Handheld holder

Abstract

The handheld holder comprises a handle and a first shaft assembly, the first shaft assembly comprises a first motor and a first shaft arm which are arranged at the top of the handle, the first shaft arm comprises a first sub-arm and a second sub-arm rotationally connected with the first sub-arm, one end of the first sub-arm is connected to the first motor, and the other end of the first sub-arm is connected to the second shaft arm. In the radial direction of the first motor, at least part of the first sub-arm protrudes out of the peripheral face of the outer side of the first motor, the first sub-arm is provided with a first face and a second face which are oppositely arranged, and the first face is located on the side, away from the handle, of the first motor; the first motor is used for driving the first sub-arm to rotate relative to the handle; wherein the handheld holder is set to be capable of being switched between an unfolded state and a folded state; and in the folding state, the second sub-arm is accommodated in the second surface.

Description

Technical Field

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

[0002] The handheld gimbal can be used to fix the shooting equipment and adjust the posture of the shooting equipment to meet the different shooting needs of users.

[0003] Some traditional handheld gimbals have an unfolded state and a folded state. However, the product structure of the traditional handheld gimbal in the folded state is not compact enough and occupies a large space, which is not conducive to storage and affects the user experience.

[0004] BACKGROUND OF THE PRESENT APPLICATION The above information disclosed is only for understanding the background of the concept of the present application and may contain information that does not constitute the prior art. Utility Model Content

[0005] Based on this, in order to solve the above problems, it is necessary to provide a handheld gimbal.

[0006] The present application provides a handheld gimbal, which comprises:

[0007] handle;

[0008] A first shaft assembly, the first shaft assembly includes a first motor and a first shaft arm disposed at the top of the handle, the first shaft arm includes a first sub-arm and a second sub-arm rotatably connected to the first sub-arm, one end of the first sub-arm is connected to the first motor, in the radial direction of the first motor, the first sub-arm at least partially protrudes from the outer peripheral surface of the first motor, the first sub-arm has a first surface and a second surface disposed opposite to each other, the first surface is located on a side of the first motor away from the handle, and the first motor is used to drive the first sub-arm to rotate relative to the handle;

[0009] Wherein, the handheld gimbal is configured to be switchable between an unfolded state and a folded state; in the folded state, the second sub-arm is stored in the second surface.

[0010] The above-mentioned handheld gimbal can be used to carry and drive shooting equipment, and it includes at least the following beneficial effects: the first sub-arm at least partially protrudes from the outer peripheral surface of the first motor along the radial direction of the first motor, which can be roughly considered as a part of the first sub-arm protruding outward and hanging in the air and protruding from the outer peripheral surface of the handle. The first sub-arm has a first surface and a second surface arranged opposite to each other, the first surface of the first sub-arm is located on the side of the first motor away from the handle, and the second surface is arranged opposite to the first surface. When the handheld gimbal is in a folded state, its second sub-arm is stored in the second surface of the first sub-arm, which can be roughly considered as the second sub-arm being stored below the first sub-arm in the axial direction of the handle and stored in the outer peripheral of the handle, which reasonably utilizes the space of the outer peripheral of the handle, and the structure is more compact and beautiful, and the size and space occupied by the entire handheld gimbal in the axial direction of the handle are reduced, which is convenient for storage and improves the user experience. It can be understood that when the traditional handheld gimbal is folded and stored, at least part of the shaft arm assembly is generally stacked at the end of the handle, which will cause the entire handheld gimbal after folding to be too long in the axial direction of the handle, which is inconvenient and unsightly.

[0011] In one embodiment, one end of the second sub-arm is rotatably connected to an end of the first sub-arm away from the first motor.

[0012] In one embodiment, in the folded state, a portion of the surface of the first sub-arm and a portion of the surface of the second sub-arm are parallel to each other. Such a structural setting can make the first sub-arm and the second sub-arm in the folded state more regular and beautiful, and make the handheld gimbal look more regular and beautiful as a whole.

[0013] In one embodiment, in the folded state, the first sub-arm fits with the second sub-arm. Such a structural setting can make the first sub-arm and the second sub-arm in the folded state compact, making the handheld gimbal look compact as a whole, improving the structural stability of the handheld gimbal in the folded state, and making it smaller in size, which is more convenient for storage and carrying.

[0014] In one embodiment, the second sub-arm is parallel to the second surface of the first sub-arm.

[0015] In one embodiment, the second sub-arm is attached to the second surface of the first sub-arm. Such a structural setting can make the first sub-arm and the second sub-arm compact in the folded state, make the handheld gimbal look compact as a whole, improve the structural stability of the handheld gimbal in the folded state, and make it smaller in size, which is more convenient for storage and carrying.

[0016] In one embodiment, the stator of the first motor is connected to one of the handle and the first sub-arm, and the rotor of the first motor is connected to the other of the handle and the first sub-arm.

[0017] In one embodiment, the handheld gimbal further includes a second axis assembly, the second axis assembly includes a second motor and a second axis arm connected to the second sub-arm, one end of the second axis arm is connected to the second motor, the second motor is used to drive the second axis arm to rotate, and in the folded position, at least one of the second axis arm and the second sub-arm fits with the handle. In the folded state, the second axis arm and / or the second sub-arm of the handheld gimbal can fit the outer peripheral surface of the handle, making full use of the space around the outer peripheral surface of the handle, reducing the interval, so that the overall compactness of the structure of the whole handheld gimbal is further increased, and the structural stability of the handheld gimbal in the folded state is improved, and the volume is smaller, which is more convenient for storage and carrying.

[0018] In one embodiment, the handheld gimbal further comprises a third axis assembly, the third axis assembly comprises a clamping member for clamping the shooting device and a third motor, the third motor and the second motor are respectively connected to the two ends of the second axis arm that are away from each other, the third motor is connected to the clamping member and is used to drive the clamping member and the shooting device to rotate, and in the folded state, the third motor is located between the clamping member and the handle. In the handheld gimbal in the folded state, the third motor is located between the clamping member and the handle, which can be considered as the outer peripheral surface of the clamping member facing away from the handle, and the opening of the clamping member can be considered to be radially outward along the handle. Such a structural setting not only makes the structure of the handheld gimbal more compact, but also allows the clamping member of the handheld gimbal to continue to clamp the shooting device even in the folded state. At this time, the user can choose to store the handheld gimbal together with the shooting device, or can choose to carry the shooting device with the handheld gimbal in the folded state and continue to use the shooting device.

