Handheld gimbal and gimbal system

Abstract

A handheld holder and a holder system, the handheld holder comprising: a holder mechanism comprising a first motor, the first motor being configured to drive a load to move so as to adjust an orientation of the load; a holding member, a side of the holding member being provided with a first operation control, the first operation control being configured to control the first motor and / or the load; and a rotating mechanism connected to the first motor and the holding member respectively, the holder mechanism being capable of rotating to a first position and a second position relative to the holding member through the rotating mechanism, in the first position, the holder mechanism and the first operation control are located on the same side of the holding member, in the second position, the holder mechanism is located on a side of the holding member away from the first operation control, so that the first operation control is substantially unchanged relative to the orientation of a user holding the handheld holder, and the holder mechanism can be in the first position or the second position, thereby enriching the operable positions of the holder mechanism relative to the holding member when the user holds the handheld holder, and supporting the working requirements of the load in more positions.

Description

Technical Field

[0001] This utility model relates to the field of gimbal technology, and in particular to a handheld gimbal and gimbal system. Background Technology

[0002] Handheld gimbals are used to carry loads and can also adjust the load's orientation to meet different user workload requirements.

[0003] In related technologies, handheld gimbals include a gimbal mechanism and a grip connected to the gimbal mechanism. However, due to the single connection method between the gimbal mechanism and the grip, it cannot support the user's work needs where the load needs to be in more different positions when holding the gimbal. Utility Model Content

[0004] In view of this, the present invention proposes a handheld gimbal and a gimbal system.

[0005] The handheld gimbal proposed in the first aspect of this utility model is used to carry a load, including:

[0006] The gimbal mechanism includes a first motor, which drives the load to move in order to adjust the orientation of the load;

[0007] A gripping component, wherein a first operating control is provided on the side of the gripping component, the first operating control being used to control the first motor and / or the load;

[0008] A rotating mechanism is connected to the gimbal mechanism and the grip respectively. The gimbal mechanism can rotate relative to the grip to a first position and a second position via the rotating mechanism. When the gimbal mechanism is rotated to the first position, the gimbal mechanism and the first operation control are located on the same side of the grip. When the gimbal mechanism is rotated to the second position, the gimbal mechanism is located on the side of the grip away from the first operation control.

[0009] The gimbal system proposed in the second aspect of this utility model includes:

[0010] The aforementioned handheld gimbal;

[0011] The load is connected to the gimbal mechanism.

[0012] As can be seen from the above technical solution, this application sets up a rotating mechanism, which enables the gimbal mechanism to move relative to the gripping component. Thus, while the position of the first operation control set on the gripping component relative to the user remains approximately unchanged, the gimbal mechanism rotates through the rotating mechanism to place the gimbal mechanism in a first or second position relative to the gripping component. This enriches the operable positions of the gimbal mechanism relative to the gripping component when the user holds the device, while facilitating user operation, in order to support the working needs of the load in more positions. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the state structure of a handheld gimbal according to an embodiment of the present invention;

[0015] Figure 2 This is a schematic diagram of another state structure of the handheld gimbal proposed in one embodiment of the present invention;

[0016] Figure 3 This is a schematic diagram of another state structure of the handheld gimbal proposed in one embodiment of the present invention;

[0017] Figure 4 This is a schematic diagram of the handheld gimbal in another state according to an embodiment of the present invention;

[0018] Figure 5 This is a schematic diagram of a low-angle shooting state using a handheld gimbal in existing technology;

[0019] Figure 6 This is a schematic diagram of a handheld gimbal proposed in one embodiment of the present invention.

[0020] Explanation of reference numerals in the attached drawings: 10, handheld gimbal; 100, gimbal mechanism; 110, first motor; 120, first axis arm; 130, second motor; 140, second axis arm; 150, third motor; 160, mounting component;

[0021] 200. Grip; 210. First operating control; 220. Grip body; 230. Telescopic rod; 240. Second operating control;

[0022] 300. Rotating mechanism; 310. First connecting member; 320. Second connecting member; 330. Connecting shaft;

[0023] 400, Load. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are all within the protection scope of the present utility model.

