Handheld holder

Abstract

The utility model relates to a handheld holder which comprises a handle and at least two shaft assemblies, and the at least two shaft assemblies comprise the first shaft assembly and the second shaft assembly rotationally connected with the first shaft assembly; 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 shaft assembly and the outer peripheral surface of the handle form an avoiding space for accommodating the key and / or the control assembly.

Description

Technical Field

[0001] This application relates to the technical field of gimbal, and particularly to a handheld gimbal. Background Art

[0002] A handheld gimbal can be used to fix a shooting device and can also adjust the posture of the shooting device to meet different shooting needs of users.

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

[0004] The above information disclosed in the background art of this application is only used to understand the background of the concept of this application and may include information that does not constitute prior art. Utility Model Content

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

[0006] A handheld gimbal, comprising:

[0007] A handle, on the outer circumferential surface of which there are buttons and / or control components;

[0008] At least two shaft components, including a first shaft component and a second shaft component rotatably connected to the first shaft component;

[0009] Wherein, the handheld gimbal is configured to be able to switch between a deployed state and a folded state; in the folded state, an avoidance space for accommodating the buttons and / or the control components is formed between the second shaft component and the outer circumferential surface of the handle.

[0010] The above handheld gimbal has at least the following beneficial effects: The buttons and / or control components are arranged on the outer circumferential surface of the handle, which is convenient for operation and usually occupies a certain volume. Therefore, in the folded state, if it is necessary to ensure that at least part of the second shaft component is as close as possible to or even in contact with the outer circumferential surface of the handle, it is necessary to leave a certain avoidance space between the second shaft component and the outer circumferential surface of the handle to avoid the buttons and / or control components, so as to ensure that the structure of the handheld gimbal in the folded state is sufficiently compact.

[0011] In one embodiment, the second shaft assembly includes a second motor and a second shaft arm connected to the first shaft assembly. One end of the second shaft arm is connected to the second motor, and the second motor is used to drive the second shaft arm to rotate. An avoidance space is formed between the second shaft arm and the outer circumferential surface of the handle. In the folded state, if it is necessary to ensure that at least part of the second shaft arm is as close as possible to or even in contact with the outer circumferential surface of the handle, a certain avoidance space needs to be left between the second shaft arm and the outer circumferential surface of the handle to avoid the keys and / or control components, so as to ensure that the structure of the handheld gimbal in the folded state is sufficiently compact.

[0012] In one embodiment, in the folded state, the end of the second shaft arm away from the second motor is in contact with the outer circumferential surface of the handle, and the end of the second shaft arm close to the second motor is spaced from the outer circumferential surface of the handle to form the avoidance space.

[0013] In one embodiment, keys and / or control components are provided on the handle, and an avoidance groove is formed in the second shaft arm. In the folded state, the keys and / or the control components are received in the avoidance groove.

[0014] In one embodiment, keys and / or control components are provided on the handle, and at least part of the second shaft arm is bent to form an avoidance opening. In the folded state, the keys and / or the control components are received in the avoidance opening.

[0015] 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 provided 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. Another example is that the second shaft arm and the handle can be snap-connected through a buckle. Another example is that the second shaft arm and the handle can be detachably pasted through a magic tape.

[0016] In one embodiment, a fixing structure is provided between the second shaft arm and the outer circumferential surface of the handle. In the folded state, the second shaft arm and the handle are fixed through the fixing structure.

[0017] In one embodiment, the fixing structure includes a snap convex part and a snap concave part. Either the outer circumferential surface of the handle or the second shaft arm is provided with the snap convex part, and the other of the outer circumferential surface of the handle and the second shaft arm is provided with the snap concave part. In the folded state, the handle is snap-connected to the second shaft arm through the cooperation of the snap concave part and the snap convex part.

[0018] In one embodiment, a clamping protrusion is provided on the second shaft arm, and a clamping recess is formed on the handle. In the folded state, the handle is clamped to the second shaft arm through the cooperation of the clamping recess and the clamping protrusion.

[0019] In one embodiment, a clamping recess is provided on the second shaft arm, and a clamping protrusion is formed on the handle. In the folded state, the handle is clamped to the second shaft arm through the cooperation of the clamping protrusion and the clamping recess.

[0020] In one embodiment, the first shaft assembly includes a first motor and a first shaft arm provided on the handle. The first shaft arm includes a first sub-arm and a second sub-arm. One end of the first sub-arm is connected to the first motor, and the first motor is used to drive the first sub-arm to rotate relative to the handle. The other end of the first sub-arm is rotatably connected to one end of the second sub-arm, and the other end of the second sub-arm is connected to the second motor.

[0021] In one embodiment, in the radial direction of the first motor, at least a part of the first sub-arm protrudes from the outer circumferential surface of the first motor. The first sub-arm has a first surface and a second surface arranged opposite to each other. The first surface is located on the side of the first motor away from the handle. In the folded state, the second sub-arm is received in the second surface. It has at least the following beneficial effects: At least a part of the first sub-arm protrudes from the outer circumferential surface of the first motor in the radial direction of the first motor, which can be generally considered that a part of the first sub-arm extends outward and protrudes from the outer circumferential 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 opposite to the first surface. When the handheld gimbal is in the folded state, its second sub-arm is received in the second surface of the first sub-arm, which can be generally considered that in the axial direction of the handle, the second sub-arm is received below the first sub-arm and received in the outer circumference of the handle, reasonably utilizing the space on the outer circumference of the handle, making the structure more compact and beautiful, and reducing the size and occupied space of the entire handheld gimbal in the axial direction of the handle, facilitating storage and improving the user experience. It can be understood that when the traditional handheld gimbal is folded and stored, generally, each shaft arm assembly is 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, inconvenient for storage and not beautiful.

