Handheld gimbal

Abstract

A handheld gimbal (10), capable of being used for controlling a photography device (20). The handheld gimbal (10) comprises a handle (400), an axis assembly, and a rotating mechanism (500). The axis assembly comprises a first axis assembly (100); the first axis assembly (100) comprises a first axis arm (120) and a first motor (110) connected to the first axis arm (120); the first motor (110) can drive the first axis arm (120) to rotate so as to drive the photography device (20) to rotate; and the first motor (110) can serve as a yaw motor or a pitch motor. The rotating mechanism (500) is disposed between the handle (400) and the first motor (110), and the first motor (110) can rotate relative to the handle (400) by means of the rotating mechanism (500), so that the first motor (110) can be switched from either of the yaw motor and the pitch motor to the other. The first motor (110) can be directly converted into the pitch motor, and a wide range of adjustment of a pitch angle of the photography device (20) can be implemented by only the first motor (110) working alone, thereby mitigating the problem in conventional solutions where axis assemblies are excessively limited in pitch angle adjustment.

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. The axis assembly of the handheld gimbal can also carry and adjust the posture of the shooting equipment to meet the user's different shooting needs.

[0003] When the axis components of some traditional handheld gimbals control the pitch movement of the shooting equipment, the rotation range of the shooting equipment at the pitch angle is small, which is difficult to meet the user's usage needs 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] A handheld gimbal for controlling a photographing device, comprising:

[0008] handle;

[0009] An axis assembly, the axis assembly including a first axis assembly, the first axis assembly including a first axis arm and a first motor connected to the first axis arm, the first motor can drive the first axis arm to rotate to drive the rotation of the shooting device, and the first motor can serve as a pan motor or a tilt motor;

[0010] A rotating mechanism is provided between the handle and the first motor, and the first motor can be rotated relative to the handle through the rotating mechanism so that the first motor can be switched from either the panning motor or the pitching motor to the other.

[0011] Before describing the technical effects achievable by the embodiments of this application, it is important to note that some conventional handheld gimbals often have multiple, non-orthogonally arranged motors and shaft arms in their axis assemblies, requiring the coordinated operation of these motors and shaft arms to adjust the pitch angle of the camera. Furthermore, due to structural limitations, the axis assemblies of such conventional handheld gimbals have very limited adjustment capabilities for the pitch angle of the camera. This means that the camera's pitch angle rotation range is relatively small, making it difficult to meet user requirements and impacting the user experience.

[0012] In the face of such problems mentioned above, the handheld gimbal mentioned above in the present application may at least include the following beneficial effects: the handheld gimbal of the present application does not require the linkage of multiple motors like the traditional handheld gimbal mentioned above to achieve the adjustment of the pitch angle of the shooting device; when driving the shooting device to perform pitch movement, the present application only needs to directly convert the first motor into a pitch motor, and only needs the first motor to work alone to achieve a large range of adjustment of the pitch angle of the shooting device, thereby improving the problem of the axis assembly in the traditional solution being too limited in pitch angle adjustment, thereby meeting the user's needs for various usage scenarios that require the shooting equipment to rotate significantly in pitch angle.

[0013] In one embodiment, the first motor can be rotated to a first position and a second position relative to the handle through the rotating mechanism; in the first position, the first motor can serve as a heading motor; in the second position, the first motor can serve as a pitch motor.

[0014] In one embodiment, a control component is provided on the outer circumference of the handle. When in the second position, the first motor can drive the shooting device through the first axis arm so that the orientation of the screen of the shooting device is consistent with the orientation of the control component.

[0015] In one embodiment, a control assembly is provided on the outer circumference of the handle, and when in the second position, the first motor can drive the shooting device through the first shaft arm so that the shooting device is parallel to the control assembly.

[0016] In one embodiment, the axis of the first motor in the first position is arranged at an angle to the axis of the first motor in the second position, and the angle is 85 degrees to 95 degrees.

[0017] In one embodiment, the rotating mechanism includes a first rotating seat and a second rotating component provided on the handle, the second rotating component is rotatably connected to the first rotating seat, and the first rotating seat is fixedly connected to the first motor; the first rotating seat can drive the first motor to rotate around a first rotation axis relative to the second rotating component, and the second rotating component can drive the first motor to rotate around a second rotation axis relative to the handle, so that the first motor can switch from either the heading motor or the pitch motor to the other.

[0018] In one embodiment, the first rotation axis and the second rotation axis are perpendicular to each other.

[0019] In one embodiment, the first motor can rotate to the first position and the second position relative to the second rotating component under the drive of the first rotating seat; in the first position, the axis of the first motor is parallel to the second rotating axis of the second rotating component; in the second position, the axis of the first motor is perpendicular to the second rotating axis of the second rotating component.

[0020] In one embodiment, the second rotating assembly includes a fixed seat provided on the handle and a second rotating seat rotatably connected to the fixed seat around the second rotating axis. The first rotating seat can drive the first motor to rotate around the first rotating axis relative to the second rotating seat, and the second rotating seat can drive the first motor to rotate around the second rotating axis.

[0021] In one embodiment, the handle further comprises a telescopic rod disposed inside the handle, the telescopic rod being telescopically extendable along the second axis, the fixing seat being mounted on the top end of the telescopic rod and being telescopically extendable relative to the handle when the telescopic rod is extended or retracted.

[0022] In one embodiment, the handheld gimbal further includes a wire fixed to the telescopic rod, one end of the wire is electrically connected to the battery and control panel in the handle, and the other end of the wire is electrically connected to the axis assembly, the battery is used to power the axis assembly, and the control panel is used to control the movement of the axis assembly.

[0023] In one embodiment, the second rotating assembly further includes an elastic member, the second rotating seat is connected to the fixed seat via the elastic member, and the second rotating seat can rotate relative to the fixed seat along the circumference of the fixed seat, either the second rotating seat and the fixed seat is provided with a plurality of limiting grooves arranged at intervals along the circumference, and the other of the second rotating seat and the fixed seat is provided with a plurality of limiting protrusions arranged at intervals along the circumference, and the limiting protrusions can extend into the limiting grooves under the elastic action of the elastic member; wherein, when the second rotating seat rotates relative to the fixed seat, any of the limiting protrusions can overcome the elastic force of the elastic member and move from one limiting groove to another limiting groove.