[0025] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, this application provides a handheld gimbal 10, which is used to carry and control a load 400. The handheld gimbal 10 includes a gimbal mechanism 100, a grip 200, and a rotation mechanism 300. The gimbal mechanism 100 includes a first motor 110, which drives the load 400 to move and adjust the orientation of the load 400. A first operation control 210 is provided on the side of the grip 200, which controls the first motor 110 and / or the load 400. The rotation mechanism 300 is connected to the gimbal mechanism 100 and the grip 200 respectively. The gimbal mechanism 100 can rotate relative to the grip 200 to a first position and a second position. When the gimbal mechanism 100 is rotated to the first position, the gimbal mechanism 100 and the first operation control 210 are located on the same side of the grip 200. When the gimbal mechanism 100 is rotated to the second position, the gimbal mechanism 100 is located on the side of the grip 200 away from the first operation control 210.

[0026] The handheld gimbal 10 described above in this application has at least the following beneficial effects: By setting a rotation mechanism 300, the gimbal mechanism 100 can move relative to the grip 200 through the rotation mechanism 300. Thus, while the position of the first operation control 210 set on the grip 200 relative to the user remains approximately unchanged, the gimbal mechanism 100 can rotate through the rotation mechanism 300 to be in a first position or a second position relative to the grip 200. This enriches the operable positions of the gimbal mechanism 100 relative to the grip 200 when the user holds the device, while facilitating user operation, so as to support the working needs of the load 400 in more positions.

[0027] It should be noted that the first operation control 210 may include function buttons, a joystick, or a display screen. Having the first operation control 210 in a position that the user can observe when holding the grip 200 improves ease of operation. Specifically, the first operation control 210 refers to the operation control located on the front of the grip 200; the front can be understood as the side facing the user when the grip is held normally.

[0028] The rotating mechanism 300 is connected to the gimbal mechanism 100 and the grip 200 respectively. This can mean that the rotating mechanism 300 is connected to the gimbal mechanism 100 and the grip 200 through different parts.

[0029] The gimbal mechanism 100 and the first operation control 210 are located on the same side of the grip 200, which can refer to, for example... Figure 1 The gimbal mechanism 100 shown is located on the same side of the target plane of the grip 200 as the first operation control 210. The gimbal mechanism 100 is located on the side of the grip 200 away from the first operation control 210, which can refer to... Figure 2 The gimbal mechanism 100 and the first operation control 210 are located on opposite sides of the target plane of the grip 200. The target plane can be a plane that passes through the grip and is approximately parallel to the extending direction of the grip. Figure 1 and Figure 2 In the illustrated example, the target plane can refer to a horizontal plane passing through the gripper. Figure 3 Taking the state shown as an example, the target plane can be the central axis plane where the central axis of the grip (the X-axis shown in the figure) is located, or it can be a plane parallel to the central axis.

[0030] It is understood that the gimbal mechanism 100 can be a single-axis gimbal or a multi-axis gimbal. The gimbal mechanism 100 can drive the load 400 to move through the movement of its internal axis components (e.g., the first motor 110). Regardless of the number of axes in the gimbal mechanism 100, all axis components contained in the gimbal mechanism 100 itself are not considered as rotation mechanisms 300, nor are other mechanisms used to connect adjacent axis components. That is, in the embodiments of this application, the rotation mechanism 300 can be understood as a mechanism other than all axis components contained in the single-axis or multi-axis gimbal. In the case of a multi-axis gimbal containing multiple axis components or multiple motors, none of the multiple axis components or multiple motors are considered as rotation mechanisms 300. Considering one of the axis components of a multi-axis gimbal as a rotation mechanism 300 is not within the inventive concept of this application.

[0031] Understandably, when the gimbal mechanism 100 is in the first or second position, the orientation of the load 400 can still be further changed by rotating its own shaft assembly. For example... Figure 2 and Figure 3As shown, the load 400 can be positioned in different directions, facing forward and backward, by rotating about the rotation axis of the first motor 110.