[0022] In one embodiment, during the process of switching from the unfolded state to the folded state, the second sub-arm first rotates away from the handle, and then the second sub-arm rotates towards the outer circumferential surface of the handle until the second sub-arm is at least partially parallel to the first sub-arm. It has at least the following beneficial effects: During the process of the handheld gimbal switching from the unfolded state to the folded state, the second sub-arm can first rotate away from the handle, and then the second sub-arm rotates towards the outer circumferential surface of the handle until the second sub-arm is at least partially parallel to the first sub-arm. This can be roughly considered that the second sub-arm is received on the outer circumferential surface of the handle, reasonably utilizing the space on the outer circumferential surface of the handle, making the structure more compact and beautiful, and reducing the size and occupied space of the entire handheld gimbal in the axial direction of the handle, facilitating storage and enhancing the user experience. It can be understood that when the traditional handheld gimbal is folded and stored, generally, each axis arm assembly is 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, inconvenient for storage and not beautiful.

[0023] In one embodiment, in the folded state, a part of the surface of the first sub-arm is parallel to a part of the surface of the second sub-arm. Such a structural arrangement can make the first sub-arm and the second sub-arm in the folded state more regular and beautiful, making the overall handheld gimbal look more regular and beautiful.

[0024] In one embodiment, in the folded state, the first sub-arm is in contact with the second sub-arm. Such a structural arrangement can make the first sub-arm and the second sub-arm in the folded state have a compact structure, making the overall handheld gimbal look structurally compact, enhancing the structural stability of the handheld gimbal in the folded state, and having a smaller volume, which is more conducive to storage and carrying.

[0025] In one embodiment, the second sub-arm is parallel to the second surface of the first sub-arm.

[0026] In one embodiment, the second sub-arm is in contact with the second surface of the first sub-arm. Such a structural arrangement can make the first sub-arm and the second sub-arm in the folded state have a compact structure, making the overall handheld gimbal look structurally compact, enhancing the structural stability of the handheld gimbal in the folded state, and having a smaller volume, which is more conducive to storage and carrying.

[0027] 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.

[0028] In one embodiment, when in the folded position, at least one of the second shaft arm and the second sub-arm is in contact with the handle. For the handheld gimbal in the folded state, the second shaft arm and / or the second sub-arm can be in contact with the outer circumferential surface of the handle, making full use of the space on the outer side of the handle, reducing the gap, further increasing the overall structural compactness of the entire handheld gimbal, enhancing the structural stability of the handheld gimbal in the folded state, and having a smaller volume, which is more conducive to storage and carrying.

[0029] In one embodiment, the at least two shaft assemblies further include a third shaft assembly. The third shaft assembly includes a clamping member for clamping a photographing device and a third motor. The third motor and the second motor are respectively connected to two opposite ends of the second shaft arm. The third motor is connected to the clamping member and is used to drive the clamping member and the photographing device to rotate. When in the folded state, the third motor is located between the clamping member and the handle. For the handheld gimbal in the folded state, with the third motor located between the clamping member and the handle, it can be considered that the outer circumferential surface of the clamping member faces away from the handle, and it can be considered that the opening of the clamping member faces outward along the radial direction of the handle. Such a structural setting not only makes the structure of the handheld gimbal more compact, but also enables the clamping member of the handheld gimbal to continue to clamp the photographing device even in the folded state. At this time, the user can choose to store the handheld gimbal and the photographing device together, or can choose to carry the photographing device with the handheld gimbal in the folded state and continue to use the photographing device.

[0030] 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.

[0031] In one embodiment, the first sub-arm and / or the second sub-arm is a straight arm.

[0032] In one embodiment, the first sub-arm and / or the second sub-arm is a curved arm.

[0033] In one embodiment, the first sub-arm and / or the second sub-arm is an arc-shaped arm.

[0034] In one embodiment, the axis of the first motor and the axis of the handle are arranged at an included angle of a first predetermined angle, and the first predetermined angle is 10 - 45 degrees. Such a setting can increase the pitching working angle of the handheld gimbal and bring a better user experience.

[0035] In one embodiment, the length extension direction of the first sub-arm is arranged at an angle with the cross-section of the first motor at a second predetermined angle. Such an arrangement can increase the pitching working angle of the handheld gimbal and bring a better user experience.

[0036] In one embodiment, the second predetermined angle is 0 - 45 degrees.

[0037] In one embodiment, the length extension direction of the first sub-arm is perpendicular to the axial direction of the first motor.

[0038] 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 attraction connection, snap connection, bonding, and interference fit. For example, magnetic members with opposite polarities (such as magnets) can be arranged on the inner or outer surfaces of the second sub-arm and the first sub-arm to achieve magnetic attraction connection between the second sub-arm and the first sub-arm in the folded state. Another example is that the second sub-arm and the first sub-arm can be snap-connected through a buckle. Another example is that the second sub-arm and the first sub-arm can be detachably pasted through Velcro.

