WO2022193214A1

WO2022193214A1 - Handheld gimbal, photographic apparatus and movable platform

Info

Publication number: WO2022193214A1
Application number: PCT/CN2021/081476
Authority: WO
Inventors: 肖翔
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-03-18
Filing date: 2021-03-18
Publication date: 2022-09-22
Also published as: CN116568958A

Abstract

A handheld gimbal (100), comprising a handle (10), a first arm (20) and a second arm (30). The handle (10) comprises an upper end surface (11), a lower end surface (12) opposite the upper end surface (11), and a first side surface (13) connecting the upper end surface (11) and the lower end surface (12). The handheld gimbal (100) can be switched between a storage state and an unfolded state; and same has a small size, and is therefore convenient to carry and store.

Description

Handheld gimbal, camera device, and movable platform

technical field

The present application relates to the field of photography technology, and in particular, to a handheld gimbal, a photographing device, and a movable platform.

Background technique

When holding a photographing device, such as a mobile phone, for video or image photographing, shaking or blurring of the photographed image is easily caused by the user's shaking. Therefore, the user will mount the shooting device on the handheld gimbal for shooting, and the handheld gimbal can eliminate the jitter generated by the shooting device through reverse motion compensation, so that the mobile phone and other shooting devices can obtain stable shooting effects, and then obtain high-quality images. . However, the current handheld gimbal is relatively large, and the size is the same in the working state and the non-working state, which is inconvenient to carry and store.

SUMMARY OF THE INVENTION

Embodiments of the present application provide a handheld gimbal, a photographing device, and a movable platform.

The handheld pan/tilt head according to the embodiment of the present application includes a handle, a first arm, and a second arm. The handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface. The first arm is rotatably mounted on the first side surface. The second arm is rotatably attached to the first arm. Wherein, the hand-held pan/tilt can be switched between a storage state and an unfolded state, in the storage state, the first arm is opposite to the first side surface of the handle, and the second arm is opposite to the lower end surface .

Embodiments of the present application also provide another handheld pan/tilt head, which includes a handle, a first arm, a second arm, and a loading member. The handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface. The first arm is rotatably mounted on the first side surface about a first axis. The second arm is rotatably mounted to the first arm about a second axis. The carrier is rotatably mounted to the second arm about a third axis. Wherein, the handheld pan/tilt head can be switched between a stored state and an expanded state, and in the expanded state, the first axis, the second axis and the third axis are not orthogonal.

Embodiments of the present application also provide yet another handheld pan/tilt head, the handheld pan/tilt head includes a handle, a first arm, and a second arm. The handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface. The first arm is rotatably mounted on the first side surface, the first arm includes a first sub-arm and a second sub-arm, and the second sub-arm is rotatably connected to the first sub-arm through a connecting shaft . The second arm is rotatably mounted to the second sub-arm. Wherein, the handheld pan/tilt can be switched between a storage state and an unfolded state, and during the switching process, the first sub-arm and the second sub-arm can rotate relative to each other.

An embodiment of the present application provides a photographing device, wherein the photographing device includes the handheld gimbal and a photographing device according to any of the above embodiments, and the photographing device is mounted on a loading part of the handheld gimbal.

An embodiment of the present application provides a movable platform, and the movable platform includes the handheld gimbal and the movable platform body described in any of the above embodiments; the handheld gimbal is installed on the movable platform body.

In the handheld pan/tilt, photographing device, and movable platform of the embodiments of the present application, the handheld pan/tilt can be switched between the storage state and the unfolded state. When the handheld pan/tilt is in the retracted state, the structure of the handheld pan/tilt is very compact, so that Store in storage.

Additional aspects and advantages of embodiments of the present application will be set forth, in part, in the following description, and in part will be apparent from the following description, or learned by practice of embodiments of the present application.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

1 is a schematic perspective view of a handheld gimbal in a storage state according to some embodiments of the present application;

2 is a schematic perspective view of a handheld gimbal in an unfolded state according to some embodiments of the present application;

3 is a schematic perspective view of a handheld gimbal and a minimum envelope cube of the handheld gimbal according to some embodiments of the present application;

4 is a schematic perspective view of a handheld gimbal and a minimum envelope cube of the handheld gimbal according to some embodiments of the present application;

5 is a schematic diagram of the projection of the handheld pan/tilt head on the longitudinal section of the handle according to some embodiments of the present application;