[0019] In one embodiment, the stator of the second motor is connected to one of the second shaft arm and the second sub-arm, and the rotor of the second motor is connected to the other of the second shaft arm and the second sub-arm.

[0020] In one of the embodiments, buttons and / or control components are provided on the outer circumference of the handle, and in the folded state, the second axis arm and the outer circumference of the handle form an avoidance space for accommodating the buttons and / or control components. The control group component may refer to components such as a control panel, a dial assembly and a joystick, which can be used to control a handheld gimbal and / or a shooting device. The buttons and control components are generally on the outer circumference of the handle, which is convenient for operation and also tends to occupy a certain volume. Therefore, in the folded state, if you want to ensure that the second axis arm is at least partially as close as possible to or even fits the outer circumference of the handle, it is necessary to leave a certain avoidance space between the second axis arm and the outer circumference of the handle to avoid the buttons and / or control components, thereby ensuring that the structure of the handheld gimbal in the folded state is compact enough.

[0021] In one of the embodiments, in the folded state, one end of the second shaft arm away from the second motor is in contact with the outer circumference of the handle, and one end of the second shaft arm close to the second motor is spaced apart from the outer circumference of the handle to form the avoidance space.

[0022] In one of the embodiments, the handle is provided with a button and / or a control component, and the second shaft arm is provided with an avoidance groove, and in the folded state, the button and / or the control component is accommodated in the avoidance groove.

[0023] In one of the embodiments, the handle is provided with a button and / or a control assembly, and the second shaft arm is at least partially bent to form a clearance opening. In the folded state, the button and / or the control assembly is accommodated in the clearance opening.

[0024] In one embodiment, in the folded state, the second shaft arm is fixed to the handle and the fixing method is any one of magnetic connection, snap connection, bonding, and interference fit. For example, magnetic members (such as magnets) with opposite polarities can be set on the inner or outer surface of the second shaft arm and the handle to achieve magnetic connection between the second shaft arm and the handle in the folded state. For another example, the second shaft arm and the handle can be snap-fitted. For another example, the second shaft arm and the handle can be detachably attached by Velcro.

[0025] In one of the embodiments, a fixing structure is provided between the second shaft arm and the outer peripheral surface of the handle, and in the folded state, the second shaft arm and the handle are fixed by the fixing structure.

[0026] In one embodiment, the fixing structure includes a snap-fitting protrusion and a snap-fitting recess, and either the outer circumferential surface of the handle or the second shaft arm is provided with the snap-fitting protrusion, and the other of the outer circumferential surface of the handle and the second shaft arm is provided with the snap-fitting recess, and in the folded state, the handle is snap-fitted with the second shaft arm through the cooperation of the snap-fitting recess and the snap-fitting protrusion.

[0027] In one of the embodiments, a snap-fitting protrusion is provided on the second shaft arm, and a snap-fitting recess is provided on the handle. In the folded state, the handle is snap-fitted with the second shaft arm through the cooperation of the snap-fitting recess and the snap-fitting protrusion.

[0028] In one of the embodiments, a snap-in recess is provided on the second shaft arm, and a snap-in protrusion is provided on the handle. In the folded state, the handle is snap-fitted with the second shaft arm through the cooperation of the snap-in protrusion and the snap-in recess.

[0029] In one embodiment, the first sub-arm and / or the second sub-arm are straight arms.

[0030] In one embodiment, the first sub-arm and / or the second sub-arm is a curved arm.

[0031] In one embodiment, the first sub-arm and / or the second sub-arm are arc-shaped arms.

[0032] In one embodiment, the axial direction of the first motor and the axial direction of the handle are arranged at an angle of a first predetermined angle, and the first predetermined angle is 10-45 degrees. Such a setting can increase the pitch working angle of the handheld gimbal and bring a better user experience to the user.

[0033] In one embodiment, the length extension direction of the first sub-arm and the cross section of the first motor are arranged at an angle of a second predetermined angle. Such an arrangement can increase the pitch working angle of the handheld gimbal, bringing a better user experience to the user.

[0034] In one embodiment, the second predetermined angle is 0-45 degrees.

[0035] In one embodiment, the length extension direction of the first sub-arm is perpendicular to the axial direction of the first motor.

[0036] In one embodiment, in the folded state, the second sub-arm is fixed to the first sub-arm and the fixing method is any one of magnetic connection, clamping, bonding, and interference fit. For example, magnetic members (such as magnets) with opposite polarities can be set on the inner or outer surface of the second sub-arm and the first sub-arm to achieve magnetic connection between the second sub-arm and the first sub-arm in the folded state. For another example, the second sub-arm and the first sub-arm can be clamped by a buckle. For another example, the second sub-arm and the first sub-arm can be detachably attached by Velcro.

[0037] In one embodiment, in the folded state, the second sub-arm is fixed to the handle and the fixing method is any one of magnetic connection, snap connection, bonding, and interference fit. For example, magnetic members (such as magnets) with opposite polarities can be set on the inner or outer surface of the second sub-arm and the handle to achieve magnetic connection between the second sub-arm and the handle in the folded state. For another example, the second sub-arm and the handle can be snap-fitted. For another example, the second sub-arm and the handle can be detachably attached by Velcro.

[0038] In one embodiment, the handheld gimbal further includes a rotating member, and the first sub-arm is rotatably connected to the second sub-arm via the rotating member.

[0039] In one embodiment, the rotating member has two rotating shafts, the first sub-arm is rotatably mounted on one of the rotating shafts, and the second sub-arm is rotatably mounted on the other of the rotating shafts.

