motor 244 is close, so that the handheld gimbal 100 occupies less space and is convenient for transportation and storage; when the first shaft arm 222 is unfolded, the spatial position of the first motor 224 and the second motor 244 is far, so that the handheld gimbal 100 can work normally.

[0063] Specifically, the first sub-arm 2222 can be connected to the stator or rotor of the first motor 224. When the first sub-arm 2222 is connected to the stator of the first motor 224, the rotor of the first motor 224 is connected to the top of the handle 10. When the first sub-arm 2222 is connected to the rotor of the first motor 224, the stator of the first motor 224 is connected to the top of the handle 10. In this way, when the stator of the first motor 224 rotates relative to the rotor of the first motor 224, the first shaft arm 222 can be driven to rotate around the first motor shaft. Similarly, the second sub-arm 2224 can be connected to the stator or rotor of the second motor 244.

[0064] Further, one of the first sub-arm 2222 and the second sub-arm 2224 is curved, and the other is straight; or both the first sub-arm 2222 and the second sub-arm 2224 are curved, and when the gimbal 20 is in a folded state, an accommodation space is formed between the first sub-arm 2222 and the second sub-arm 2224, and the stator or rotor of the second motor 244 is located in the accommodation space. Figure 1 In the illustrated embodiment, the first sub-arm 2222 is curved, and the second sub-arm 2224 is straight.

[0065] The rotating shaft assembly 2226 includes a locking mechanism (not shown) and a rotating shaft (not shown). The locking mechanism is disposed between the first sub-arm 2222 and the second sub-arm 2224, and is used to lock the relative rotation between the first sub-arm 2222 and the second sub-arm 2224, so as to lock the pan / tilt 20 in an unfolded state or a folded state. The rotating shaft passes through at least one of the first sub-arm 2222 and the second sub-arm 2224, so as to articulate the first motor 224 and the second motor 244.

[0066] The locking mechanism can lock the relative position of the first sub-arm 2222 and the second sub-arm 2224, so that the pan head 20 can be maintained in a stable unfolded state or folded state. When the locking mechanism is locked, the first sub-arm 2222 and the second sub-arm 2224 cannot rotate relative to each other. When the locking mechanism is unlocked, the first sub-arm 2222 and the second sub-arm 2224 can rotate relative to each other. When the pan head 20 is in the unfolded state, the locking mechanism is locked, the first sub-arm 2222 and the second sub-arm 2224 cannot rotate relative to each other, and the pan head 20 can work normally. At this time, a torque greater than the locking mechanism is applied, and the locking mechanism is unlocked, and the lock of the first sub-arm 2222 and the second sub-arm 2224 can be released, so that the first sub-arm 2222 and the second sub-arm 2224 can rotate relative to each other. When the pan head 20 is rotated to the folded state, the locking mechanism is locked again, and the first sub-arm 2222 and the second sub-arm 2224 cannot rotate relative to each other. The volume of the pan head 20 is minimized, which is convenient for carrying and transportation. Among them, the locking mechanism can be any suitable locking structure as long as it can lock the relative rotation between the first sub-arm 2222 and the second sub-arm 2224. For example, the locking mechanism can be at least one of a bevel locking, an eccentric wheel locking, a four-bar locking, and a snap locking structure.

[0067] In one example, the locking mechanism includes a first limiting hole, a second limiting hole, a spring and a positioning ball. The first limiting hole is provided on the first sub-arm. The second limiting hole is provided on the second sub-arm at a position corresponding to the first limiting hole. The spring and the positioning ball are provided in the first limiting hole. One end of the spring abuts against the bottom wall of the first limiting hole, and the other end of the spring abuts against the positioning ball. Under the action of the spring, the positioning ball can be partially accommodated in the second limiting hole, thereby locking the relative rotation of the first sub-arm and the second sub-arm. When the first sub-arm rotates relative to the second sub-arm under the action of an external force, the positioning ball can compress the spring, thereby causing the positioning ball to disengage from the second limiting hole, and at this time, the first sub-arm and the second sub-arm can rotate relative to each other. In this way, the locking and unlocking of the first sub-arm and the second sub-arm are achieved.

[0068] It should be noted that in other embodiments, the first sub-arm and the second sub-arm can be automatically locked together by the torque of the motor itself, so that the first axis arm remains in the folded state. Similarly, when the handheld gimbal switches between the folded state, the intermediate state and the unfolded state, the switching can be performed manually or by motor drive.

[0069] The second shaft arm 242 connects the second motor 244 and the third motor 262. When the gimbal 20 is in the folded state, the first shaft arm 222 and the second shaft arm 242 are located on the same side of the handle 10, and the first shaft arm 222 and the second shaft arm 242 are locked together by the fixing mechanism 30, so as to better maintain the folded state and prevent at least two shaft assemblies from rotating relative to each other and releasing the folded state during storage and transportation, thereby causing inconvenience in storage or damaging the handheld gimbal 100 during transportation. When the gimbal 20 is in the intermediate state, the first shaft arm 222 and the second shaft arm 242 are respectively located on opposite sides of the handle 10. The rotation of at least one of the first motor 224 and the second motor 244 can switch the first shaft arm 222 and the second shaft arm 242 between being located on the same side of the handle 10 and being located on opposite sides of the handle 10, so that the gimbal 20 switches between the folded state and the intermediate state. It should be noted that when the gimbal 20 is in the middle state, the first shaft arm 222 is rotated by not less than 90 degrees around the axis A of the first motor shaft to limit the opening of the second shaft arm 242. For example, when the gimbal 20 is in the middle state, the angle between the first shaft arm 222 and the second shaft arm 242 is 180 degrees. If the first shaft arm 222 is rotated by 100 degrees around the axis A of the first motor shaft, the angle between the first shaft arm 222 and the second shaft arm 242 is reduced to 80 degrees. At this time, the gimbal 20 is in a state between the folded state and the middle state, and the first shaft arm 222 can limit the opening of the second shaft arm 242.