6 is a schematic perspective view of a handheld gimbal and a photographing device according to some embodiments of the present application;

FIG. 7 is a schematic diagram of a handheld gimbal according to some embodiments of the present application;

8 is a schematic diagram of a handheld gimbal according to some embodiments of the present application;

9 is a schematic diagram of a handheld pan/tilt according to some embodiments of the present application;

10 is a schematic perspective view of the handheld gimbal in an intermediate state according to some embodiments of the present application;

11 is a schematic perspective view of a handheld gimbal according to some embodiments of the present application;

12 is a schematic diagram of a use state of the tripod assembly of the handheld gimbal according to some embodiments of the present application;

13 is a schematic perspective view of a photographing device according to some embodiments of the present application;

14 is a schematic diagram of a movable platform of certain embodiments of the present application.

Detailed ways

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present application, and should not be construed as a limitation on the present application.

In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "thickness", "upper", "top", "bottom", "inner", "outer", etc. The orientation or positional relationship is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the application . In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined as "first", "second" may expressly or implicitly include one or more features. In the description of the present application, "plurality" means two or more, unless otherwise expressly and specifically defined.

In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be mechanical connection, electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relation.

When holding a photographing device, such as a mobile phone, for video or image photographing, shaking or blurring of the photographed image is easily caused by the user's shaking. Therefore, the user will mount the shooting device on the handheld gimbal for shooting, and the handheld gimbal can eliminate the jitter generated by the shooting device through reverse motion compensation, so that the mobile phone and other shooting devices can obtain stable shooting effects, and then obtain high-quality images. . However, the inventor found that the current handheld pan/tilt has a large volume, and the volume is the same in the working state and the non-working state, which is inconvenient to carry and store.

The embodiments of the present application provide a handheld pan/tilt that can be switched between a storage state and an unfolded state. When the handheld pan/tilt is in the retracted state, the structure of the handheld pan/tilt is very compact, which is convenient for storage and storage.

In one embodiment, a handheld head includes a handle, a first arm, and a second arm. The handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface. The first arm is rotatably mounted on the first side surface. The second arm is rotatably attached to the first arm. Wherein, the hand-held pan/tilt can be switched between a storage state and an unfolded state, in the storage state, the first arm is opposite to the first side surface of the handle, and the second arm is opposite to the lower end surface .

In one embodiment, the handheld head includes a handle, a first arm, a second arm, and a loading member. The handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface. The first arm is rotatably mounted on the first side surface about a first axis. The second arm is rotatably mounted to the first arm about a second axis. The carrier is rotatably mounted to the second arm about a third axis. Wherein, the handheld pan/tilt head can be switched between a stored state and an expanded state, and in the expanded state, the first axis, the second axis and the third axis are not orthogonal.

In one embodiment, the handheld head includes a handle, a first arm, and a second arm. The handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface. The first arm is rotatably mounted on the first side surface, the first arm includes a first sub-arm and a second sub-arm, and the second sub-arm is rotatably connected to the first sub-arm through a connecting shaft . The second arm is rotatably mounted to the second sub-arm. Wherein, the handheld pan/tilt can be switched between a storage state and an unfolded state, and during the switching process, the first sub-arm and the second sub-arm can rotate relative to each other.

Embodiments of the present application further provide a photographing device, wherein the photographing device includes the handheld gimbal and a photographing device described in any of the above embodiments, and the photographing device is mounted on a loading part of the handheld gimbal.

Embodiments of the present application further provide a movable platform, the movable platform includes the handheld pan-tilt and movable platform body described in any of the above embodiments; the handheld pan-tilt is installed on the movable platform body.

The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and arrangements of specific examples are described below. Of course, they are only examples and are not intended to limit the application. Furthermore, this application may repeat reference numerals and/or reference letters in different instances for the purpose of simplicity and clarity, and does not in itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, this application provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

Please refer to FIG. 1 and FIG. 2 , the present application provides a handheld gimbal 100 . The handheld platform 100 includes a handle 10 , a first arm 20 , and a second arm 30 . The handle 10 includes an upper end surface 11 , a lower end surface 12 opposite to the upper end surface 11 , and a first side surface 13 connecting the upper end surface 11 and the lower end surface 12 . The first arm 20 is rotatably attached to the first side surface 13 . The second arm 30 is rotatably attached to the first arm 20 . The handheld pan/tilt 100 can be switched between a storage state and an unfolded state. In the storage state, the first arm 20 faces the first side surface 13 of the handle 10 , and the second arm 30 faces the lower end face 12 .