[0024] In one embodiment, the plurality of limiting grooves are arranged at equal intervals along the circumference of the fixing seat, and the plurality of limiting protrusions are arranged at equal intervals along the circumference of the second rotating seat.

[0025] In one embodiment, each of the limiting grooves has two buffer surfaces that are spaced apart from each other along the circumference of the fixing seat.

[0026] In one embodiment, each of the limiting protrusions has two sliding surfaces disposed opposite to each other along the circumference of the second rotating seat.

[0027] In one embodiment, the limiting protrusion is adapted to the limiting groove.

[0028] In one embodiment, the buffer surface on either side is arranged at an angle to the bottom of the limiting groove at a first predetermined angle, and the first predetermined angle is 30-120 degrees.

[0029] In one embodiment, the first predetermined angle is 60-90 degrees.

[0030] In one embodiment, the sliding surface on either side and the top surface of the limiting protrusion are arranged at an angle of a second predetermined angle, and the second predetermined angle is 30-120 degrees.

[0031] In one embodiment, the second predetermined angle is 60-90 degrees.

[0032] In one embodiment, a first limiting rib is provided on the second rotating seat, and a second limiting rib is provided on the fixed seat. The second limiting rib is located on the rotation path of the first limiting rib to limit the rotation of the second rotating seat relative to the fixed seat.

[0033] In one embodiment, the fixed seat has a top side and a bottom side arranged opposite to each other and is provided with a rotation hole, the rotation hole passes through the top side and the bottom side, the second rotating seat includes a main body and a rotating shaft portion and a connecting portion connected to the opposite sides of the main body, the connecting portion is rotatably connected to the first rotating seat, the main body is located on the top side of the fixed seat, the rotating shaft portion is passed through the fixed seat through the rotation hole, and the rotating shaft portion can pull the main body to abut the top side of the fixed seat under the elastic force of the elastic member, either the main body or the top side of the fixed seat is provided with the limiting groove, and the other of the main body and the top side of the fixed seat is provided with the limiting protrusion.

[0034] In one embodiment, the second rotating assembly further comprises a fastener, the fastener being disposed at an end of the rotating shaft away from the main body, one end of the elastic member elastically abutting against the fastener, and the other end of the elastic member elastically abutting against the bottom side of the fixing seat. The elastic member may be a compression spring.

[0035] In one embodiment, the handheld gimbal further includes a sensor configured to sense the posture of the axis assembly to confirm whether the first motor is in the second position. The sensor may include, but is not limited to, an accelerometer, a gyroscope, a magnetometer, a posture sensor chip, and a visual sensor.

[0036] In one embodiment, the sensor includes a first posture sensor and a second posture sensor, the first posture sensor is arranged in the shaft assembly for sensing the posture of the shaft assembly and generating a corresponding first posture value, the second posture sensor is arranged in the handle for sensing the posture of the handle and generating a corresponding second posture value, and whether the first motor is located in the second position is determined by the difference between the first posture value and the second posture value.

[0037] In one embodiment, the axis assembly also includes a second axis assembly and a third axis assembly; the second axis assembly includes a second motor provided on the first axis arm and a second axis arm connected to the second motor, and the second motor is used to drive the second axis arm to rotate; the third axis assembly includes a third motor provided on the second axis arm and a clamping member for clamping the shooting device, and the third motor is connected to the clamping member and is used to drive the rotation of the clamping member and the shooting device; wherein, in the first position, the first motor can be used as a heading motor, the second motor can be used as a pitch motor, and the third motor can be used as a roll motor; in the second position, the first motor can be used as a pitch motor, the second motor can be used as a heading motor, and the third motor can be used as a roll motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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.

[0039] FIG1 is a schematic structural diagram of a handheld gimbal provided in one embodiment of the present application.

[0040] FIG2 is an exploded schematic diagram of a handheld gimbal provided by an embodiment of the present application.

[0041] FIG3 is a partially enlarged exploded schematic diagram of a handheld gimbal provided by one embodiment of the present application.

[0042] FIG4 is a side view of the handheld gimbal provided by one embodiment of the present application when the first motor is switched.

[0043] FIG5 is a three-dimensional diagram of the handheld gimbal provided by one embodiment of the present application when the first motor is switched.

[0044] FIG6 is a schematic diagram of a first motor provided by an embodiment of the present application when used as a pitch motor.

[0045] FIG7 is another schematic diagram of the first motor provided by one embodiment of the present application when used as a pitch motor.

[0046] FIG8 is a schematic structural diagram of a second rotating assembly provided in one embodiment of the present application.

[0047] FIG9 is an exploded schematic diagram of a second rotating assembly provided by one embodiment of the present application.

[0048] FIG10 is a cross-sectional view of a second rotating assembly provided in one embodiment of the present application.

[0049] FIG11 is a schematic structural diagram of a second rotating seat provided in one embodiment of the present application.

[0050] FIG12 is an exploded schematic diagram of a second rotating seat and a fixed seat provided in one embodiment of the present application.

[0051] FIG13 is another structural schematic diagram of the second rotating assembly provided in one embodiment of the present application.

[0052] FIG14 is a cross-sectional view of the second rotating assembly provided in the embodiment of FIG13 of the present application taken along the dotted line.

[0053] FIG15 is a side view of a handheld gimbal provided in accordance with an embodiment of the present application.

[0054] FIG16 is another side view of the handheld gimbal provided in accordance with an embodiment of the present application.

[0055] FIG17 is another structural diagram of a handheld gimbal provided in accordance with an embodiment of the present application.

