Hand-held pan-tilt, photographing device, and movable platform

Abstract

A handheld pan / tilt (100). Comprising a handle (10), a first arm (20) and a second arm (30). The handle (10) comprises an upper end face (11), a lower end face (12) opposite to the upper end face (11), and a first side face (13) connected with the upper end face (11) and the lower end face (12). The handheld cradle head (100) can be switched between a storage state and an unfolding state, and is small in size and convenient to carry and store.

Description

[0001] This application is a divisional application of the invention patent application with application number 202180080914.1 and application date of March 18, 2021, entitled "Handheld gimbal, shooting device, and mobile platform". Technical Field

[0002] This application relates to the field of photography technology, and in particular to a handheld gimbal, shooting device, and mobile platform. Background Technology

[0003] When shooting videos or images by hand using a camera device such as a mobile phone, user shake can easily cause shaky or blurry footage. Therefore, users often mount their cameras on a handheld gimbal. The gimbal can compensate for camera shake through reverse motion, eliminating the shake generated by the camera device and enabling stable shooting with devices like mobile phones, thus obtaining high-quality images. However, current handheld gimbals are relatively large, and their size remains the same whether in working or non-working mode, making them inconvenient to carry and store. Summary of the Invention

[0004] The embodiments of this application provide a handheld gimbal, a shooting device, and a mobile platform.

[0005] The handheld gimbal of this application includes a handle, a first arm, a second arm, and a mounting component. The handle includes an upper end face, a lower end face opposite to the upper end face, and a first side face connecting the upper and lower end faces. The first arm is rotatably mounted on the first side face about a first axis. The second arm is rotatably mounted on the first arm about a second axis. The mounting component is rotatably mounted on the second arm about a third axis. The handheld gimbal can switch between a stowed state and an unfolded state; in the unfolded state, the first axis, the second axis, and the third axis are all non-orthogonal.

[0006] The embodiments of this application provide a shooting device, which includes a handheld gimbal and a shooting device as described in any of the above embodiments, wherein the shooting device is mounted on the loading component of the handheld gimbal.

[0007] The embodiments of this application provide a mobile platform, which includes a handheld gimbal and a mobile platform body as described in any of the above embodiments; the handheld gimbal is mounted on the mobile platform body.

[0008] In the handheld gimbal, shooting device, and mobile platform of the present application embodiments, the handheld gimbal can switch between a retracted state and an unfolded state. When the handheld gimbal is in the retracted state, the structure of the handheld gimbal is very compact, so as to facilitate storage.

[0009] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0010] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein: Figure 1 This is a perspective view of a handheld gimbal in a stowed state according to certain embodiments of this application; Figure 2 This is a perspective view of a handheld gimbal in an unfolded state according to certain embodiments of this application; Figure 3 This is a three-dimensional schematic diagram of a handheld gimbal and the smallest envelope cube of a handheld gimbal according to certain embodiments of this application. Figure 4 This is a three-dimensional schematic diagram of a handheld gimbal and the smallest envelope cube of a handheld gimbal according to certain embodiments of this application. Figure 5 This is a schematic diagram of the projection of a handheld gimbal in the longitudinal section of the handle according to certain embodiments of this application. Figure 6 This is a perspective view of a handheld gimbal and shooting device according to certain embodiments of this application; Figure 7 This is a schematic diagram of a handheld gimbal according to certain embodiments of this application; Figure 8 This is a schematic diagram of a handheld gimbal according to certain embodiments of this application; Figure 9 This is a schematic diagram of a handheld gimbal according to certain embodiments of this application; Figure 10 This is a perspective view of a handheld gimbal in an intermediate state according to certain embodiments of this application; Figure 11 This is a perspective view of a handheld gimbal according to certain embodiments of this application; Figure 12 This is a schematic diagram showing the usage state of the tripod assembly of a handheld gimbal according to certain embodiments of this application; Figure 13 This is a perspective view of the imaging device according to some embodiments of this application; Figure 14 This is a schematic diagram of a movable platform according to certain embodiments of this application. Detailed Implementation

[0011] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0012] In the description of this application, it should be understood that the terms "thickness," "upper," "top," "bottom," "inner," "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0013] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "linkage" should be interpreted broadly. For example, they can be fixed connections, detachable connections, or integral connections; they can be mechanical connections, electrical connections, or connections that allow communication between them; they can be direct connections or indirect connections through an intermediate medium; they can be internal connections between two components or interactive relationships between two components.

[0014] When shooting videos or images using a handheld device such as a mobile phone, user shake can easily cause shaky or blurry footage. Therefore, users often mount their shooting devices on a handheld gimbal. The gimbal can compensate for and eliminate the shake caused by the shooting device through reverse motion, allowing for stable shooting and high-quality images. However, the inventors discovered that current handheld gimbals are bulky and have the same size in both working and non-working states, making them inconvenient to carry and store.

[0015] This application provides a handheld gimbal that can switch between a stowed state and an unfolded state. When the handheld gimbal is in the stowed state, its structure is very compact, making it easy to store.

[0016] In one embodiment, the handheld gimbal includes a handle, a first arm, and a second arm. The handle includes an upper end face, a lower end face opposite to the upper end face, and a first side face connecting the upper end face and the lower end face. The first arm is rotatably mounted on the first side face. The second arm is rotatably mounted on the first arm. The handheld gimbal can switch between a retracted state and an extended state. In the retracted state, the first arm faces the first side face of the handle, and the second arm faces the lower end face.

[0017] In one embodiment, the handheld gimbal includes a handle, a first arm, a second arm, and a mounting component. The handle includes an upper end face, a lower end face opposite to the upper end face, and a first side face connecting the upper end face and the lower end face. The first arm is rotatably mounted on the first side face about a first axis. The second arm is rotatably mounted on the first arm about a second axis. The mounting component is rotatably mounted on the second arm about a third axis. The handheld gimbal is switchable between a stowed state and an unfolded state, wherein in the unfolded state, the first axis, the second axis, and the third axis are all non-orthogonal.

[0018] In one embodiment, the handheld gimbal includes a handle, a first arm, and a second arm. The handle includes an upper end face, a lower end face opposite to the upper end face, and a first side face connecting the upper end face and the lower end face. The first arm is rotatably mounted on the first side face, and the first arm includes a first sub-arm and a second sub-arm, the second sub-arm being rotatably connected to the first sub-arm via a connecting shaft. The second arm is rotatably mounted on the second sub-arm. The handheld gimbal can switch between a retracted state and an extended state, during which the first sub-arm and the second arm can rotate relative to each other.