[0040] In one embodiment, the first sub-arm rotates synchronously or asynchronously with the second sub-arm through the rotating member. The first sub-arm and the second sub-arm that rotate asynchronously through the rotating member are relatively freer when adjusted, while the first sub-arm and the second sub-arm that rotate synchronously through the rotating member can reduce the rotation angle of each rotation center by half, making folding and unfolding more convenient and faster, and the rotation more stable and reliable, and the overall structure after storage is more regular.

[0041] In one embodiment, the first sub-arm rotates synchronously with the second sub-arm through meshing transmission.

[0042] In one embodiment, the rotating member is a single rotating shaft, and the first sub-arm is rotatably connected to the second sub-arm via the single rotating shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A structural schematic diagram of a handheld gimbal provided in one embodiment of the present application.

[0045] Figure 2 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0046] Figure 3 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0047] Figure 4 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0048] Figure 5 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0049] Figure 6 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0050] Figure 7 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0051] Figure 8 A structural schematic diagram of a handheld gimbal provided in one embodiment of the present application.

[0052] Fig. 9 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0053] Fig.10 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0054] Fig.11 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0055] Fig.12 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0056] Fig.13 A partial schematic diagram of a handheld gimbal provided in one embodiment of the present application.

[0057] Fig.14 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0058] Fig.15 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0059] Fig.16 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0060] Fig.17 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0061] Fig.18 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0062] Fig.19 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0063] Fig. 20 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0064] Fig.21 Another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0065] Reference numerals:

[0066] 10. Handheld gimbal; 20. Shooting equipment; 100. First axis assembly; 110. First motor; 120. First axis arm; 121. First sub-arm; 1211. First surface; 1212. Second surface; 122. Second sub-arm; 200. Second axis assembly; 210. Second motor; 220. Second axis arm; 230. Avoidance space; 231. Avoidance groove; 232. Avoidance opening; 300. Third axis assembly; 310. Third motor; 320. Clamping member; 400. Handle; 500. Button; 600. Control assembly; 700. Rotating member; 710. Rotating shaft; 800. Fixed structure; 810. Snap-fit ​​protrusion; 820. Snap-fit ​​recess; a. First predetermined angle; b. Second predetermined angle. DETAILED DESCRIPTION

[0067] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0068] See also Figures 1 to 5 In some embodiments, the present application provides a handheld gimbal 10, which is configured to be switchable between an unfolded state and a folded state, such as Figure 1 As shown, the handheld gimbal 10 is in an unfolded state. Figure 3 As shown, the handheld gimbal 10 is in a folded state. The handheld gimbal 10 includes a handle 400 and at least two shaft assemblies, and the at least two shaft assemblies can be used to carry and drive the shooting device 20 to adjust the posture change of the shooting device 20.

[0069] like Figure 1 , Figure 2 and Figure 3As shown, in some embodiments, at least two axis assemblies include a first axis assembly 100, the first axis assembly 100 includes a first motor 110 and a first axis arm 120 provided on the handle 400, the first axis arm 120 includes a first sub-arm 121 and a second sub-arm 122, one end of the first sub-arm 121 is rotatably connected to one end of the second sub-arm 122, and the other end of the first sub-arm 121 is connected to the first motor 110, in the radial direction of the first motor 110, the first sub-arm 121 at least partially protrudes from the outer circumferential surface of the first motor 110, the first sub-arm 121 has a first surface 1211 and a second surface 1212 arranged opposite to each other, the first surface 1211 is located on the side of the first motor 110 away from the handle 400, and the first motor 110 is used to drive the first sub-arm 121 to rotate relative to the handle 400; in the folded state, the second sub-arm 122 is stored in the second surface 1212. The handheld gimbal 10 has at least the following beneficial effects: the first sub-arm 121 at least partially protrudes from the outer peripheral surface of the first motor 110 along the radial direction of the first motor 110, which can be roughly considered as a part of the first sub-arm 121 protruding outward and suspended in the air and protruding from the outer peripheral surface of the handle 400. The first sub-arm 121 has a first surface 1211 and a second surface 1212 that are arranged opposite to each other. The first surface 1211 of the first sub-arm 121 is located on the side of the first motor 110 away from the handle 400, and the second surface 1212 is arranged opposite to the first surface 1211. Figure 3 and Figure 4 As shown, when the handheld gimbal 10 is in the folded state, its second sub-arm 122 is stored in the second surface 1212 of the first sub-arm 121, which can be roughly considered that the second sub-arm 122 is stored below the first sub-arm 121 in the axial direction of the handle 400, and is stored in the outer periphery of the handle 400, which reasonably utilizes the space around the outer periphery of the handle 400, and the structure is more compact and beautiful, and the size and space occupied by the entire handheld gimbal 10 in the axial direction of the handle 400 are reduced, which is convenient for storage and improves the user experience. It can be understood that when the traditional handheld gimbal 10 is folded and stored, at least part of the shaft arm assembly is generally stacked at the end of the handle 400, which will cause the entire handheld gimbal 10 to be too long in the axial direction of the handle 400 after folding, which is inconvenient to store and unsightly.

[0070] See also Figure 1 , Figure 2 and Figure 3In some embodiments, the at least two axis assemblies also include a second axis assembly 200, the second axis assembly 200 includes a second motor 210 and a second axis arm 220 connected to the second sub-arm 122, one end of the second axis arm 220 is connected to the second motor 210, the second motor 210 is used to drive the second axis arm 220 to rotate, and when in the folded position, at least one of the second axis arm 220 and the second sub-arm 122 is in contact with the handle 400.

[0071] For example, in one embodiment, the handheld gimbal 10 in the folded state, the second shaft arm 220 is in contact with the outer peripheral surface of the handle 400. For another example, in another embodiment, the handheld gimbal 10 in the folded state, the second sub-arm 122 is in contact with the outer peripheral surface of the handle 400. For another example, in another embodiment, the handheld gimbal 10 in the folded state, the second shaft arm 220 and the second sub-arm 122 are both in contact with the outer peripheral surface of the handle 400.

