Handheld clamping equipment and handheld unmanned aerial vehicle holder

Abstract

The utility model provides handheld clamping equipment and a handheld unmanned aerial vehicle holder, and relates to the technical field of unmanned aerial vehicles. The handheld clamping equipment comprises a support and a handheld structure connected with the support. The support is provided with a first clamping structure and a second clamping structure. The first clamping structure is rotatably connected with the bracket, so that a first object clamped by the first clamping structure can rotate relative to the bracket; the second clamping structure comprises two oppositely-arranged first clamping jaws, at least one part of each first clamping jaw can rotate relative to the support, and the two first clamping jaws are configured to be capable of getting close to each other to clamp a second object.

Description

Technical Field

[0001] This specification relates to the technical field of drones, specifically to a handheld gripping device and a handheld drone gimbal. Background Technology

[0002] Drones can include drone gimbals. A drone gimbal is a support device used to mount and fix payloads such as cameras, achieving stable horizontal and vertical movement through motors and sensors. Drone gimbals can use self-stabilization functions (such as three-axis stabilization) to counteract vibrations and attitude changes during drone flight, ensuring clear and stable footage. However, drone gimbals are only suitable for flight platforms and cannot be directly used for handheld shooting on the ground. Utility Model Content

[0003] This specification provides one or more embodiments of a handheld gripping device, characterized in that it includes: a support and a handheld structure connected to the support, the support having a first gripping structure and a second gripping structure; the first gripping structure is rotatably connected to the support so that a first object gripped by the first gripping structure can rotate relative to the support; the second gripping structure includes two opposing first jaws, at least a portion of each first jaw being rotatable relative to the support, and the two first jaws being configured to approach each other to grip a second object.

[0004] In some embodiments, the first clamping structure includes: a rotating fixing part rotatably connected to the bracket via one or more rotating mechanisms, a second gripper fixedly connected to the rotating fixing part, a third gripper capable of translating relative to the second gripper, and a first clamping structure elastic member that gives the third gripper a tendency to move toward the second gripper.

[0005] In some embodiments, the first clamping structure further includes a guide rail fixedly connected to the bracket or the second gripper, wherein the third gripper is capable of translating along the guide rail.

[0006] In some embodiments, the first gripper has a rotating shaft at its center, and the bracket has a rotating shaft receiving space for accommodating the rotating shaft. The shape of the rotating shaft receiving space matches the shape of the rotating shaft to allow the rotating shaft to rotate within the rotating shaft receiving space.

[0007] In some embodiments, the second clamping structure includes a second clamping structure elastic member, the two ends of which abut against one end of each of the first jaws, so that the middle portion of each of the first jaws can rotate around its corresponding rotation axis, thereby allowing the other ends of the two first jaws to approach each other.

[0008] In some embodiments, the second clamping structure elastic member includes one or more U-shaped portions.

[0009] In some embodiments, the second clamping structure further includes a pressing member, wherein one end of each of the first grippers is provided with the pressing member, and the pressing member protrudes from the bracket.

[0010] In some embodiments, the second clamping structure is an integral structure.

[0011] In some embodiments, the support includes: a base and a cover plate connected to the base, wherein a receiving space for accommodating the second clamping structure is formed between the base and the cover plate; the receiving space includes the rotation axis receiving space; the receiving space further includes a first jaw receiving space, wherein the first jaw receiving space has a gap with the first jaw of the second clamping structure to allow the first jaw of the second clamping structure to swing within the first jaw receiving space.

[0012] In some embodiments, the bracket further includes two opposing ear plates, with the two sides of the first clamping structure respectively rotatably connected to the two ear plates.

[0013] In some embodiments, the handheld structure includes a handheld rod, which is provided on one or both sides of the bracket.

[0014] In some embodiments, the handheld structure includes: a fixed crossbeam, one end of which is fixedly connected to one of the handheld rods; or, both ends of the fixed crossbeam are fixedly connected to two of the handheld rods respectively.

[0015] This specification provides one or more embodiments of a handheld drone gimbal, including the handheld clamping device and the drone described in any one of the above-described embodiments, wherein the second clamping structure clamps the drone.

