Handheld gimbal

Abstract

The present application relates to a handheld gimbal (10), comprising a handle (400) and a first shaft assembly (100). The first shaft assembly (100) comprises a first electric motor (110) and a first shaft arm (120), which are arranged on the handle (400), wherein the first shaft arm (120) comprises a first sub-arm (121) and a second sub-arm (122) connected to the first sub-arm (121) in a rotational manner; one end of the first sub-arm (121) is connected to the first electric motor (110), and the first sub-arm (121) has a first face (1211) and a second face (1212), which are arranged facing away from each other, the first face (1211) being located on the side of the first electric motor (110) away from the handle (400); and the first electric motor (110) is configured to drive the first sub-arm (121) to rotate relative to the handle (400). The handheld gimbal (10) is configured to be capable of being switched between an unfolded state and a folded state; and when in the folded state, the second sub-arm (122) is accommodated in the second face (1212).

Description

Handheld gimbal Technical Field

[0001] The present application relates to the field of pan-tilt platform technology, and in particular to a handheld pan-tilt platform. Background Art

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

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

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

[0005] Summary of the Invention

[0006] Based on this, in order to solve the above problems, it is necessary to provide a handheld gimbal.

[0007] In a first aspect, the present application provides a handheld gimbal, comprising:

[0008] handle;

[0009] a first shaft assembly, the first shaft assembly comprising a first motor and a first shaft arm provided on the handle, the first shaft arm comprising a first sub-arm and a second sub-arm rotatably connected to the first sub-arm, one end of the first sub-arm being connected to the first motor, the first sub-arm at least partially protruding from an outer peripheral surface of the first motor in a radial direction of the first motor, the first sub-arm having a first surface and a second surface disposed opposite to each other, the first surface being located on a side of the first motor away from the handle, and the first motor being used to drive the first sub-arm to rotate relative to the handle;

[0010] The handheld gimbal is configured to be switchable between an unfolded state and a folded state; in the folded state, the second sub-arm is stored in the second surface.

[0011] The above-described handheld gimbal can be used to carry and drive a filming device, and has at least the following beneficial effects: a first sub-arm protrudes at least partially from the outer peripheral surface of the first motor in a radial direction of the first motor. This can be roughly considered as a portion of the first sub-arm protruding outward and suspended above the outer peripheral surface of the handle. The first sub-arm has a first surface and a second surface disposed opposite each other, with the first surface of the first sub-arm being located on the side of the first motor away from the handle, and the second surface being disposed opposite the first surface. When the handheld gimbal is folded, the second sub-arm is retracted into the second surface of the first sub-arm. This can be roughly considered as the second sub-arm being retracted below the first sub-arm in the axial direction of the handle and retracted into the outer peripheral surface of the handle. This effectively utilizes the outer peripheral space of the handle, resulting in a more compact and aesthetically pleasing structure. The overall size and space occupied by the handheld gimbal in the axial direction of the handle are reduced, making it easier to store and improving the user experience. As is understandable, conventional handheld gimbals typically stack at least a portion of the arm assembly at the end of the handle when folded. This results in the entire handheld gimbal being excessively long in the axial direction of the handle, making storage inconvenient and unsightly.

[0012] In a second aspect, the present application provides a handheld gimbal, comprising:

[0013] handle;

[0014] a first shaft assembly, the first shaft assembly comprising a first motor and a first shaft arm provided on the handle, the first shaft arm comprising a first sub-arm and a second sub-arm rotatably connected to the first sub-arm, one end of the first sub-arm being connected to the first motor, the first motor being used to drive the first sub-arm to rotate relative to the handle;

[0015] Wherein, the handheld gimbal is configured to be switchable between an unfolded state and a folded state;

[0016] During the process of switching from the expanded state to the folded state, the second sub-arm first rotates away from the handle, and then rotates toward the outer circumference of the handle until the second sub-arm is at least partially parallel to the first sub-arm.

[0017] The above-mentioned handheld gimbal can be used to carry and drive filming equipment, and it includes at least the following beneficial effects: when the handheld gimbal switches from an unfolded state to a folded state, its second sub-arm can first rotate in a direction away from the handle, and then the second sub-arm can rotate in a direction close to the outer peripheral surface of the handle until the second sub-arm is at least partially parallel to the first sub-arm. This can be roughly considered as the second sub-arm being stored in the outer peripheral surface of the handle, which rationally utilizes the space of the outer peripheral surface of the handle, making the structure more compact and beautiful, and reducing the size and space occupied by the entire handheld gimbal in the axial direction of the handle, making it easier to store and improving the user experience. It is understandable that when a traditional handheld gimbal is folded and stored, at least part of the shaft arm assembly is generally stacked at the end of the handle, which will cause the entire handheld gimbal to be too long in the axial direction of the handle after folding, making it inconvenient to store and unsightly.

[0018] In one embodiment, one end of the second sub-arm is rotatably connected to an end of the first sub-arm away from the first motor.

[0019] In one embodiment, in the folded state, a portion of the surface of the first sub-arm and a portion of the surface of the second sub-arm are parallel to each other. This structural arrangement can make the first and second sub-arms in the folded state more regular and beautiful, making the handheld gimbal look more regular and beautiful as a whole.

[0020] In one embodiment, in the folded state, the first sub-arm and the second sub-arm fit together. This structural arrangement allows the first and second sub-arms to be compact in the folded state, making the handheld gimbal appear compact as a whole, improving its structural stability in the folded state, and making it smaller, making it easier to store and carry.

[0021] In one embodiment, the second sub-arm is parallel to the second surface of the first sub-arm.