[0056] Reference numerals: 10, handheld gimbal; 20, shooting device; 100, first axis assembly; 110, first motor; 120, first axis arm; 200, second axis assembly; 210, second motor; 220, second axis arm; 300, third axis assembly; 310, third motor; 320, clamping member; 400, handle; 410, telescopic rod; 500, rotating mechanism; 510, first rotating base; 520, second rotating assembly; 521, second rotating base; 5211, main body; 5212, rotating shaft portion; 5213, connecting portion; 522, fixing base; 5221, rotating hole; 530, elastic member; 540, fastener; 550, limiting protrusion; 551, sliding surface; 552, top surface; 560, limiting groove; 561, buffer surface; 562, groove bottom; 571, first limiting rib; 572, second limiting rib; 600, control component; a, axis of the first motor; b, first rotating axis; c, second rotating axis. DETAILED DESCRIPTION

[0057] 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.

[0058] Referring to Figures 1, 2, 3, 4, 5, 6, and 7, in some embodiments, the present application provides a handheld gimbal 10 that can be used to control a camera 20. The handheld gimbal 10 includes a handle 400, an axis assembly, and a rotating mechanism 500. The axis assembly can be used to carry and drive the camera 20 to adjust the posture of the camera 20. The axis assembly includes a first axis assembly 100, which includes a first axis arm 120 and a first motor 110 connected to the first axis arm 120. The first motor 110 can drive the first axis arm 120 to rotate to drive the camera 20 to rotate, and the first motor 110 can serve as a pan motor or a tilt motor. As shown in Figures 2 and 3, the rotating mechanism 500 is arranged between the handle 400 and the first motor 110. The first motor 110 can rotate relative to the handle 400 through the rotating mechanism 500, so that the first motor 110 can switch from either the heading motor or the pitch motor to the other; as shown in Figure 1, the first motor 110 can be used as a heading motor; as shown in Figures 6 and 7, the first motor 110 can be used as a pitch motor.

[0059] Before describing the technical effects achieved by the embodiments of the present application, it is important to note that the axis assembly of some conventional handheld gimbals 10 often has multiple motors and shaft arms arranged in non-orthogonal configurations, requiring the coordinated operation of these multiple motors and shaft arms to adjust the pitch angle of the camera 20. Furthermore, due to the structural limitations of the axis assembly of such conventional handheld gimbals 10, the adjustment of the pitch angle of the camera 20 is very limited. Specifically, the rotational range of the camera 20 in pitch is relatively small, making it difficult to meet user requirements and impacting the user experience.

[0060] To address these issues, the handheld gimbal 10 described in the present application can provide at least the following beneficial effects: When a user uses the handheld gimbal 10, the camera 20 can generally be directed toward the user's face, driven by the axis assembly of the handheld gimbal 10, allowing the user to observe various shooting conditions of the camera 20. The first motor 110 of the axis assembly can be rotated relative to the handle 400 via a rotating mechanism 500, thereby converting the first motor 110 into a pitch motor or a pan motor. For example, as shown in FIG1 , when the handheld gimbal 10 is positioned horizontally, the first motor 110 can function as a pan motor, meaning that the axis a of the first motor is perpendicular to the horizontal ground. In this case, the first motor 110 can drive the camera 20 to rotate horizontally in front of the user, approximately parallel to the user's eyes. For another example, as shown in FIG6 and FIG7 , when the first motor 110 functions as a pitch motor, the axis a of the first motor is approximately parallel to the horizontal ground, allowing the first motor 110 to drive the camera 20 to pitch in front of the user.

[0061] In other words, the handheld gimbal 10 of the present application does not need the linkage of multiple motors as the traditional handheld gimbal 10 mentioned above generally requires to adjust the pitch angle of the shooting device 20; the axis assembly of the present application is more streamlined in structure, and when it drives the shooting device 20 to make a pitch movement, it only needs to directly convert the first motor 110 into a pitch motor. Only the first motor 110 needs to work alone to achieve a large range of adjustment of the pitch angle of the shooting device 20, which improves the problem that the axis assembly in the traditional solution is too limited in pitch angle adjustment, and thus meets the user's needs for various usage scenarios that require the shooting device 20 to rotate significantly in pitch angle, enriches the shooting method, and meets the user's needs for shooting methods such as moving the lens, low camera position, shooting the sky and shooting the ground.

[0062] For example, in some common usage scenarios, when the user holds the handle 400 tightly with his hand, most of the time he may choose to adjust the shooting device 20 to a position higher than the handle 400, so that the shooting device 20 is roughly at the same height as the human eye, which is convenient for the user to observe the screen of the shooting device 20 to understand the shooting situation. Therefore, increasing the pitch working angle of the handheld gimbal 10 is more in line with the user's common posture of the handheld gimbal 10 and the shooting device 20 it holds, and is more in line with the user's usage habits, thereby bringing a better usage experience to the user.

[0063] For another example, in a usage scenario where the user needs to move the camera to shoot, the first motor 110 of the handheld gimbal 10 of the present application has a larger pitch stroke when pitching, which can achieve smooth lens tracking and maintain a stable picture when tracking a moving subject, allowing the audience to feel the dynamic impact.

[0064] For example, in a usage scenario where the user needs to shoot from a low position, the first motor 110 of the handheld gimbal 10 of the present application has a larger pitch stroke when used as a pitch, allowing the photographer to easily tilt the camera down to the ground or below the human eye angle, creating a unique visual effect. This low-angle shooting can enhance the immersion of the scene and make the audience feel close to the subject.

[0065] For example, in a usage scenario where the user needs to look up at a low position to shoot, the first motor 110 of the handheld gimbal 10 of the present application has a larger pitch stroke when used as a pitch, allowing the photographer to raise the camera of the shooting device 20 to a sufficient angle to capture the scenery at a high altitude.

[0066] For example, in a usage scenario where the user needs to shoot from a high position while looking down, the first motor 110 of the handheld gimbal 10 of the present application has a larger pitch stroke when used as a pitch, allowing the photographer to look down at the ground with the camera of the shooting equipment 20 to capture specific terrain, buildings, crowds, etc. This shooting method can present a new angle and perspective, allowing the audience to have a deeper understanding of the scene on the ground and a better observation effect.