[0032] Furthermore, since users often have more requirements for the shooting position of the shooting device when using the handheld gimbal 10 for handheld shooting, this embodiment of the application can enrich the shooting positions that the handheld gimbal 10 can be positioned relative to the grip 200 when the user holds it, thereby helping the user to carry out multi-camera shooting while maintaining comfortable grip and convenient operation, and supporting more shooting position requirements. The following embodiments use the load 400 as the shooting device to describe this application, but the load 400 is not limited to a shooting device. In other embodiments, the load 400 can also be a detection device or other working load 400.

[0033] It is understood that the axis assembly included in the handheld gimbal 10 of this application, in addition to being able to actively adjust the orientation of the load 400 via a motor, can also have a stabilization function, that is, the function of stabilizing the load 400 in a certain orientation. When the load 400 is a shooting device, the handheld gimbal 10 can improve the stability during the shooting process and compensate for the image caused by external force vibration on the load.

[0034] Optionally, the rotating mechanism 300 may include a rotational degree of freedom. The gimbal mechanism 100 can be rotated in a single degree of freedom to be in the first and second positions mentioned above. This makes the structure of the rotating mechanism 300 simple and convenient for users to operate.

[0035] In some implementations, such as Figure 1 and Figure 2 As shown, the gimbal mechanism 100 can rotate around the rotating mechanism 300 in the first rotation direction to a first position, and the gimbal mechanism 100 can rotate around the rotating mechanism 300 in the second rotation direction to a second position. The first rotation direction and the second rotation direction are opposite directions on the same circumference.

[0036] In some embodiments, the gimbal mechanism 100 can rotate to a third position, which is located between the first position and the second position. The rotation angle range from the third position to the first position along the first rotation direction is the first angle range, and the rotation angle range from the third position to the second position along the second rotation direction is the second angle range. The first angle range and the second angle range are greater than 0° and less than or equal to 90°.

[0037] Optionally, such as Figure 4 As shown, the gimbal mechanism 100 can be in an upright state relative to the grip 200 through the rotation mechanism 300, and the aforementioned third position can be the position corresponding to the upright state.

[0038] In some embodiments, in the third position, the angle between the rotation axis of the first motor 110 and the orientation of the first operation control 210 is greater than or equal to 85° and less than or equal to 95°, where the rotation axis of the first motor 110 refers to the rotation axis of the output shaft of the first motor 110. Further, in the third position, the rotation axis of the first motor 110 coincides with the central axis of the telescopic rod 230, that is, in the third position, the first motor 110 and the telescopic rod 230 are coaxially arranged.

[0039] Specifically, such as Figure 4 As shown, the grip 200 is placed vertically, and the first motor 110 is located above the grip 200 with its rotation axis approximately perpendicular to the horizontal ground. In this case, the first motor 110 can be the yaw axis motor of the gimbal mechanism 100. When the user holds the grip 200, the first operation control 210 is approximately facing the user. The gimbal mechanism 100 can rotate the shooting device, causing the screen of the shooting device to approximately face the user, allowing the user to simultaneously see both the first operation control 210 and the screen of the shooting device. The user can then control the first operation control 210 based on the image displayed on the screen of the shooting device.

[0040] In this way, the gimbal mechanism 100 can rotate from the third position of the upright state along the first rotation direction or the second rotation direction, thereby enabling it to achieve other states besides the upright state.

[0041] In some implementations, such as Figures 1 to 4 As shown, the first motor 110 can rotate from the third position toward the first operation control 210 within a first angular range via the rotation mechanism 300; that is, the first rotation direction is the rotation direction from the third position toward the first operation control 210. Figures 2 to 4 As shown, the first motor 110 can rotate from the third position away from the first operation control 210 within the second angle range via the rotation mechanism 300, that is, the second rotation direction is the rotation direction from the third position away from the first operation control 210.