[0072] In other words, when the handheld gimbal 10 is in the folded state, its second axis arm 220 and / or second sub-arm 122 can be fitted to the outer circumferential surface of the handle 400, making full use of the space around the outer circumference of the handle 400 and reducing the spacing, thereby further increasing the overall structural compactness of the handheld gimbal 10 and improving the structural stability of the handheld gimbal 10 in the folded state. It also has a smaller size, making it more convenient to store and carry.

[0073] It should be noted that if Figure 2 and Figure 3 As shown, the stator or rotor of the second motor 210 of the second shaft assembly 200 is fixed to the second sub-arm 122 of the first shaft arm 120 of the first shaft assembly 100. It can be considered that the second sub-arm 122 provides a part of the structure for the housing of the second motor 210. In other words, a part of the motor housing of the second motor 210 can also be considered as at least a part of the structure of the second sub-arm 122.

[0074] See also Figure 1 , Figure 2 and Figure 3In some embodiments, the at least two axis assemblies further include a third axis assembly 300, the third axis assembly 300 includes a clamping member 320 and a third motor 310 for clamping the shooting device 20, the third motor 310 and the second motor 210 are respectively connected to two ends of the second axis arm 220 that are away from each other, and the third motor 310 is connected to the clamping member 320 and is used to drive the clamping member 320 and the shooting device 20 to rotate. It should be noted that the first motor 110 can be a yaw motor, and the motor shaft of the first motor 110 can be a yaw (YAW) motor shaft. The second motor can be a pitch (PITCH) motor, and accordingly, the motor shaft of the second motor 210 can be a pitch (PITCH) motor shaft. The third motor 262 can be a roll motor. Here, the first motor 110, the second motor 210 and the third motor 330 mentioned in this article are further explained. It is intended to assist in understanding the working effect of the handheld gimbal 10 of the present application, rather than indicating or implying that the first motor 110, the second motor 210 and the third motor 330 can only be as described above. Therefore, the above can be understood more broadly while satisfying the beneficial effects to be achieved by the handheld gimbal 10 of the present application.

[0075] For example, in Figure 4 and Figure 5 In the illustrated embodiment, in the folded state, the third motor 310 is located between the clamping member 320 and the handle 400. In the folded state, the third motor 310 of the handheld gimbal 10 is located between the clamping member 320 and the handle 400, which can be considered as the outer peripheral surface of the clamping member 320 facing away from the handle 400, and the opening of the clamping member 320 facing outward along the radial direction of the handle 400. Such a structural setting not only makes the structure of the handheld gimbal 10 more compact, but also allows the clamping member 320 of the handheld gimbal 10 to continue to clamp the shooting device 20 even in the folded state. At this time, the user can choose to store the handheld gimbal 10 and the shooting device 20 together, or choose to carry the shooting device 20 with the handheld gimbal 10 in the folded state and continue to use the shooting device 20.

[0076] For example, in Figure 6 In the illustrated embodiment, in the folded state, the clamping member 320 is located between the third motor 310 and the handle 400, and it can be considered that the clamping member 320 faces the outer peripheral surface of the handle 400, and it can be considered that the opening of the clamping member 320 faces inward along the radial direction of the handle 400. Such a folded state is conducive to protecting the clamping member 320 and reducing the risk of damage when it is stored.

[0077] For example, in Figure 7 In the embodiment shown, in the folded state, the direction of the clamping member 320 is between Figure 5 and Figure 6 In this state, the clamping member 320 can be considered to be laterally arranged, that is, the opening of the clamping member 320 is neither facing the outer circumference of the handle 400 nor facing away from the outer circumference of the handle 400. In this state, the clamping member 320 can also continue to clamp the shooting device 20. At this time, the user can choose to store the handheld gimbal 10 and the shooting device 20 together, or choose to carry the shooting device 20 with the handheld gimbal 10 in a folded state and continue to use the shooting device 20.

[0078] See also Figure 1 , Figure 2 and Figure 3 In some embodiments, when the handheld gimbal 10 is switched from the unfolded state to the folded state, the second sub-arm 122 first rotates in a direction away from the handle 400, and then the second sub-arm 122 rotates in a direction close to the outer peripheral surface of the handle 400, until the second sub-arm 122 is at least partially parallel to the first sub-arm 121. Conversely, when the handheld gimbal 10 is switched from the folded state to the unfolded state, it can be considered that the second sub-arm 122 first rotates in a direction away from the outer peripheral surface of the handle 400. In some embodiments, Figure 1 As shown, the first motor 110 is arranged at the top of the handle 400. In an unfolded state of the handheld gimbal 10, the second axis assembly 200 and the third axis assembly 300 are roughly located on the side of the first motor 110 facing away from the handle 400. It can be roughly considered that the second axis assembly 200 and the third axis assembly 300 are located above the axial direction of the first motor 110.

[0079] For example, Figure 1 , Figure 2 and Figure 3 As shown, during the process of the handheld gimbal 10 switching from the unfolded state to the folded state, it can be considered that the second sub-arm 122 first rotates in the direction away from the top of the handle 400, and then the second sub-arm 122 rotates in the direction close to the outer circumference of the handle 400, until the second sub-arm 122 is at least partially parallel to the first sub-arm 121.

[0080] For example, Figure 1 , Figure 2 and Figure 3 As shown, during the process of the handheld gimbal 10 switching from the unfolded state to the folded state, it can be considered that the second sub-arm 122 first rotates in the direction away from the first motor 110, and then the second sub-arm 122 rotates in the direction close to the outer circumference of the handle 400, until the second sub-arm 122 is at least partially parallel to the first sub-arm 121.