[0019] The embodiments of this application also provide a shooting device, which includes the handheld gimbal and shooting device described in any of the above embodiments, wherein the shooting device is mounted on the loading component of the handheld gimbal.

[0020] The embodiments of this application also provide a mobile platform, which includes the handheld gimbal and the mobile platform body described in any of the above embodiments; the handheld gimbal is mounted on the mobile platform body.

[0021] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0022] Please see Figure 1 and Figure 2 This application provides a handheld gimbal 100. The handheld gimbal 100 includes a handle 10, a first arm 20, and a second arm 30. The handle 10 includes an upper end face 11, a lower end face 12 opposite to the upper end face 11, and a first side face 13 connecting the upper end face 11 and the lower end face 12. The first arm 20 is rotatably mounted on the first side face 13. The second arm 30 is rotatably mounted on the first arm 20. The handheld gimbal 100 can switch between a retracted state and an extended state. In the retracted state, the first arm 20 faces the first side face 13 of the handle 10, and the second arm 30 faces the lower end face 12.

[0023] Figure 1 This is a schematic diagram of the handheld gimbal 100 in its retracted state. When the handheld gimbal 100 is in the retracted state, the first arm 20 and the second arm 30 are approximately "L"-shaped. The first arm 20 faces the first side 13 of the handle 10, and the second arm 30 faces the lower end face 12, thus partially enclosing the handle 10. In this way, the gaps between the handle 10, the first arm 20, and the second arm 30 can be minimized, making the structure of the handheld gimbal 100 in the retracted state compact.

[0024] Figure 2 This is a schematic diagram of the handheld gimbal 100 in its deployed state. When the handheld gimbal 100 is in its deployed state, it is a three-axis gimbal that can support shooting devices 200 such as mobile phones and cameras mounted on the second arm 30. Figure 6 Stabilization is performed (as shown) to ensure the stability of the images captured by the shooting device 200.

[0025] The first arm 20 is rotatably mounted on the first side 13, allowing it to rotate relative to the handle 10. This not only switches the unfolded or retracted state of the handheld gimbal 100 but also adjusts the shooting device 200 mounted on the handheld gimbal 100 (e.g., ...). Figure 6The second arm 30 is rotatably mounted on the first arm 20 so that the second arm 30 can rotate relative to the first arm 20. This not only allows adjustment of the shooting angle of the shooting device 200 mounted on the handheld gimbal 100, but also allows rotation to a preset storage angle so that the gap between the second arm 30 and the handle 10 is minimized when the device is stored, thus minimizing the storage space occupied by the handheld gimbal 100 when stored.

[0026] Please see Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of the smallest envelope cube V1 of the handheld gimbal 100 in its retracted state. Figure 4 This is a schematic diagram of the minimum envelope cube V2 of the handheld gimbal 100 in its unfolded state. The volume of the minimum envelope cube of an object can characterize the amount of space occupied when the object is housed. As can be seen, the volume of the minimum envelope cube V1 is much smaller than the volume of the minimum envelope cube V2. Compared to its unfolded state, the space occupied by the folded handheld gimbal 100 is greatly reduced, making it easier to store and carry.

[0027] The handheld gimbal 100 of this application embodiment can switch between a folded state and an unfolded state. When the handheld gimbal 100 is in the folded state, the first arm 20 is opposite to the first side 13 of the handle 10, and the second arm 30 is opposite to the lower end face 12, so that the handheld gimbal 100 in the folded state has a compact structure and is convenient to carry and store.

[0028] The following is a further explanation with reference to the accompanying drawings.

[0029] Please see Figure 1 and Figure 5 In some embodiments, in the retracted state, the projection of the handheld gimbal 100 onto the longitudinal section of the handle 10 is racetrack-shaped. Specifically, in the retracted state, the long side of the first arm 20 is flush with the long side of the handle 10. Viewed from the projection direction, the projection of the second arm 30 onto the longitudinal section of the handle 10 is completely covered by the projection of the first arm 20 onto the longitudinal section of the handle 10. Thus, the outer contour of the projection of the handheld gimbal 100 onto the longitudinal section of the handle 10 forms a symmetrical racetrack shape, making the handheld gimbal 100 easy to store and carry. In addition, the racetrack-shaped projection of the handheld gimbal 100 onto the longitudinal section of the handle 10 results in a smoother contact surface and lower contact stress when in contact with other objects, whether in the extended or retracted state, thus reducing damage to other objects. In other embodiments, the projection of the handheld gimbal 100 onto the longitudinal section of the handle 10 can also be rectangular, square, circular, or elliptical, or other shapes.

[0030] Please see Figure 1 and Figure 2In some embodiments, the handheld gimbal 100 may further include a first rotating shaft (not shown) and a second rotating shaft (not shown). A first arm 20 is rotatably mounted on a first side 13 via the first rotating shaft, and a second arm 30 is rotatably mounted on the first arm 20 via the second rotating shaft. The first rotating shaft is rotatable about a first axis L1, and the second rotating shaft is rotatable about a second axis L2. In one embodiment, the first and second rotating shafts are connected to a damper. When the handheld gimbal 100 is in a retracted or extended state, the damper provides significant damping to maintain the handheld gimbal 100 in the retracted or extended state without deformation. When switching between the retracted and extended states of the handheld gimbal 100, a force greater than the damping of the damper is provided to allow the handheld gimbal 100 to freely switch between the retracted and extended states. In another embodiment, the first and second rotating shafts are provided with a shaft locking structure. When the handheld gimbal 100 is in the retracted or unfolded state, the first and second rotating shafts are locked so that the handheld gimbal 100 can remain in the retracted or unfolded state without deformation. When switching between the retracted and unfolded states of the handheld gimbal 100, the first and second rotating shafts are unlocked so that the handheld gimbal 100 can freely switch between the retracted and unfolded states.