[0070] Furthermore, the fixing mechanism 30 can fix the axis arms of at least two axis assemblies by one of the methods of magnetism, lock, snap, interference fit, screw connection, or bonding. In this way, when the gimbal 20 is in a folded state, at least two axis assemblies are locked together by the fixing mechanism 30, which can better maintain the folded state and prevent at least two axis assemblies from rotating relative to each other and releasing the folded state during storage and transportation, thereby causing inconvenience in storage or damaging the handheld gimbal 100 during transportation.

[0071] In one embodiment, the fixing mechanism 30 fixes the shaft arms of at least two shaft assemblies by magnetic attraction. The fixing mechanism 30 includes a magnetic member (not shown), which is respectively arranged on the first shaft arm 222 and the second shaft arm 242. When the gimbal 20 is in a folded state, the first shaft arm 222 and the second shaft arm 242 are located on the same side of the handle 10, and the first shaft arm 222 and the second shaft arm 242 are locked together by magnetic attraction through the magnetic member, so as to better maintain the folded state. Specifically, the magnetic member includes a magnet and a material that can be adsorbed by a magnet. In one example, the magnetic members of the first shaft arm 222 and the second shaft arm 242 are both magnets, so that when the distance between the first shaft arm 222 and the second shaft arm 242 reaches a certain threshold, the magnets on the first shaft arm 222 and the second shaft arm 242 attract each other, thereby locking the first shaft arm 222 and the second shaft arm 242. In another example, one of the magnetic parts in the first shaft arm 222 and the second shaft arm 242 is a magnet, and the other magnetic part in the first shaft arm 222 and the second shaft arm 242 is a material that can be adsorbed by the magnet, so that when the distance between the first shaft arm 222 and the second shaft arm 242 reaches a certain threshold, the magnets on the first shaft arm 222 and the second shaft arm 242 adsorb the material that can be adsorbed by the magnet, thereby locking the first shaft arm 222 and the second shaft arm 242.

[0072] In another embodiment, the fixing mechanism 30 fixes the shaft arms of at least two shaft assemblies by means of interference fit. The fixing mechanism 30 includes a protrusion (not shown) and a groove (not shown), one of the protrusion and the groove is provided on the first shaft arm 222, and the other of the protrusion and the groove is provided on the second shaft arm 242. The size of the protrusion is slightly larger than the size of the groove, so that the protrusion can be better fixed in the groove. In this way, when the gimbal 20 is in the folded state, the first shaft arm 222 and the second shaft arm 242 are located on the same side of the handle 10, and the first shaft arm 222 and the second shaft arm 242 are locked together by means of interference fit, so as to better maintain the folded state.

[0073] In another embodiment, the fixing mechanism 30 fixes the shaft arms of at least two shaft assemblies by bonding. The fixing mechanism 30 includes Velcro (not shown), the Velcro includes a hook surface and a fur surface, one of the hook surface and the fur surface is provided on the first shaft arm 222, and the other of the hook surface and the fur surface is provided on the second shaft arm 242. The hook surface has a barb, and the fur surface has fibers, and the barb can bond the fibers, so that when the pan / tilt head 20 is in a folded state, the first shaft arm 222 and the second shaft arm 242 are located on the same side of the handle 10, and the first shaft arm 222 and the second shaft arm 242 are locked together by bonding, so as to better maintain the folded state.

[0074] It should be noted that in other embodiments, the first shaft arm and the second shaft arm can be automatically locked together by the torque of the motor itself, so that the handheld gimbal remains in the folded state. Similarly, when the handheld gimbal switches between the folded state, the intermediate state and the unfolded state, the switching can be performed manually or by motor drive.

[0075] When the platform 20 is in the folded state, the opening direction of the second sub-arm 2224 is opposite to the opening direction of the second shaft arm 242. Figure 1 It can be understood that when the gimbal 20 is in the folded state, opening means switching the gimbal 20 from the folded state to the intermediate state. Since the first shaft arm 222 and the second shaft arm 242 are locked together by the fixing mechanism 30, if the gimbal 20 is to be switched from the folded state to the intermediate state, force needs to be applied to unlock the fixing mechanism 30, so that the first shaft arm 222 and the second shaft arm 242 are separated, and the gimbal 20 can be switched from the folded state to the intermediate state. In one example, when the second sub-arm 2224 rotates clockwise along the axis B of the second motor shaft relative to the second shaft arm 242, or when the second shaft arm 242 rotates counterclockwise along the axis B of the second motor shaft relative to the second sub-arm 2224, the fixing mechanism 30 can be unlocked, and the gimbal 20 can be switched from the folded state to the intermediate state.