[0081] The handheld gimbal 10 can be used to carry and drive the shooting device 20, and it has at least the following beneficial effects: when the handheld gimbal 10 is switched from the unfolded state to the folded state, the second sub-arm 122 can first rotate in a direction away from the handle 400, and then the second sub-arm 122 can rotate in a direction close to the outer peripheral surface of the handle 400, until the second sub-arm 122 is at least partially parallel to the first sub-arm 121, such as Figure 3 and Figure 4 As shown, this can be roughly considered that the second sub-arm 122 is stored in the outer periphery of the handle 400, which reasonably utilizes the space of the outer periphery of the handle 400, the structure is more compact and beautiful, and the size and space occupied by the entire handheld gimbal 10 in the axial direction of the handle 400 are reduced, which is convenient for storage and improves the user experience. It can be understood that when the traditional handheld gimbal 10 is folded and stored, the various shaft arm components are generally stacked at the end of the handle 400, which will cause the entire handheld gimbal 10 to be too long in the axial direction of the handle 400 after folding, which is inconvenient to store and unsightly.

[0082] In some embodiments, the stator of the first motor 110 is connected to one of the handle 400 and the first sub-arm 121 , and the rotor of the first motor 110 is connected to the other of the handle 400 and the first sub-arm 121 .

[0083] In some embodiments, the stator of the second motor 210 is connected to one of the second shaft arm 220 and the second sub-arm 122 , and the rotor of the second motor 210 is connected to the other of the second shaft arm 220 and the second sub-arm 122 .

[0084] See also Figure 3 In some embodiments, in the folded state, a portion of the surface of the first sub-arm 121 and a portion of the surface of the second sub-arm 122 are parallel to each other. Figure 2 and Figure 3 In some embodiments, the second sub-arm 122 is parallel to the second surface 1212 of the first sub-arm 121. Such a structural setting can make the first sub-arm 121 and the second sub-arm 122 in the folded state more regular and beautiful, and make the handheld gimbal 10 look more regular and beautiful as a whole.

[0085] Specifically, if Figure 3 and Figure 4 As shown, in some embodiments, in the folded state, the first sub-arm 121 fits with the second sub-arm 122 .

[0086] More specifically, in some of the embodiments, the second sub-arm 122 is attached to the second surface 1212 of the first sub-arm 121. Such a structural setting can make the first sub-arm 121 and the second sub-arm 122 in the folded state compact, so that the handheld gimbal 10 as a whole looks compact, improves the structural stability of the handheld gimbal 10 in the folded state, and has a smaller volume, which is more convenient for storage and carrying. Such a structural setting can make the first sub-arm 121 and the second sub-arm 122 in the folded state compact, so that the handheld gimbal 10 as a whole looks compact, improves the structural stability of the handheld gimbal 10 in the folded state, and has a smaller volume, which is more convenient for storage and carrying.

[0087] In some embodiments, in the folded state, the second sub-arm 122 and the first sub-arm 121 can be fixed and the fixing method is any one of magnetic connection, clamping, bonding, and interference fit. In this way, the first sub-arm 121 and the second sub-arm 122 in the folded state can be reliably connected without loosening, further ensuring that the handheld gimbal 10 in the folded state has a compact structure and a regular appearance.

[0088] For example, magnetic members (such as magnets) with opposite polarities may be disposed on the inner or outer surfaces of the second sub-arm 122 and the first sub-arm 121 to achieve a magnetic connection between the second sub-arm 122 and the first sub-arm 121 in the folded state.

[0089] For another example, the second sub-arm 122 and the first sub-arm 121 may be connected by a buckle.

[0090] For another example, the second sub-arm 122 and the first sub-arm 121 may be detachably attached to each other by Velcro.

[0091] In some embodiments, in the folded state, the second sub-arm 122 and the handle 400 can be fixed and the fixing method is any one of magnetic connection, clamping, bonding, and interference fit. In this way, the second sub-arm 122 and the handle 400 in the folded state can be reliably connected without loosening, further ensuring that the structure of the handheld gimbal 10 in the folded state is compact and the appearance is regular.

[0092] For example, magnetic members (such as magnets) with opposite polarities may be disposed on the inner or outer surfaces of the second sub-arm 122 and the handle 400 to achieve a magnetic connection between the second sub-arm 122 and the handle 400 in the folded state.

[0093] For another example, the second sub-arm 122 and the handle 400 may be connected by a snap fit.

[0094] For another example, the second sub-arm 122 and the handle 400 may be detachably attached by Velcro.

[0095] In some embodiments, in the folded state, the second shaft arm 220 is fixed to the handle 400 by any one of magnetic connection, clamping, bonding, and interference fit. In this way, the second shaft arm 220 and the handle 400 in the folded state are reliably connected without loosening, further ensuring that the handheld gimbal 10 in the folded state has a compact structure and a regular appearance.

[0096] For example, magnetic members (such as magnets) with opposite polarities may be disposed on the inner or outer surfaces of the second shaft arm 220 and the handle 400 to achieve a magnetic connection between the second shaft arm 220 and the handle 400 in the folded state.

[0097] For another example, the second shaft arm 220 and the handle 400 can be connected by snapping.

[0098] For another example, the second shaft arm 220 and the handle 400 may be detachably attached by Velcro.

[0099] Specifically, in some embodiments, a fixing structure 800 is provided between the second shaft arm 220 and the outer peripheral surface of the handle 400, and in the folded state, the second shaft arm 220 and the handle 400 are fixed by the fixing structure 800. More specifically, as Figure 2 As shown, in some embodiments, the fixing structure 800 includes a snap-fitting protrusion 810 and a snap-fitting recess 820, and either the outer peripheral surface of the handle 400 or the second shaft arm 220 is provided with the snap-fitting protrusion 810, and the other of the outer peripheral surface of the handle 400 and the second shaft arm 220 is provided with the snap-fitting recess 820. In the folded state, the handle 400 is snap-fitted with the second shaft arm 220 by cooperating with the snap-fitting recess 820 and the snap-fitting protrusion 810.

[0100] For example, Figure 2 As shown, in some embodiments, the second shaft arm 220 is provided with a snap-fitting protrusion 810, and the handle 400 is provided with a snap-fitting recess 820. In the folded state, the handle 400 is snap-fitted with the second shaft arm 220 through the snap-fitting recess 820 and the snap-fitting protrusion 810.