[0031] In some embodiments, the handheld gimbal 100 further includes a first motor 51, a second motor 53, a third motor 55, and a mounting member 40. A first arm 20 is rotatably mounted on a first side 13 via the first motor 51, a second arm 30 is rotatably mounted on the first arm 20 via the second motor 53, and the mounting member 40 is rotatably mounted on the second arm 30 via the third motor 55. The first motor 51 may include a first body housed within a handle 10 and a first rotating shaft extending from the first body. The first arm 20 is sleeved on the first rotating shaft of the first motor 51, and the first rotating shaft rotates about a first axis L1 to drive the first arm 20 to rotate relative to the handle 10 also about the first axis L1. The second motor 53 may include a second body housed within the first arm 20 and a second rotating shaft extending from the second body. The second arm 30 is sleeved on the second rotating shaft of the second motor 53, and the second rotating shaft rotates about a second axis L2 to drive the second arm 30 to rotate relative to the first arm 20 also about the second axis L2. The mounting member 40 is used to mount a shooting device 200, such as a mobile phone or camera. The third motor 55 may include a third body housed within the second arm 30 and a third rotating shaft extending from the third body. The loading member 40 is fitted onto the third rotating shaft of the third motor 55. The third rotating shaft is capable of rotating around the third axis L3 to drive the loading member 40 to rotate relative to the second arm 30 around the second axis L3, thereby adjusting the orientation of the shooting device 200 mounted on the loading member 40.

[0032] In some embodiments, when the handheld gimbal 100 is in the stowed state, the loading member 40 can face the lower end face 12 so that the stowed handheld gimbal 100 has a compact structure and saves storage space.

[0033] Please see Figure 2 In one embodiment, the mounting component 40 may include a suction cup 41, which may be at least one of a magnetic suction cup or a pneumatic suction cup. The suction cup 41 secures the shooting device 200 to the mounting component 40 by adsorption. Taking a mobile phone as an example, when the mobile phone is covered with a metal or alloy case, a magnetic suction cup can be used to secure the phone. When the mobile phone is covered with a case made of rubber, resin, silicone, plastic, metal, or alloy, a pneumatic suction cup can be used to secure the phone.

[0034] Please see Figure 6 In another embodiment, the mounting member 40 may include a phone clip 60, which secures the shooting device 200 to the mounting member 40 by clamping. Taking the shooting device 200 as a mobile phone as an example, the mobile phone can be secured by clamping regardless of whether it has a phone case or not, or what the material of the phone case is.

[0035] Please see Figure 2 and Figure 6 In another embodiment, the loading member 40 may include a magnetic first suction cup 41, and the handheld gimbal 100 may also include a phone clip 60, which includes a magnetic second suction cup 61. The second suction cup 61 is attached to the first suction cup 41 to mount the phone clip 60 onto the loading member 40. The first suction cup 41 is connected to the third shaft of the third motor 55, enabling the loading member 40 to rotate relative to the second arm 30 about the third axis L3. Specifically, the first suction cup 41 has a non-circular groove 411, and the second suction cup 61 includes a protrusion 611 corresponding to the groove 411, which is received within the groove 411; or the second suction cup 61 has a non-circular groove, and the first suction cup 41 includes a protrusion corresponding to the groove, which is received within the groove. In this way, the shooting device 200 can be fixed by the phone clip 60, and the first suction cup 41 can be rotated relative to the second arm 30 around the third axis L3 by the third motor 55. This allows the phone clip 60, which is connected to the first suction cup 41 via the second suction cup 61, to rotate relative to the second arm 30 around the third axis L3, thereby adjusting the shooting angle of the shooting device 200. In addition, the cooperation between the non-circular groove 411 and the protrusion 611 can prevent the first suction cup 41 and the second suction cup 61 from rotating relative to each other during the adjustment of the shooting angle of the shooting device 200, ensuring that the first suction cup 41 and the second suction cup 61 are relatively fixed and improving the stability of the shooting device 200.

[0036] Please see Figure 1 and Figure 2In some embodiments, the first side surface 13 includes a first sub-surface 131 and a second sub-surface 133 that are bent and connected. The first motor 51 is disposed on the first sub-surface 131, for example, disposed below the first sub-surface 131, passing through the first sub-surface 131, or disposed above the first sub-surface 131, without limitation.

[0037] Please see Figure 2 and Figure 7 In some embodiments, the first side surface 13 includes a first sub-surface 131 and a second sub-surface 133 that are in contact. The first motor 51 is disposed on the first sub-surface 131, and the first arm 20 is rotatably mounted on the first sub-surface 131 via the first motor 51. The angle λ1 between the length direction of the second sub-surface 133 and the first rotating shaft (equivalent to the first axis L1) of the first motor 51 ranges from 50° to 120°. For example, the angle λ1 can be 51°, 57°, 60°, 64°, 72°, 78°, 80°, 83°, 86°, 90°, 95°, 100°, 105°, 110°, 114°, 119°, etc., which will not be listed here. When a user holds the handle 10 and uses the shooting device 200 mounted on the handheld gimbal 100 in its unfolded state, it is usually necessary to first align the shooting device 200 with a horizontal object, and then fine-tune the shooting angle by adjusting the rotation angles of the first arm 20, the second arm 30, and the mounting member 40 around the first axis L1, the second axis L2, and the third axis L3, respectively. If the included angle λ1 is less than 50° or greater than 120°, the included angle of the first arm 20 relative to the handle 10 will be too small or too large, requiring the user to adjust the angle of their arm and maintain an uncomfortable posture when shooting horizontal objects. In this embodiment, the included angle λ1 is in the range of (50°, 120°), allowing the user to simply extend their arm naturally when using the shooting device 200 mounted on the handheld gimbal 100 in its unfolded state, without needing to adjust the grip posture to an unnatural or uncomfortable position to accommodate the handheld gimbal, thereby improving the user's grip comfort during shooting. Furthermore, in one embodiment, the included angle λ1 is 80°, allowing the user to hold the handle 10 in a natural and comfortable posture to shoot objects in a horizontal position. With the shooting device 200 aligned with the horizontal position, the handheld gimbal 100 can adjust the rotation angles of the first arm 20, the second arm 30, and the loading member 40 around the first axis L1, the second axis L2, and the third axis L3, respectively, to satisfy the requirement that the user can hold the handle 10 in a natural and comfortable posture at most shooting angles.