[0042] It should be noted that the first angle range and the second angle range can be specifically set according to actual needs. In one specific embodiment, the first angle range can be greater than 0° and less than or equal to 90°, and the second angle range can be greater than 0° and less than or equal to 60°, to adapt to the optimal working position of load 400 under different rotation directions. For the shooting device, such as Figure 1 and Figure 4 As shown, the gimbal mechanism 100 can rotate 90° between the third position and the first position, so that the shooting device can be horizontal and facing forward. Figure 3 and Figure 4As shown, the rotation angle between the third position and the second position can be 50°, so that the shooting device can be horizontal and facing forward by rotating the axis assembly of the gimbal mechanism 100. Therefore, the orientation of the shooting device can be adapted to shooting from different positions by different settings of the first angle range and the second angle range.

[0043] Optionally, the gimbal mechanism 100 can switch between high and low camera positions via the aforementioned rotating mechanism 300.

[0044] like Figure 1 and Figure 2 As shown, when the grip 200 is roughly horizontal, the gimbal mechanism 100, in its first position, can be positioned roughly higher than the grip 200; and in its second position, it can be positioned roughly lower than the grip 200. This allows the shooting device to follow the gimbal mechanism 100 to a lower position relative to the grip 200, thus enabling low-angle shooting from a high-grip position.

[0045] It should be noted that in the existing technology, if a user wants to use the handheld gimbal 10 for low-angle shooting, they need to do the following: Figure 5 The handheld gimbal 10 shown in the diagram results in a poor user experience. However, the user's experience using this application... Figure 1 , Figure 2 , Figure 3 and Figure 4 When the handheld gimbal 10 is in the state shown, the posture of its handheld grip 200 does not need to be changed. That is, when shooting from a low angle or a high angle, the user does not need to change the posture of the handheld grip 200, thus further improving the user experience.

[0046] Optionally, the yaw axis can be positioned closest to the grip 200, which helps to miniaturize the handheld gimbal 10 and improve its portability.

[0047] In some embodiments, the first motor 110 can be the yaw axis motor of the gimbal mechanism 100. The rotation mechanism 300 is connected to the first motor 110 and the grip 200. During the rotation of the gimbal mechanism 100 between the first position and the second position, the first motor 110 rotates around the rotation axis corresponding to the rotation mechanism 300 via the rotation mechanism 300. The rotation axis corresponding to the rotation mechanism 300 can always be perpendicular to the rotation axis of the first motor 110. In a specific embodiment, the first motor 110 can perform pitch movements of forward and backward tilting around the rotation mechanism 300. During the rotation of the gimbal mechanism 100 between the first position and the second position, the plane formed by the rotation of the first motor 110 around the rotation axis corresponding to the rotation mechanism 300 can be parallel to the orientation of the first operation control 210, so that the first motor 110 can rotate relative to the grip 200 from the third position toward or away from the first operation control 210.

[0048] For the handheld gimbal 10, the comfort of holding the gimbal in various working positions is an important optimization. Understandably, the center of gravity of the gimbal mechanism 100 needs to be as close as possible to the grip 200 so that the user can hold it with less effort.

[0049] In some embodiments, when the gimbal mechanism 100 is in the first and second positions, at least a portion of the gimbal mechanism 100 is distributed on both sides along the target axis of the gripper 200, wherein the target axis is perpendicular to the plane formed by the rotation of the gimbal mechanism 100 around the rotation axis corresponding to the rotating mechanism 300. Specifically, when the first motor 110 is a yaw axis motor, the target axis is perpendicular to the plane formed by the rotation of the first motor 110 around the rotation axis corresponding to the rotating mechanism 300.

[0050] It is understood that the two sides of the grip 200 along the target axis are different from the two sides of the grip 200 where the gimbal mechanism 100 rotates with the rotation mechanism 300. In one specific embodiment, as... Figure 1 and Figure 2 As shown, from this perspective, the two sides of the grip 200 along the target axis can refer to the front and rear sides of the grip 200, while the gimbal mechanism 100 rotates with the rotating mechanism 300 and is located on both sides of the grip 200, which can refer to the upper and lower sides of the grip 200.