[0022] In one embodiment, the second sub-arm is attached to the second surface of the first sub-arm. This structural arrangement allows the first and second sub-arms to be compact in the folded state, making the handheld gimbal appear compact as a whole, improving the structural stability of the handheld gimbal in the folded state, and making it smaller in size, making it easier to store and carry.

[0023] 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.

[0024] In one embodiment, the handheld gimbal further includes a second axis assembly, the second axis assembly including a second motor and a second axis arm connected to the second sub-arm, one end of the second axis arm being connected to the second motor, the second motor being used to drive the second axis arm to rotate, and in the folded position, at least one of the second axis arm and the second sub-arm is in contact with the handle. In the folded state, the second axis arm and / or the second sub-arm of the handheld gimbal can be in contact with the outer peripheral surface of the handle, making full use of the space around the outer peripheral surface of the handle and reducing the spacing, thereby further increasing the overall structural compactness of the handheld gimbal, improving the structural stability of the handheld gimbal in the folded state, and being smaller in size, making it more convenient to store and carry.

[0025] In one embodiment, the handheld gimbal further comprises a third axis assembly, the third axis assembly comprising a clamping member for clamping a photographic device and a third motor. The third motor and the second motor are respectively connected to the mutually spaced ends of the second axis arm. The third motor is connected to the clamping member and is used to drive the clamping member and the photographic device to rotate. In the folded state, the third motor is located between the clamping member and the handle. In the folded state, the third motor of the handheld gimbal is located between the clamping member and the handle, which can be considered to be the outer peripheral surface of the clamping member facing away from the handle, and the opening of the clamping member can be considered to be radially outward from the handle. This structural arrangement not only makes the handheld gimbal more compact, but also allows the clamping member to continue clamping the photographic device even in the folded state. In this case, the user can choose to store the handheld gimbal and the photographic device together, or choose to carry the photographic device with the folded handheld gimbal and continue using the device.

[0026] 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.

[0027] In one embodiment, buttons and / or control components are provided on the outer circumference of the handle, and in the folded state, the second axis arm and the outer circumference of the handle form an avoidance space for accommodating the buttons and / or the control components. The control group component may refer to components such as a control panel, a dial assembly and a joystick, which can be used to control a handheld gimbal and / or a shooting device. The buttons and control components are generally on the outer circumference of the handle, which is convenient for operation but also tends to occupy a certain volume. Therefore, in the folded state, if you want to ensure that at least part of the second axis arm is as close as possible to or even fits the outer circumference of the handle, it is necessary to leave a certain avoidance space between the second axis arm and the outer circumference of the handle to avoid the buttons and / or control components, thereby ensuring that the structure of the handheld gimbal in the folded state is compact enough.

[0028] 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 circumference of the handle, and the end of the second shaft arm close to the second motor is spaced apart from the outer circumference of the handle to form the avoidance space.

[0029] In one embodiment, the handle is provided with a button and / or a control component, and the second shaft arm is provided with an avoidance groove. In the folded state, the button and / or the control component is accommodated in the avoidance groove.

[0030] In one embodiment, the handle is provided with a button and / or a control assembly, and the second shaft arm is at least partially bent to form a avoidance opening. In the folded state, the button and / or the control assembly is accommodated in the avoidance opening.

[0031] 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 a magnetic connection between the second shaft arm and the handle in the folded state. For another example, the second shaft arm and the handle can be snap-fitted. For another example, the second shaft arm and the handle can be detachably attached using Velcro.

[0032] In one embodiment, a fixing structure is provided between the second shaft arm and the outer peripheral surface of the handle, and in the folded state, the second shaft arm and the handle are fixed by the fixing structure.

[0033] In one embodiment, the fixing structure includes a snap-fitting protrusion and a snap-fitting recess, and either the outer peripheral surface of the handle or the second shaft arm is provided with the snap-fitting protrusion, and the other of the outer peripheral surface of the handle and the second shaft arm is provided with the snap-fitting recess. In the folded state, the handle is snap-fitted to the second shaft arm through the snap-fitting recess and the snap-fitting protrusion.

[0034] In one embodiment, a snap-fitting protrusion is provided on the second shaft arm, and a snap-fitting recess is provided on the handle. In the folded state, the handle is snap-fitted with the second shaft arm through the engagement of the snap-fitting recess and the snap-fitting protrusion.

[0035] In one embodiment, a snap-fitting recess is provided on the second shaft arm, and a snap-fitting 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-fitting protrusion and the snap-fitting recess.

[0036] In one embodiment, the first sub-arm and / or the second sub-arm are straight arms.

[0037] In one embodiment, the first sub-arm and / or the second sub-arm is a curved arm.

[0038] In one embodiment, the first sub-arm and / or the second sub-arm are arc-shaped arms.

[0039] In one embodiment, the axis of the first motor is arranged at an angle to the axis of the handle at a first predetermined angle, wherein the first predetermined angle is 10-45 degrees. Such an arrangement can increase the pitch working angle of the handheld gimbal, providing a better user experience.

[0040] In one embodiment, the length extension direction of the first sub-arm and the cross section of the first motor are arranged at an angle of a second predetermined angle. Such an arrangement can increase the pitch working angle of the handheld gimbal, providing a better user experience.

[0041] In one embodiment, the second predetermined angle is 0-45 degrees.

[0042] In one embodiment, the length extension direction of the first sub-arm is perpendicular to the axial direction of the first motor.

[0043] In one embodiment, in the folded state, the second sub-arm is fixed to the first sub-arm and the fixing method is any one of magnetic connection, 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 sub-arm and the first sub-arm to achieve magnetic connection between the second sub-arm and the first sub-arm in the folded state. For another example, the second sub-arm and the first sub-arm can be snap-fitted. For another example, the second sub-arm and the first sub-arm can be detachably attached by Velcro.