[0016] In some embodiments, the handheld drone gimbal further includes a display device and / or a remote control device, wherein the first clamping structure clamps the display device and / or the remote control device.

[0017] In some embodiments, the first gripper has gripping teeth, and the drone has holes that match the shape of the gripping teeth. Attached Figure Description

[0018] Figure 1 This is a perspective view of a handheld clamping device according to some embodiments of this specification.

[0019] Figure 2 This is a schematic diagram of a first clamping structure of a handheld clamping device according to some embodiments of this specification.

[0020] Figure 3 This is an exploded view of the first clamping structure of a handheld clamping device according to some embodiments of this specification.

[0021] Figure 4 This is a schematic diagram of the internal structure of a handheld clamping device according to some embodiments of this specification.

[0022] Figure 5 This is a schematic diagram of the second clamping structure of a handheld clamping device according to some embodiments of this specification.

[0023] Figure 6 This is a schematic diagram of the internal structure of a handheld clamping device according to some embodiments of this specification.

[0024] Figure 7 This is an exploded view of the base, second clamping structure, and cover plate of a handheld clamping device according to some embodiments of this specification.

[0025] Figure 8 This is a schematic diagram of the handheld structure of a handheld clamping device according to some embodiments of this specification.

[0026] Figure 9 This is a bottom schematic diagram of the handheld structure of a handheld clamping device according to some embodiments of this specification.

[0027] Figure 10 This is a schematic diagram of a handheld drone gimbal according to some embodiments of this specification.

[0028] The diagram shows the following components: 1 First clamping structure; 10 Rotation mechanism; 11 Rotation fixing part; 12 Second gripper; 121 Second gripper limiting groove; 13 Third gripper; 131 Third gripper limiting groove; 14 Elastic element of the first clamping structure; 15 Guide rail; 2 Second clamping structure; 21 First gripper; 211 Gripping teeth; 22 Rotation shaft; 23 Elastic element of the second clamping structure; 231 U-shaped part; 24 Pressing member; 3 Bracket; 301 Pressing member clearance hole; 31 Rotation shaft accommodating space; 32 First gripper accommodating space; 33 Base; 34 Cover plate; 35 Ear plate; 36 Accommodating space of the elastic element of the second clamping structure; 4 Handheld structure; 41 Handheld rod; 42 Fixed crossbeam; 421 Threaded interface; 100 Handheld clamping device; 200 UAV; 300 Remote control device. Detailed Implementation

[0029] To more clearly illustrate the technical solutions of the embodiments in this specification, the embodiments will be described in detail below with reference to the accompanying drawings. Obviously, the content described below are some examples or embodiments of this specification. For those skilled in the art, without creative effort, the technical solutions or means disclosed in this specification can be applied to other scenarios based on this technical content.

[0030] It should be understood that the terms "system," "device," "equipment," "part" and / or "component," "unit" and / or "module" used in this specification are a method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other words can achieve the same purpose, they may be replaced by other expressions.

[0031] Unless otherwise specified, the technical terms used to describe components, elements, etc. in this specification are not singular but may include plural. Generally speaking, terms such as "comprising" or "including" only indicate that explicitly identified steps, elements, or components are included, and these steps, elements, and components do not constitute an exclusive list, as the described method or apparatus may also include other steps or components.

[0032] In the description of this specification, it should be understood that the directional descriptions, such as up, down, front, back, left, and right, indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. These descriptions are for the convenience of describing this application and for simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In the description of this specification, unless otherwise expressly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of the above terms in this specification in conjunction with the specific content of the technical solution.

[0033] Drones can include drone gimbals. A drone gimbal is a support device used to mount and fix payloads such as cameras, achieving stable horizontal and vertical movement through motors and sensors. Drone gimbals can use self-stabilization functions (such as three-axis stabilization) to counteract vibrations and attitude changes during drone flight, ensuring clear and stable footage. However, drone gimbals are only suitable for flight platforms and cannot be directly used for handheld shooting on the ground.

[0034] Based on this, one or more embodiments of this specification provide a handheld clamping device that enables the drone, its onboard drone gimbal, and the camera and / or camcorder configured on the drone gimbal to be used for handheld shooting on the ground by fixing the drone to the handheld clamping device.