[0038] Please see Figure 2 and Figure 8In some embodiments, the angle λ2 between the length direction of the envelope cube V3 of the handle 10 and the first rotating shaft of the first motor 51 ranges from 50° to 120°. For example, the angle λ2 can be 51°, 57°, 60°, 64°, 72°, 78°, 80°, 83°, 86°, 90°, 95°, 100°, 105°, 110°, 114°, 119°, etc., which will not be listed here. In conjunction with the foregoing, when the angle λ2 between the length direction of the envelope cube V3 of the handle 10 and the rotating shaft of the first motor 51 and the angle λ1 between the length direction of the second sub-face 133 and the rotating shaft of the first motor 51 are within the same range, it can also improve the user's grip comfort during shooting. For details, please refer to the foregoing; further details will not be repeated here. Furthermore, in one embodiment, the included angle λ2 is 80°, allowing the user to hold the handle 10 in a natural and comfortable posture to shoot objects in a horizontal position. With the shooting device 200 aligned with the horizontal position, the handheld gimbal 100 can adjust the rotation angles of the first arm 20, the second arm 30, and the loading member 40 around the first axis L1, the second axis L2, and the third axis L3, respectively, to satisfy the requirement that the user can hold the handle 10 in a natural and comfortable posture at most shooting angles.

[0039] Please see Figure 2 and Figure 9 In some embodiments, the first arm 20 includes a first sub-arm 21 and a second sub-arm 22. The first sub-arm 21 is rotatably connected to the handle 10 via the first rotor of the first motor 51, and the second sub-arm 22 is rotatably connected to the first arm 21 via a connecting shaft 23. For details, please refer to [link to relevant documentation]. Figure 9 The first sub-arm 21 includes a first surface 211, and the second sub-arm 22 includes a second surface 221. The first surface 211 contacts the second surface 221, and the connecting shaft 23 is disposed on the first surface 211 or the second surface 221. When the handheld gimbal 100 is in the retracted state, the length direction of the second sub-arm 22 is parallel to the second sub-surface 133.

[0040] Please combine Figure 1 and Figure 10 During the switching between the retracted and extended states of the handheld gimbal 100, the first sub-arm 21 and the second sub-arm 22 can rotate relative to each other. The handheld gimbal 100 has an intermediate state during this switching process. When the handheld gimbal 100 is in the intermediate state, the second sub-arm 22 does not overlap with the handle 10, thus the second sub-arm 22 is moved away from the handle 10.

[0041] For example, the handheld gimbal 100 is in such a position as Figure 1 In the folded state shown, the handheld gimbal 100 can rotate the first arm 20 relative to the handle 10 via the first motor 51 to switch to the folded state. Figure 9 The intermediate state is shown. When the handheld gimbal 100 is in the intermediate state, the second sub-arm 22 is away from the handle 10. The handheld gimbal 100 can rotate the second sub-arm 22 relative to the first sub-arm 21 by rotating the connecting shaft 23, thus switching to the intermediate state as shown. Figure 2 The unfolded state shown.

[0042] When the handheld gimbal 100 is in the middle position, Figure 10 The orientation of the handheld gimbal 100 is adjusted so that the first axis L1 is the pitch axis, the second axis L2 is the yaw axis, and the third axis L3 is the roll axis. When the handheld gimbal 100 is in the deployed state, the first axis L1 is the yaw axis, the second axis L2 is the pitch axis, and the third axis L3 is the roll axis. Due to the limitations of the three-axis gimbal's control principle, when the pitch axis is between the yaw axis and the roll axis, the controllable range of the pitch axis generally does not exceed ±45°. However, to switch the shooting position from a horizontal viewpoint to a tilt or slant viewpoint, the handheld gimbal 100 requires the controllable range of its pitch axis to reach at least ±90°. Therefore, the handheld gimbal 100 cannot meet the shooting requirements for tilt or slant viewpoints when it is in the deployed state. The handheld gimbal 100 of this application embodiment can be switched to an intermediate state. When the handheld gimbal 100 is in the intermediate state, the first axis L1 of the handheld gimbal 100 can be a pitch axis, which can achieve a controllable range of ±180°. That is, the first arm 20 can rotate ±180° relative to the handle 10 around the first axis L1. When the user holds the handheld gimbal 100 in the intermediate state to shoot, low-angle shooting can be achieved, which well meets the shooting needs of large upward or downward angles when shooting at low angles.

[0043] Please see Figure 1 and Figure 7 In some embodiments, the angle θ1 between the length direction of the first sub-arm 21 and the length direction of the second sub-arm 22 in the unfolded state is smaller than the angle θ2 between the length directions of the first sub-arm 21 and the second sub-arm 22 in the retracted state. Thus, the storage space occupied is greatly reduced after switching from the unfolded state to the retracted state.

[0044] Please see Figure 1 , Figure 7 and Figure 10In some embodiments, the angle θ3 between the length direction of the first sub-arm 21 and the length direction of the second sub-arm 22 in the intermediate state is equal to the angle θ2 between the length directions of the first sub-arm 21 and the second sub-arm 22 in the retracted state. That is, when the handheld gimbal 100 switches between the intermediate state and the retracted state, the angle between the length directions of the first sub-arm 21 and the second sub-arm 22 remains unchanged, and the first sub-arm 21 and the second sub-arm 22 do not rotate relative to each other, so as to ensure that the movement path of the first arm 20 and the second arm 30 is not blocked by the handle 10 when the handheld gimbal 100 switches between the intermediate state and the retracted state. Specifically, when the handheld gimbal 100 switches between the intermediate state and the retracted state, since the gap between the first arm 20 and the handle 10 is very small, there is not enough space for the first sub-arm 21 to rotate relative to the second sub-arm 22 around the connecting shaft 23. If the first sub-arm 21 is forced to rotate relative to the second sub-arm 22 around the connecting shaft 23, it will cause wear on the first sub-arm 21, the second sub-arm 22, and the handle 10.

[0045] Please see Figure 9 In some embodiments, the angle α between the length direction of the first sub-arm 21 and the connecting shaft 23 is in the range of (25°, 65°). For example, the angle α can be 26°, 30°, 34°, 38°, 42°, 45°, 48°, 50°, 53°, 58°, 60°, 64°, etc., which will not be listed here.

[0046] In some embodiments, the angle β between the length direction of the second sub-arm 22 and the connecting shaft 23 is in the range of (25°, 65°). For example, the angle β can be 26°, 30°, 34°, 38°, 42°, 45°, 48°, 50°, 53°, 58°, 60°, 64°, etc., which will not be listed here.