[0044] In one embodiment, in the folded state, the second sub-arm is fixed to the handle and the fixing method is any one of magnetic connection, snap connection, bonding, and interference fit. For example, magnetic members (such as magnets) with opposite polarities can be provided on the inner or outer surface of the second sub-arm and the handle to achieve a magnetic connection between the second sub-arm and the handle in the folded state. For another example, the second sub-arm and the handle can be snap-fitted. For another example, the second sub-arm and the handle can be detachably attached using Velcro.

[0045] In one embodiment, the handheld gimbal further includes a rotating member, and the first sub-arm is rotatably connected to the second sub-arm via the rotating member.

[0046] 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 of the rotating shafts.

[0047] In one embodiment, the first sub-arm rotates synchronously or asynchronously with the second sub-arm via the rotating member. Asynchronously rotating the first and second sub-arms via the rotating member allows for greater freedom of adjustment, while synchronously rotating the first and second sub-arms via the rotating member can halve the rotation angle of each rotation center, making folding and unfolding more convenient and quick, rotation more stable and reliable, and the overall structure more neat when folded.

[0048] In one embodiment, the first sub-arm rotates synchronously with the second sub-arm through meshing transmission.

[0049] In one embodiment, the rotating member is a single rotating shaft, and the first sub-arm is rotatably connected to the second sub-arm via the single rotating shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] FIG1 is a schematic structural diagram of a handheld gimbal provided in one embodiment of the present application.

[0052] FIG2 is another structural schematic diagram of a handheld gimbal provided in an embodiment of the present application.

[0053] FIG3 is another structural schematic diagram of a handheld gimbal provided in an embodiment of the present application.

[0054] FIG4 is another structural schematic diagram of a handheld gimbal provided in an embodiment of the present application.

[0055] FIG5 is another structural diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0056] FIG6 is another structural schematic diagram of a handheld gimbal provided in an embodiment of the present application.

[0057] FIG7 is another structural schematic diagram of a handheld gimbal provided in an embodiment of the present application.

[0058] FIG8 is a structural diagram of a handheld gimbal provided in one embodiment of the present application.

[0059] FIG9 is another structural schematic diagram of a handheld gimbal provided in an embodiment of the present application.

[0060] FIG10 is another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0061] FIG11 is another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0062] FIG12 is another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0063] FIG13 is a partial schematic diagram of a handheld gimbal provided by one embodiment of the present application.

[0064] FIG14 is another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0065] FIG15 is another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0066] FIG16 is another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0067] FIG17 is another structural diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0068] FIG18 is another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0069] FIG19 is another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0070] FIG20 is another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0071] FIG21 is another structural schematic diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0072] Figure markings: 10, handheld gimbal; 20, shooting equipment; 100, first axis assembly; 110, first motor; 120, first axis arm; 121, first sub-arm; 1211, first surface; 1212, second surface; 122, second sub-arm; 200, second axis assembly; 210, second motor; 220, second axis arm; 230, avoidance space; 231, avoidance groove; 232, avoidance opening; 300, third axis assembly; 310, third motor; 320, clamping member; 400, handle; 500, button; 600, control assembly; 700, rotating member; 710, rotating shaft; 800, fixing structure; 810, clamping protrusion; 820, clamping recess; a, first predetermined angle; b, second predetermined angle. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0074] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0075] Referring to Figures 1 to 5 , in some embodiments, the present application provides a handheld gimbal 10 that is configured to switch between an unfolded state and a folded state. As shown in Figure 1 , the handheld gimbal 10 is in the unfolded state, and as shown in Figure 3 , the handheld gimbal 10 is in the folded state. The handheld gimbal 10 includes a handle 400 and at least two axis assemblies. The at least two axis assemblies can be used to support and drive a camera 20 to adjust the camera 20's posture.

[0076] As shown in Figures 1, 2 and 3, in some embodiments, at least two axis assemblies include a first axis assembly 100, the first axis assembly 100 includes a first motor 110 and a first axis arm 120 provided on the handle 400, the first axis arm 120 includes a first sub-arm 121 and a second sub-arm 122, one end of the first sub-arm 121 is rotatably connected to one end of the second sub-arm 122, and the other end of the first sub-arm 121 is connected to the first motor 110, in the radial direction of the first motor 110, the first sub-arm 121 at least partially protrudes from the outer circumference of the first motor 110, the first sub-arm 121 has a first surface 1211 and a second surface 1212 arranged in opposite directions, the first surface 1211 is located on the side of the first motor 110 away from the handle 400, and the first motor 110 is used to drive the first sub-arm 121 to rotate relative to the handle 400; in the folded state, the second sub-arm 122 is stored in the second surface 1212.

[0077] The handheld gimbal 10 described above has at least the following beneficial effects: the first sub-arm 121 at least partially protrudes from the outer circumferential surface of the first motor 110 in the radial direction of the first motor 110. This can be roughly considered as a portion of the first sub-arm 121 protruding outward and suspended in the air and protruding 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 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 the first surface 1211. As shown in Figures 3 and 4, when the handheld gimbal 10 is in the folded state, its second sub-arm 122 is stored in the second surface 1212 of the first sub-arm 121. This can be roughly considered as the second sub-arm 122 being stored below the first sub-arm 121 in the axial direction of the handle 400 and stored on the outer periphery of the handle 400. This rationally utilizes the space on the outer periphery of the handle 400, making the structure more compact and beautiful. The size and space occupied by the entire handheld gimbal 10 in the axial direction of the handle 400 are reduced, making it easier to store and improving the user experience. It is understandable that when a conventional handheld gimbal 10 is folded and stored, at least part of the axis arm assembly is generally stacked at the end of the handle 400. This will cause the entire handheld gimbal 10 to be too long in the axial direction of the handle 400 after folding, making it inconvenient to store and unsightly.