[0067] In addition, since the handheld gimbal 10 of the present application only requires the first motor 110 to control the pitch movement of the shooting device 20, the overall user experience is improved.

[0068] Referring to Figures 1, 4, 5, 6, and 7, in some embodiments, the first motor 110 can be rotated relative to the handle 400 to a first position and a second position via the rotation mechanism 500. As shown in Figure 1, in the first position, the first motor 110 can function as a pan motor; and as shown in Figures 6 and 7, in the second position, the first motor 110 can function as a tilt motor.

[0069] Specifically, as shown in Figures 6 and 7, in one embodiment, a control assembly 600 is provided on the outer circumference of the handle 400. When in the second position, the first motor 110 can drive the camera 20 via the first shaft arm 120 so that the orientation of the screen of the camera 20 is consistent with the orientation of the control assembly 600. The control assembly may include 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 camera 20. Taking the dial assembly and joystick as an example to briefly explain, the dial assembly is a control component that realizes the collection of user control instructions through different rotation amounts. When in use, the user can conveniently control 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 collection of user control instructions through movement and / or rotation of the rod body in different directions. When in use, the user can conveniently control the shooting device 20 by toggling the direction of the joystick. For example, the user can conveniently select one or several of the multiple focus points and change the rotation angle of the axis assembly by toggling the position of the joystick. Therefore, the setting of this embodiment makes the orientation of the screen of the shooting device 20 consistent with the orientation of the control component 600, which can be considered as a side shooting mode. This is to ensure that even when the first motor 110 of the axis assembly is used as a pitch motor, the shooting device 20 driven by the axis assembly and the control component 600 on the handle 400 can roughly face the user at the same time, so that the user can observe the shooting device 20 and operate the control component 600 at the same time, which is more convenient to operate and further enhances the user experience.

[0070] For example, in the embodiment shown in Figures 6 and 7, the control assembly 600 is a control panel, which is provided on the outer circumference of the handle 400. In the second position, the first motor 110 can drive the camera 20 via the first axis arm 120 so that the camera 20 is parallel to the control panel. The control panel on the handle 400 can be used to control the handheld gimbal 10 and / or the camera 20, such as adjusting the overall posture of the axis assembly or adjusting the operating state of the camera 20. Therefore, the arrangement of this embodiment, which places the camera 20 parallel to the control panel, can be considered a side-viewing mode. This ensures that even when the first motor 110 of the axis assembly is acting as a pitch motor, the camera 20 driven by the axis assembly and the control panel on the handle 400 can still be generally facing the user at the same time, allowing the user to simultaneously observe the camera 20 and operate the control panel, making operation more convenient and further enhancing the user experience.

[0071] Specifically, as shown in Figures 1, 6, and 7, in some embodiments, the axis a of the first motor in the first position shown in Figure 1 is arranged at an angle to the axis a of the first motor in the second position shown in Figures 6 and 7, and the angle is 85 to 95 degrees. This structural arrangement can be considered to mean that the axis a of the first motor when used as a panning motor is approximately perpendicular to the axis a of the first motor when used as a pitching motor. That is, when the first motor 110 switches back and forth between serving as a panning motor and a pitching motor, the axis a of the first motor changes by approximately 85 to 95 degrees. This is set because, on the one hand, from the user's perspective, they can only roughly feel that the angle of the first motor 110 has changed by about 90 degrees. On the other hand, there is no perfect 90 angle in the real world. Therefore, the angle between the axis a of the first motor in the first position and the axis a of the first motor in the second position is set to 85 degrees to 95 degrees. On the premise that the first motor 110 switches back and forth between the pitch motor and the yaw motor to meet the user's usage needs, it can also reduce the manufacturing precision requirements and assembly requirements of related components, reduce manufacturing difficulty, and improve yield rate and production efficiency.

[0072] Referring to FIG. 3 , in some embodiments, the rotation mechanism 500 includes a first rotating base 510 and a second rotating assembly 520 disposed on the handle 400 . The second rotating assembly 520 is rotatably connected to the first rotating base 510 , and the first rotating base 510 is fixedly connected to the first motor 110 . The first rotating base 510 is capable of driving the first motor 110 to rotate relative to the second rotating assembly 520 about a first rotation axis b, and the second rotating assembly 520 is capable of driving the first motor 110 to rotate relative to the handle 400 about a second rotation axis c, thereby enabling the first motor 110 to switch from being the pan motor to being the other. The first rotating base 510 and the first motor 110 are fixed, and the second rotating assembly 520 can drive the first motor 110 to rotate relative to the handle 400 via the first rotating base 510 . This better ensures that the first motor 110 is generally facing the user when driving the camera 20 to perform a tilting motion.

[0073] Furthermore, as shown in FIG8 , in some embodiments, the first rotation axis b and the second rotation axis c are perpendicular to each other.

[0074] Furthermore, in some embodiments, the first motor 110 can be driven by the first rotating base 510 to rotate relative to the second rotating assembly 520 to a first position and a second position. As shown in FIG1 , in the first position, the axis a of the first motor is parallel to the second rotating axis c of the second rotating assembly 520. As shown in FIG6 and FIG7 , in the second position, the axis a of the first motor is perpendicular to the second rotating axis c of the second rotating assembly 520.