[0047] Please combine Figure 10 If the included angle α is less than 25° and the included angle β is less than 25°, then the angle θ2 between the length directions of the first sub-arm 21 and the second sub-arm 22 in the unfolded handheld gimbal 100 is too large. This causes the user to naturally extend their arm to hold the handle 10, and when shooting at a horizontally positioned object using the shooting device 200 mounted on the handheld gimbal 100, the shooting device 200 cannot be aligned horizontally. The user then needs to adjust their grip to an unnatural and uncomfortable posture to accommodate the gimbal. Please refer to... Figure 11If the included angle α is greater than 65° and the included angle β is greater than 65°, then the angle θ2 between the length direction of the first sub-arm 21 and the length direction of the second sub-arm 22 in the unfolded handheld gimbal 100 is too small. This also causes the user to need to adjust their grip to an unnatural and uncomfortable posture in order to use the gimbal. In this embodiment, the included angle α is in the range of (25°, 65°) and the included angle β is in the range of (25°, 65°), so that the user can hold the handle 10 in a natural and comfortable posture to shoot objects in a horizontal position. Furthermore, in one embodiment, the included angle α is 38° and the included angle β is 48°, allowing the user to hold the handle 10 in a natural and comfortable posture to shoot objects in a horizontal position. With the shooting device 200 aligned with the horizontal position, the handheld gimbal 100 can adjust the rotation angles of the first arm 20, the second arm 30, and the loading member 40 around the first axis L1, the second axis L2, and the third axis L3, respectively, to satisfy the requirement that the user can hold the handle 10 in a natural and comfortable posture at most shooting angles.

[0048] Please see Figure 10 In some embodiments, the supplementary angle φ between the length direction of the first sub-arm 21 and the length direction of the second sub-arm 22 ranges from -30° to 40°. For example, the values ​​of the supplementary angle φ can be -29°, -20°, -15°, -10°, 0°, 10°, 15°, 20°, 25°, 30°, 35°, 39°, etc., which will not be listed here. Specifically, please refer to... Figure 7 The supplementary angle φ is also the complementary angle of the angle λ1 between the length direction of the second sub-face 133 and the rotation axis of the first motor 51 (equivalent to the first axis L1). Since there is an angle λ1 between the length direction of the second sub-face 133 and the rotation axis of the first motor 51, to make the handheld gimbal 100 compact in its retracted state, the supplementary angle φ between the length directions of the first sub-arm 21 and the second sub-arm 22 ranges from -30° to 40°, as the angle λ1 ranges from 50° to 120°. In one embodiment, the angle λ1 is 80° and the supplementary angle φ is 10°, allowing the handheld gimbal 100 to switch to a retracted state, resulting in a compact structure and saving storage space.

[0049] Please see Figure 11In some embodiments, at least one side of the handle 10, which is connected to both the upper end face 11 and the lower end face 12, is provided with a functional module 70. The functional module 70 includes at least one of a touchpad 74, control buttons, a status indicator, or a display screen. The functional module 70 is used to display status information of the handheld gimbal 100 or the shooting device 200 mounted on the handheld gimbal 100, or to allow the user to operate and control the handheld gimbal 100 or the shooting device 200.

[0050] Please combine Figure 1 In one embodiment, the first side 13 is provided with a functional module 70. In the stored state, there is a gap between the first arm 20 and the first side 13 to avoid the first arm 20 pressing the functional module 70 and causing misoperation.

[0051] In some embodiments, the functional module 70 includes a first button 71 and a second button 72. The first button 71 is used to control the working state of the handheld gimbal 100. For example, the first button 71 is used to control the switching between normal operation, off, standby, automatic focus, and manual focus modes of the handheld gimbal 100. The second button 72 is used to control the shooting device 200 mounted on the mounting member 40 to capture images. For example, the second button 72 is used to control the shooting device 200 to perform operations such as taking pictures, recording videos, and adjusting the focus.

[0052] In some embodiments, the functional module 70 includes an indicator light 73, which is used to indicate the working status of the handheld gimbal 100. For example, when the indicator light 73 is off, it indicates that the handheld gimbal 100 is in a closed state; when the indicator light 73 is constantly red, it indicates that the handheld gimbal 100 is in a standby state; when the indicator light 73 is constantly green, it indicates that the handheld gimbal 100 is in a normal operating state; when the indicator light 73 is constantly yellow, it indicates that the handheld gimbal 100 is in an automatic focus state; when the indicator light 73 is flashing yellow, it indicates that the handheld gimbal 100 is in a manual focus state, etc. The way in which the indicator light 73 indicates the working status of the handheld gimbal 100 is not limited to the above-mentioned methods, and will not be listed one by one here.

[0053] In some embodiments, the functional module 70 includes a touchpad 74, which controls the rotation of at least one of the first arm 20, the second arm 30, and the loading member 40 to adjust the orientation of the imaging device 200 mounted on the loading member 40 and to lock the imaging device 200 in a target orientation. For example, clicking the touchpad 74 initiates control of the first arm 20. When a finger presses and drags the touchpad 74 in a certain direction, the first arm 20 rotates relative to the handle 10 around the first axis L1 in that direction until the finger stops dragging or the finger leaves the touchpad 74. Clicking the touchpad 74 again releases control of the first arm 20. After release, the first arm 20 is fixed relative to the handle 10, meaning the first arm 20 cannot move relative to the handle 10. The control method of the touchpad 74 over the rotation of at least one of the first arm 20, the second arm 30, and the loading member 40 is not limited to the methods illustrated above and will not be listed here.

[0054] In some embodiments, the functional module 70 includes a port 75, which can be used for charging the handheld gimbal 100 to provide power to the motors in the handheld gimbal 100. The port 75 can also be used for data transmission between the handheld gimbal 100 and the shooting device 200 mounted on the mounting 40, enabling a user to control the shooting device 200 to capture images via the functional module 70. As another example, the port 75 can be used for data transmission between the handheld gimbal 100 and terminal devices such as computers and mobile phones, allowing a user to remotely control the handheld gimbal 100 via the terminal device or enabling the handheld gimbal 100 to update data from the terminal device.

[0055] In some embodiments, the handheld gimbal 100 further includes an inertial measurement unit (not shown), which is disposed inside the handle 10. The inertial measurement unit is used to measure the three-axis attitude angles and acceleration of the handheld gimbal 100, enabling the handheld gimbal 100 to automatically control the rotation of at least one of the first arm 20, the second arm 30, and the loading member 40 based on the measurement data acquired by the inertial measurement unit, so that the handheld gimbal 100 can maintain balance.

[0056] Please see Figure 1 In some embodiments, when the handheld gimbal 100 is in the stowed state, the first axis L1, the second axis L2, and the third axis L3 are not orthogonal.