[0101] For example, in other embodiments, the second shaft arm 220 is provided with a snap-in recess 820, and the handle 400 is provided with a snap-in protrusion 810. In the folded state, the handle 400 is snap-fitted with the second shaft arm 220 through the cooperation of the snap-in protrusion 810 and the snap-in recess 820.

[0102] See also Figure 3In some embodiments, the axial direction of the first motor 110 and the axial direction of the handle 400 are arranged at an angle of a first predetermined angle a, and the first predetermined angle a is 10-45 degrees. Figure 1 As shown, when the user chooses to switch the handheld gimbal 10 to the unfolded state, as described above, it can be regarded that the second axis assembly 200 and the third axis assembly 300 and the shooting device 20 clamped therein are all located above the axis of the first motor 110 at the top of the handle 400. Generally speaking, when the user holds the handle 400 tightly with his hand, most of the time he may choose to adjust the shooting device 20 to a position higher than the handle 400, so that the shooting device 20 is roughly at the same height as the human eye, which is convenient for the user to observe the screen of the shooting device 20 to understand the shooting situation. Therefore, the configuration of this embodiment can increase the pitch working angle of the handheld gimbal 10, which is more in line with the user's common posture of the handheld gimbal 10 and the shooting device 20 clamped therein, and is more in line with the user's usage habits, thereby bringing a better user experience to the user.

[0103] See also Figure 3 In some embodiments, the length extension direction of the first sub-arm 121 is set at an angle with the cross section of the first motor 110 at a second predetermined angle b, and the second predetermined angle b is 0-45 degrees. Such a setting can increase the pitch working angle of the handheld gimbal 10 and bring a better user experience.

[0104] See also Figure 4 In some embodiments, the length extension direction of the first sub-arm 121 is perpendicular to the axial direction of the first motor 110 .

[0105] See also Fig. 9 , Fig.10 and Fig.11 In some embodiments, a button 500 and / or a control assembly 600 are provided on the outer circumference of the handle 400. In the folded state, the second axis assembly 200 and the outer circumference of the handle 400 form an escape space 230 for accommodating the button 500 and / or the control assembly 600. The button 500 and the control assembly 600 are generally on the outer circumference of the handle 400, which is convenient for operation and also occupies a certain volume. Therefore, in the folded state, if it is to be ensured that at least part of the second axis assembly 200 is as close as possible to or even fits the outer circumference of the handle 400, it is necessary to leave a certain escape space 230 on the outer circumference of the second axis assembly 200 and the handle 400 to avoid the button 500 and / or the control assembly 600, so as to ensure that the structure of the handheld gimbal 10 in the folded state is sufficiently compact.

[0106] Further, as shown in Figure Fig. 9 , Fig.10 and Fig.11 As shown, in some embodiments, the second shaft arm 220 of the second shaft assembly 200 and the outer peripheral surface of the handle 400 form an escape space 230 for accommodating the button 500 and / or the control assembly 600 .

[0107] Furthermore, if Fig. 9 , Fig.10 and Fig.11 As shown, in order to make the button 500 easier to operate, the button 500 can be slightly protruded from the outer peripheral surface of the handle 400, and similarly, the control assembly 600 can be slightly protruded from the outer peripheral surface of the handle 400. The button 500 and the control assembly 600 are generally on the outer peripheral surface of the handle 400, which is convenient for operation and often occupies a certain volume. Therefore, in the folded state, if it is to ensure that at least part of the second shaft arm 220 is as close as possible to or even fits the outer peripheral surface of the handle 400, it is necessary to leave a certain avoidance space 230 on the outer peripheral surface of the second shaft arm 220 and the handle 400 to avoid the button 500 and / or the control assembly 600, so as to ensure that the structure of the handheld gimbal 10 in the folded state is sufficiently compact.

[0108] It should be noted that the avoidance space 230 can be considered to be formed by the handle 400 alone, the avoidance space 230 can also be considered to be formed by the second shaft arm 220 alone, and the avoidance space 230 can also be considered to be formed by the outer peripheral surface of the handle 400 and the second shaft arm 220.

[0109] For example, in some embodiments, the outer circumferential surface of the handle 400 may be partially concave to accommodate the button 500 and / or the control component 600, that is, the outer circumferential surface of the handle 400 may be partially concave to form the avoidance space 230. In this case, it can be considered that the avoidance space 230 is formed by the handle 400 alone.

[0110] For example, Fig. 9 As shown, in some embodiments, in the folded state, one end of the second shaft arm 220 away from the second motor 210 is attached to the outer circumferential surface of the handle 400, and one end of the second shaft arm 220 close to the second motor 210 is spaced from the outer circumferential surface of the handle 400 to form the avoidance space 230. At this time, it can be considered that the avoidance space 230 is formed by the outer circumferential surface of the handle 400 and the second shaft arm 220.

[0111] For example, Fig.10As shown, in some embodiments, the second shaft arm 220 is provided with an avoidance groove 231, and the avoidance groove 231 also has a space for avoiding the button 500 and / or the control component 600. It can be considered that the avoidance groove 231 also provides an avoidance space 230. When in the folded state, the button 500 and / or the control component 600 are accommodated in the avoidance groove 231. At this time, it can be considered that the avoidance space 230 is formed solely by the second shaft arm 220.

[0112] For example, Fig.11 As shown, in some embodiments, the second shaft arm 220 is at least partially bent to form an escape opening 232. It can be considered that the escape opening 232 also provides an escape space 230. In the folded state, the button 500 and / or the control component 600 are accommodated in the escape opening 232. At this time, it can be considered that the escape space 230 is formed by the second shaft arm 220 alone, or it can be considered to be formed by the outer peripheral surface of the handle 400 and the second shaft arm 220.