[0035] Figure 1This is a perspective view of a handheld gripping device according to some embodiments of this specification. See also Figure 1 As shown, in one or more embodiments of this specification, the handheld clamping device may include: a bracket 3 and a handheld structure 4 connected to the bracket 3, wherein the bracket 3 is provided with a first clamping structure 1 and a second clamping structure 2. In some embodiments, the first clamping structure 1 may be used to clamp a first object. In some embodiments, the second clamping structure 2 may be used to clamp a second object. In some embodiments, the second object may include a drone, enabling the drone to be fixed relative to the bracket 3, thereby making the drone suitable for handheld ground shooting. In some embodiments, the first object may include devices associated with the drone, such as a display device communicatively connected to a camera configured on the drone's gimbal, or a remote control device for controlling the drone. In other embodiments, the first object may include devices independent of the drone, such as a user's mobile phone or camera.

[0036] In some embodiments, the first clamping structure 1 is rotatably connected to the bracket 3, allowing the first object clamped by the first clamping structure 1 to rotate relative to the bracket 3, thereby adjusting the orientation of the first object, such as adjusting the orientation of the first object relative to a second object. For example, the second clamping structure 2 clamps the drone, and the first clamping structure 1 clamps the display device corresponding to the drone. The user can rotate the first clamping structure 1 so that the display device faces directly above the drone, allowing the user to obtain images taken by the drone's camera from above when the camera is positioned low, functioning similarly to a waist-level viewfinder. For example, the user can also rotate the first clamping structure 1 so that the display device faces forward of the drone, allowing the user to obtain a real-time image of a selfie from the display device at a selfie angle.

[0037] In some embodiments, see Figures 4 to 7 As shown, the second clamping structure 2 includes two opposing first grippers 21, at least a portion of each first gripper 21 being rotatable relative to the support 3. For example, the lower end of each first gripper 21 is rotatable relative to the support 3. In some embodiments, the two first grippers 21 are configured to come close to each other to clamp a second object. For example, the lower ends of the two first grippers 21 are able to come close to each other to clamp a second object.

[0038] In some use cases, the user can position the stand 3 upright so that the first object is above the second object, such as placing a display device or remote control device above a drone. In other use cases, the user can invert the stand 3 so that the second object is above the first object, such as placing a drone above a display device or remote control device, so that the user can send commands to the drone via the touchscreen or remote control device even when the drone is far away from themselves, such as sending commands to the drone to shoot, adjust aperture / focal length / ISO / exposure compensation, or send photography / videography commands.

[0039] In one or more embodiments of this specification, see Figures 2 to 4 As shown, the first clamping structure 1 may include: a rotating fixing part 11 rotatably connected to the bracket 3 via one or more rotating mechanisms 10, a second clamping jaw 12 fixedly connected to the rotating fixing part 11, a third clamping jaw 13 capable of translating relative to the second clamping jaw 12, and a first clamping structure elastic member 14 that gives the third clamping jaw 13 a tendency to move toward the second clamping jaw 12.

[0040] In some embodiments, the rotating fixing part 11 provides a rotational basis for the first clamping structure 1. The rotating fixing part 11 can rotate relative to the bracket 3 to drive the entire first clamping structure 1 to rotate relative to the bracket 3. In some embodiments, the rotating fixing part 11 can be a block structure.

[0041] In some embodiments, the rotating mechanism 10 may be a rotating shaft that passes through the rotating fixing part 11 and is rotatably connected to the bracket 3, thereby enabling relative rotation between the rotating fixing part 11 and the bracket 3. In some embodiments, the rotating mechanism 10 may be a damping rotating shaft, so that the rotating fixing part 11 can maintain the target position after rotating to the target position. In some embodiments, the damping rotating shaft may include a shaft core and a bushing sleeve fitted outside the shaft core, with a pad providing frictional damping between the shaft core and the bushing sleeve, wherein both ends of the damping rotating shaft are fixedly connected to the bracket 3, and the bushing passes through the rotating fixing part 11 and is fixedly connected to the rotating fixing part 11.