[0057] The first axis L1 and the second axis L2 are not orthogonal. Specifically, when the handheld gimbal 100 is in the retracted state, the second axis L2 is perpendicular to the plane containing the second sub-surface 133 of the first side 13, and the first axis L1 forms a preset angle relative to the plane containing the first sub-surface 131 of the first side 13. Thus, in the retracted state, there is a gap between the first arm 20 and the first side 13. When the first side 13 is provided with the functional module 70, it can prevent the first arm 20 from pressing the functional module 70, which could lead to misoperation or wear.

[0058] The second axis L2 and the third axis L3 are not orthogonal, so that the loading component 40 in the storage state can face the lower end face 12 of the handle 10, thereby reducing the storage space.

[0059] The first axis L1 and the third axis L3 are not orthogonal, so that the loading component 40 in the storage state can face the lower end face 12 of the handle 10, thereby reducing the storage space.

[0060] Please see Figure 2 In some embodiments, when the handheld gimbal 100 is in the unfolded state, the first axis L1, the second axis L2, and the third axis L3 are not orthogonal. Specifically, in the unfolded state, the first axis L1 is the yaw axis, and the first arm 20 can rotate around the yaw axis; the second axis L2 is the pitch axis, and the second arm 30 can rotate around the pitch axis; the third axis L3 is the roll axis, and the mounting component 40 can rotate around the roll axis. Thus, the handle 10, the first arm 20, the second arm 30, and the mounting component 40 of the handheld gimbal 100 constitute a three-axis gimbal, enabling the shooting device 200 mounted on the handheld gimbal 100 to meet shooting requirements at multiple angles, including pitch, yaw, and roll.

[0061] In some embodiments, during the switching between the retracted and extended states of the handheld gimbal 100, the first axis L1, the second axis L2, and the third axis L3 remain non-orthogonal. Thus, even when the handheld gimbal 100 is not in the extended state, as long as the handheld gimbal 100 is equipped with the shooting device 200, it can satisfy the shooting device 200's shooting needs at multiple angles, such as pitch, yaw, and roll.

[0062] Please see Figure 2In some embodiments, the included angle ω between the second axis L2 and the third axis L3 ranges from [30° to 60°]. For example, the included angle ω can be 30°, 34°, 37°, 40°, 42°, 45°, 49°, 50°, 53°, 58°, 60°, etc., which will not be listed here. If the included angle ω is less than 30°, the included angle ω between the second axis L2 and the third axis L3 is too small, and the adjustable shooting angle that can be adjusted by the rotation of the loading member 40 relative to the second arm 30 around the third axis L3 and the rotation of the second arm 30 relative to the first arm 20 around the second axis L2 is small. If the included angle ω is greater than 60°, when the second arm 30 rotates relative to the first arm 20 around the second axis L2, the first arm 20 is likely to block the movement path of the shooting device 200, resulting in a limited adjustable shooting angle. When the angle ω between the second axis L2 and the third axis L3 is in the range of [30°, 60°], the shooting device 200 mounted on the handheld gimbal 100 can have a large angle adjustment range. Further, in one embodiment, the angle ω between the second axis L2 and the third axis L3 is 45°, which satisfies both the requirement that the movement path of the shooting device 200 is not obstructed by the first arm 20 and that the angle ω between the second axis L2 and the third axis L3 is large enough to allow for a sufficiently large adjustable shooting angle.

[0063] Please see Figure 1 and Figure 12 In some embodiments, the handheld gimbal 100 may further include a tripod assembly 80. The tripod assembly 80 is rotatably mounted on the handle 10 and can switch between a folded state and a usable state. Figure 12 As shown, in use, the tripod assembly 80 and the end of the handle 10 near the lower end face 12 work together to support the handle 10. Figure 1 As shown, in the folded state, the tripod assembly 80 partially covers the handle 10.

[0064] When the tripod assembly 80 is switched to the use state, it unfolds outward and, together with the end of the handle 10 near the lower end face 12, forms a tripod structure to place the handheld gimbal 100, which carries the shooting device 200, in a fixed position for shooting, making the shooting image more stable. When the tripod assembly 80 is switched to the folding state, it retracts inward to form part of the handle 10 for easy gripping by the user.

[0065] Please see Figure 2 In some embodiments, the handle 10 includes a second side 14 opposite to the first side 13, and the tripod assembly 80 is rotatably disposed on the second side 14.

[0066] Please refer to the following: Figure 1 and Figure 2In some embodiments, in the folded state, the tripod assembly 80 protrudes relative to the lower end face 12 to form a storage position 83, and the second arm 30 is located in the storage position 83 in the stored state. Specifically, the storage position 83 has at least one open side 831 for the second arm 30 to be placed in the storage position 83. The storage position 83 can provide storage space for the second arm 30 in the stored state of the handheld gimbal 100, making the structure of the handheld gimbal 100 in the stored state compact, thereby saving the space occupied by the tripod assembly 80 and the second arm 30 in the stored state.

[0067] In some embodiments, the storage position 83 has at least one protective side 833, which at least partially covers the second arm 30 to protect it from scratches. The connection between the second arm 30 and the first arm 20 is relatively fragile and easily damaged by external forces, causing the second arm 30 to be unable to rotate smoothly relative to the first arm 20. In the stored state of the handheld gimbal 100, the second arm 30 is enclosed by the tripod assembly 80. When the stored handheld gimbal 100 is subjected to compression or torsional forces, the tripod assembly 80 can protect the second arm 30 and the connection between the second arm 30 and the first arm 20, preventing damage to the connection between the second arm 30 and the first arm 20.

[0068] Furthermore, please combine Figure 12 In some embodiments, the tripod assembly 80 may include a first tripod 81 and a second tripod 82. A first end of the first tripod 81 is rotatably disposed on a second side surface 14, and a first end of the second tripod 82 is also rotatably disposed on the second side surface 14. In use, the second ends of the first tripod 81 and the second ends of the second tripod 82 are located on opposite sides of the handle 10, and together with the end of the second side surface 14 near the lower end face 12, they support the handle 10. In the folded state, the second ends of the first tripod 81 and the second ends of the second tripod 82 connect to form a storage position 83, which is used to accommodate the second arm 30.

[0069] Tripod assembly 80 switched to such Figure 12 In the usage state shown, the first tripod 81 and the second tripod 82 extend outwards respectively, forming a tripod structure together with the end of the handle 10 near the lower end face 12. The tripod assembly 80 is switched to the position shown. Figure 2 In the folded state shown, the first tripod 81 and the second tripod 82 fold inward and connect to form part of the handle 10. The connected first tripod 81 and second tripod 82 form a storage position 83, allowing the handheld gimbal 100 to be stored in its folded state (as shown). Figure 1 (As shown) Place the second arm 30.