FIG. 1 is a schematic diagram of the handheld gimbal 100 in a storage state. When the handheld pan/tilt head 100 is in the storage state, the first arm 20 and the second arm 30 are approximately in an "L" shape, the first arm 20 is opposite to the first side surface 13 of the handle 10, the second arm 30 is opposite to the lower end surface 12, Thereby the handle 10 is half wrapped. In this way, the gap between the handle 10 , the first arm 20 , and the second arm 30 can be as small as possible, so that the handheld pan/tilt head 100 in the stored state has a compact structure.

FIG. 2 is a schematic diagram of the handheld gimbal 100 in an unfolded state. When the handheld gimbal 100 is in the unfolded state, the handheld gimbal 100 is a three-axis gimbal, which can stabilize the camera 200 (shown in FIG. 6 ) such as a mobile phone and a camera mounted on the second arm 30 to ensure shooting The image captured by the device 200 is stable.

The first arm 20 is rotatably mounted on the first side surface 13 , so that the first arm 20 can be rotated relative to the handle 10 , which can not only switch the unfolded or stored state of the handheld pan/tilt 100 , but also adjust the load on the handheld pan/tilt 100 . The photographing angle of the photographing device 200 (as shown in FIG. 6 ). The second arm 30 is rotatably mounted on the first arm 20, so that the second arm 30 can be rotated relative to the first arm 20, which can not only adjust the photographing angle of the photographing device 200 mounted on the handheld platform 100, but also rotate to The preset storage angle is such that the gap between the second arm 30 and the handle 10 is as small as possible in the storage state, so that the storage space occupied by the handheld pan/tilt head 100 in the storage state is as small as possible.

Please refer to FIGS. 3 and 4 . FIG. 3 is a schematic diagram of the minimum envelope cube V1 of the handheld pan/tilt head 100 in a retracted state, and FIG. 4 is a schematic diagram of the minimum envelope cube V2 of the handheld pan/tilt head 100 in an unfolded state. The volume of the smallest enveloping cube of an object can characterize how much space it occupies when it is contained. It can be seen that the volume of the minimum envelope cube V1 is much smaller than the volume of the minimum envelope cube V2. Compared with the unfolded state, the space occupied by the handheld gimbal 100 in the folded state is greatly reduced, which is convenient for storage and portability.

The handheld gimbal 100 according to the embodiment of the present application can be switched between the storage state and the unfolded state. When the handheld gimbal 100 is in the storage state, the first arm 20 is opposite to the first side surface 13 of the handle 10 , and the second arm 30 is opposite to the lower end surface. 12 are opposite to each other, so that the handheld gimbal 100 in the storage state has a compact structure and is convenient to carry and store.

Further description will be given below in conjunction with the accompanying drawings.

Please refer to FIG. 1 and FIG. 5 , in some embodiments, in the storage state, the projection of the handheld pan/tilt head 100 on the longitudinal section of the handle 10 is in the shape of a racetrack. Specifically, in the storage state, the long side of the first arm 20 is flush with the long side of the handle 10 . Viewed from the projection direction, the projection of the second arm 30 on the longitudinal section of the handle 10 is completely covered by the projection of the first arm 20 on the longitudinal section of the handle 10 . In this way, the projected outer contour of the handheld pan/tilt 100 on the longitudinal section of the handle 10 forms a symmetrical racetrack shape, so that the handheld pan/tilt 100 is easy to store and carry. In addition, the projection of the hand-held pan/tilt 100 on the longitudinal section of the handle 10 is in the shape of a track, so that no matter in the unfolded state or the stored state, when it comes into contact with other external objects, the contact surface is smooth and the contact stress is small, which can reduce the exposure to the outside world. damage to other objects. In other embodiments, the projection of the hand-held pan/tilt head 100 on the longitudinal section of the handle 10 may also be in other shapes such as a rectangle, a square, a circle, or an ellipse.