[0042] In some embodiments, the rotating mechanism 10 may be a disc damper disposed between the rotating fixed part 11 and the support 3. In some embodiments, the disc damper may be disposed on one side of the rotating fixed part 11. In other embodiments, the disc damper may be disposed on both sides of the rotating fixed part 11. In some embodiments, the disc damper may be a single-layer disc type or a multi-layer nested type. In some embodiments, one friction disc of the disc damper is fixedly connected to the rotating fixed part 11, and the other friction disc of the disc damper is fixedly connected to the support 3.

[0043] In some embodiments, the second jaw 12 and the third jaw 13 are used to grip a first object, such as a display device or a remote control device. In some embodiments, the second jaw 12 and the third jaw 13 are configured to approach each other and grip and fix the first object by static friction.

[0044] In some embodiments, the first clamping structure elastic element 14 may be a spring. In some embodiments, one end of the spring may abut against a fixing member, and the other end of the spring may abut against a third clamping jaw 13 to provide a force toward the second clamping jaw 12 to the third clamping jaw 13.

[0045] In other embodiments, see Figure 2 , Figure 3 As shown, the first clamping structure elastic member 14 can be an elastic ring structure, such as a rubber band. In this embodiment, the first clamping structure elastic member 14 can be disposed around the second jaw 12 and the third jaw 13 to force the second jaw 12 and the third jaw 13 to move towards each other. In some embodiments, see Figure 3 As shown, the second gripper 12 may have a second gripper limiting groove 121 to limit the position of the annular first clamping structure elastic member 14. In some embodiments, the third gripper 13 may have a third gripper limiting groove 131 to limit the position of the annular first clamping structure elastic member 14.

[0046] In some embodiments, the first clamping structure 1 further includes a guide rail 15 fixedly connected to the bracket 3 or the second gripper 12, and the third gripper 13 is capable of translating along the guide rail 15. See also [other embodiments]. Figure 2 , Figure 3 As shown, the guide rail 15 extends upward from the upper surface of the second gripper 12. In some embodiments, the guide rail 15 can extend along... Figure 2 , Figure 3 The guide rail 15 is arranged vertically. In some embodiments, the guide rail 15 may be non-circular, and the third gripper 13 has a hole that matches the guide rail 15 to prevent the third gripper 13 from rotating relative to the second gripper 12.

[0047] In one or more embodiments of this specification, see Figures 4 to 7 As shown, the first gripper 21 has a rotating shaft 22 in the middle, and the bracket 3 has a rotating shaft receiving space 31 for accommodating the rotating shaft 22. The shape of the rotating shaft receiving space 31 matches the shape of the rotating shaft 22 so as to allow the rotating shaft 22 to rotate within the rotating shaft receiving space 31.

[0048] In some embodiments, the rotation shaft 22 at the center of the first gripper 21 can be integrally formed with the first gripper 21. In some embodiments, the center of the first gripper 21 can extend to both sides and each form a semi-circular structure, with the two semi-circular structures forming the rotation shaft 22. In some embodiments, the center of both first grippers 21 has such a rotation shaft 22.

[0049] In some embodiments, the second clamping structure 2 includes: a second clamping structure elastic member 23, the two ends of which respectively abut against one end of each first gripper 21 (e.g., Figure 7 The upper end of the first gripper 21), so that the middle part of each first gripper 21 can rotate about its corresponding rotation axis 22, thereby so that the other end of the two first grippers 21 (e.g., the upper end of the first gripper 21) ... Figure 7 The lower ends of the first gripper 21 can approach each other.

[0050] For example, the elastic element 23 of the second clamping structure can simultaneously apply force to one end of both first grippers 21, causing one end of the two first grippers 21 to move away from each other. Due to the cooperation between the rotation axis 22 in the middle of each first gripper 21 and the rotation axis accommodating space 31, each first gripper 21 rotates about its respective rotation axis 22. Based on this, the other ends of the two first grippers 21 move closer to each other, thereby achieving the clamping and fixing of a second object (e.g., a drone).