[0076] When the pan / tilt head 20 is in the middle state, the opening direction of the second sub-arm 2224 is the same as the opening direction of the second shaft arm 242. Figure 2 It can be understood that when the gimbal 20 is in the middle state, opening refers to switching the gimbal 20 from the middle state to the unfolded state. Since the first axis arm 222 and the second axis arm 242 are respectively located on the opposite sides of the handle 10, if you want to switch the gimbal 20 from the middle state to the unfolded state, you need to apply force to make the second sub-arm 2224 rotate counterclockwise relative to the rotating shaft assembly 2226, so that the second sub-arm 2224 drives the second axis arm 242 to rotate in the same direction through the second motor 244, and the gimbal 20 can be switched from the middle state to the unfolded state.

[0077] In another embodiment, the third component 26 includes a third motor 262 and a load connector 40, and the third motor 262 connects the second shaft arm 242 and the load connector 40. That is, the handheld gimbal 100 includes a handle 10, a first shaft arm 222, a first motor 224, a second shaft arm 242, a second motor 244, a third motor 262, a fixing mechanism 30, and a load connector 40. The load connector 40 is connected to the third motor 262. When the gimbal 20 is in a folded state and an intermediate state, the first shaft arm 222 is folded, and the load connector 40 is at least partially located in the receiving groove 12, and the receiving groove 12 can limit the rotation of the load connector 40 along the circumferential direction of the handle 10. When the gimbal 20 is in an unfolded state, the first shaft arm 222 is unfolded, and the load connector 40 is located outside the receiving groove 12. Specifically, the load connector 40 may include a magnetic member or a clamping member. The load connector 40 mounts the load 200 on the handheld gimbal 100 through a magnetic part or a clamp. The handheld gimbal 100 adjusts the position and orientation of the load 200 to meet the operational requirements of various scenarios. The load 200 may be one of an imaging device, a mobile terminal, a sensor, and the like. The imaging device may be an image acquisition device such as a video camera, a camera, an ultrasonic imaging device, an infrared imaging device, an imaging lens, and the like. The mobile terminal may be a mobile phone, a tablet computer, and the like. The sensor may be a posture sensor, such as an angle sensor, an acceleration sensor, and the like. It is understandable that the imaging device may also be some mobile terminals, such as a mobile phone, a tablet computer, and the like with video recording and photo taking functions. Of course, it can also be said that the mobile terminal may also be some imaging devices. In Figure 6 In the illustrated embodiment, the load 200 is a mobile phone, the first motor 224 is a yaw motor, the second motor 244 can be a pitch motor, and the third motor 262 can be a roll motor. The first motor 224 can control the posture of the mobile phone in the yaw direction, the second motor 244 can control the posture of the mobile phone in the pitch direction, and the third motor 262 can control the posture of the mobile phone in the roll direction, so that the handheld gimbal 100 can achieve three-axis stabilization and posture control for the mobile phone, so that the mobile phone can maintain a better posture.

[0078] In another embodiment, the third component 26 includes a third motor 262 and a shooting element (not shown), and the shooting element is connected to the second shaft arm 242. That is, the handheld gimbal 100 includes a handle 10, a first shaft arm 222, a first motor 224, a second shaft arm 242, a second motor 244, a third motor 262, a fixing mechanism 30, and a shooting element. The shooting element is connected to the third motor 262. When the gimbal 20 is in a folded state and an intermediate state, the first shaft arm 222 is folded, and the shooting element is at least partially located in the accommodating groove 12, and the accommodating groove 12 can limit the circumferential rotation of the shooting element along the handle 10. When the gimbal 20 is in an unfolded state, the first shaft arm 222 is unfolded, and the shooting element is located outside the accommodating groove 12. Specifically, the shooting element can be a camera.

[0079] In another embodiment, the third component 26 includes a load connector 40, and the load connector 40 is connected to the second shaft arm 242. That is, the handheld gimbal 100 includes a handle 10, a first shaft arm 222, a first motor 224, a second shaft arm 242, a second motor 244, a fixing mechanism 30, and a load connector 40. The second shaft arm 242 connects the second motor 244 and the load connector 40. When the gimbal 20 is in a folded state and an intermediate state, the first shaft arm 222 is folded, and the load connector 40 is at least partially located in the receiving groove 12, and the receiving groove 12 can limit the circumferential rotation of the load connector 40 along the handle 10. When the gimbal 20 is in an unfolded state, the first shaft arm 222 is unfolded, and the load connector 40 is located outside the receiving groove 12. Specifically, the load connector 40 may include a magnetic member or a clamping member.

[0080] In another embodiment, the third component 26 includes a shooting element, and the shooting element is connected to the second shaft arm 242. That is, the handheld gimbal 100 includes a handle 10, a first shaft arm 222, a first motor 224, a second shaft arm 242, a second motor 244, a fixing mechanism 30, and a shooting element. The second shaft arm 242 connects the second motor 244 and the shooting element. When the gimbal 20 is in a folded state and an intermediate state, the first shaft arm 222 is folded, and the shooting element is at least partially located in the receiving groove 12, and the receiving groove 12 can limit the circumferential rotation of the shooting element along the handle 10. When the gimbal 20 is in an unfolded state, the first shaft arm 222 is unfolded, and the shooting element is located outside the receiving groove 12. Specifically, the shooting element can be a camera.

[0081] In summary, in the handheld gimbal 100 of the embodiment of the present application, when in the folded state, the motors of at least two axis assemblies are stacked up and down along the same straight line Z, so that the handheld gimbal 100 occupies less space when in the folded state, is easy to store and transport, and improves the user experience.