[0113] Furthermore, if Fig.15 , Fig.16 and Fig.17 As shown, the button 500 and the control assembly 600 are respectively located on both sides of the outer peripheral surface of the handle 400, and the second shaft arm 220 and / or the second sub-arm 122 can be attached to any outer peripheral surface of the handle 400. Fig.15 As shown, in some embodiments, the second shaft arm 220 and / or the second sub-arm 122 are attached to the outer peripheral surface of the handle 400 and are located on the side where the button 500 is located. Fig.16 As shown, in some embodiments, the second shaft arm 220 and / or the second sub-arm 122 are attached to the outer peripheral surface of the handle 400 and are located on the side where the control assembly 600 is located. Fig.17 As shown, in some embodiments, the second shaft arm 220 and / or the second sub-arm 122 are attached to the outer peripheral surface of the handle 400 but are not directly facing the button 500 or the control assembly 600 .

[0114] like Fig.15 , Fig.16 and Fig.17 As shown, the button 500 and the control assembly 600 are respectively located on both sides of the outer peripheral surface of the handle 400, and the second shaft arm 220 and / or the second sub-arm 122 can be attached to any outer peripheral surface of the handle 400. Fig.15 As shown, in some embodiments, the second shaft arm 220 and / or the second sub-arm 122 are attached to the outer peripheral surface of the handle 400 and are located on the side where the button 500 is located. Fig.16As shown, in some embodiments, the second shaft arm 220 and / or the second sub-arm 122 are attached to the outer peripheral surface of the handle 400 and are located on the side where the control assembly 600 is located. Fig.17 As shown, in some embodiments, the second shaft arm 220 and / or the second sub-arm 122 are attached to the outer peripheral surface of the handle 400 but are not directly facing the button 500 or the control assembly 600 .

[0115] It should be noted that the control group component may refer to components such as a control panel, a dial assembly and a joystick, which can be used to control the handheld gimbal 10 and / or the shooting device 20. Taking the dial assembly and the joystick as examples, the dial assembly is a control component that realizes the acquisition of user control instructions through different rotation amounts. When using it, the user can conveniently realize the control of the shooting device 20 by adjusting the rotation amount of the wheel rim in the dial assembly, such as the user can adjust the ISO, white balance, focus, scroll options and switch settings of the shooting device 20 by rotating the dial assembly clockwise / counterclockwise; the joystick is a control component with extremely high degrees of freedom, which realizes the acquisition of user control instructions by moving and / or rotating the rod body in different directions. When using it, the user can conveniently realize the control of the shooting device 20 by turning the direction of the joystick, such as the user can conveniently select one or more of the multiple focus points and change the rotation angle of the axis assembly by turning the position of the joystick.

[0116] See also Figure 7 and Figure 8 As shown, the shapes of the first sub-arm 121 and the second sub-arm 122 of the present application can be various.

[0117] For example, Figure 7 , Fig.15 , Fig.16 and Fig.17 As shown, in some embodiments, the first sub-arm 121 can be a straight arm, and the first sub-arm 121 and the second sub-arm 122 are adapted to each other in shape and size, that is, in the folded state, the first sub-arm 121 and the second sub-arm 122 can be as close to each other as possible or even fit together, so that the structures of the two are compact.

[0118] Fig.18 It can be considered Fig.15 or Fig.16 The side view of Fig.18 As shown in , when the handheld gimbal 10 is in the folded state, the first sub-arm 121 is a straight arm and the second axis arm 220 is directly facing the button 500 or the control component 600 of the handle, the second axis arm 220 is just aligned with the handle 400, and the overall appearance of the handheld gimbal 10 is neat and beautiful.

[0119] For example, in some embodiments, the first sub-arm 121 can be a curved arm, and the first sub-arm 121 and the second sub-arm 122 are adapted to each other in shape and size, that is, in the folded state, the first sub-arm 121 and the second sub-arm 122 can be as close to each other as possible or even fit together, so that the structures of the two are compact.

[0120] Furthermore, the first sub-arm 121 may be a curved arm, that is, a bent first sub-arm 121, which may be as follows: Figure 8 The segmented curved arm shown in FIG. 1 is formed by connecting multiple straight arms, and can also be Fig. 20 Curved arm shown.

[0121] In such Fig.19 In the illustrated embodiment, the second shaft arm 220 is not directly facing the button 500 or the control assembly 600 after being folded. Since there is an angle between the axial direction of the handle 400 and the axial direction of the first motor 110 , the second shaft arm 220 cannot be aligned with the handle 400 .

[0122] In such Fig. 20 and Fig.21 In the embodiment shown, the first sub-arm 121 can be a curved arm. Although there is an angle between the axial direction of the handle 400 and the axial direction of the first motor 110, and the second shaft arm 220 is not directly facing the button 500 or the control component 600 after being folded, since the first sub-arm 121 is a curved arm and the second sub-arm 122 is adapted to the first sub-arm 121, it is equivalent to that the arc-shaped first sub-arm 121 is appropriately twisted by a certain angle, so that the second shaft arm 220 is still aligned with the handle 400.

[0123] In other words, it can be considered Fig.19 The problem caused when the first sub-arm 121 in the embodiment is a straight arm can be solved by Fig. 20 and Fig.21 This is avoided by the arc-shaped first sub-arm 121 in the embodiment.

[0124] See also Fig.12 , Fig.13 , Fig.14 and Fig.15 In some embodiments, the handheld gimbal 10 further includes a rotating member 700 , and the first sub-arm 121 is rotatably connected to the second sub-arm 122 via the rotating member 700 .

[0125] For example, in some embodiments, the rotating member 700 has two rotating shafts 710, the first sub-arm 121 is rotatably mounted on one of the rotating shafts 710, and the second sub-arm 122 is rotatably mounted on the other of the rotating shafts 710, and the first sub-arm 121 rotates synchronously or asynchronously with the second sub-arm 122 through the rotating member 700. The first sub-arm 121 and the second sub-arm 122 that rotate asynchronously through the rotating member 700 are relatively freer during adjustment, while the first sub-arm 121 and the second sub-arm 122 that rotate synchronously through the rotating member 700, such as Fig.12 As shown, the rotation angle of each rotation center can be halved, folding and unfolding are more convenient and quick, the rotation is more stable and reliable, and the overall structure is more regular after storage. Fig.13 and Fig.14 As shown, in some embodiments, the first sub-arm 121 rotates synchronously with the second sub-arm 122 through meshing transmission.