Please refer to FIG. 1 and FIG. 2 , in some embodiments, the handheld gimbal 100 may further include a first rotating shaft (not shown) and a second rotating shaft (not shown), the first arm 20 passing through the first rotating shaft The second arm 30 is rotatably mounted on the first arm 20 through the second rotating shaft. Wherein, the first rotating shaft can rotate around the first axis L1, and the second rotating shaft can rotate around the second axis L2. In one embodiment, the first rotating shaft and the second rotating shaft are connected with a damper. When the handheld gimbal 100 is in the stowed state or the unfolded state, the damper has a greater damping, so that the handheld gimbal 100 can be kept in the stowed state or in the unfolded state. The unfolded state is not deformed; when switching the stowed state or the unfolded state of the handheld pan/tilt head 100, a force greater than the damping of the damper is provided, so that the handheld pan/tilt head 100 can be freely switched between the stowed state and the unfolded state. In another embodiment, the first rotating shaft and the second rotating shaft are provided with a shaft locking structure. When the handheld gimbal 100 is in the stowed state or the unfolded state, the first rotating shaft and the second rotating shaft are locked, so that the handheld gimbal 100 can keep It is not deformed in the stowed state or the unfolded state; when switching the stowed state or the unfolded state of the handheld gimbal 100 , the first and second rotating shafts are unlocked, so that the handheld gimbal 100 can be freely switched between the stowed state and the unfolded state .

In some embodiments, the handheld pan/tilt 100 further includes a first motor 51 , a second motor 53 , a third motor 55 , and a loading member 40 , and the first arm 20 is rotatably mounted on the first side surface 13 through the first motor 51 . , the second arm 30 is rotatably mounted on the first arm 20 by the second motor 53 , and the loading member 40 is rotatably mounted on the second arm 30 by the third motor 55 . The first motor 51 may include a first body accommodated in the handle 10 and a first rotating shaft extending from the first body, the first arm 20 is sleeved on the first rotating shaft of the first motor 51 , and the first rotating shaft is around the first axis L1 rotates to drive the first arm 20 to rotate relative to the handle 10 also around the first axis L1. The second motor 53 may include a second body accommodated in the first arm 20 and a second shaft extending from the second body. The second arm 30 is sleeved on the second shaft of the second motor 53 , and the second shaft surrounds the first shaft. The two axes L2 are rotated to drive the second arm 30 to rotate relative to the first arm 20 also around the second axis L2. The loading member 40 is used for loading the photographing device 200 such as a mobile phone and a camera. The third motor 55 may include a third body accommodated in the second arm 30 and a third rotating shaft extending from the third body. The loading member 40 is sleeved on the third rotating shaft of the third motor 55, and the third rotating shaft can rotate around the third rotating shaft. The rotation of the three axes L3 drives the loading member 40 to rotate relative to the second arm 30 around the second axis L3 to adjust the orientation of the photographing device 200 loaded on the loading member 40 .

In some embodiments, when the handheld gimbal 100 is in the storage state, the loading member 40 can face the lower end surface 12 , so that the handheld gimbal 100 in the storage state has a compact structure and saves storage space.

Referring to FIG. 2 , in one embodiment, the loading member 40 may include a suction cup 41 , and the suction cup 41 includes at least one of a magnetic suction cup or a pneumatic suction cup, and the suction cup 41 fixes the photographing device 200 on the loading member 40 in a suction manner. Taking the photographing device 200 as a mobile phone as an example, when the mobile phone is covered with a mobile phone case made of metal or alloy, a magnetic suction cup can be used to fix the mobile phone. When the mobile phone case has a mobile phone case made of rubber, resin, silicone, plastic, metal or alloy material, an air pressure suction cup can be used to fix the mobile phone.

Referring to FIG. 6 , in another embodiment, the loading member 40 may include a mobile phone clip 60 , and the mobile phone clip 60 fixes the photographing device 200 to the loading member 40 in a clamping manner. Taking the photographing device 200 as a mobile phone as an example, no matter whether the mobile phone is covered with a mobile phone case, and what the material of the mobile phone case is, the mobile phone can be fixed by clamping.