[0075] Referring to Figures 6, 7, 8, 9, 10, 15, and 16, in some embodiments, the second rotating assembly 520 includes a fixed base 522 disposed on the handle 400 and a second rotating base 521 rotatably connected to the fixed base 522 about the second rotation axis c. The first rotating base 510 can drive the first motor 110 to rotate about the first rotation axis b relative to the second rotating base 521, and the second rotating base 521 can drive the first motor 110 to rotate about the second rotation axis c. As shown in Figures 15 and 16, the second rotating assembly 520 can increase the adjustment of the first motor 110 in terms of the heading angle, allowing it to have a larger adjustment angle for the camera 20. In addition, when the user uses the handheld gimbal 10, the user usually wants the control panel on the handle 400 to face himself for easy control, and the pitch movement of the pitch motor is relative to the user, so the second rotating seat 521 is required to drive the first motor 110 to rotate around the second rotation axis c to ensure that the first motor 110 can be used as a pitch motor when the control panel faces the user; for example, in the embodiments shown in Figures 6 and 7, when the first motor 110 is used as a pitch motor, the axis of the first motor 110 is not only roughly perpendicular to the second rotation axis c, but the axis a of the first motor is also roughly parallel to the control panel.

[0076] Specifically, as shown in Figures 1 and 3, in some embodiments, the handle 400 further includes a telescopic rod 410 disposed within the handle 400, the telescopic rod 410 being extendable and retractable along the second rotation axis c, and the fixing seat 522 being mounted at the top of the telescopic rod 410 and being extendable and retractable relative to the handle 400 as the telescopic rod 410 is extended or retracted. The telescopic rod 410 can be extended or retracted relative to the handle 400, allowing the user to flexibly adjust the length of the telescopic rod 410 according to actual needs, thereby adjusting the distance between the shaft assembly connecting the top of the telescopic rod 410 and the handle 400, and further adjusting the distance between the camera 20 carried and driven by the shaft assembly and the handle 400, thereby adapting to the user's usage needs in different scenarios.

[0077] More specifically, in some embodiments, the handheld gimbal 10 further includes a wire fixed to the telescopic rod 410, one end of the wire being electrically connected to the battery and control panel in the handle 400, and the other end of the wire being electrically connected to the axis assembly, the battery being used to power the axis assembly, and the control panel being used to control the movement of the axis assembly.

[0078] More specifically, as shown in FIG1 , in some embodiments, the end surface of the top of the handle 400 can be set perpendicular to the axis of the handle 400, which can be considered that the end surface of the top of the handle 400 is horizontal. In other embodiments, as shown in FIG17 , the end surface of the top of the handle 400 can also be set at an angle to the axis of the handle 400, which can be considered that the end surface of the top of the handle 400 is inclined. For example, when the first motor 110 is in the first position, that is, the first motor 110 serves as a heading motor and is located at the top of the handle 400, and the end surface of the top of the handle 400 is set at an angle to the axis of the handle 400, if the telescopic rod 410 is in the retracted state, in order to achieve a better storage effect, the first motor 110 can be slightly rotated relative to the end surface of the top of the handle 400 through the rotating mechanism 500 until the housing of the first motor 110 is completely attached to the top of the handle 400. More specifically, the bottom of the first motor 110 is fixed to the first rotating seat 510 , that is, the first rotating seat 510 can rotate relative to the second rotating seat 521 until the housing of the first motor 110 fits with the inclined end surface of the top of the handle 400 .

[0079] More specifically, as shown in Figures 9, 10, 11, 12, 13 and 14, in some embodiments, the second rotating assembly 520 further includes an elastic member 530, the second rotating seat 521 is connected to the fixed seat 522 via the elastic member 530, and the second rotating seat 521 can rotate relative to the fixed seat 522 along the circumference of the fixed seat 522, and either the second rotating seat 521 or the fixed seat 522 is provided with a plurality of limit stops arranged at intervals along the circumference. The other of the second rotating seat 521 and the fixed seat 522 is provided with a plurality of circumferentially spaced limiting protrusions 550, and the limiting protrusions 550 can be extended into the limiting grooves 560 under the elastic action of the elastic member 530; wherein, when the second rotating seat 521 rotates relative to the fixed seat 522, any of the limiting protrusions 550 can overcome the elastic force of the elastic member 530 and move from one limiting groove 560 to another limiting groove 560. For example, in the embodiment shown in FIG11, the limiting protrusions 550 are provided on the second rotating seat 521, and the limiting grooves 560 are provided on the fixed seat 522; for another example, in other embodiments, the limiting grooves 560 are provided on the second rotating seat 521, and the limiting protrusions 550 are provided on the fixed seat 522.

[0080] As will be appreciated, if the limiting protrusions 550 and the limiting grooves 560 were not provided, the second rotating base 521 could rotate relatively easily relative to the fixed base 522. This could cause the shaft assembly and the camera device 20 to shift position when the user is holding the handheld gimbal 10 in motion, thereby affecting the user's normal filming. However, with this arrangement in this embodiment, even if the handheld gimbal 10 experiences some overall wobbling during use, the elastic force of the elastic member 530 can still hold the limiting protrusions 550 in place within the limiting grooves 560, thereby reducing the risk of the shaft assembly and the camera device 20 shifting position due to rotation of the second rotating base 521 relative to the fixed base 522 without human intervention. However, if the user actively desires to rotate the second rotating base 521 relative to the fixed base 522, they can apply a rotational force to the second rotating base 521 until either limiting protrusion 550 overcomes the elastic force of the elastic member 530 and moves from one limiting groove 560 to the other.

[0081] Furthermore, as shown in Figures 11 and 12, in some embodiments, a plurality of the limiting grooves 560 are arranged at equal intervals along the circumference of the fixed seat 522, and a plurality of the limiting protrusions 550 are arranged at equal intervals along the circumference of the second rotating seat 521. This structural arrangement means that when any limiting protrusion 550 moves from the previous limiting groove 560 to the next limiting groove 560, the change in the rotation angle of the second rotating seat 521 relative to the fixed seat 522 is the same. For example, as shown in Figures 11 and 12, when there are four limiting grooves 560 and four limiting protrusions 550, the four limiting grooves 560 are evenly spaced along the circumference of the fixed seat 522, and the four limiting protrusions 550 are evenly spaced along the circumference of the second rotating seat 521. Then, when a user moves any limiting protrusion 550 from a previous limiting groove 560 to a next limiting groove 560, the rotation angle of the second rotating seat 521 relative to the fixed seat 522 changes by approximately 90 degrees. Similarly, if there are three limiting grooves 560 and three limiting protrusions 550, when a user moves any limiting protrusion 550 from a previous limiting groove 560 to a next limiting groove 560, the rotation angle of the second rotating seat 521 relative to the fixed seat 522 changes by approximately 120 degrees. This is just a simple example and does not indicate or imply that the number of the limiting protrusions 550 and the limiting grooves 560 can only be the above-mentioned ones. It can be understood that the number of the limiting protrusions 550 and the limiting grooves 560 can also be two, five or more, which can be adjusted according to actual needs.