[0039] 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 attraction connection, snap connection, bonding, and interference fit. For example, magnetic members with opposite polarities (such as magnets) can be arranged on the inner or outer surfaces of the second sub-arm and the handle to achieve magnetic attraction connection between the second sub-arm and the handle in the folded state. Another example is that the second sub-arm and the handle can be snap-connected through a buckle. Another example is that the second sub-arm and the handle can be detachably pasted through Velcro.

[0040] In one embodiment, the handheld gimbal further includes a rotating member, and the first sub-arm is rotatably connected to the second sub-arm through the rotating member.

[0041] In one embodiment, 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.

[0042] 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 more free during adjustment, while for the first sub-arm and the second sub-arm that rotate synchronously through the rotating member, the rotation angle of each rotation center can be halved, making folding and unfolding more convenient and fast, the rotation more stable and reliable, and the overall structure more regular after storage.

[0043] In one embodiment, the first sub-arm rotates synchronously with the second sub-arm by means of meshing transmission.

[0044] In one embodiment, the rotating member is a single rotating shaft, and the first sub-arm is rotatably connected to the second sub-arm through the single rotating shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0046] Figure 1 It is a schematic structural diagram of a handheld gimbal provided by an embodiment of the present application.

[0047] Figure 2 It is another schematic structural diagram of a handheld gimbal provided by an embodiment of the present application.

[0048] Figure 3 It is another schematic structural diagram of a handheld gimbal provided by an embodiment of the present application.

[0049] Figure 4 It is another schematic structural diagram of a handheld gimbal provided by an embodiment of the present application.

[0050] Figure 5 It is another schematic structural diagram of a handheld gimbal provided by an embodiment of the present application.

[0051] Figure 6 It is another schematic structural diagram of a handheld gimbal provided by an embodiment of the present application.

[0052] Figure 7 It is another schematic structural diagram of a handheld gimbal provided by an embodiment of the present application.

[0053] Figure 8 It is a schematic structural diagram of a handheld gimbal provided by an embodiment of the present application.

[0054] Figure 9 It is another schematic structural diagram of a handheld gimbal provided by an embodiment of the present application.

[0055] Figure 10 It is another schematic structural diagram of a handheld gimbal provided by an embodiment of the present application.

[0056] Figure 11 It is another schematic structural diagram of a handheld gimbal provided by an embodiment of the present application.

[0057] Figure 12 It is another schematic structural diagram of a handheld gimbal provided by an embodiment of the present application.

[0058] Figure 13 Partial schematic diagram of a handheld gimbal provided by an embodiment of the present application.

[0059] Figure 14 Another structural schematic diagram of a handheld gimbal provided by an embodiment of the present application.

[0060] Figure 15 Another structural schematic diagram of a handheld gimbal provided by an embodiment of the present application.

[0061] Figure 16 Another structural schematic diagram of a handheld gimbal provided by an embodiment of the present application.

[0062] Figure 17 Another structural schematic diagram of a handheld gimbal provided by an embodiment of the present application.

[0063] Figure 18 Another structural schematic diagram of a handheld gimbal provided by an embodiment of the present application.

[0064] Figure 19 Another structural schematic diagram of a handheld gimbal provided by an embodiment of the present application.

[0065] Figure 20 Another structural schematic diagram of a handheld gimbal provided by an embodiment of the present application.

[0066] Figure 21 Another structural schematic diagram of a handheld gimbal provided by an embodiment of the present application.

[0067] Reference numerals:

[0068] 10. Handheld gimbal; 20. Shooting device; 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. Clamping convex portion; 820. Clamping concave portion; a. First predetermined angle; b. Second predetermined angle. Detailed implementation manners

[0069] To make the above objects, features, and advantages of the present application more apparent and understandable, the following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. Many specific details are set forth in the following description 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 departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0070] Please refer to 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. As Figure 1 shown, the handheld gimbal 10 is in the unfolded state, as Figure 3 shown, the handheld gimbal 10 is in the folded state. The handheld gimbal 10 includes a handle 400 and at least two shaft assemblies. The at least two shaft assemblies can be used to carry and drive a photographing device 20 to adjust the attitude change of the photographing device 20.

[0071] As Figure 1 , Figure 2 and Figure 3 shown, in some of these embodiments, the at least two shaft assemblies include a first shaft assembly 100. The first shaft assembly 100 includes a first motor 110 disposed on the handle 400 and a first shaft arm 120. The first shaft 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. 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, at least a part of the first sub-arm 121 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 disposed 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. 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 received in the second surface 1212.