[0082] In some embodiments, the handheld gimbal 100 includes a handle 10 and a gimbal 20. The gimbal 20 is connected to the handle 10. The gimbal 20 includes at least two shaft assemblies. The at least two shaft assemblies are rotatably connected. The shaft assembly includes a motor. The motors of at least two shaft assemblies include motor shafts. The gimbal 20 can be switched between a folded state and an unfolded state. In the folded state, the axes of the motor shafts of at least two shaft assemblies are parallel to each other.

[0083] Specifically, the handheld gimbal 100 of the embodiment of the present application has a substantially similar structure to the handheld gimbal of the above embodiment, except that when the handheld gimbal 100 of the embodiment of the present application is in a folded state, the motors of at least two axis assemblies may not be stacked up and down along the same straight line, but the axes of the motor shafts of at least two axis assemblies may be kept parallel to each other. It is understood that when the handheld gimbal 100 of the embodiment of the present application is in a folded state, the projections of the motors of at least two axis assemblies on the horizontal plane may partially overlap or may not overlap.

[0084] It should be pointed out that the remaining structures of the handheld gimbal 100 of the embodiment of the present application are the same as the handheld gimbal structure of the above-mentioned embodiment, and are not described here to avoid redundancy.

[0085] In summary, in the handheld gimbal 100 of the embodiment of the present application, when in the folded state, the axes of the motor shafts of at least two axis assemblies are parallel to each other, so that the handheld gimbal 100 occupies less space when in the folded state, is easy to store and transport, and improves the user experience.

[0086] In some embodiments, the gimbal 20 includes three axis assemblies. The three axis assemblies are rotatably connected. The axis assemblies include motors. The motors of the three axis assemblies include motor shafts. In the folded state, the axes of the motor shafts of the three axis assemblies are parallel to each other. In this way, the handheld gimbal 100 occupies less space in the folded state, is easy to store and transport, and improves the user experience.

[0087] In some embodiments, the handheld gimbal 100 includes a handle 10 and a gimbal 20. The gimbal 20 is connected to the handle 10. The gimbal 20 includes at least two shaft assemblies. The at least two shaft assemblies are rotatably connected. The shaft assembly includes a motor and a shaft arm connected to the motor. The gimbal 20 can be switched between a folded state and an unfolded state. When the gimbal 20 is in the folded state, the shaft arms of at least two shaft assemblies are located on the same side of the handle and are locked together.

[0088] Thus, in the folded state, the shaft arms of at least two shaft assemblies are located on the same side of the handle and locked together, so that the handheld gimbal occupies less space in the folded state, is easy to store and transport, and improves the user experience. It can be understood that in this embodiment, the motors of at least two shaft assemblies can be stacked up and down along the same straight line, or can be stacked up and down along the same straight line, for example, staggered or partially stacked, which is not limited here.

[0089] In some embodiments, the folding structure of the present application is not limited to the handheld gimbal 100. The folding structure includes a support portion 10 and a rotating portion 20. The rotating portion 20 is connected to the support portion 10. The rotating portion 20 includes at least two axis assemblies. At least two axis assemblies are rotatably connected. The axis assembly includes a motor. The motors of at least two axis assemblies include motor shafts. The rotating portion 20 can switch between a folded state and an unfolded state. In the folded state, the axes of the motor shafts of at least two axis assemblies are parallel to each other. The support portion 10 is, for example, a support structure such as a handle, a bracket, a base, etc. for supporting the rotating portion 20. The rotating portion 20 is, for example, a rotating structure that can rotate such as a gimbal, a motor group, etc.

[0090] In this way, in the folded state, the axes of the motor shafts of at least two shaft assemblies are parallel to each other, so that the folding structure takes up less space in the folded state, is easy to store and transport, and improves the user experience.

[0091] In some embodiments, the folding structure includes a support portion 10 and a rotating portion 20. The rotating portion 20 is connected to the support portion 10. The rotating portion 20 includes at least two shaft assemblies. The at least two shaft assemblies are rotatably connected. The shaft assembly includes a motor. The rotating portion can be switched between a folded state and an unfolded state. In the folded state, the motors of the at least two shaft assemblies are stacked up and down along the same straight line, and in the unfolded state, the motors of the at least two shaft assemblies are separately arranged.

[0092] In this way, when in the folded state, the motors of at least two shaft assemblies are stacked up and down along the same straight line, so that the folding structure takes up less space when in the folded state, is easy to store and transport, and improves the user experience.

[0093] In some embodiments, the folding structure includes a support portion 10 and a rotating portion 20. The rotating portion 20 is connected to the support portion 10. The rotating portion 20 includes at least two shaft assemblies. At least two shaft assemblies are rotatably connected. The shaft assembly includes a motor and a shaft arm connected to the motor. The rotating portion 20 can switch between a folded state and an unfolded state. When the rotating portion 20 is in the folded state, the shaft arms of at least two shaft assemblies are located on the same side of the support portion 10 and are locked together.

[0094] In this way, in the folded state, the shaft arms of at least two shaft assemblies are located on the same side of the support portion 10 and are locked together, so that the folding structure occupies less space in the folded state, is easy to store and transport, and improves the user experience.