[0082] Furthermore, as shown in FIG. 11 , in some embodiments, each of the limiting protrusions 550 has two sliding surfaces 551 disposed opposite to each other along the circumference of the second rotating seat 521 .

[0083] Furthermore, as shown in FIG. 12 , in some embodiments, each of the limiting grooves 560 has two buffer surfaces 561 that are spaced apart from each other along the circumference of the fixing seat 522 .

[0084] Furthermore, as shown in FIG. 14 , in some embodiments, the limiting protrusion 550 is adapted to the limiting groove 560 .

[0085] Specifically, in some embodiments, the buffer surface 561 on either side is arranged at a first predetermined angle with the groove bottom 562 of the limiting groove 560, and the first predetermined angle is 30-120 degrees. The 30-120 degree angle between the buffer surface 561 and the groove bottom 562 of the limiting groove 560 can reduce the difficulty of removing the limiting protrusion 550 from the limiting groove 560 to a certain extent, and prevent the connection between the limiting protrusion 550 and the limiting groove 560 from being too tight, which would make it difficult for the user to rotate the second rotating seat 521 relative to the fixed seat 522. It can be understood that the smaller the angle of the first predetermined angle is, the steeper the buffer surface 561 is relative to the bottom 562 of the limiting groove 560, and the more difficult it is to move the limiting protrusion 550 out of the limiting groove 560, and the relative fixing effect of the second rotating seat 521 and the fixed seat 522 is also better; the larger the angle of the first predetermined angle is, the smoother the transition between the buffer surface 561 and the bottom 562 of the limiting groove 560 is, and the less difficult it is to move the limiting protrusion 550 out of the limiting groove 560.

[0086] More specifically, in some embodiments, the first predetermined angle is 60-90 degrees.

[0087] Specifically, in some embodiments, the sliding surface 551 on either side is arranged at a second predetermined angle with the top surface 552 of the limiting protrusion 550, and the second predetermined angle is 30-120 degrees. The 30-120 degree angle between the sliding surface 551 and the top surface 552 of the limiting protrusion 550 can reduce the difficulty of removing the limiting protrusion 550 from the limiting groove 560 to a certain extent, thereby preventing the connection between the limiting protrusion 550 and the limiting groove 560 from being too tight, making it difficult for the user to rotate the second rotating seat 521 relative to the fixed seat 522. It can be understood that the smaller the second predetermined angle is, the steeper the sliding surface 551 is relative to the top surface 552 of the limiting protrusion 550, and the more difficult it is to move the limiting protrusion 550 out of the limiting groove 560, and the better the relative fixing effect of the second rotating seat 521 and the fixed seat 522; the larger the second predetermined angle is, the smoother the transition between the sliding surface 551 and the top surface 552 of the limiting protrusion 550 is, and the less difficult it is to move the limiting protrusion 550 out of the limiting groove 560.

[0088] More specifically, in some embodiments, the second predetermined angle is 60-90 degrees.

[0089] Referring to Figures 11 and 12 , in some embodiments, the second rotating seat 521 is provided with a first limiting rib 571, and the fixed seat 522 is provided with a second limiting rib 572. The second limiting rib 572 is located in the rotational path of the first limiting rib 571 to limit the rotation of the second rotating seat 521 relative to the fixed seat 522. It is understood that if the second rotating seat 521 always rotates in either a clockwise or counterclockwise direction, it may damage surrounding electronic components such as wires. However, this arrangement in this embodiment prevents the second rotating seat 521 from rotating unrestrictedly relative to the fixed seat 522.

[0090] Please refer to FIG. 10 . In some embodiments, the fixing seat 522 has a top side and a bottom side disposed opposite to each other and is provided with a rotation hole 5221 . The rotation hole 5221 passes through the top side and the bottom side. The second rotating seat 521 includes a main body 5211 and a rotating shaft portion 5212 and a connecting portion 5213 connected to opposite sides of the main body 5211. The connecting portion 5213 is rotatably connected to the first rotating seat 510. The main body 5211 is located on the top side of the fixed seat 522. The rotating shaft portion 5212 is passed through the fixed seat 522 through the rotating hole 5221, and the rotating shaft portion 5212 can pull the main body 5211 to abut against the top side of the fixed seat 522 under the elastic force of the elastic member 530. Either the main body 5211 or the top side of the fixed seat 522 is provided with the limiting groove 560, and the other of the main body 5211 and the top side of the fixed seat 522 is provided with the limiting protrusion 550.

[0091] Furthermore, as shown in Figures 9 and 10, in some embodiments, the second rotating assembly 520 further includes a fastener 540, which is disposed at an end of the rotating shaft portion 5212 away from the main body 5211. One end of the elastic member 530 elastically abuts against the fastener 540, and the other end of the elastic member 530 elastically abuts against the bottom side of the fixing seat 522. The elastic member 530 may be a compression spring, etc., and the fastener 540 may be a retaining spring, etc.

[0092] In some embodiments, the handheld gimbal 10 further includes a sensor for sensing the posture of the axis assembly to confirm whether the first motor 110 is in the second position. The sensor may include but is not limited to an accelerometer, a gyroscope, a magnetometer, a posture sensor chip, and a visual sensor. When the sensor senses that the first motor 110 is in the second position, the handheld gimbal is in side shooting mode. The first motor of the handheld gimbal in side shooting mode is switched to a pitch motor, and the corresponding limit angle for controlling the pitch will also increase. This can obtain an accurate gimbal posture, better understand the user's intention, and enhance the user experience.