[0072] The above handheld gimbal 10 has at least the following beneficial effects: At least a part of the first sub-arm 121 protrudes from the outer circumferential surface of the first motor 110 in the radial direction of the first motor 110. This can be generally considered that a part of the first sub-arm 121 protrudes outward and is suspended and protrudes from the outer circumferential surface of the handle 400. The first sub-arm 121 has a first surface 1211 and a second surface 1212 disposed 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 disposed opposite to the first surface 1211. As Figure 3 and Figure 4As shown, when the handheld gimbal 10 is in the folded state, its second sub-arm 122 is received in the second surface 1212 of the first sub-arm 121. This can be generally considered that in the axial direction of the handle 400, the second sub-arm 122 is received below the first sub-arm 121 and received on the outer circumference of the handle 400, reasonably utilizing the space on the outer circumference of the handle 400. The structure is more compact and beautiful, and the size and occupied space of the entire handheld gimbal 10 in the axial direction of the handle 400 are reduced, facilitating storage and enhancing 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 after folding to be too long in the axial direction of the handle 400, making storage inconvenient and not beautiful.

[0073] Please refer to Figure 1 、 Figure 2 and Figure 3 In some embodiments, the at least two shaft assemblies further include a second shaft assembly 200. The second shaft assembly 200 includes a second motor 210 connected to the second sub-arm 122 and a second shaft arm 220. One end of the second shaft arm 220 is connected to the second motor 210, and the second motor 210 is used to drive the second shaft arm 220 to rotate. In the folded position, at least one of the second shaft arm 220 and the second sub-arm 122 is in contact with the handle 400.

[0074] For example, in one embodiment, for the handheld gimbal 10 in the folded state, the second shaft arm 220 is in contact with the outer circumferential surface of the handle 400. In another embodiment, for the handheld gimbal 10 in the folded state, the second sub-arm 122 is in contact with the outer circumferential surface of the handle 400. In another embodiment, for the handheld gimbal 10 in the folded state, both the second shaft arm 220 and the second sub-arm 122 are in contact with the outer circumferential surface of the handle 400.

[0075] In other words, for the handheld gimbal 10 in the folded state, its second shaft arm 220 and / or second sub-arm 122 can be in contact with the outer circumferential surface of the handle 400, fully utilizing the space on the outer circumference of the handle 400, reducing the gap, further increasing the overall structural compactness of the entire handheld gimbal 10, enhancing the structural stability of the handheld gimbal 10 in the folded state, and having a smaller volume, which is more conducive to storage and carrying.

[0076] It should be noted that as Figure 2 and Figure 3As 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 part of the structure for the housing of the second motor 210. In other words, at least part of the structure of the second sub-arm 122 can also be considered as part of the motor housing of the second motor 210.

[0077] Please refer to Figure 1 , Figure 2 and Figure 3 , in some embodiments, the at least two shaft assemblies further include a third shaft assembly 300. The third shaft assembly 300 includes a clamping member 320 for clamping the photographing device 20 and a third motor 310. The third motor 310 and the second motor 210 are respectively connected to two opposite ends of the second shaft arm 220. The third motor 310 is connected to the clamping member 320 and is used to drive the clamping member 320 and the photographing 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 rotating shaft. The second motor can be a pitch motor. Correspondingly, the motor shaft of the second motor 210 can be a pitch (PITCH) motor rotating shaft. The third motor 262 can be a roll (ROLL) motor. Here, the first motor 110, the second motor 210, and the third motor 330 mentioned in this article are further explained. The purpose is 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, a broader understanding of the above can be made when the beneficial effects achieved by the handheld gimbal 10 of the present application can be satisfied.

[0078] For example, in the embodiments shown in Figure 4 and Figure 5 , in the folded state, the third motor 310 is located between the clamping member 320 and the handle 400. For the handheld gimbal 10 in the folded state, with the third motor 310 located between the clamping member 320 and the handle 400, it can be considered that the outer circumferential surface of the clamping member 320 facing away from the handle 400 can be considered that the opening of the clamping member 320 faces 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 enables the clamping member 320 of the handheld gimbal 10 to continue clamping the photographing device 20 even in the folded state. At this time, the user can choose to store the handheld gimbal 10 and the photographing device 20 together, or choose to carry the photographing device 20 with the handheld gimbal 10 in the folded state and continue to use the photographing device 20.

[0079] Another example is, in the embodiments shown in Figure 6In the illustrated embodiment, in the folded state, the clamping member 320 is located between the third motor 310 and the handle 400. It can be considered that the clamping member 320 faces the outer circumferential surface of the handle 400, and it can be considered that the opening of the clamping member 320 faces inwards along the radial direction of the handle 400. Such a folded state is beneficial to protecting the clamping member 320 and reducing the risk of damage during its storage.

[0080] For another example, in the embodiment as Figure 7 illustrated, in the folded state, the orientation of the clamping member 320 is between Figure 5 and Figure 6 It can be considered that the clamping member 320 is arranged laterally, that is, the opening of the clamping member 320 neither faces the outer circumferential surface of the handle 400 nor faces away from the outer circumferential surface of the handle 400. In such a state, the clamping member 320 can still clamp the photographing device 20. At this time, the user can choose to store the handheld gimbal 10 and the photographing device 20 together, or can choose to continue using the photographing device 20 with the handheld gimbal 10 in the folded state carrying the photographing device 20.