[0070] Please see Figure 12In some embodiments, the handle 10 further includes a third side 15 and a fourth side 16 facing away from each other. Both the third side 15 and the fourth side 16 are connected to the first side 13 and the second side 14. The second side 14 has a first notch 141 and a second notch 143. The first notch 141 penetrates a portion of the third side 15, and the second notch 143 penetrates a portion of the fourth side 16. The first notch 141 partially accommodates the first tripod 81, and the second notch 143 partially accommodates the second tripod 82. That is, when the tripod assembly 80 is switched to the use state, the first tripod 81 unfolds outward from the first notch 141, and the second tripod 82 unfolds outward from the second notch 143. When the tripod assembly 80 is switched to the folded state, the first tripod 81 retracts inward into the first notch 141, and the second tripod 82 retracts inward into the second notch 143, further reducing the storage volume of the handheld gimbal 100 and thus reducing the space occupied.

[0071] In some embodiments, the first tripod 81 may include a first support portion 815 and a first wrapping portion 817 extending from the first support portion 815, and the second tripod 82 includes a second support portion 825 and a second wrapping portion 827 extending from the second support portion 825. In use, the first support portion 815 and the second support portion 825 support the handle 10. In the folded state, the first support portion 815 is at least partially opposite to the second side 14, the first wrapping portion 817 is at least partially received in the first notch 141, the second support portion 825 is at least partially opposite to the second side 14, and the second wrapping portion 827 is at least partially received in the second notch 143. When the handheld gimbal 100 is in the retracted state, the first wrapping portion 817 and the second wrapping portion 827 protect the second arm 30 and the connection between the second arm 30 and the first arm 20, preventing damage to the second arm 30 and the connection between the second arm 30 and the first arm 20 from external forces.

[0072] In one embodiment, the first tripod 81 is non-removably and rotatably mounted to the second side 14 to ensure a secure and reliable installation. In another embodiment, the first tripod 81 is detachably and rotatably mounted to the second side 14 to facilitate unloading, repair, maintenance, and replacement. In one embodiment, the second tripod 82 is non-removably and rotatably mounted to the second side 14 to ensure a secure and reliable installation. In another embodiment, the second tripod 82 is detachably and rotatably mounted to the second side 14 to facilitate unloading, repair, maintenance, and replacement.

[0073] In some embodiments, the first leg 81 and the second leg 82 share a common axis of rotation (not shown in the figure), and the first leg 81 and the second leg 82 can move synchronously around the axis of rotation, or the first leg 81 and the second leg 82 can rotate around the same axis of rotation respectively.

[0074] In some embodiments, the first leg 81 and the second leg 82 rotate about two different axes of rotation. For example, the first leg 81 rotates about a first axis of rotation, and the second leg 82 rotates about a second axis of rotation. Thus, locking structures can be provided on both the first and second axes of rotation to lock or unlock the first leg 81 and the second leg 82 respectively. The leg assembly 80 can be locked in both a folded and a usable state to maintain its position in either the folded or usable state.

[0075] In one embodiment, the rotating shaft is provided with a limiting member, and the first leg 81 and / or the second leg 82 are provided with positioning points. When the limiting member engages with the positioning points, the first leg 81 and / or the second leg 82 are in a locked state and cannot rotate freely around the rotating shaft. The first leg 81 and / or the second leg 82 can be rotated with a little force to disengage the limiting member from the positioning points. When the limiting member disengages from the positioning points, the first leg 81 and / or the second leg 82 are in an unlocked state and can rotate freely around the rotating shaft.

[0076] In another embodiment, the rotating shaft is a camshaft, and the first leg 81 and / or the second leg 82 are provided with locking grooves. When the camshaft engages with the locking groove, the first leg 81 and / or the second leg 82 are locked and cannot rotate freely around the camshaft. The first leg 81 and / or the second leg 82 can be rotated with a little force to disengage the camshaft from the locking groove. When the camshaft is disengaged from the locking groove, the first leg 81 and / or the second leg 82 are unlocked and can rotate freely around the camshaft.

[0077] In summary, the handheld gimbal 100 of this application embodiment can switch between a retracted state and an unfolded state. When the handheld gimbal 100 is in the retracted state, the first arm 20 is opposite to the first side 13 of the handle 10, and the second arm 30 is opposite to the lower end face 12, so that the handheld gimbal 100 in the retracted state has a compact structure.

[0078] Please see Figure 1 and Figure 2 This application also provides a handheld gimbal 300. The handheld gimbal 300 includes a handle 10, a first arm 20, a second arm 30, and a mounting member 40. The handle 10 includes an upper end face 11, a lower end face 12 opposite to the upper end face 11, and a first side face 13 connecting the upper end face 11 and the lower end face 12. The first arm 20 is rotatably mounted on the first side face 13 about a first axis L1. The second arm 30 is rotatably mounted on the first arm 20 about a second axis L2. The mounting member 40 is rotatably mounted on the second arm 30 about a third axis L3. The handheld gimbal 300 can, for example... Figure 1 The storage state shown and as Figure 2The diagram shows the switching between unfolded states. In the unfolded state, the first axis L1, the second axis L2, and the third axis L3 are all non-orthogonal.

[0079] When a user takes a picture using the shooting device 200 mounted on the handheld gimbal 300, they often need to observe the picture being shot through the display screen of the shooting device 200. In the unfolded state of the handheld gimbal 300 of this application, the first axis L1, the second axis L2, and the third axis L3 are all non-orthogonal, so that when the user naturally holds the handle 10 to shoot, the angle of the display screen of the shooting device 200 mounted on the handheld gimbal 100 is suitable, so that the user can easily observe the picture being shot through the display screen.

[0080] Please see Figure 1 , Figure 2 ,and Figure 10 This application also provides a handheld gimbal 400. The handheld gimbal 400 includes a handle 10, a first arm 20, and a second arm 30. The handle 10 includes an upper end face 11, a lower end face 12 opposite to the upper end face 11, and a first side face 13 connecting the upper end face 11 and the lower end face 12. The first arm 20 is rotatably mounted on the first side face 13 and includes a first sub-arm 21 and a second sub-arm 22. The second sub-arm 22 is rotatably connected to the first sub-arm 21 via a connecting shaft 23. The second arm 30 is rotatably mounted on the second sub-arm 22. The handheld gimbal 400 can, for example,... Figure 1 The storage state shown and as Figure 2 The handheld gimbal 100 switches between the unfolded states shown, and during the switching process, it has the following characteristics: Figure 10 The intermediate state shown indicates that the second sub-arm 22 does not overlap with the handle 10.