[0078] Please refer to Figures 1, 2 and 3. In some embodiments, the at least two axis assemblies also include a second axis assembly 200, the second axis assembly 200 includes a second motor 210 and a second axis arm 220 connected to the second sub-arm 122, one end of the second axis arm 220 is connected to the second motor 210, and the second motor 210 is used to drive the second axis arm 220 to rotate. In the folded position, at least one of the second axis arm 220 and the second sub-arm 122 is in contact with the handle 400.

[0079] For example, in one embodiment, when the handheld gimbal 10 is folded, the second axis arm 220 is in contact with the outer circumference of the handle 400. For another example, in another embodiment, when the handheld gimbal 10 is folded, the second sub-arm 122 is in contact with the outer circumference of the handle 400. For another example, in another embodiment, when the handheld gimbal 10 is folded, both the second axis arm 220 and the second sub-arm 122 are in contact with the outer circumference of the handle 400.

[0080] In other words, when the handheld gimbal 10 is in the folded state, its second axis arm 220 and / or second sub-arm 122 can be fitted to the outer circumference of the handle 400, making full use of the space around the outer circumference of the handle 400 and reducing the spacing, so that the overall structural compactness of the handheld gimbal 10 is further increased, thereby improving the structural stability of the handheld gimbal 10 in the folded state, and having a smaller size, which is more convenient for storage and carrying.

[0081] It should be noted that, as shown in Figures 2 and 3, the stator or rotor of the second motor 210 of the second shaft assembly 200 is fixed to the second sub-arm 122 of the first shaft arm 120 of the first shaft assembly 100. It can be considered that the second sub-arm 122 provides a part of the structure of the housing of the second motor 210. In other words, a part of the motor housing of the second motor 210 can also be considered as at least a part of the structure of the second sub-arm 122.

[0082] Referring to Figures 1, 2, and 3, in some embodiments, the at least two axis assemblies further include a third axis assembly 300, the third axis assembly 300 including 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 ends of the second axis arm 220 that are separated from each other. 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 motor shaft. The second motor can be a pitch motor, and accordingly, the motor shaft of the second motor 210 can be a pitch motor shaft. The third motor 262 can be a roll motor. Here, the first motor 110, the second motor 210 and the third motor 330 mentioned in this article are further explained. It is intended to assist in understanding the working effect of the handheld gimbal 10 of the present application, rather than to indicate or imply that the first motor 110, the second motor 210 and the third motor 330 can only be as described above. Therefore, the above can be understood more broadly as long as it can meet the beneficial effects to be achieved by the handheld gimbal 10 of the present application.

[0083] For example, in the embodiment shown in Figures 4 and 5, in the folded state, the third motor 310 is located between the clamping member 320 and the handle 400. In the folded state, the third motor 310 of the handheld gimbal 10 is located between the clamping member 320 and the handle 400. It can be considered that the outer peripheral surface of the clamping member 320 faces away from the handle 400, and the opening of the clamping member 320 faces radially outward from the handle 400. This structural arrangement not only makes the handheld gimbal 10 more compact, but also allows the clamping member 320 to continue to clamp the camera 20 even in the folded state. In this case, the user can choose to store the handheld gimbal 10 and the camera 20 together, or choose to continue using the camera 20 with the handheld gimbal 10 in the folded state.

[0084] For another example, in the embodiment shown in FIG6 , 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 circumference of the handle 400, and the opening of the clamping member 320 faces inward along the radial direction of the handle 400. This folded state helps protect the clamping member 320 and reduces the risk of damage when it is stored.

[0085] For another example, in the embodiment shown in FIG7 , in the folded state, the orientation of the clamping member 320 is between FIG5 and FIG6 , and it can be considered that the clamping member 320 is set laterally, that is, the opening of the clamping member 320 is neither facing the outer circumference of the handle 400 nor facing away from the outer circumference of the handle 400 . In this state, the clamping member 320 can also continue to clamp the shooting device 20. At this time, the user can choose to store the handheld gimbal 10 and the shooting device 20 together, or can choose to carry the shooting device 20 with the handheld gimbal 10 in the folded state and continue to use the shooting device 20.

[0086] Referring to Figures 1, 2, and 3, in some embodiments, when the handheld gimbal 10 switches from the deployed state to the folded state, the second sub-arm 122 first rotates away from the handle 400, and then rotates toward the outer circumference of the handle 400 until the second sub-arm 122 is at least partially parallel to the first sub-arm 121. Conversely, when the handheld gimbal 10 switches from the folded state to the deployed state, the second sub-arm 122 first rotates away from the outer circumference of the handle 400. In some embodiments, as shown in Figure 1, the first motor 110 is disposed at the top of the handle 400. In the deployed state of the handheld gimbal 10, the second axis assembly 200 and the third axis assembly 300 are generally located on the side of the first motor 110 facing away from the handle 400. This means that the second axis assembly 200 and the third axis assembly 300 are generally located axially above the first motor 110.

[0087] For example, as shown in Figures 1, 2 and 3, during the process of switching the handheld gimbal 10 from the unfolded state to the folded state, it can be considered that the second sub-arm 122 first rotates in the direction away from the top of the handle 400, and then the second sub-arm 122 rotates in the direction close to the outer circumference of the handle 400 until the second sub-arm 122 is at least partially parallel to the first sub-arm 121.