[0081] Please refer to Figure 1 、 Figure 2 and Figure 3 , in some of the embodiments, during the process of the handheld gimbal 10 switching from the unfolded state to the folded state, the second sub-arm 122 first rotates away from the handle 400, and then the second sub-arm 122 rotates towards the outer circumferential surface of the handle 400 until the second sub-arm 122 is at least partially parallel to the first sub-arm 121. Conversely, during the process of the handheld gimbal 10 switching from the folded state to the unfolded state, it can be considered that the second sub-arm 122 first rotates away from the outer circumferential surface of the handle 400. In some of the embodiments, as Figure 1 illustrated, the first motor 110 is provided at the top of the handle 400. In an unfolded state of the handheld gimbal 10, the second shaft assembly 200 and the third shaft assembly 300 are generally located on the side of the first motor 110 facing away from the handle 400, and it can be generally considered that the second shaft assembly 200 and the third shaft assembly 300 are located above the first motor 110 in the axial direction.

[0082] For example, as Figure 1 、 Figure 2 and Figure 3 illustrated, 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 away from the top of the handle 400, and then the second sub-arm 122 rotates towards the outer circumferential surface of the handle 400 until the second sub-arm 122 is at least partially parallel to the first sub-arm 121.

[0083] For another example, as Figure 1 , Figure 2 and Figure 3 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 a direction away from the first motor 110, and then the second sub-arm 122 rotates in a direction close to the outer circumferential surface of the handle 400 until at least a part of the second sub-arm 122 is parallel to the first sub-arm 121.

[0084] The above-mentioned handheld gimbal 10 can be used to carry and drive the shooting device 20, and it has at least the following beneficial effects: during the process of the handheld gimbal 10 switching from the unfolded state to the folded state, its second sub-arm 122 can first rotate in a direction away from the handle 400, and then the second sub-arm 122 rotates in a direction close to the outer circumferential surface of the handle 400 until at least a part of the second sub-arm 122 is parallel to the first sub-arm 121, as Figure 3 and Figure 4 shown. This can be generally considered that the second sub-arm 122 is received on the outer circumference of the handle 400, reasonably utilizing the space on the outer circumference of the handle 400, making the structure more compact and beautiful, and the size and occupied space of 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, generally, each axis arm assembly is stacked at the end of the handle 400, which will cause the entire handheld gimbal 10 after folding to be too long in the axial direction of the handle 400, inconvenient for storage and not beautiful.

[0085] 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.

[0086] In some embodiments, the stator of the second motor 210 is connected to one of the second axis arm 220 and the second sub-arm 122, and the rotor of the second motor 210 is connected to the other of the second axis arm 220 and the second sub-arm 122.

[0087] Please refer to Figure 3 , in some embodiments, in the folded state, a part of the surface of the first sub-arm 121 is parallel to a part of the surface of the second sub-arm 122. For example, in combination with 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 arrangement can make the first sub-arm 121 and the second sub-arm 122 in a more regular and beautiful state when folded, making the overall handheld gimbal 10 look more regular and beautiful.

[0088] Specifically, as Figure 3 and Figure 4 shown, in some embodiments, when in the folded state, the first sub-arm 121 is attached to the second sub-arm 122.

[0089] More specifically, in some embodiments, the second sub-arm 122 is attached to the second surface 1212 of the first sub-arm 121. Such a structural arrangement can make the first sub-arm 121 and the second sub-arm 122 have a compact structure when folded, making the overall handheld gimbal 10 look structurally compact, improving the structural stability of the handheld gimbal 10 in the folded state, and having a smaller volume, which is more conducive to storage and carrying. Such a structural arrangement can make the first sub-arm 121 and the second sub-arm 122 have a compact structure when folded, making the overall handheld gimbal 10 look structurally compact, improving the structural stability of the handheld gimbal 10 in the folded state, and having a smaller volume, which is more conducive to storage and carrying.

[0090] In some embodiments, when 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, snap connection, bonding, and interference fit. This can make the connection between the first sub-arm 121 and the second sub-arm 122 reliable and not loose in the folded state, further ensuring the structural compactness and regular appearance of the handheld gimbal 10 in the folded state.

[0091] For example, magnetic members (such as magnets) with opposite polarities can be provided on the inner or outer surface of the second sub-arm 122 and the first sub-arm 121 to achieve magnetic connection between the second sub-arm 122 and the first sub-arm 121 in the folded state.

[0092] Another example is that the second sub-arm 122 and the first sub-arm 121 can be snap-connected through a buckle.

[0093] Another example is that the second sub-arm 122 and the first sub-arm 121 can be detachably pasted through a magic tape.

[0094] In some embodiments, when 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, snap connection, bonding, and interference fit. This can make the connection between the second sub-arm 122 and the handle 400 reliable and not loose in the folded state, further ensuring the structural compactness and regular appearance of the handheld gimbal 10 in the folded state.

[0095] For example, magnetic members (such as magnets) with opposite polarities can be provided on the inner or outer surface of the second sub-arm 122 and the handle 400 to achieve magnetic attraction connection between the second sub-arm 122 and the handle 400 in the folded state.

[0096] Also, for another example, the second sub-arm 122 and the handle 400 can be snap-connected through a snap.

[0097] Also, for another example, the second sub-arm 122 and the handle 400 can be detachably adhered through a magic tape.

[0098] In some of the embodiments, in the folded state, the second shaft arm 220 and the handle 400 are fixed, and the fixing method is any one of magnetic attraction connection, snap connection, bonding, and interference fit. This can make the connection between the second shaft arm 220 and the handle 400 in the folded state reliable and not loose, further ensuring the compact structure and regular appearance of the handheld gimbal 10 in the folded state.