[0093] In some embodiments, the sensor includes a first attitude sensor and a second attitude sensor. The first attitude sensor is located within the shaft assembly and is configured to sense the attitude of the shaft assembly and generate a corresponding first attitude value. The second attitude sensor is located within the handle 400 and is configured to sense the attitude of the handle 400 and generate a corresponding second attitude value. Whether the first motor 110 is in the second position is determined by the difference between the first attitude value and the second attitude value. The first attitude sensor is located within the shaft assembly and is configured to sense the attitude of the shaft assembly and generate a corresponding first attitude value. This helps determine information such as the direction, tilt angle, or rotation angle of the shaft assembly, thereby determining the attitude of the shaft assembly. The second attitude sensor is located within the handle 400 and is configured to sense the attitude of the handle 400 and generate a corresponding second attitude value. This helps determine information such as the direction, tilt angle, or rotation angle of the handle 400, thereby determining the attitude of the handle 400. By comparing the difference between the first attitude value and the second attitude value, it is possible to determine whether the first motor 110 is in the second position relative to the handle 400. This comparison is based on the relative attitude information between the shaft assembly and the handle 400, thereby determining the position state of the motor. In short, this embodiment cleverly uses the first posture sensor and the second posture sensor to obtain and judge the posture information of the axis assembly and the handle 400 to detect the current posture of the handheld gimbal 10. It can determine whether the first motor 110 is in the second position, which helps to realize the posture control, position detection or motion monitoring functions of the relevant equipment or system.

[0094] Please refer to Figure 1. In some embodiments, the first shaft arm 120 has two ends far away from each other, one of the stator and the rotor of the first motor 110 is fixed to the first rotating seat 510, and the other of the stator and the rotor of the first motor 110 is fixed to one end of the first shaft arm 120 and is used to drive the first shaft arm 120.

[0095] Specifically, as shown in Figures 15 and 16, in some embodiments, the shaft assembly further includes a second shaft assembly 200 and a third shaft assembly 300; the second shaft assembly 200 includes a second motor 210 provided on the first shaft arm 120 and a second shaft arm 220 connected to the second motor 210, the second shaft arm 220 has two ends away from each other, one of the stator and the rotor of the second motor 210 is fixed to the other end of the first shaft arm 120, and the other of the stator and the rotor of the second motor 210 is fixed to one end of the second shaft arm 220, and the second motor 210 is used to drive the second shaft arm 220 to rotate; the third shaft assembly 300 includes a third motor 310 provided on the second shaft arm 220 and a On the clamping member 320 that clamps the shooting device 20, either the stator or the rotor of the third motor 310 is fixed to the other end of the second shaft arm 220, and the other of the stator or the rotor of the third motor 310 is connected to the clamping member 320 and is used to drive the rotation of the clamping member 320 and the shooting device 20; wherein, in the first position, the first motor 110 can be used as a heading motor, the second motor 210 can be used as a pitch motor, and the third motor 310 can be used as a roll motor; in the second position, the first motor 110 can be used as a pitch (PITCH) motor, the second motor 210 can be used as a heading (YAW) motor, and the third motor 310 can be used as a roll (ROLL) motor. The shape of the first shaft arm 120 can be any one of a straight arm, a curved arm, and an arc-shaped arm, and the shape of the second shaft arm 220 can be any one of a straight arm, a curved arm, and an arc-shaped arm, as long as they can satisfy the requirement that when the first motor 110 switches between the first position and the second position, the entire shaft assembly can normally and coordinately drive the shooting device 20 to move. In addition, it should be noted that the above further explanation of the first motor 110, the second motor 210, and the third motor 310 mentioned herein is intended to assist in understanding the working effect of the handheld gimbal 10 of the present application, and does not indicate or imply that the first motor 110, the second motor 210, and the third motor 310 can only be as described above. Therefore, the above can be understood more broadly as long as the beneficial effects to be achieved by the handheld gimbal 10 of the present application can be met.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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 for controlling a shooting device, characterized in that Comprising: A handle; A shaft assembly, the shaft assembly including a first shaft assembly, the first shaft assembly including a first shaft arm and a first motor connected to the first shaft arm, the first motor being capable of driving the first shaft arm to rotate to drive the rotation of the photographing device, and the first motor being capable of serving as a yaw motor or a pitch motor; A rotation mechanism, the rotation mechanism being provided between the handle and the first motor, the first motor being capable of rotating relative to the handle through the rotation mechanism, so that the first motor can be switched from either one of the yaw motor and the pitch motor to the other.

2. The handheld gimbal according to claim 1, wherein The first motor can rotate relative to the handle to a first position and a second position through the rotation mechanism; when in the first position, the first motor can serve as a yaw motor; when in the second position, the first motor can serve as a pitch motor.

3. The handheld gimbal according to claim 2, wherein, A control component is provided on the outer circumferential surface of the handle. When in the second position, the first motor can drive the photographing device through the first shaft arm, so that the photographing device is parallel to the control component; Or, a control component is provided on the outer circumferential surface of the handle. When in the second position, the first motor can drive the photographing device through the first shaft arm, so that the orientation of the screen of the photographing device is consistent with the orientation of the control component.

4. The handheld gimbal according to claim 2, characterized in that, The axis of the first motor in the first position and the axis of the first motor in the second position are arranged at an included angle, and the included angle is 85 degrees to 95 degrees.

5. The handheld gimbal according to claim 3, wherein, The rotation mechanism includes a first rotating seat and a second rotating component provided on the handle. The second rotating component is rotatably connected to the first rotating seat, and the first rotating seat is fixedly connected to the first motor; the first rotating seat can drive the first motor to rotate around a first rotation axis relative to the second rotating component, and the second rotating component can drive the first motor to rotate around a second rotation axis relative to the handle, so that the first motor can be switched from either one of the yaw motor and the pitch motor to the other.