[0081] Specifically, when the handheld gimbal 100 is in the intermediate state, it will... Figure 10 The orientation of the handheld gimbal 100 is adjusted so that the first axis L1 is the pitch axis, the second axis L2 is the yaw axis, and the third axis L3 is the roll axis. When the handheld gimbal 100 is in the unfolded state, the first axis L1 is the yaw axis, the second axis L2 is the pitch axis, and the third axis L3 is the roll axis. The handheld gimbal 400 of this application can switch between a retracted state, an intermediate state, and an unfolded state. When the handheld gimbal 400 is in the intermediate state, the first axis L1 of the handheld gimbal 400 is the pitch axis, which can achieve a controllable range of ±180°. That is, the first arm 20 can rotate ±180° relative to the handle 10 around the first axis L1. When the user shoots from a low or high position, it can well meet the shooting needs of a large upward or downward angle.

[0082] Please see Figure 13This application provides a shooting device 1000. The shooting device 1000 includes a handheld gimbal 100, 300, or 400 according to any of the above embodiments, and a shooting device 200, which is mounted on a mounting component 40 of the handheld gimbal 100 (100 / 300 / 400). Users can control the shooting device 200 by inputting control commands into the function module 70 of the handheld gimbal 100 (100 / 300 / 400), such as controlling the shooting device 200 to take photos, record videos, and adjust the focus. In one embodiment, the shooting device 200 is fixedly mounted on the mounting component 40 of the handheld gimbal 100 (100 / 300 / 400) for secure and reliable installation. In another embodiment, the shooting device 200 is detachably mounted on the mounting component 40 of the handheld gimbal 100 (100 / 300 / 400) to facilitate the replacement of different models of the shooting device 200 to handle different shooting scenarios. In the shooting device 1000 of this application embodiment, the handheld gimbal 100 can switch between a retracted state and an unfolded state. When the handheld gimbal 100 is in the retracted state, the structure of the handheld gimbal 100 is very compact, so as to facilitate storage.

[0083] Please see Figure 14 This application provides a mobile platform 2000, which includes a handheld gimbal 100, 300, or 400 according to any of the above embodiments, and a mobile platform body 2100. The handheld gimbal 100 (100 / 300 / 400) is mounted on the mobile platform body 2100. The mobile platform 2000 can be a gimbal bracket, a drone, an unmanned vehicle, an unmanned boat, etc. The mobile platform 2000 can carry the handheld gimbal 100 for movement, so that when the handheld gimbal 100 is equipped with a shooting device 1000, it can move the handheld gimbal 100 (100 / 300 / 400) and the shooting device 1000 to shoot in places that are difficult for users to reach. For example, the mobile platform 2000 is a drone, which can carry the handheld gimbal 100 (100 / 300 / 400) equipped with the shooting device 1000 to shoot from a top-down perspective at high altitude. In the mobile platform 2000 of this application embodiment, the handheld gimbal 100 (100 / 300 / 400) can switch between a stowed state and an unfolded state. When the handheld gimbal 100 (100 / 300 / 400) is in the stowed state, the structure of the handheld gimbal 100 (100 / 300 / 400) is very compact, so as to facilitate storage.

[0084] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A handheld gimbal, characterized in that, include: The handle includes an upper end face, a lower end face opposite to the upper end face, and a first side face connecting the upper end face and the lower end face; The first arm is rotatably mounted on the first side about a first axis; The second arm is rotatably mounted to the first arm about a second axis; and A loading member, which is rotatably mounted on the second arm about a third axis; The handheld gimbal can switch between a stowed state and an unfolded state. In the unfolded state, the first axis, the second axis, and the third axis are all non-orthogonal.

2. The handheld gimbal according to claim 1, characterized in that, The handheld gimbal also includes a first motor, a second motor, and a third motor. The first arm is rotatably mounted on the first side via the first motor, the second arm is rotatably mounted on the first arm via the second motor, and the loading component is rotatably mounted on the second arm via the third motor. The first motor is capable of rotating around a first axis, the second motor is capable of rotating around a second axis, and the third motor is capable of rotating around a third axis.

3. The handheld gimbal according to claim 1, characterized in that, In the stowed state, the first axis, the second axis, and the third axis are all non-orthogonal; or, during the switching between the stowed state and the unfolded state, the first axis, the second axis, and the third axis remain non-orthogonal.

4. The handheld gimbal according to claim 1, characterized in that, In the retracted state, there is a gap between the first arm and the first side. The first side is provided with a functional module, which is used to display the status information of the handheld gimbal or the shooting device mounted on the handheld gimbal, or to allow the user to operate and control the gimbal or the shooting device.

5. The handheld gimbal according to claim 1, characterized in that, In the stored state, the loading component can face the lower end face.

6. The handheld gimbal according to claim 1, characterized in that, The loading component includes a suction cup, which includes at least one of a magnetic suction cup or a pneumatic suction cup. Alternatively, the mounting component includes a first magnetic suction cup, and the handheld gimbal also includes a phone clip, the phone clip including a second magnetic suction cup, the second suction cup being attached to the first suction cup to mount the phone clip onto the mounting component.

7. The handheld gimbal according to claim 1, characterized in that, At least one side of the handle, which is connected to both the upper and lower surfaces, is provided with a functional module. The functional module is used to display the status information of the handheld gimbal or the shooting device mounted on the loading component, or to allow the user to operate and control the gimbal or the shooting device.

8. The handheld gimbal according to claim 7, characterized in that, The functional modules include: A first button is used to control the working status of the handheld gimbal; and / or Indicator lights, used to indicate the working status of the handheld gimbal; and / or The second button is used to control the imaging device mounted on the loading component to capture images; and / or A touchpad for controlling the rotation of at least one of the first arm, the second arm, and the loading member to adjust the orientation of the imaging device mounted on the loading member and to lock the imaging device in a target orientation; and / or A port used for charging or data transmission.

9. A shooting device, characterized in that, include: The handheld gimbal according to any one of claims 1-8; and A shooting device, which is mounted on the loading component of the handheld gimbal.

10. A mobile platform, characterized in that, include: The handheld gimbal according to any one of claims 1-8; and The mobile platform body; the handheld gimbal is mounted on the mobile platform body.

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