[0051] like Figure 6 As shown, from this perspective, the grip 200 is along the target axis (e.g., it could be...). Figure 6 The two sides of the Y-axis shown can refer to the left and right sides (A and B sides) of the grip 200; while the gimbal mechanism 100 rotates with the rotating mechanism 300 and is located on both sides of the grip 200, which can refer to the front and rear sides of the grip 200.

[0052] In this way, the gimbal mechanism 100 can be distributed on both sides of the grip 200 at least in the direction along the target axis, which helps the center of gravity of the gimbal mechanism 100 to be as close as possible to the grip 200 in the direction along the target axis, thereby improving the user's comfort when holding the gimbal in the first or second position.

[0053] Furthermore, during the rotation of the gimbal mechanism 100 between the first and second positions, the center of gravity of the gimbal mechanism 100 does not shift in the direction parallel to the target axis. "The center of gravity does not shift in the direction parallel to the target axis" can mean that the center of gravity of the gimbal mechanism 100 does not approximately displace in this direction. "The center of gravity does not shift in the direction parallel to the target axis" can further mean that, without relative movement of the internal mechanisms of the gimbal mechanism 100, the center of gravity of the gimbal mechanism 100 does not approximately displace in the direction parallel to the target axis.

[0054] In this way, as the gimbal mechanism 100 rotates between the first and second positions via the rotation mechanism 300, the center of gravity distribution of the gimbal mechanism 100 along the direction parallel to the target axis will not shift, thereby reducing the difference in grip feeling caused by the user during the switching between the first and second positions and further improving grip comfort.

[0055] Optionally, the specific structure of the rotating mechanism 300 can be set according to actual needs.

[0056] For example, such as Figure 1 and Figure 4 As shown, the rotating mechanism 300 includes a first connecting member 310 and a second connecting member 320. One end of the first connecting member 310 is fixedly connected to the first motor 110, and the other end of the first connecting member 310 is hinged to one end of the second connecting member 320. The other end of the second connecting member 320 is fixedly connected to the gripper 200. The first connecting member 310 can drive the first motor 110 to rotate around the rotation axis corresponding to the rotating mechanism 300 on the second connecting member 320.

[0057] Optionally, the first connecting member 310 is hinged to the second connecting member 320 via a connecting shaft 330, that is, the central axis of the connecting shaft 330 is the rotation axis corresponding to the rotating mechanism 300.

[0058] The connecting shaft 330 includes, but is not limited to, a damping shaft, a torsion spring damping shaft, or a camshaft. Alternatively, the connecting shaft 330 can use a bolt as the center of the shaft and tighten it with a nut. The connecting shaft 330 can be any type of shaft, as long as it can achieve the hinge connection between the first connecting member 310 and the second connecting member 320.

[0059] Optionally, the handheld gimbal 10 may also include a limiting mechanism to restrict the gimbal mechanism 100 to a first position or a second position by limiting the rotation of the gimbal mechanism 100.

[0060] In some embodiments, the handheld gimbal 10 further includes a limiting mechanism disposed on the rotation mechanism 300 and / or the gimbal mechanism 100; the limiting mechanism is used to limit the gimbal mechanism 100 at a preset angle position when the gimbal mechanism 100 is rotated relative to the grip 200 by the rotation mechanism 300 to a preset angle position, the preset angle position including a first position and a second position.

[0061] In some embodiments, when the gimbal mechanism 100 rotates to a first position along a first rotation direction, a limiting mechanism is used to prevent the gimbal mechanism 100 from continuing to rotate along the first rotation direction; when the gimbal mechanism 100 rotates to a second position along a second rotation direction, a limiting mechanism is used to prevent the gimbal mechanism 100 from continuing to rotate along the second rotation direction, wherein the first rotation direction and the second rotation direction are opposite directions on the same circumference.

[0062] It is understandable that the limiting mechanism may also include limiting grooves, limiting posts, and other limiting structures, which can be set according to actual needs, and will not be described in detail here.