[0095] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0096] The disclosure above provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0097] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0098] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A handheld gimbal, characterized in that: include: handle, A gimbal connected to the handle, the gimbal comprising: At least two axis assemblies, the at least two axis assemblies are connected to each other, the axis assemblies include motors, the gimbal can be switched between a folded state and an unfolded state, in the folded state, the motors of the at least two axis assemblies are stacked up and down along the same straight line, and in the unfolded state, the motors of the at least two axis assemblies are separately arranged; The at least two shaft assemblies include: A first shaft assembly including a first motor and a first shaft arm capable of folding and unfolding; and A second shaft assembly includes a second motor, The first motor is connected to the handle, and the first shaft arm connects the first motor and the second motor. Wherein, when the gimbal is in the folded state, the first axis arm is folded, and when the gimbal is in the unfolded state, the first axis arm is unfolded, and the folded state and the unfolded state are achieved by folding or unfolding the first axis arm; The first shaft arm comprises: A first sub-arm, connected to the first motor; A second sub-arm connected to the second motor; and a rotating shaft assembly, configured to connect the first sub-arm and the second sub-arm to articulate the first motor and the second motor; When the pan head is in the folded state, an accommodating space is formed between the first sub-arm and the second sub-arm, and the stator or the rotor of the second motor is located in the accommodating space.

2. The handheld gimbal according to claim 1, characterized in that: The motors of the at least two shaft assemblies include motor shafts. In the folded state, the axes of the motor shafts of the at least two shaft assemblies are parallel to each other.

3. The handheld gimbal according to claim 2, characterized in that: In the folded state, the axes of the motor shafts of the at least two shaft assemblies coincide with the same straight line.

4. The handheld gimbal according to claim 1, characterized in that: The first motor is mounted on the top of the handle.

5. The handheld gimbal according to claim 1, characterized in that: When the gimbal is in the folded state, the handheld gimbal satisfies one of the following structures: The stator of the second motor, the rotor of the second motor, the stator of the first motor, and the rotor of the first motor are arranged from top to bottom along the same straight line; The rotor of the second motor, the stator of the second motor, the stator of the first motor, and the rotor of the first motor are arranged from top to bottom along the same straight line; The stator of the second motor, the rotor of the second motor, the rotor of the first motor, and the stator of the first motor are arranged from top to bottom along the same straight line; The rotor of the second motor, the stator of the second motor, the rotor of the first motor, and the stator of the first motor are arranged from top to bottom along the same straight line.

6. The handheld gimbal according to claim 1, characterized in that: The rotating shaft assembly comprises: a locking mechanism, disposed between the first sub-arm and the second sub-arm, for locking the relative rotation between the first sub-arm and the second sub-arm, so as to lock the pan head in the unfolded state or the folded state; A rotating shaft is provided through at least one of the first sub-arm and the second sub-arm to hinge the first motor and the second motor.

7. The handheld gimbal according to claim 1, characterized in that: One of the first sub-arm and the second sub-arm is in a curved shape, and the other is in a straight line; or The first sub-arm and the second sub-arm are both bent.

8. The handheld gimbal according to claim 1, characterized in that: The handheld gimbal comprises: Fixed mechanism, The shaft assembly includes a shaft arm connected to the motor, When the gimbal is in the folded state, the fixing mechanism fixes the shaft arms connecting the at least two shaft assemblies.

9. The handheld gimbal according to claim 8, characterized in that: The fixing mechanism fixes the shaft arms connecting the at least two shaft assemblies in one of the following ways: Magnetic attraction; Lock; Buckle; Interference fit; Screw connection; Bonding.

10. The handheld gimbal according to claim 1, characterized in that: The shaft assembly includes a shaft arm connected to the motor. When the gimbal is in the folded state, the shaft arms of the at least two shaft assemblies are located on the same side of the handle and are locked together.

11. The handheld gimbal according to claim 10, characterized in that: The gimbal can be in an intermediate state, and the gimbal can be switched between the folded state, the intermediate state and the unfolded state. When the gimbal is in the intermediate state, the axis arms of the at least two axis assemblies are respectively located on opposite sides of the handle.

12. The handheld gimbal according to claim 11, characterized in that: The at least two shaft assemblies include: A first shaft assembly including a first shaft arm capable of folding and unfolding and a first motor; A second shaft assembly including a second shaft arm and a second motor; and A third axis assembly, including a third motor, The first motor is mounted on the top of the handle, the first shaft arm connects the first motor and the second motor, and the second shaft arm connects the second motor and the third motor. A accommodating groove is provided on the side of the handle. When the gimbal is in the folded state and the intermediate state, the first axis arm is folded, and the third motor is at least partially located in the accommodating groove. When the gimbal is in the unfolded state, the first axis arm is unfolded, and the third motor is located outside the accommodating groove.

13. The handheld gimbal according to claim 12, characterized in that: When the gimbal is in the folded state and the intermediate state, the accommodating groove can limit the circumferential rotation of the third motor along the handle.

14. The handheld gimbal according to claim 12, characterized in that: At least one of the first motor and the second motor rotates to switch the first shaft arm and the second shaft arm between being located on the same side of the handle and being located on opposite sides of the handle.

15. The handheld gimbal according to claim 12, characterized in that: The first shaft arm comprises a second sub-arm connected to the second motor, and when the gimbal is in the intermediate state, the opening direction of the second sub-arm is the same as the opening direction of the second shaft arm; When the pan head is in the folded state, the opening direction of the second sub-arm is opposite to the opening direction of the second shaft arm.

16. The handheld gimbal according to claim 12, characterized in that: When the gimbal is in the intermediate state, the first axis arm is rotated not less than 90 degrees around the first motor axis to limit the second axis arm from opening.

17. The handheld gimbal according to claim 12, characterized in that: The handheld gimbal includes a load connector, and the load connector is connected to the third motor.

18. The handheld gimbal according to claim 17, characterized in that: The load connecting member includes a magnetic member or a clamping member.