[0088] For another example, as shown in Figures 1, 2 and 3, during the process of switching the handheld gimbal 10 from the unfolded state to the folded state, it can be considered that the second sub-arm 122 first rotates in the direction away from the first motor 110, and then the second sub-arm 122 rotates in the direction close to the outer circumference of the handle 400 until the second sub-arm 122 is at least partially parallel to the first sub-arm 121.

[0089] The handheld gimbal 10 can be used to carry and drive the filming device 20, and has at least the following beneficial effects: when the handheld gimbal 10 switches from the unfolded state to the folded state, the second sub-arm 122 can first rotate away from the handle 400, and then rotate toward the outer circumference of the handle 400 until the second sub-arm 122 is at least partially parallel to the first sub-arm 121, as shown in Figures 3 and 4. This can be roughly considered as the second sub-arm 122 being stored in the outer circumference of the handle 400, which effectively utilizes the space around the outer circumference of the handle 400, resulting in a more compact and beautiful structure. The size and space occupied by the entire handheld gimbal 10 in the axial direction of the handle 400 are reduced, making it easier to store and improving the user experience. It is understandable that when a conventional handheld gimbal 10 is folded and stored, the various arm assemblies are generally stacked at the end of the handle 400. This causes the entire handheld gimbal 10 to be too long in the axial direction of the handle 400 after folding, making storage inconvenient and unsightly.

[0090] 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 .

[0091] In some embodiments, the stator of the second motor 210 is connected to one of the second shaft arm 220 and the second sub-arm 122 , and the rotor of the second motor 210 is connected to the other of the second shaft arm 220 and the second sub-arm 122 .

[0092] Referring to Figure 3 , in some embodiments, in the folded state, portions of the surface of the first sub-arm 121 and portions of the surface of the second sub-arm 122 are parallel to each other. For example, referring to Figures 2 and 3 , in some embodiments, the second sub-arm 122 is parallel to the second surface 1212 of the first sub-arm 121. This structural arrangement can make the folded first and second sub-arms 121 and 122 more neat and aesthetically pleasing, giving the handheld gimbal 10 a more neat and aesthetically pleasing overall appearance.

[0093] Specifically, as shown in FIG. 3 and FIG. 4 , in some embodiments, in the folded state, the first sub-arm 121 is in contact with the second sub-arm 122 .

[0094] More specifically, in some embodiments, the second sub-arm 122 is attached to the second surface 1212 of the first sub-arm 121. This structural arrangement allows the first and second sub-arms 121 and 122 to be compact in the folded state, making the handheld gimbal 10 appear compact as a whole, improving the structural stability of the handheld gimbal 10 in the folded state, and making it smaller in size, making it easier to store and carry. This structural arrangement allows the first and second sub-arms 121 and 122 to be compact in the folded state, making the handheld gimbal 10 appear compact as a whole, improving the structural stability of the handheld gimbal 10 in the folded state, and making it smaller in size, making it easier to store and carry.

[0095] In some embodiments, in the folded state, the second sub-arm 122 can be fixed to the first sub-arm 121 by any of a magnetic connection, a snap connection, an adhesive connection, or an interference fit. This ensures that the first sub-arm 121 and the second sub-arm 122 are securely connected and prevent loosening, further ensuring that the handheld gimbal 10 remains compact and neatly shaped when folded.

[0096] For example, magnetic members (such as magnets) with opposite polarities may be provided on the inner or outer surfaces of the second sub-arm 122 and the first sub-arm 121 to achieve a magnetic connection between the second sub-arm 122 and the first sub-arm 121 in the folded state.

[0097] For another example, the second sub-arm 122 and the first sub-arm 121 may be connected to each other by a buckle.

[0098] For another example, the second sub-arm 122 and the first sub-arm 121 may be detachably attached to each other by using Velcro.

[0099] In some embodiments, in the folded state, the second sub-arm 122 and the handle 400 can be fixed by any of a magnetic connection, a snap connection, an adhesive connection, or an interference fit. This ensures a secure connection between the second sub-arm 122 and the handle 400 in the folded state, further ensuring a compact structure and a neat appearance for the handheld gimbal 10 in the folded state.

[0100] For example, magnetic members (such as magnets) with opposite polarities may be provided on the inner or outer surfaces of the second sub-arm 122 and the handle 400 to achieve a magnetic connection between the second sub-arm 122 and the handle 400 in the folded state.

[0101] For another example, the second sub-arm 122 and the handle 400 may be connected by a snap fastener.

[0102] For another example, the second sub-arm 122 and the handle 400 may be detachably attached via Velcro.

[0103] In some embodiments, in the folded state, the second arm 220 is secured to the handle 400 by magnetic connection, snap connection, adhesive bonding, or interference fit. This ensures a secure connection between the second arm 220 and the handle 400, preventing any loosening, further ensuring a compact and neatly shaped handheld gimbal 10 in the folded state.

[0104] For example, magnetic members (such as magnets) with opposite polarities may be provided on the inner or outer surfaces of the second shaft arm 220 and the handle 400 to achieve a magnetic connection between the second shaft arm 220 and the handle 400 in the folded state.

[0105] For another example, the second shaft arm 220 and the handle 400 can be connected by a snap fastener.

[0106] For another example, the second shaft arm 220 and the handle 400 may be detachably attached via Velcro.