[0063] In some implementations, there are multiple preset angle positions, and the rotation angles corresponding to these multiple preset angle positions are different. Furthermore, the limiting mechanism can also be used to keep the gimbal mechanism 100 in the aforementioned third position, thereby helping the user to achieve shooting in an upright position.

[0064] In this way, by setting a limiting mechanism, users can more easily keep the gimbal in a first and second position suitable for shooting, thereby improving the convenience of use in the first and second positions. It is understood that the handheld gimbal 10 may also include a damping mechanism to provide damping during rotation, thereby further facilitating the gimbal mechanism 100 to be kept in a preset angle position.

[0065] In some implementations, such as Figure 1 As shown, the grip 200 includes a grip body 220 and a telescopic rod 230. A first operation control 210 is disposed on the side of the grip body 220. One end of the telescopic rod 230 is fixedly connected to the grip body 220, and the other end of the telescopic rod 230 is fixedly connected to the second connecting member 320. By setting the telescopic rod 230, the distance between the first motor 110 and the grip body 220 can be changed, thereby meeting different shooting needs of the user.

[0066] Optionally, the grip body 220 includes a power supply component and a circuit board electrically connected to the power supply component. The power supply component powers the handheld gimbal 10, and the circuit board controls the operation of the handheld gimbal 10. Furthermore, the telescopic rod 230 can achieve electrical connection between the gimbal mechanism 100 and the grip body 220 through wiring arranged within its internal space. (See reference...) Figure 6 The second connector 320 may include a cable tray to connect the cable leading out of the telescopic rod 230 to the first motor 110.

[0067] Furthermore, a second operation control 240 is also provided on the side of the grip body 220, and the second operation control 240 and the first operation control 210 are located on two opposite sides of the grip body 220. Optionally, the second operation control 240 is a trigger button.

[0068] Optionally, the telescopic rod 230 includes one or more telescopic parts. When the telescopic rod 230 includes multiple telescopic parts, any two adjacent telescopic parts are nested and connected, and can extend or retract through relative movement.

[0069] Furthermore, when the telescopic rod 230 is in the retracted state, the telescopic rod 230 and / or the rotating mechanism 300 can be stored inside the grip body 220, thereby making the handheld gimbal 10 easy to carry. It should be noted that, as... Figure 5 As shown, when both the telescopic rod 230 and the rotating mechanism 300 are housed within the grip body 220, the rotation function of the rotating mechanism 300 will be restricted. Thus, by housing the rotating mechanism 300, the user can reduce the situation where the gimbal mechanism 100 rotates unintended around the rotating mechanism 300, thereby improving the stability of the gimbal.

[0070] In some implementations, such as Figure 1 As shown, the gimbal mechanism 100 also includes a first shaft arm 120, a second motor 130, a second shaft arm 140, a third motor 150, and a mounting component 160. The first shaft arm 120 is connected to the first motor 110 and the second motor 130 respectively. The second shaft arm 140 is connected to the second motor 130. The third motor 150 is connected to the second shaft arm 140. The mounting component 160 is connected to the third motor 150. The second motor 130 is used to drive the second shaft arm 140 to rotate. The third motor 150 is used to drive the mounting component 160 to rotate. The mounting component 160 is used to mount the load.

[0071] In this embodiment, the first motor 110 is fixedly connected to the first connecting member 310, meaning the first motor 110 is the motor closest to the rotating mechanism 300 in the gimbal mechanism 100. The first motor 110 can be a yaw axis motor, used to drive the shooting device to rotate around the yaw axis of the handheld gimbal 10. The second motor 130 can be a pitch axis motor, used to drive the shooting device to rotate around the pitch axis of the handheld gimbal 10. The third motor 150 can be a roll axis motor, used to drive the shooting device to rotate around the roll axis of the handheld gimbal 10.