19. The handheld gimbal according to claim 17, characterized in that: When the pan head is in the folded state and the intermediate state, the first axis arm is folded, and the load connecting member is at least partially located in the accommodating groove.

20. The handheld gimbal according to claim 12, characterized in that: The handheld gimbal further includes a shooting element, and the shooting element is connected to the third motor.

21. The handheld gimbal according to claim 20, characterized in that: When the gimbal is in the folded state and the intermediate state, the first axis arm is folded, and the shooting element is at least partially located in the accommodating groove.

22. The handheld gimbal according to claim 11, characterized in that: The handheld gimbal comprises a load connection member, and the at least two axis assemblies comprise: A first shaft assembly including a first shaft arm capable of folding and unfolding and a first motor; and A second shaft assembly including a second shaft arm and a second motor; The first motor is mounted on the top of the handle, the first shaft arm connects the first motor and the second motor, and the second shaft arm connects the second motor and the load connection member. A accommodating groove is provided on the side of the handle. When the gimbal is in the folded state and the intermediate state, the first axis arm is folded, and the load connecting member is at least partially located in the accommodating groove. When the gimbal is in the unfolded state, the first axis arm is unfolded, and the load connecting member is located outside the accommodating groove.

23. The handheld gimbal according to claim 22, characterized in that: The load connecting member includes a magnetic member or a clamping member.

24. The handheld gimbal according to claim 11, characterized in that: The handheld gimbal includes a shooting element, and the at least two axis components include: A first shaft assembly including a first shaft arm capable of folding and unfolding and a first motor; and A second shaft assembly including a second shaft arm and a second motor; The first motor is installed on the top of the handle, the first shaft arm connects the first motor and the second motor, and the second shaft arm connects the second motor and the shooting element. A accommodating groove is provided on the side of the handle. When the gimbal is in the folded state and the intermediate state, the first axis arm is folded, and the shooting element is at least partially located in the accommodating groove. When the gimbal is in the unfolded state, the first axis arm is unfolded, and the shooting element is located outside the accommodating groove.

25. A handheld gimbal, characterized in that: include: handle, A gimbal connected to the handle, the gimbal comprising: At least two shaft assemblies, the at least two shaft assemblies are connected to each other, the shaft assemblies include motors, the motors of the at least two shaft assemblies include motor shafts, the gimbal can be switched between a folded state and an unfolded state, and in the folded state, the axes of the motor shafts of the at least two shaft assemblies are parallel to each other; The at least two shaft assemblies include: A first shaft assembly including a first motor and a first shaft arm capable of folding and unfolding; and A second shaft assembly includes a second motor, The first motor is connected to the handle, and the first shaft arm connects the first motor and the second motor. Wherein, when the gimbal is in the folded state, the first axis arm is folded, and when the gimbal is in the unfolded state, the first axis arm is unfolded, and the folded state and the unfolded state are achieved by folding or unfolding the first axis arm; The first shaft arm comprises: A first sub-arm, connected to the first motor; A second sub-arm connected to the second motor; and a rotating shaft assembly, configured to connect the first sub-arm and the second sub-arm to articulate the first motor and the second motor; When the pan head is in the folded state, an accommodating space is formed between the first sub-arm and the second sub-arm, and the stator or the rotor of the second motor is located in the accommodating space.

26. The handheld gimbal according to claim 25, characterized in that: In the folded state, the axes of the motor shafts of the at least two shaft assemblies coincide with each other.

27. The handheld gimbal according to claim 25, characterized in that: The first motor is mounted on the top of the handle.

28. The handheld gimbal according to claim 25, characterized in that: When the gimbal is in the folded state, the handheld gimbal satisfies one of the following structures: The stator of the second motor, the rotor of the second motor, the stator of the first motor, and the rotor of the first motor are arranged from top to bottom along the same straight line; The rotor of the second motor, the stator of the second motor, the stator of the first motor, and the rotor of the first motor are arranged from top to bottom along the same straight line; The stator of the second motor, the rotor of the second motor, the rotor of the first motor, and the stator of the first motor are arranged from top to bottom along the same straight line; The rotor of the second motor, the stator of the second motor, the rotor of the first motor, and the stator of the first motor are arranged from top to bottom along the same straight line.

29. The handheld gimbal according to claim 25, characterized in that: The rotating shaft assembly comprises: a locking mechanism, disposed between the first sub-arm and the second sub-arm, for locking the relative rotation between the first sub-arm and the second sub-arm, so as to lock the pan head in the unfolded state or the folded state; A rotating shaft is provided through at least one of the first sub-arm and the second sub-arm to hinge the first motor and the second motor.

30. The handheld gimbal according to claim 25, characterized in that: One of the first sub-arm and the second sub-arm is in a curved shape, and the other is in a straight line; or The first sub-arm and the second sub-arm are both bent.

31. The handheld gimbal according to claim 25, characterized in that: The handheld gimbal comprises: Fixed mechanism, The shaft assembly includes a shaft arm connected to the motor, When the gimbal is in the folded state, the fixing mechanism fixes the shaft arms connecting the at least two shaft assemblies.

32. The handheld gimbal according to claim 31, characterized in that: The fixing mechanism fixes the shaft arms connecting the at least two shaft assemblies in one of the following ways: Magnetic attraction; Lock; Buckle; Interference fit; Screw connection; Bonding.

33. The handheld gimbal according to claim 25, characterized in that: The shaft assembly includes a shaft arm connected to the motor. When the gimbal is in the folded state, the shaft arms of the at least two shaft assemblies are located on the same side of the handle and are locked together.