[0099] For example, magnetic members (such as magnets) with opposite polarities can be provided on the inner or outer surface of the second shaft arm 220 and the handle 400 to achieve magnetic attraction connection between the second shaft arm 220 and the handle 400 in the folded state.

[0100] Also, for another example, the second shaft arm 220 and the handle 400 can be snap-connected through a snap.

[0101] Also, for another example, the second shaft arm 220 and the handle 400 can be detachably adhered through a magic tape.

[0102] Specifically, in some of the embodiments, a fixing structure 800 is provided between the outer circumferential surface of the second shaft arm 220 and the handle 400. In the folded state, the second shaft arm 220 and the handle 400 are fixed through the fixing structure 800. More specifically, as Figure 2 shown, in some of the embodiments, the fixing structure 800 includes a snap convex portion 810 and a snap concave portion 820. The snap convex portion 810 is provided on either the outer circumferential surface of the handle 400 or the second shaft arm 220, and the snap concave portion 820 is provided on the other of the outer circumferential surface of the handle 400 and the second shaft arm 220. In the folded state, the handle 400 is snap-connected to the second shaft arm 220 through the cooperation of the snap concave portion 820 and the snap convex portion 810.

[0103] For example, as Figure 2As shown, in some of the embodiments, a clamping protrusion 810 is provided on the second shaft arm 220, and a clamping recess 820 is formed on the handle 400. In the folded state, the handle 400 is clamped to the second shaft arm 220 through the cooperation of the clamping recess 820 and the clamping protrusion 810.

[0104] For another example, in other embodiments, a clamping recess 820 is provided on the second shaft arm 220, and a clamping protrusion 810 is formed on the handle 400. In the folded state, the handle 400 is clamped to the second shaft arm 220 through the cooperation of the clamping protrusion 810 and the clamping recess 820.

[0105] Please refer to Figure 3 , in some of the embodiments, the axis of the first motor 110 is disposed at an angle with the axis of the handle 400 at a first predetermined angle a, and the first predetermined angle a is 10-45 degrees. As Figure 1 shown, when the user selects to switch the handheld gimbal 10 to the unfolded state, as described above, it can be regarded that the second shaft assembly 200, the third shaft assembly 300, and the shooting device 20 held by them are all 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, most of the time, the user may choose to adjust the shooting device 20 to a position higher than the handle 400, so that the shooting device 20 is approximately 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, such a setting in this embodiment can increase the pitching working angle of the handheld gimbal 10, which is more in line with the common posture of the user for the handheld gimbal 10 and the shooting device 20 held by it, and more in line with the user's usage habits, thus bringing a better user experience to the user.

[0106] Please refer to Figure 3 , in some of the embodiments, the length extension direction of the first sub-arm 121 is disposed 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 pitching working angle of the handheld gimbal 10 and bring a better user experience to the user.

[0107] Please refer to Figure 4 , in some of the embodiments, in some of the embodiments, the length extension direction of the first sub-arm 121 is perpendicular to the axis of the first motor 110.

[0108] Please refer to Figure 9 , Figure 10 and Figure 11, in some embodiments, buttons 500 and / or control components 600 are provided on the outer circumferential surface of the handle 400. In the folded state, an avoidance space 230 for accommodating the buttons 500 and / or the control components 600 is formed between the second shaft assembly 200 and the outer circumferential surface of the handle 400. The buttons 500 and the control components 600 are generally on the outer circumferential surface of the handle 400, which is convenient for operation but also occupies a certain volume. Therefore, in the folded state, if it is necessary to ensure that at least a part of the second shaft assembly 200 is as close to or even in contact with the outer circumferential surface of the handle 400, a certain avoidance space 230 needs to be left between the second shaft assembly 200 and the outer circumferential surface of the handle 400 to avoid the buttons 500 and / or the control components 600, so as to ensure that the structure of the handheld gimbal 10 in the folded state is sufficiently compact.

[0109] Further, as shown in Figure 9 , Figure 10 and Figure 11 , in some embodiments, an avoidance space 230 for accommodating the buttons 500 and / or the control components 600 is formed between the second shaft arm 220 of the second shaft assembly 200 and the outer circumferential surface of the handle 400.

[0110] Further, as shown in Figure 9 , Figure 10 and Figure 11 , in order to make the buttons 500 easier to operate, the buttons 500 can also protrude slightly from the outer circumferential surface of the handle 400. Similarly, the control components 600 can also protrude slightly from the outer circumferential surface of the handle 400. The buttons 500 and the control components 600 are generally on the outer circumferential surface of the handle 400, which is convenient for operation but also occupies a certain volume. Therefore, in the folded state, if it is necessary to ensure that at least a part of the second shaft arm 220 is as close to or even in contact with the outer circumferential surface of the handle 400, a certain avoidance space 230 needs to be left between the second shaft arm 220 and the outer circumferential surface of the handle 400 to avoid the buttons 500 and / or the control components 600, so as to ensure that the structure of the handheld gimbal 10 in the folded state is sufficiently compact.