[0072] Optionally, the mounting component 160 is detachably connected to the third motor 150. For example, the mounting component 160 can be connected to the third motor 150 by snap-fit, magnetic attraction, or other means. The shooting device is connected to the mounting component 160 by magnetic attraction; and / or, the shooting device is snap-fitted to the mounting component 160. For example, the mounting component 160 is connected to the third motor 150 by snap-fit, magnetic attraction, or other means, and the shooting device is connected to the mounting component 160 by magnetic attraction; or, the mounting component 160 is connected to the third motor 150 by snap-fit, magnetic attraction, or other means, and the shooting device is snap-fitted to the mounting component 160; or, the mounting component 160 is connected to the third motor 150 by snap-fit, magnetic attraction, or other means, and the shooting device is first connected to the mounting component 160 by magnetic attraction, and then the shooting device is snap-fitted to the mounting component 160, ensuring the installation stability of the shooting device.

[0073] It is understood that in other embodiments, the shooting device may also be mounted to the third motor 150 without the mounting member 160. For example, the shooting device and the third motor 150 may be detachably connected by means of magnetic attraction, which is not specifically limited here.

[0074] It should be noted that in other embodiments, the gimbal mechanism 100 may only include the first motor 110 and the first shaft arm 120, with the first shaft arm 120 used to mount the shooting device. Alternatively, the gimbal mechanism 100 may only include the first motor 110, the first shaft arm 120, the second motor 130, and the mounting component 160, with the second motor 130 connected to the first shaft arm 120 and the mounting component 160 connected to the second motor 130. The second motor 130 is used to drive the mounting component 160 to rotate, and the mounting component 160 is used to mount the load 400.

[0075] An embodiment of this utility model also proposes a gimbal system, which includes a load 400 and a handheld gimbal 10 as described above, wherein the load 400 is connected to the gimbal mechanism 100.

[0076] The gimbal system proposed in this embodiment uses the aforementioned handheld gimbal 10. Therefore, the gimbal mechanism 100 in the gimbal system can also move relative to the grip 200 through the rotation mechanism 300. Thus, while the position of the first operation control 210 set on the grip 200 relative to the user remains approximately unchanged, the gimbal mechanism 100 can rotate through the rotation mechanism 300 to be in a first position or a second position relative to the grip 200. This enriches the operable positions of the gimbal mechanism 100 relative to the grip 200 when the user holds the device, while facilitating user operation, so as to support the working needs of the load 400 in more positions.

[0077] The structure, connection relationship, extended description and beneficial effects of other components of the gimbal system proposed in this embodiment can be referred to the above embodiment, and will not be repeated here.

[0078] In some embodiments, the load 400 includes a shooting device, which may be a mobile phone or a camera, etc. It should be noted that in other embodiments, the load 400 may also include a detection device, a cleaning device, or other workload 400.

[0079] The above description is only a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any equivalent modifications or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model.

Claims

1. A handheld gimbal for carrying a load, characterized in that, include: The gimbal mechanism includes a first motor, which drives the load to move in order to adjust the orientation of the load; A gripping component, wherein a first operating control is provided on the side of the gripping component, the first operating control being used to control the first motor and / or the load; A rotating mechanism is connected to the gimbal mechanism and the grip respectively. The gimbal mechanism can rotate relative to the grip to a first position and a second position via the rotating mechanism. When the gimbal mechanism is rotated to the first position, the gimbal mechanism and the first operation control are located on the same side of the grip. When the gimbal mechanism is rotated to the second position, the gimbal mechanism is located on the side of the grip away from the first operation control.

2. The handheld gimbal as described in claim 1, characterized in that, The gimbal mechanism can rotate around the rotating mechanism in a first rotation direction to the first position, and the gimbal mechanism can rotate around the rotating mechanism in a second rotation direction to the second position, wherein the first rotation direction and the second rotation direction are opposite directions on the same circumference.

3. The handheld gimbal as described in claim 2, characterized in that, The gimbal mechanism can rotate to a third position, which is located between the first position and the second position. The rotation angle range from the third position to the first position along the first rotation direction is the first angle range, and the rotation angle range from the third position to the second position along the second rotation direction is the second angle range. The first angle range and the second angle range are greater than 0° and less than or equal to 90°.