34. The handheld gimbal according to claim 33, characterized in that: The gimbal can be in an intermediate state, and the gimbal can be switched between the folded state, the intermediate state and the unfolded state. When the gimbal is in the intermediate state, the axis arms of the at least two axis assemblies are respectively located on opposite sides of the handle.

35. The handheld gimbal according to claim 34, characterized in that: The at least two shaft assemblies include: A first shaft assembly including a first shaft arm capable of folding and unfolding and a first motor; A second shaft assembly including a second shaft arm and a second motor; and A third axis assembly, including a third motor, The first motor is mounted on the top of the handle, the first shaft arm connects the first motor and the second motor, and the second shaft arm connects the second motor and the third motor. A accommodating groove is provided on the side of the handle. When the gimbal is in the folded state and the intermediate state, the first axis arm is folded, and the third motor is at least partially located in the accommodating groove. When the gimbal is in the unfolded state, the first axis arm is unfolded, and the third motor is located outside the accommodating groove.

36. The handheld gimbal according to claim 35, characterized in that: When the gimbal is in the folded state and the intermediate state, the accommodating groove can limit the circumferential rotation of the third motor along the handle.

37. The handheld gimbal according to claim 35, characterized in that: At least one of the first motor and the second motor rotates to switch the first shaft arm and the second shaft arm between being located on the same side of the handle and being located on opposite sides of the handle.

38. The handheld gimbal according to claim 35, characterized in that: The first axis arm includes a second sub-arm. When the gimbal is in the intermediate state, the opening direction of the second sub-arm is the same as the opening direction of the second axis arm; when the gimbal is in the folded state, the opening direction of the second sub-arm is opposite to the opening direction of the second axis arm.

39. The handheld gimbal according to claim 35, characterized in that: When the gimbal is in the intermediate state, the first axis arm is rotated not less than 90 degrees around the first motor axis to limit the second axis arm from opening.

40. The handheld gimbal according to claim 35, characterized in that: The handheld gimbal includes a load connector, and the load connector is connected to the third motor.

41. The handheld gimbal according to claim 40, characterized in that: The load connecting member includes a magnetic member or a clamping member.

42. The handheld gimbal according to claim 40, characterized in that: When the pan head is in the folded state and the intermediate state, the first axis arm is folded, and the load connecting member is at least partially located in the accommodating groove.

43. The handheld gimbal according to claim 35, characterized in that: The handheld gimbal further includes a shooting element, and the shooting element is connected to the third motor.

44. The handheld gimbal according to claim 43, characterized in that: When the gimbal is in the folded state and the intermediate state, the first axis arm is folded, and the shooting element is at least partially located in the accommodating groove.

45. The handheld gimbal according to claim 34, characterized in that: The handheld gimbal comprises a load connection member, and the at least two axis assemblies comprise: A first shaft assembly including a first shaft arm capable of folding and unfolding and a first motor; and A second shaft assembly including a second shaft arm and a second motor; The first motor is mounted on the top of the handle, the first shaft arm connects the first motor and the second motor, and the second shaft arm connects the second motor and the load connection member. A accommodating groove is provided on the side of the handle. When the gimbal is in the folded state and the intermediate state, the first axis arm is folded, and the load connecting member is at least partially located in the accommodating groove. When the gimbal is in the unfolded state, the first axis arm is unfolded, and the load connecting member is located outside the accommodating groove.

46. ​​The handheld gimbal according to claim 45, characterized in that: The load connecting member includes a magnetic member or a clamping member.

47. The handheld gimbal according to claim 34, characterized in that: The handheld gimbal includes a shooting element, and the at least two axis components include: A first shaft assembly including a first shaft arm capable of folding and unfolding and a first motor; and A second shaft assembly including a second shaft arm and a second motor; The first motor is installed on the top of the handle, the first shaft arm connects the first motor and the second motor, and the second shaft arm connects the second motor and the shooting element. A accommodating groove is provided on the side of the handle. When the gimbal is in the folded state and the intermediate state, the first axis arm is folded, and the shooting element is at least partially located in the accommodating groove. When the gimbal is in the unfolded state, the first axis arm is unfolded, and the shooting element is located outside the accommodating groove.

48. A handheld gimbal, characterized in that: include: handle, A gimbal connected to the handle, the gimbal comprising: At least two shaft assemblies, the at least two shaft assemblies are connected to each other, the shaft assembly includes a motor and a shaft arm connected to the motor, the gimbal can be switched between a folded state and an unfolded state, and when the gimbal is in the folded state, the shaft arms of the at least two shaft assemblies are located on the same side of the handle and are locked together; The gimbal can be in an intermediate state, and the gimbal can be switched between the folded state, the intermediate state and the unfolded state. When the gimbal is in the intermediate state, the axis arms of the at least two axis assemblies are respectively located on opposite sides of the handle.

49. The handheld gimbal according to claim 48, characterized in that: The at least two shaft assemblies include: A first shaft assembly including a first shaft arm capable of folding and unfolding and a first motor; A second shaft assembly including a second shaft arm and a second motor; and The third component, The first motor is mounted on the top of the handle, the first shaft arm connects the first motor and the second motor, and the second shaft arm connects the second motor and the third component. A accommodating groove is provided on the side of the handle. When the gimbal is in the folded state and the intermediate state, the first axis arm is folded, and the third component is at least partially located in the accommodating groove. When the gimbal is in the unfolded state, the first axis arm is unfolded, and the third component is located outside the accommodating groove.