[0111] It should be noted that the avoidance space 230 can be considered to be formed solely by the handle 400, or it can be considered to be formed solely by the second shaft arm 220, or it can also be considered to be formed by the enclosure of the outer circumferential surface of the handle 400 and the second shaft arm 220.

[0112] For example, in some embodiments, a part of the outer circumferential surface of the handle 400 can be recessed inward to accommodate the buttons 500 and / or the control components 600, that is, a part of the outer circumferential surface of the handle 400 is recessed inward to form the avoidance space 230. At this time, the avoidance space 230 can be considered to be formed solely by the handle 400.

[0113] For another example, as Figure 9 shown, in some of these embodiments, when in the folded state, one end of the second shaft arm 220 away from the second motor 210 abuts against 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 enclosing the outer circumferential surface of the handle 400 and the second shaft arm 220.

[0114] For another example, as Figure 10 shown, in some of these 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 key 500 and / or the control component 600. It can be considered that the avoidance groove 231 also provides the avoidance space 230. When in the folded state, the key 500 and / or the control component 600 is received 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.

[0115] For another example, as Figure 11 shown, in some of these embodiments, at least a part of the second shaft arm 220 is bent to form an avoidance opening 232. It can be considered that the avoidance opening 232 also provides the avoidance space 230. When in the folded state, the key 500 and / or the control component 600 is received in the avoidance opening 232. At this time, it can be considered that the avoidance space 230 is formed solely by the second shaft arm 220, or it can be considered that it is formed by enclosing the outer circumferential surface of the handle 400 and the second shaft arm 220.

[0116] Further, as Figure 15 、 Figure 16 and Figure 17 shown, the key 500 and the control component 600 are respectively located on both sides of the outer circumferential surface of the handle 400, and the second shaft arm 220 and / or the second sub-arm 122 can be abutted against any outer circumferential surface of the handle 400. For example, as Figure 15 shown, in some of these embodiments, the second shaft arm 220 and / or the second sub-arm 122 are abutted against the outer circumferential surface of the handle 400 and are located on the side where the key 500 is located. For another example, as Figure 16 shown, in some of these embodiments, the second shaft arm 220 and / or the second sub-arm 122 are abutted against the outer circumferential surface of the handle 400 and are located on the side where the control component 600 is located. For another example, as Figure 17 shown, in some of these embodiments, the second shaft arm 220 and / or the second sub-arm 122 are abutted against the outer circumferential surface of the handle 400 but not directly opposite to the key 500 or the control component 600.

[0117] As shown in Figure 15 , Figure 16 and Figure 17 , the key 500 and the control component 600 are respectively located on both sides of the outer circumferential surface of the handle 400, and the second shaft arm 220 and / or the second sub-arm 122 can be attached to any outer circumferential surface of the handle 400. For example, as shown in Figure 15 , in some embodiments, the second shaft arm 220 and / or the second sub-arm 122 are attached to the outer circumferential surface of the handle 400 and are located on the side where the key 500 is located. Another example, as shown in Figure 16 , in some embodiments, the second shaft arm 220 and / or the second sub-arm 122 are attached to the outer circumferential surface of the handle 400 and are located on the side where the control component 600 is located. Another example, as shown in Figure 17 , in some embodiments, the second shaft arm 220 and / or the second sub-arm 122 are attached to the outer circumferential surface of the handle 400 but not directly opposite the key 500 or the control component 600.

[0118] It should be noted that the control group components can 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 for a simple explanation, the dial assembly is a control component that collects user control instructions through different rotation amounts. When using it, the user can conveniently control the shooting device 20 by adjusting the rotation amount of the rim in the dial assembly. For example, the user can adjust the ISO, white balance, focus, scroll options, and switching settings of the shooting device 20 by rotating the dial assembly clockwise / counterclockwise; the joystick is a control component with a very high degree of freedom that collects user control instructions through the movement and / or rotation of the rod body in different directions. When using it, the user can conveniently control the shooting device 20 by dialing the direction of the joystick. For example, the user can conveniently select one or several of multiple focus points and change the rotation angle of the axis assembly by dialing the position of the joystick.

[0119] Please refer to Figure 7 and Figure 8 , the shapes of the first sub-arm 121 and the second sub-arm 122 of the present application can be various.

[0120] For example, as shown in Figure 7 , Figure 15 , Figure 16 and Figure 17As shown, in some embodiments, the first sub-arm 121 may be a straight arm, and the first sub-arm 121 and the second sub-arm 122 are adapted 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 or even fit together as possible, making the structure of the two compact.

[0121] Figure 18 Can be considered as Figure 15 Or Figure 16 The side view of, as Figure 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 shaft arm 220 faces the button 500 or the control component 600 of the handle, the second shaft arm 220 is exactly aligned with the handle 400, and the overall shape of the handheld gimbal 10 is regular and beautiful.

[0122] For another example, in some embodiments, the first sub-arm 121 may be a curved arm, and the first sub-arm 121 and the second sub-arm 122 are adapted 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 or even fit together as possible, making the structure of the two compact.

[0123] Further, the first sub-arm 121 may be a curved arm, that is, the curved first sub-arm 121, which may be a segmented curved arm formed by connecting multiple straight arms as shown in Figure 8 Or an arc-shaped arm as shown in Figure 20 Shown.