4. The handheld gimbal as described in claim 3, characterized in that, When the gimbal mechanism is in the third position, the angle between the rotation axis of the first motor and the orientation of the first operation control is greater than or equal to 85° and less than or equal to 95°.

5. The handheld gimbal as described in claim 1, characterized in that, The rotating mechanism is connected to the first motor and the grip, respectively. During the rotation of the gimbal mechanism between the first position and the second position, the rotation axis of the rotating mechanism is perpendicular to the rotation axis of the first motor.

6. The handheld gimbal as described in claim 1 or 5, characterized in that, The first motor is the yaw axis motor of the gimbal mechanism, and / or the first motor is the motor in the gimbal mechanism that is closest to the rotating mechanism.

7. The handheld gimbal as described in claim 1, characterized in that, When the gimbal mechanism is in the first position and the second position, at least a portion of the gimbal mechanism is distributed on both sides of the gripper along the target axis, wherein the target axis is perpendicular to the plane formed by the gimbal mechanism rotating around the rotation axis corresponding to the rotation mechanism.

8. The handheld gimbal as described in claim 7, characterized in that, During the rotation of the gimbal mechanism between the first position and the second position, the center of gravity of the gimbal mechanism does not shift in a direction parallel to the axis of the target.

9. The handheld gimbal as described in claim 1, characterized in that, The handheld gimbal also includes a limiting mechanism, which is disposed on the rotating mechanism and / or the gimbal mechanism; the limiting mechanism is used to limit the gimbal mechanism to the preset angle position when the gimbal mechanism is rotated relative to the gripper to the preset angle position through the rotating mechanism, the preset angle position including the first position and the second position.

10. The handheld gimbal as described in claim 9, characterized in that, When the gimbal mechanism rotates to the first position along the first rotation direction, the limiting mechanism is used to prevent the gimbal mechanism from continuing to rotate along the first rotation direction; when the gimbal mechanism rotates to the second position along the second rotation direction, the limiting mechanism is used to prevent the gimbal mechanism from continuing to rotate along the second rotation direction, wherein the first rotation direction and the second rotation direction are opposite directions on the same circumference.

11. The handheld gimbal as described in claim 1, characterized in that, The gripping component includes a gripping body and a telescopic rod. The first operation control is disposed on the side of the gripping body. One end of the telescopic rod is fixedly connected to the gripping body, and the other end of the telescopic rod is fixedly connected to the rotating mechanism.

12. The handheld gimbal as described in claim 11, characterized in that, When the telescopic rod is in the retracted state, the telescopic rod, and / or the rotating mechanism, is housed within the gripping body; when the rotating mechanism is housed within the gripping body, the rotation of the gimbal mechanism is restricted by the rotating mechanism.

13. The handheld gimbal as described in claim 1, characterized in that, The gimbal mechanism further includes a first shaft arm connected to a first motor. The first motor drives the first shaft arm to rotate, and the first shaft arm is used to mount the load; or... The gimbal mechanism further includes a first axis arm, a second motor, a second axis arm, and a mounting component. The first axis arm is connected to both the first motor and the second motor. The second axis arm is connected to the second motor. The mounting component is connected to the second axis arm. The first motor drives the first axis arm to rotate, the second motor drives the second axis arm to rotate, and the mounting component is used to mount the load. The gimbal mechanism further includes a first shaft arm, a second motor, a third motor, and a mounting component. The first shaft arm is connected to both the first motor and the second motor. The second shaft arm is connected to the second motor. The third motor is connected to the second shaft arm. The mounting component is connected to the third motor. The first motor drives the first shaft arm to rotate. The second motor drives the second shaft arm to rotate. The third motor drives the mounting component to rotate. The mounting component is used to mount the load.

14. The handheld gimbal as described in claim 1, characterized in that, The grip is also provided with a second operation control, and the first operation control and the second operation control are provided on two opposite sides of the grip.

15. A gimbal system, characterized in that, include: The handheld gimbal according to any one of claims 1 to 14; The load is connected to the gimbal mechanism.

16. The gimbal system as described in claim 15, characterized in that, The payload includes a camera.

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