[0126] For example, Fig.15 As shown, in some embodiments, the rotating member 700 is a single rotating shaft 710 , and the first sub-arm 121 is rotatably connected to the second sub-arm 122 via the single rotating shaft 710 .

[0127] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

[0129] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply 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.

[0130] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0131] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0132] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0133] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0134] In the description of this specification, the description of reference terms "one embodiment", "other implementation methods", etc. means that the specific features, structures, materials or features described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present application. The terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

Claims

1. A handheld gimbal, characterized in that: include: handle; A first shaft assembly, the first shaft assembly includes a first motor and a first shaft arm disposed at the top of the handle, the first shaft arm includes a first sub-arm and a second sub-arm rotatably connected to the first sub-arm, one end of the first sub-arm is connected to the first motor, in the radial direction of the first motor, the first sub-arm at least partially protrudes from the outer peripheral surface of the first motor, the first sub-arm has a first surface and a second surface disposed opposite to each other, the first surface is located on a side of the first motor away from the handle, and the first motor is used to drive the first sub-arm to rotate relative to the handle; Wherein, the handheld gimbal is configured to be switchable between an unfolded state and a folded state; in the folded state, the second sub-arm is stored in the second surface.

2. The handheld gimbal according to claim 1, characterized in that: One end of the second sub-arm is rotatably connected to an end of the first sub-arm away from the first motor; And / or, in the folded state, a partial surface of the first sub-arm and a partial surface of the second sub-arm are parallel to each other.

3. The handheld gimbal according to claim 2, characterized in that: In the folded state, the first sub-arm fits with the second sub-arm; and / or, the second sub-arm is parallel to the second surface of the first sub-arm; and / or, the second sub-arm is attached to the second surface of the first sub-arm; And / or, the stator of the first motor is connected to one of the handle and the first sub-arm, and the rotor of the first motor is connected to the other of the handle and the first sub-arm.

4. The handheld gimbal according to claim 1, characterized in that: The handheld gimbal also includes a second axis assembly, which includes a second motor and a second axis arm connected to the second sub-arm, one end of the second axis arm is connected to the second motor, and the second motor is used to drive the second axis arm to rotate. When in the folded position, at least one of the second axis arm and the second sub-arm is in contact with the handle.

5. The handheld gimbal according to claim 4, characterized in that: The handheld gimbal further comprises a third axis assembly, the third axis assembly comprises a clamping member for clamping the photographing device and a third motor, the third motor and the second motor are respectively connected to two ends of the second axis arm that are away from each other, the third motor is connected to the clamping member and is used to drive the clamping member and the photographing device to rotate, and in the folded state, the third motor is located between the clamping member and the handle; And / or, the stator of the second motor is connected to one of the second shaft arm and the second sub-arm, and the rotor of the second motor is connected to the other of the second shaft arm and the second sub-arm.

6. The handheld gimbal according to claim 4, characterized in that: The handle is provided with buttons and / or control components, and the second shaft arm is provided with an avoidance groove. In the folded state, the buttons and / or the control components are accommodated in the avoidance groove.

7. The handheld gimbal according to claim 4, characterized in that: The handle is provided with buttons and / or control components, and the second shaft arm is at least partially bent to form an escape opening. In the folded state, the buttons and / or the control components are accommodated in the escape opening.

8. The handheld gimbal according to claim 4, characterized in that: In the folded state, the second shaft arm is fixed to the handle by any one of magnetic connection, snap connection, bonding, and interference fit.

9. The handheld gimbal according to claim 8, characterized in that: The second shaft arm is provided with a clamping protrusion, and the handle is provided with a clamping recess. In the folded state, the handle is clamped with the second shaft arm through the clamping recess and the clamping protrusion. Alternatively, a snap-in recess is provided on the second shaft arm, and a snap-in protrusion is provided on the handle. In the folded state, the handle is snap-in engaged with the second shaft arm through the cooperation between the snap-in protrusion and the snap-in recess.

10. The handheld gimbal according to claim 1, characterized in that: Also includes at least one of the following technical features: The first sub-arm and / or the second sub-arm are straight arms; The first sub-arm and / or the second sub-arm are curved arms; The first sub-arm and / or the second sub-arm are arc-shaped arms.

11. The handheld gimbal according to claim 1, characterized in that: The axial direction of the first motor and the axial direction of the handle are arranged at an angle of a first predetermined angle, and the first predetermined angle is 10-45 degrees.

12. The handheld gimbal according to claim 1, characterized in that: The length extension direction of the first sub-arm and the cross section of the first motor are arranged at an angle of a second predetermined angle.

13. The handheld gimbal according to claim 12, characterized in that: The second predetermined angle is 0-45 degrees.

14. The handheld gimbal according to claim 1, characterized in that: The length extension direction of the first sub-arm is perpendicular to the axial direction of the first motor.

15. The handheld gimbal according to claim 1, characterized in that: In the folded state, the second sub-arm is fixed to the first sub-arm by any one of magnetic connection, clamping, bonding, and interference fit; And / or, in the folded state, the second sub-arm is fixed to the handle and the fixing method is any one of magnetic connection, snap connection, bonding, and interference fit.

16. The handheld gimbal according to claim 1, characterized in that: The handheld gimbal further comprises a rotating member, and the first sub-arm is rotatably connected to the second sub-arm via the rotating member.

17. The handheld gimbal according to claim 16, characterized in that: The rotating member has two rotating shafts, the first sub-arm is rotatably sleeved on one of the rotating shafts, and the second sub-arm is rotatably sleeved on the other rotating shaft.

18. The handheld gimbal according to claim 17, characterized in that: The first sub-arm rotates synchronously with the second sub-arm.

19. The handheld gimbal according to claim 16, characterized in that: The rotating member is a single rotating shaft, and the first sub-arm is rotatably connected to the second sub-arm via the single rotating shaft.

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