[0107] Specifically, in some embodiments, a fixing structure 800 is provided between the second shaft arm 220 and the outer circumferential surface of the handle 400. In the folded state, the second shaft arm 220 and the handle 400 are fixed by the fixing structure 800. More specifically, as shown in FIG2 , in some embodiments, the fixing structure 800 includes a snap-fitting protrusion 810 and a snap-fitting recess 820. The snap-fitting protrusion 810 is provided on one of the outer circumferential surface of the handle 400 and the second shaft arm 220, and the snap-fitting recess 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-fitted to the second shaft arm 220 through the engagement of the snap-fitting recess 820 and the snap-fitting protrusion 810.

[0108] For example, as shown in Figure 2, in some embodiments, the second shaft arm 220 is provided with a snap-fitting protrusion 810, and the handle 400 is provided with a snap-fitting recess 820. In the folded state, the handle 400 is snap-fitted with the second shaft arm 220 through the snap-fitting recess 820 and the snap-fitting protrusion 810.

[0109] For example, in other embodiments, the second shaft arm 220 is provided with a snap-fitting recess 820, and the handle 400 is provided with a snap-fitting protrusion 810. In the folded state, the handle 400 is snap-fitted with the second shaft arm 220 through the engagement of the snap-fitting protrusion 810 and the snap-fitting recess 820.

[0110] Referring to FIG. 3 , in some embodiments, the axis of the first motor 110 is arranged at an angle of a first predetermined angle a to the axis of the handle 400, with the first predetermined angle a being in the range of 10-45 degrees. As shown in FIG. 1 , when the user selects to switch the handheld gimbal 10 to the unfolded state, as described above, the second and third axis assemblies 200 and 300, as well as the camera 20 held therein, are positioned above the axis of the first motor 110 at the top of the handle 400. Generally speaking, when a user grips the handle 400, they often choose to adjust the camera 20 to a position higher than the handle 400, bringing the camera 20 to approximately eye level, making it easier for the user to observe the screen of the camera 20 and understand the shooting situation. Therefore, this arrangement in this embodiment can increase the pitch operating angle of the handheld gimbal 10, better aligning with the user's common posture with the handheld gimbal 10 and the camera 20 held therein, and more in line with the user's usage habits, thereby providing a better user experience.

[0111] Referring to Figure 3 , in some embodiments, the length of the first sub-arm 121 is arranged at an angle of a second predetermined angle b to the cross-section of the first motor 110. The second predetermined angle b is in the range of 0-45 degrees. This arrangement can increase the pitch angle of the handheld gimbal 10, providing a better user experience.

[0112] Please refer to FIG. 4 . In some embodiments, the length extension direction of the first sub-arm 121 is perpendicular to the axial direction of the first motor 110 .

[0113] Referring to Figures 9, 10, and 11, in some embodiments, a button 500 and / or a control assembly 600 are provided on the outer circumference of the handle 400. In the folded state, a clearance space 230 is formed between the second axis assembly 200 and the outer circumference of the handle 400 for accommodating the button 500 and / or the control assembly 600. The button 500 and the control assembly 600 are generally located on the outer circumference of the handle 400, which facilitates operation while also occupying a certain volume. Therefore, in the folded state, to ensure that at least a portion of the second axis assembly 200 is as close as possible to, or even in close contact with, the outer circumference of the handle 400, a certain clearance space 230 needs to be left between the outer circumferences of the second axis assembly 200 and the handle 400 to avoid the button 500 and / or the control assembly 600, thereby ensuring that the structure of the handheld gimbal 10 is sufficiently compact in the folded state.

[0114] Furthermore, as shown in Figures 9, 10 and 11, in some embodiments, the second shaft arm 220 of the second shaft assembly 200 and the outer peripheral surface of the handle 400 form an avoidance space 230 for accommodating the button 500 and / or the control assembly 600.

[0115] Furthermore, as shown in Figures 9, 10, and 11, to make the button 500 easier to operate, the button 500 can be slightly protruded from the outer circumference of the handle 400. Similarly, the control assembly 600 can be slightly protruded from the outer circumference of the handle 400. The button 500 and the control assembly 600 are generally located on the outer circumference of the handle 400, which makes them easier to operate but also occupies a certain amount of space. Therefore, in the folded state, to ensure that at least a portion of the second axis arm 220 is as close as possible to or even fits the outer circumference of the handle 400, a certain amount of clearance space 230 needs to be left between the outer circumference of the second axis arm 220 and the handle 400 to avoid the button 500 and / or the control assembly 600, thereby ensuring that the structure of the handheld gimbal 10 is sufficiently compact in the folded state.

[0116] It should be noted that the avoidance space 230 can be considered to be formed solely by the handle 400, the avoidance space 230 can also be considered to be formed solely by the second shaft arm 220, and the avoidance space 230 can also be considered to be formed by the outer peripheral surface of the handle 400 and the second shaft arm 220.

[0117] For example, in some embodiments, the outer peripheral surface of the handle 400 may be partially concave to accommodate the button 500 and / or the control component 600, that is, the outer peripheral surface of the handle 400 may be partially concave to form the avoidance space 230. In this case, it can be considered that the avoidance space 230 is formed solely by the handle 400.

[0118] For example, as shown in Figure 9, in some embodiments, in the folded state, the end of the second shaft arm 220 away from the second motor 210 is attached to the outer circumference of the handle 400, and the end of the second shaft arm 220 close to the second motor 210 is spaced from the outer circumference of the handle 400 to form the avoidance space 230. At this time, it can be considered that the avoidance space 230 is formed by the outer circumference of the handle 400 and the second shaft arm 220.