6. The handheld gimbal according to claim 5, wherein, The first rotation axis and the second rotation axis are perpendicular to each other.

7. The handheld gimbal according to claim 5, wherein, The first motor can rotate relative to the second rotating component to the first position and the second position under the drive of the first rotating seat; when in the first position, the axis of the first motor is parallel to the second rotation axis of the second rotating component; when in the second position, the axis of the first motor is perpendicular to the second rotation axis of the second rotating component.

8. The handheld gimbal according to claim 5, wherein The second rotating component includes a fixed seat provided on the handle and a second rotating seat rotatably connected to the fixed seat around the second rotation axis. The first rotating seat can drive the first motor to rotate around the first rotation axis relative to the second rotating seat, and the second rotating seat can drive the first motor to rotate around the second rotation axis.

9. The handheld gimbal according to claim 8, wherein, The handle further includes a telescopic rod provided inside the handle. The telescopic rod can be telescoped along the second axis. The fixed seat is installed at the top of the telescopic rod and can be telescoped relative to the handle under the telescoping of the telescopic rod.

10. The handheld gimbal according to claim 9, characterized in that, The handheld gimbal further includes a wire fixed to the telescopic rod. One end of the wire is electrically connected to the battery and the control component inside the handle, and the other end of the wire is electrically connected to the shaft component. The battery is used to supply power to the shaft component, and the control component is used to control the movement of the shaft component.

11. The handheld gimbal according to claim 8, wherein, The second rotating assembly further includes an elastic member. The second rotating seat is connected to the fixed seat through the elastic member, and the second rotating seat can rotate relative to the fixed seat along the circumferential direction of the fixed seat. Either one of the second rotating seat and the fixed seat is provided with a plurality of limiting grooves arranged at intervals along the circumferential direction, and the other one of the second rotating seat and the fixed seat is provided with a plurality of limiting protrusions arranged at intervals along the circumferential direction. The limiting protrusions can extend into the limiting grooves under the elastic action of the elastic member; wherein, when the second rotating seat rotates relative to the fixed seat, any one of the limiting protrusions can overcome the elastic force of the elastic member and move from one limiting groove to another limiting groove.

12. The handheld gimbal according to claim 11, wherein, The plurality of limiting grooves are arranged at equal intervals along the circumferential direction of the fixed seat, and the plurality of limiting protrusions are arranged at equal intervals along the circumferential direction of the second rotating seat.

13. The handheld gimbal according to claim 11, wherein, Each of the limiting grooves has two buffer surfaces arranged at intervals relative to each other along the circumferential direction of the fixed seat; and / or, each of the limiting protrusions has two sliding surfaces arranged in opposite directions along the circumferential direction of the second rotating seat; and / or, the limiting protrusions are adapted to the limiting grooves.

14. The handheld gimbal according to claim 13, wherein, Any one of the buffer surfaces forms an angle with the bottom of the limiting groove at a first predetermined angle, and the first predetermined angle is 30 - 120 degrees.

15. The hand-held gimbal according to claim 14, wherein The first predetermined angle is 60 - 90 degrees.

16. The handheld gimbal according to claim 13, wherein Any one of the sliding surfaces forms an angle with the top surface of the limiting protrusion at a second predetermined angle, and the second predetermined angle is 30 - 120 degrees.

17. The handheld gimbal according to claim 16, wherein The second predetermined angle is 60 - 90 degrees.

18. The handheld gimbal according to claim 11, wherein, The second rotating seat is provided with a first limiting rib, and the fixed seat is provided with a second limiting rib. The second limiting rib is located on the rotation path of the first limiting rib to limit the rotation of the second rotating seat relative to the fixed seat.

19. The handheld gimbal according to claim 11, wherein, The fixed seat has a top side and a bottom side arranged in opposite directions and is provided with a rotation hole that penetrates the top side and the bottom side. The second rotating seat includes a main body and a rotating shaft portion and a connecting portion connected to opposite sides of the main body. The connecting portion is rotatably connected to the first rotating seat. The main body is located on the top side of the fixed seat. The rotating shaft portion passes through the rotation hole and is disposed in the fixed seat, and the rotating shaft portion can pull the main body to abut against the top side of the fixed seat under the elastic force of the elastic member. Either one of the main body and the top side of the fixed seat is provided with the limiting groove, and the other one of the main body and the top side of the fixed seat is provided with the limiting protrusion.

20. The hand-held gimbal according to claim 19, characterized in that, The second rotating assembly further includes a fastener. The fastener is disposed at one end of the rotating shaft portion away from the main body. One end of the elastic member elastically abuts against the fastener, and the other end of the elastic member elastically abuts against the bottom side of the fixed seat.

21. The handheld gimbal according to any one of claims 1 to 20, characterized in that, The handheld gimbal further includes a sensor for sensing the attitude of the shaft assembly to confirm whether the first motor is in the second position.

22. The handheld gimbal according to claim 21, wherein, The sensor includes a first attitude sensor and a second attitude sensor. The first attitude sensor is disposed within the shaft assembly for sensing the attitude of the shaft assembly and generating a corresponding first attitude value. The second attitude sensor is disposed within the handle for sensing the attitude of the handle and generating a corresponding second attitude value. The difference between the first attitude value and the second attitude value is used to determine whether the first motor is in the second position.

23. The handheld gimbal according to any one of claims 2 to 20, characterized in that, The shaft assembly further includes a second shaft assembly and a third shaft assembly. The second shaft assembly includes a second motor disposed on the first shaft arm and a second shaft arm connected to the second motor. The second motor is used to drive the second shaft arm to rotate. The third shaft assembly includes a third motor disposed on the second shaft arm and a clamping member for clamping a photographing device. The third motor is connected to the clamping member and is used to drive the clamping member and the photographing device to rotate. Wherein, in the first position, the first motor can act as a yaw motor, the second motor can act as a pitch motor, and the third motor can act as a roll motor. In the second position, the first motor can act as a pitch motor, the second motor can act as a yaw motor, and the third motor can act as a roll motor.

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