[0051] In some embodiments, the second clamping structure elastic member 23 includes one or more U-shaped portions 231. In some embodiments, the second clamping structure elastic member 23 may include a single U-shaped portion 231, with both ends of the U-shaped portion 231 fixedly connected to one end of each of the two first grippers 21, providing elastic force through the U-shaped portion 231. In some embodiments, the second clamping structure elastic member 23 may include multiple U-shaped portions 231, which are sequentially connected in a W-shape or a wave-like shape. In some embodiments, the second clamping structure elastic member 23 may include multiple U-shaped portions 231, which are arranged in parallel, or the multiple U-shaped portions 231 form multiple wave-like structures, which are arranged in parallel.

[0052] In some embodiments, the second clamping structure elastic member 23 may be integrally formed with the two first grippers 21. In some embodiments, the material of the second clamping structure elastic member 23 may be the same as the material of the two first grippers 21. In other embodiments, the material of the second clamping structure elastic member 23 may be different from the material of the two first grippers 21, and the material forming the two first grippers 21 may cover or partially cover the second clamping structure elastic member 23, for example, by integral injection molding to achieve an integral connection.

[0053] In some embodiments, the second clamping structure 2 further includes a pressing member 24, which is used to move the lower ends of the two first grippers 21 away from each other to unlock and release a second object, such as a drone. In some embodiments, one end of each first gripper 21 (e.g. Figure 7 The upper end of the first gripper 21 is also provided with a pressing member 24. In some embodiments, the pressing member 24 protrudes from the bracket 3. For example, see Figure 7 As shown, the bracket 3 has a pressing member clearance hole 301, and the pressing member 24 protrudes from the pressing member clearance hole 301 so that the user can operate it.

[0054] For example, a user can press the two pressing members 24 to bring them closer together, thereby compressing the elastic element 23 of the second clamping structure and bringing one end of the two first grippers 21 closer together. Due to the cooperation between the rotation axis 22 in the middle of each first gripper 21 and the rotation axis accommodating space 31, each first gripper 21 rotates around its respective rotation axis 22. Based on this, the other ends of the two first grippers 21 move away from each other, thereby unlocking and releasing a second object (e.g., a drone).

[0055] In some embodiments, the second clamping structure 2 is an integral structure, for example, the two first grippers 21, the rotating shaft 22, the second clamping structure elastic element 23, and the pressing member 24 are an integral structure. In some embodiments, the second clamping structure 2 may be made of PP (Polypropylene) or PLA (Polylactic Acid) material.

[0056] In one or more embodiments of this specification, the bracket 3 includes a base 33 and a cover plate 34 connected to the base 33. In some embodiments, the base 33 and the cover plate 34 are detachably connected by snap-fit. In some embodiments, an accommodating space for receiving the second clamping structure 2 is formed between the base 33 and the cover plate 34.

[0057] In some embodiments, the accommodating space includes a rotating shaft accommodating space 31 for accommodating the rotating shaft 22.

[0058] In some embodiments, the accommodating space further includes a first gripper accommodating space 32 for accommodating the first gripper 21, and a gap exists between the first gripper accommodating space 32 and the first gripper 21 of the second clamping structure 2 to allow the first gripper 21 of the second clamping structure 2 to swing within the first gripper accommodating space 32, thereby enabling the gripping and unlocking of the first gripper 21. See also [link to relevant documentation] in some embodiments. Figure 7As shown, the lower end of the first gripper accommodating space 32 is larger than its upper end to facilitate the movement of the lower end of the first gripper 21. In some embodiments, the first gripper accommodating space 32 may be triangular, conical, or trapezoidal, etc.

[0059] In some embodiments, the accommodating space further includes a second clamping structure elastic member accommodating space 36 for accommodating the second clamping structure elastic member 23. In some embodiments, the size of the second clamping structure elastic member accommodating space 36 is larger than the size of the second clamping structure elastic member 23 so that the second clamping structure elastic member 23 can deform therein, for example, be compressed or elongated based on elasticity.

[0060] In some embodiments, the bracket 3 further includes two opposing ear plates 35, with the two sides of the first clamping structure 1 rotatably connected to the two ear plates 35 respectively. In some embodiments, the rotation fixing part 11 of the first clamping structure 1 is disposed between the two ear plates 35 and is rotatable relative to the two ear plates 35. Continuing the previous example, the disc damper may be disposed between the rotation fixing part 11 and the ear plates 35.