[0119] For example, as shown in Figure 10, in some embodiments, the second shaft arm 220 is provided with an avoidance groove 231, and the avoidance groove 231 also has a space for avoiding the button 500 and / or the control component 600. It can be considered that the avoidance groove 231 also provides an avoidance space 230. When in the folded state, the button 500 and / or the control component 600 is accommodated in the avoidance groove 231. At this time, it can be considered that the avoidance space 230 is formed solely by the second shaft arm 220.

[0120] For example, as shown in Figure 11, in some embodiments, the second shaft arm 220 is at least partially bent to form an avoidance opening 232. It can be considered that the avoidance opening 232 also provides an avoidance space 230. In the folded state, the button 500 and / or the control component 600 is accommodated in the avoidance opening 232. At this time, it can be considered that the avoidance space 230 is formed by the second shaft arm 220 alone, or it can be considered to be formed by the outer peripheral surface of the handle 400 and the second shaft arm 220.

[0121] Furthermore, as shown in Figures 15, 16, and 17, the button 500 and the control assembly 600 are respectively located on either side of the outer circumference of the handle 400, and the second shaft arm 220 and / or the second sub-arm 122 can be attached to any outer circumference 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 circumference of the handle 400 and are located on the side where the button 500 is located. For 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 circumference of the handle 400 and are located on the side where the control assembly 600 is located. For 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 circumference of the handle 400 but do not directly face the button 500 or the control assembly 600.

[0122] As shown in Figures 15, 16, and 17, the button 500 and the control assembly 600 are respectively located on either side of the outer circumference of the handle 400. The second shaft arm 220 and / or the second sub-arm 122 can be attached to any outer circumference 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 circumference of the handle 400 and are located on the side where the button 500 is located. For 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 circumference of the handle 400 and are located on the side where the control assembly 600 is located. For 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 circumference of the handle 400 but are not directly facing the button 500 or the control assembly 600.

[0123] It should be noted that the control group component may refer to components such as a control panel, a dial assembly, and a joystick, which can be used to control the handheld gimbal 10 and / or the shooting device 20. Taking the dial assembly and the joystick as examples for simple explanation, the dial assembly is a control component that realizes the acquisition of user control instructions through different rotation amounts. When in use, the user can conveniently realize the control of the shooting device 20 by adjusting the rotation amount of the wheel rim in the dial assembly. For example, the user can adjust the ISO, white balance, focus, scroll options, and switch settings of the shooting device 20 by rotating the dial assembly clockwise / counterclockwise; the joystick is a control component with extremely high degrees of freedom, which realizes the acquisition of user control instructions by moving and / or rotating the rod body in different directions. When in use, the user can conveniently realize the control of the shooting device 20 by toggling the direction of the joystick. For example, the user can conveniently select one or more of the multiple focus points and change the rotation angle of the axis assembly by toggling the position of the joystick.

[0124] 7 and 8 , the shapes of the first sub-arm 121 and the second sub-arm 122 of the present application can be varied.

[0125] For example, as shown in Figures 7, 15, 16 and 17, in some embodiments, the first sub-arm 121 can be a straight arm, and the first sub-arm 121 and the second sub-arm 122 are adapted to each other in shape and size, that is, in the folded state, the first sub-arm 121 and the second sub-arm 122 can be as close to each other as possible or even fit together, so that the structures of the two are compact.

[0126] Figure 18 can be considered as a side view of Figure 15 or Figure 16. As shown in Figure 18, when the handheld gimbal 10 is in the folded state, the first sub-arm 121 is a straight arm and the second axis arm 220 is facing the button 500 or the control component 600 of the handle, the second axis arm 220 is just aligned with the handle 400, and the overall appearance of the handheld gimbal 10 is regular and beautiful.

[0127] For example, in some embodiments, the first sub-arm 121 can be a curved arm, and the first sub-arm 121 and the second sub-arm 122 are adapted to each other in shape and size, that is, in the folded state, the first sub-arm 121 and the second sub-arm 122 can be as close to each other as possible or even fit together, so that the structures of the two are compact.

[0128] Furthermore, the first sub-arm 121 may be a curved arm, that is, a bent first sub-arm 121 , which may be a segmented curved arm formed by connecting multiple straight arms as shown in FIG. 8 , or an arc-shaped arm as shown in FIG. 20 .

[0129] In the embodiment shown in FIG. 19 , the second arm 220 does not face the button 500 or the control assembly 600 after being folded. Since there is an angle between the axial direction of the handle 400 and the axial direction of the first motor 110 , the second arm 220 cannot be aligned with the handle 400 .

[0130] In the embodiment shown in Figures 20 and 21, the first sub-arm 121 can be a curved arm. Although there is an angle between the axial direction of the handle 400 and the axial direction of the first motor 110, and the second shaft arm 220 is not facing the button 500 or the control component 600 after folding, since the first sub-arm 121 is a curved arm and the second sub-arm 122 is adapted to the first sub-arm 121, it is equivalent to that the arc-shaped first sub-arm 121 is appropriately twisted by a certain angle, so that the second shaft arm 220 is still aligned with the handle 400.

[0131] In other words, it can be considered that the problems caused by the straight first sub-arm 121 in the embodiment of FIG. 19 can be avoided by the curved first sub-arm 121 in the embodiments of FIG. 20 and FIG. 21 .

[0132] Please refer to Figures 12, 13, 14 and 15. In some embodiments, the handheld gimbal 10 further includes a rotating member 700, and the first sub-arm 121 is rotatably connected to the second sub-arm 122 via the rotating member 700.