50. The handheld gimbal according to claim 49, characterized in that: When the gimbal is in the folded state and the intermediate state, the accommodating groove can limit the circumferential rotation of the third component along the handle.

51. The handheld gimbal according to claim 49, characterized in that: At least one of the first motor and the second motor rotates to switch the first shaft arm and the second shaft arm between being located on the same side of the handle and being located on opposite sides of the handle.

52. The handheld gimbal according to claim 49, characterized in that: The first shaft arm comprises a second sub-arm connected to the second motor, and when the gimbal is in the intermediate state, the opening direction of the second sub-arm is the same as the opening direction of the second shaft arm; When the pan head is in the folded state, the opening direction of the second sub-arm is opposite to the opening direction of the second shaft arm.

53. The handheld gimbal according to claim 49, characterized in that: When the gimbal is in the intermediate state, the first shaft arm is rotated not less than 90 degrees around the first motor axis to limit the second shaft arm from opening.

54. The handheld gimbal according to claim 49, characterized in that: The third component includes at least one of the following: The third motor; Load connections; Shooting element.

55. The handheld gimbal according to claim 54, characterized in that: The load connecting member includes a magnetic member or a clamping member.

56. The handheld gimbal according to claim 54, characterized in that: The third component includes a third motor and a load connecting member, and the third motor is connected to the second shaft arm and the load connecting member.

57. The handheld gimbal according to claim 54, characterized in that: The third component includes a third motor and a shooting element, and the third motor is connected to the second shaft arm and the shooting element.

58. The handheld gimbal according to claim 48, characterized in that: In the folded state, the motors of the at least two shaft assemblies are stacked up and down along the same straight line, and in the unfolded state, the motors of the at least two shaft assemblies are separately arranged.

59. The handheld gimbal according to claim 48, characterized in that: The motors of the at least two shaft assemblies include rotating shafts, and in the folded state, the axes of the rotating shafts of the motors of the at least two shaft assemblies are parallel to each other.

60. The handheld gimbal according to claim 58, characterized in that: In the folded state, the axes of the motor shafts of the at least two shaft assemblies coincide with the same straight line.

61. A folding structure, characterized in that: include: Supporting part, A rotating part connected to the supporting part, wherein the rotating part comprises: At least two shaft assemblies, the at least two shaft assemblies are connected to each other, the shaft assembly comprises a motor and a shaft arm connected to the motor, the rotating part can be switched between a folded state and an unfolded state, and when the rotating part is in the folded state, the shaft arms of the at least two shaft assemblies are located on the same side of the supporting part and are locked together; The at least two shaft assemblies include: A first shaft assembly including a first motor and a first shaft arm capable of folding and unfolding; and A second shaft assembly includes a second motor, The first motor is connected to the support portion, and the first shaft arm connects the first motor and the second motor. Wherein, when the rotating part is in the folded state, the first shaft arm is folded, and when the rotating part is in the unfolded state, the first shaft arm is unfolded, and the folded state and the unfolded state are achieved by folding or unfolding the first shaft arm; The first shaft arm comprises: A first sub-arm, connected to the first motor; A second sub-arm connected to the second motor; and a rotating shaft assembly, configured to connect the first sub-arm and the second sub-arm to articulate the first motor and the second motor; When the rotating portion is in the folded state, an accommodating space is formed between the first sub-arm and the second sub-arm, and the stator or the rotor of the second motor is located in the accommodating space.

62. A folding structure, characterized in that: include: Supporting part, A rotating part connected to the supporting part, wherein the rotating part comprises: At least two shaft assemblies, the at least two shaft assemblies are connected to each other, the shaft assemblies include motors, the rotating part can be switched between a folded state and an unfolded state, in the folded state, the motors of the at least two shaft assemblies are stacked up and down along the same straight line, and in the unfolded state, the motors of the at least two shaft assemblies are separately arranged; The rotating part can be in an intermediate state, and the rotating part can be switched between the folded state, the intermediate state and the unfolded state. When the rotating part is in the intermediate state, the shaft arms of the at least two shaft assemblies are respectively located on opposite sides of the supporting part.

63. A folding structure, characterized in that: include: Supporting part, A rotating part connected to the supporting part, wherein the rotating part comprises: At least two shaft assemblies, the at least two shaft assemblies are connected to each other, the shaft assemblies include motors, the motors of the at least two shaft assemblies include rotating shafts, the rotating parts can be switched between a folded state and an unfolded state, and in the folded state, the axes of the motor rotating shafts of the at least two shaft assemblies are parallel to each other; The at least two shaft assemblies include: A first shaft assembly, including a first motor and a first shaft arm capable of folding and unfolding; A second shaft assembly includes a second motor, The first motor is connected to the support portion, and the first shaft arm connects the first motor and the second motor. Wherein, when the rotating part is in the folded state, the first shaft arm is folded, and when the rotating part is in the unfolded state, the first shaft arm is unfolded, and the folded state and the unfolded state are achieved by folding or unfolding the first shaft arm; The first shaft arm comprises: A first sub-arm, connected to the first motor; A second sub-arm connected to the second motor; and a rotating shaft assembly, configured to connect the first sub-arm and the second sub-arm to articulate the first motor and the second motor; When the rotating portion is in the folded state, an accommodating space is formed between the first sub-arm and the second sub-arm, and the stator or the rotor of the second motor is located in the accommodating space.

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