[0061] In one or more embodiments of this specification, see Figures 8 to 10 As shown, the handheld structure 4 provides a part for the user to hold the device, enabling handheld shooting on the ground. In some embodiments, the handheld structure 4 includes a handheld rod 41, which is provided on one or both sides of the bracket 3. In some embodiments, the handheld structure 4 may include two handheld rods 41, which the user can hold either one or both simultaneously to achieve handheld shooting.

[0062] In some embodiments, the handheld structure 4 includes a fixed crossbeam 42, one end of which is fixedly connected to a handheld rod 41. In other embodiments, see [link to other embodiments]. Figures 8 to 10 As shown, the two ends of the fixed crossbeam 42 are fixedly connected to two handheld rods 41 respectively.

[0063] In some embodiments, the two handheld rods 41 and the fixed crossbeam 42 form a U-shape. In some embodiments, a drone accommodating space for accommodating a clamped drone is formed between the two handheld rods 41 and the fixed crossbeam 42. In some embodiments, the drone can be folded and placed within the drone accommodating space, and clamped and fixed by the second clamping structure 2.

[0064] In some embodiments, see Figure 9 As shown, the fixed crossbeam 42 is also provided with a threaded interface 421 that can be connected to a fixed device such as a tripod.

[0065] One or more embodiments of this specification also provide a handheld drone gimbal, including a handheld gripping device 100 and a drone 200, wherein a second gripping structure 2 grips the drone 200. In some embodiments, a user can hold the handheld gripping device 100 to achieve a handheld gimbal photography mode.

[0066] In some embodiments, after landing or in a handheld state, the propeller of the drone 200 can be folded downwards via a folding arm structure (e.g., ...). Figure 10 As shown), this switches the drone 200 to a three-axis mechanically stabilized gimbal (i.e., using only the gimbal and onboard photography / videography equipment of the drone 200). In some embodiments, in conjunction with an onboard visual sensor and image stabilization algorithm, the handheld drone gimbal can provide shooting stability comparable to a professional handheld gimbal. In some embodiments, the horizontal shake compensation accuracy can reach ±0.01°. Simultaneously, the drone 200 can be quickly detached from the handheld gripper 100, retaining the drone's unique ability to extend its high-altitude field of view.

[0067] In some embodiments, the handheld drone gimbal further includes: a display device and / or a remote control device 300, and a first clamping structure 1 clamps the display device and / or the remote control device 300.

[0068] In some embodiments, the first gripper 21 has gripping teeth 211, and the drone 200 has holes that match the shape of the gripping teeth 211. In some embodiments, the gripping teeth 211 may include a plurality of cylindrical protrusions. See also [link to related documentation] in some embodiments. Figure 10 As shown, the drone 200 has multiple heat dissipation holes, and the clamping teeth 211 can extend into the interior of some of the heat dissipation holes to provide a more stable clamping and fixation.

[0069] The beneficial effects that the embodiments of this specification may bring include, but are not limited to: (1) the handheld clamping device can clamp the drone through the second clamping structure and clamp the display device or remote control device through the first clamping structure, thereby transforming the drone into a professional handheld gimbal for ground handheld shooting; (2) the rotation mechanism realizes the rotation of the first clamping structure relative to the bracket, thereby adjusting the angle of the clamped first object; (3) the elastic element of the first clamping structure enables the third gripper to move closer to the second gripper to realize the clamping of the first object; (4) the guide rail guides the movement of the third gripper, enabling the third gripper to translate relative to the second gripper. (5) The rotation of the first gripper is achieved by the cooperation of the rotating shaft and the rotating shaft accommodating space, thereby achieving the clamping and unlocking of the two first grippers; (6) The elastic element of the second clamping structure provides elastic force to the two first grippers, so that the two second grippers remain in the clamping state when clamping is performed; (7) The pressing member provides the user with the operating part to unlock the two first grippers; (8) The handheld rod in the handheld structure allows the user to hold it to achieve handheld shooting on the ground; (9) The fixed crossbeam in the handheld structure allows the user to fix the handheld clamping device and the drone it clamps to a tripod or other fixed structure. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced can be any one or a combination of the above, or any other possible beneficial effects.