[0133] For example, in some embodiments, the rotating member 700 has two rotating shafts 710, the first sub-arm 121 is rotatably mounted on one of the rotating shafts 710, and the second sub-arm 122 is rotatably mounted on the other of the rotating shafts 710. The first sub-arm 121 rotates synchronously or asynchronously with the second sub-arm 122 through the rotating member 700. The first sub-arm 121 and the second sub-arm 122 that rotate asynchronously through the rotating member 700 are relatively freer to adjust, while the first sub-arm 121 and the second sub-arm 122 that rotate synchronously through the rotating member 700, as shown in FIG12, can reduce the rotation angle of each rotation center by half, making folding and unfolding more convenient and quick, and the rotation more stable and reliable. The overall structure is more regular after storage. Furthermore, as shown in FIG13 and FIG14, in some embodiments, the first sub-arm 121 rotates synchronously with the second sub-arm 122 through meshing transmission.

[0134] For another example, as shown in FIG. 15 , in some embodiments, the rotating member 700 is a single rotating shaft 710 , and the first sub-arm 121 is rotatably connected to the second sub-arm 122 via the single rotating shaft 710 .

[0135] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0136] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

[0137] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0138] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0139] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0140] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0141] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0142] In the description of this specification, the description with reference to the terms "one embodiment", "other implementation methods", etc. means that the specific features, structures, materials or features described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application 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: handle; A first shaft assembly, 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 rotatably connected to the first sub-arm, one end of the first sub-arm is connected to the first motor, in the radial direction of the first motor, the first sub-arm at least partially protrudes from the outer peripheral surface of the first motor, the first sub-arm has a first surface and a second surface disposed opposite to each other, the first surface is located on a side of the first motor away from the handle, and the first motor is used to drive the first sub-arm to rotate relative to the handle; Wherein, the handheld gimbal is configured to be switchable between an unfolded state and a folded state; in the folded state, the second sub-arm is stored in the second surface.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

20. A handheld gimbal, characterized in that: include: handle; A first shaft assembly, the first shaft assembly includes a first motor and a first shaft arm provided on the handle, the first shaft arm includes a first sub-arm and a second sub-arm rotatably connected to the first sub-arm, one end of the first sub-arm is connected to the first motor, and the first motor is used to drive the first sub-arm to rotate relative to the handle; Wherein, the handheld gimbal is configured to be switchable between an unfolded state and a folded state; 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.

21. The handheld gimbal according to claim 20, characterized in that: In the radial direction of the first motor, the first sub-arm at least partially protrudes from the outer peripheral surface of the first motor; the first sub-arm has a first surface and a second surface that are 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; And / or, one end of the second sub-arm is rotatably connected to an end of the first sub-arm away from the first motor; and / or, in the folded state, the first sub-arm fits the second 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.

22. The handheld gimbal according to claim 21, characterized in that: The handheld gimbal also includes a second axis assembly, which includes a second motor and a second axis arm connected to the second sub-arm, one end of the second axis arm is connected to the second motor, and the second motor is used to drive the second axis arm to rotate. When in the folded position, at least one of the second axis arm and the second sub-arm is in contact with the handle.

23. The handheld gimbal according to claim 22, characterized in that: The handheld gimbal further comprises a third axis assembly, the third axis assembly comprises a clamping member for clamping the photographing device and a third motor, the third motor and the second motor are respectively connected to two ends of the second axis arm that are away from each other, the third motor is connected to the clamping member and is used to drive the clamping member and the photographing device to rotate, and in the folded state, the third motor is located between the clamping member and the handle; And / or, the stator of the second motor is connected to one of the second shaft arm and the second sub-arm, and the rotor of the second motor is connected to the other of the second shaft arm and the second sub-arm.

24. The handheld gimbal according to claim 22, characterized in that: The outer peripheral surface of the handle is provided with buttons and / or control components. In the folded state, the second shaft arm and the outer peripheral surface of the handle form an escape space for accommodating the buttons and / or the control components.

25. The handheld gimbal according to claim 22, characterized in that: A fixing structure is provided between the second shaft arm and the outer peripheral surface of the handle. In the folded state, the second shaft arm and the handle are fixed by the fixing structure.

26. The handheld gimbal according to claim 25, characterized in that: The fixing structure includes a snap-in protrusion and a snap-in recess. The snap-in protrusion is provided on either the outer circumferential surface of the handle or the second shaft arm, and the snap-in recess is provided on the other of the outer circumferential surface of the handle and the second shaft arm. In the folded state, the handle is snap-in engaged with the second shaft arm through the cooperation of the snap-in recess and the snap-in protrusion.

27. The handheld gimbal according to claim 20, characterized in that: Also includes at least one of the following technical features: The first sub-arm and / or the second sub-arm are straight arms; The first sub-arm and / or the second sub-arm are curved arms; The first sub-arm and / or the second sub-arm are arc-shaped arms.

28. The handheld gimbal according to claim 20, 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.

29. The handheld gimbal according to claim 20, 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, and the second predetermined angle is 0-45 degrees.

30. The handheld gimbal according to claim 20, characterized in that: The length extension direction of the first sub-arm is perpendicular to the axial direction of the first motor.

31. The handheld gimbal according to claim 20, 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.

32. The handheld gimbal according to claim 31, characterized in that: The rotating member has two rotating shafts, the first sub-arm is rotatably sleeved on one of the rotating shafts, the second sub-arm is rotatably sleeved on the other rotating shaft, and the first sub-arm rotates synchronously or asynchronously with the second sub-arm through the rotating member.

33. The handheld gimbal according to claim 32, characterized in that: The first sub-arm rotates synchronously with the second sub-arm through meshing transmission.

34. The handheld gimbal according to claim 31, characterized in that: The rotating member is a single rotating shaft, and the first sub-arm is rotatably connected to the second sub-arm via the single rotating shaft.

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