[0124] In the embodiment as shown in Figure 19 After the second shaft arm 220 is folded, it does not face the button 500 or the control component 600. Due to the 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.

[0125] In the embodiments as shown in Figure 20 And Figure 21 Shown, the first sub-arm 121 may 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 does not face 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 twisted by a certain angle appropriately, so that the second shaft arm 220 is still aligned with the handle 400.

[0126] In other words, it can be considered that Figure 19 The problems caused when the first sub-arm 121 in the embodiment is a straight arm can be avoided by Figure 20 And Figure 21 The arc-shaped first sub-arm 121 in the embodiment.

[0127] Please refer to Figure 12 , Figure 13 , Figure 14 and Figure 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 through the rotating member 700.

[0128] For example, in some embodiments, the rotating member 700 has two rotating shafts 710. The first sub-arm 121 is rotatably sleeved on one of the rotating shafts 710, and the second sub-arm 122 is rotatably sleeved on the other rotating shaft 710. 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 more free during adjustment, while the first sub-arm 121 and the second sub-arm 122 that rotate synchronously through the rotating member 700, as Figure 12 shown, the rotation angle of each rotation center can be halved, making folding and unfolding more convenient and fast, the rotation is more stable and reliable, and the overall structure is more regular after storage. Further, as Figure 13 and Figure 14 shown, in some embodiments, the first sub-arm 121 rotates synchronously with the second sub-arm 122 by means of meshing transmission.

[0129] Another example, as Figure 15 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 through the single rotating shaft 710.

[0130] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope described in this specification.

[0131] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

[0132] In the description of the present application, it should be understood that if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0133] In addition, if there are terms such as "first" and "second", these terms are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if there is a term "plural", the meaning of "plural" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0134] In the present application, unless otherwise clearly specified and limited, if there are terms such as "mounted", "connected", "coupled", "fixed", etc., these terms should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0135] In the present application, unless otherwise clearly specified and limited, if there is a description such as a first feature being "on" or "under" a second feature, the meaning may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0136] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0137] In the description of this specification, the description with reference to terms such as "one embodiment", "other embodiments" etc. means that the specific features, structures, materials or features described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic description of the above terms does not necessarily refer to the same embodiment or example. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the description of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

Claims

1. A handheld gimbal, characterized in that: include: A handle, wherein buttons and / or control components are provided on the outer peripheral surface of the handle; At least two shaft assemblies, including a first shaft assembly and a second shaft assembly rotatably connected to the first shaft assembly; Wherein, the handheld gimbal is configured to be switchable between an unfolded state and a folded state; in the folded state, an escape space for accommodating the button and / or the control component is formed on the outer peripheral surface of the second axis component and the handle.

2. The handheld gimbal according to claim 1, characterized in that: The second shaft assembly includes a second motor and a second shaft arm connected to the first shaft assembly, one end of the second shaft arm is connected to the second motor, the second motor is used to drive the second shaft arm to rotate, and the second shaft arm and the outer circumferential surface of the handle form the avoidance space.

3. The handheld gimbal according to claim 2, characterized in that: 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 from the outer circumference of the handle to form the avoidance space.

4. The handheld gimbal according to claim 2, characterized in that: 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.

5. The handheld gimbal according to claim 2, characterized in that: The second shaft arm is at least partially bent to form an escape opening, and in the folded state, the button and / or the control assembly is accommodated in the escape opening.

6. The handheld gimbal according to claim 2, 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.

7. The handheld gimbal according to claim 6, 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-fitted with the second shaft arm through the cooperation between the snap-in protrusion and the snap-in recess.

8. The handheld gimbal according to claim 2, characterized in that: The first axis assembly includes a first motor and a first axis arm provided on the handle, the first axis arm includes a first sub-arm and a second sub-arm, one end of the first sub-arm is connected to the first motor, the first motor is used to drive the first sub-arm to rotate relative to the handle, the other end of the first sub-arm is rotatably connected to one end of the second sub-arm, and the other end of the second sub-arm is connected to the second motor.

9. The handheld gimbal according to claim 8, characterized in that: During the process of switching from the unfolded state to the folded state, the second sub-arm first rotates in a direction away from the handle, and then rotates in a direction close to the outer circumference of the handle until the second sub-arm is at least partially parallel to the first sub-arm.

10. The handheld gimbal according to claim 8, characterized in that: In the radial direction of the first motor, the first sub-arm at least partially protrudes from the outer circumferential surface of the first motor, and the first sub-arm has a first surface and a second surface arranged opposite to each other. The first surface is located on the side of the first motor away from the handle, and in the folded state, the second sub-arm is stored in the second surface.

11. The handheld gimbal according to claim 10, characterized in that: In the folded state, at least a portion of the surface of 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; 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.

12. The handheld gimbal according to claim 8, 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.

13. The handheld gimbal according to claim 8, 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.

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

15. The handheld gimbal according to claim 8, characterized in that: The length extension direction of the first sub-arm is perpendicular to the axial direction of the first motor.

16. The handheld gimbal according to claim 8, 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.

20. The handheld gimbal according to claim 2, characterized in that: The at least two axis assemblies also include a third axis assembly, which includes a clamping member for clamping the shooting 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 far 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.

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