[0070] The basic concepts have been described above. It is obvious that the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, various modifications, improvements, and corrections may be made to this specification by those skilled in the art. Such modifications, improvements, and corrections are taught in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

Claims

1. A handheld clamping device, characterized in that, include: The bracket (3) and the handheld structure (4) connected to the bracket (3) are provided with a first clamping structure (1) and a second clamping structure (2). The first clamping structure (1) is rotatably connected to the bracket (3) so that the first object clamped by the first clamping structure (1) can rotate relative to the bracket (3); The second clamping structure (2) includes two opposing first jaws (21), at least a portion of each first jaw (21) being rotatable relative to the support (3), and the two first jaws (21) being configured to come close to each other to clamp the second object.

2. The handheld clamping device according to claim 1, characterized in that, The first clamping structure (1) includes: a rotating fixing part (11) rotatably connected to the bracket (3) via one or more rotating mechanisms (10), a second clamping jaw (12) fixedly connected to the rotating fixing part (11), a third clamping jaw (13) capable of translating relative to the second clamping jaw (12), and a first clamping structure elastic member (14) that gives the third clamping jaw (13) a tendency to move toward the second clamping jaw (12); The first clamping structure (1) further includes a guide rail (15) fixedly connected to the bracket (3) or the second gripper (12), and the third gripper (13) is capable of translating along the guide rail (15).

3. The handheld clamping device according to claim 1, characterized in that, The first gripper (21) has a rotating shaft (22) in the middle, and the bracket (3) has a rotating shaft accommodating space (31) for accommodating the rotating shaft (22). The shape of the rotating shaft accommodating space (31) matches the shape of the rotating shaft (22) so as to allow the rotating shaft (22) to rotate within the rotating shaft accommodating space (31).

4. The handheld clamping device according to claim 3, characterized in that, The second clamping structure (2) includes a second clamping structure elastic member (23), the two ends of which abut against one end of each of the first jaws (21) so that the middle part of each of the first jaws (21) can rotate around its corresponding rotation axis (22) so that the other ends of the two first jaws (21) can approach each other.

5. The handheld clamping device according to claim 4, characterized in that, The second clamping structure (2) further includes a pressing member (24), and one end of each of the first clamps (21) is provided with the pressing member (24), the pressing member (24) protruding from the bracket (3).

6. The handheld clamping device according to any one of claims 3 to 5, characterized in that, The bracket (3) includes: a base (33) and a cover plate (34) connected to the base (33), wherein an accommodating space for accommodating the second clamping structure (2) is formed between the base (33) and the cover plate (34); The accommodating space includes the rotation axis accommodating space (31); The accommodating space further includes a first gripper accommodating space (32), which has a gap with the first gripper (21) of the second clamping structure (2) to allow the first gripper (21) of the second clamping structure (2) to swing inside the first gripper accommodating space (32).

7. The handheld clamping device according to claim 6, characterized in that, The bracket (3) further includes two oppositely arranged ear plates (35), and the two sides of the first clamping structure (1) are rotatably connected to the two ear plates (35).

8. The handheld clamping device according to claim 1, characterized in that, The handheld structure (4) includes: Handheld rod (41), the handheld rod (41) is provided on one or both sides of the bracket (3). A fixed crossbeam (42) is provided, one end of which is fixedly connected to one of the handheld rods (41); or, both ends of the fixed crossbeam (42) are fixedly connected to two of the handheld rods (41).

9. A handheld drone gimbal, characterized in that, The device includes a handheld clamping device (100) and a drone (200) as described in any one of claims 1 to 8, wherein the second clamping structure (2) clamps the drone (200).

10. The handheld drone gimbal according to claim 9, characterized in that, Also includes: Display device and / or remote control device (300), the first clamping structure (1) clamps the display device and / or the remote control device (300). The first gripper (21) has gripping teeth (211), and the drone (200) has holes that match the shape of the gripping teeth (211).

Images