Please refer to FIG. 2 and FIG. 6 , in another embodiment, the loading member 40 may include a magnetic first suction cup 41 , the hand-held pan/tilt 100 may further include a mobile phone clip 60 , and the mobile phone clip 60 includes a magnetic second suction cup 61 , The second suction cup 61 is sucked to the first suction cup 41 so that the mobile phone holder 60 is mounted on the loading member 40 . The first suction cup 41 is connected with the third rotating shaft of the third motor 55, so that the loading member 40 can rotate relative to the second arm 30 around the third axis L3. Specifically, the first suction cup 41 is provided with a non-circular groove 411, the second suction cup 61 includes a protrusion 611 corresponding to the groove 411, and the protrusion 611 is accommodated in the groove 411; or the second suction cup 61 is provided with a non-circular groove 411. A circular groove, the first suction cup 41 includes a protrusion corresponding to the groove, and the protrusion is accommodated in the groove. In this way, the photographing device 200 can be fixed by the mobile phone clip 60, and the first suction cup 41 can be driven by the third motor 55 to rotate relative to the second arm 30 around the third axis L3, so that the The mobile phone holder 60 can be rotated relative to the second arm 30 around the third axis L3 , so as to adjust the shooting angle of the shooting device 200 . In addition, the cooperation between the non-circular groove 411 and the protrusion 611 can prevent the first suction cup 41 and the second suction cup 61 from rotating relative to each other during the process of adjusting the shooting angle of the shooting device 200 , ensuring that the first suction cup 41 and the second suction cup 61 rotate relative to each other. The second suction cup 61 is relatively fixed, which improves the stability of the photographing device 200 .

Referring to FIG. 1 and FIG. 2 , in some embodiments, the first side surface 13 includes a first sub-surface 131 and a second sub-surface 133 that are connected to each other by bending. The first motor 51 is disposed on the first sub-surface 131 , for example, disposed below the first sub-surface 131 , passing through the first sub-surface 131 , or disposed above the first sub-surface 131 , which is not limited herein.

Referring to FIGS. 2 and 7 , in some embodiments, the first side surface 13 includes a first sub-surface 131 and a second sub-surface 133 that are connected to each other, the first motor 51 is disposed on the first sub-surface 131 , and the first arm 20 is rotatably mounted on the first sub-surface 131 by the first motor 51 . The value range of the included angle λ1 between the length direction of the second sub-surface 133 and the first rotating shaft of the first motor 51 (equivalent to the first axis L1 ) is (50°, 120°), for example, the included angle λ1 Values can be 51°, 57°, 60°, 64°, 72°, 78°, 80°, 83°, 86°, 90°, 95°, 100°, 105°, 110°, 114°, 119° Wait, I won't list them one by one here. When a person holds the handle 10 and uses the photographing device 200 mounted on the handheld gimbal 100 in the unfolded state to photograph, it is usually necessary to first aim the photographing device 200 at the object in the horizontal position, and then adjust the first arm 20, the second arm 30, And the rotation angle of the loading member 40 around the first axis L1, the second axis L2, and the third axis L3 is used to fine-tune the shooting angle. If the included angle λ1 is less than 50° or the included angle λ1 is greater than 120°, the angle between the first arm 20 and the handle 10 will be too small or too large, so that the user needs to adjust the angle of the arm when shooting objects in a horizontal position, and keep the Shoot in a comfortable position. In the embodiment of the present application, the value range of the included angle λ1 is (50°, 120°), so that when the user holds the handle 10 and uses the photographing device 200 mounted on the handheld gimbal 100 in the unfolded state to shoot, he only needs to extend his arm naturally. Shooting can be done, and there is no need to adjust the holding posture to an unnatural and uncomfortable posture in order to cooperate with the handheld gimbal, thereby improving the user's holding comfort during shooting. Further, in one embodiment, the value of the included angle λ1 is 80°, so that the user can hold the handle 10 in a natural and comfortable posture to photograph an object in a horizontal position, and on the basis that the photographing device 200 is aligned with the horizontal position , the handheld platform 100 can satisfy most of the shooting angles by adjusting the rotation angles of the first arm 20, the second arm 30, and the loading member 40 around the first axis L1, the second axis L2, and the third axis L3, respectively, Moreover, the handle 10 can be held in a natural and comfortable posture at most shooting angles.

Please refer to FIG. 2 and FIG. 8 , in some embodiments, the value range of the included angle λ2 between the length direction of the envelope cube V3 of the handle 10 and the first rotation axis of the first motor 51 is (50°, 120° °), for example, the value of the included angle λ2 can be 51°, 57°, 60°, 64°, 72°, 78°, 80°, 83°, 86°, 90°, 95°, 100°, 105° , 110°, 114°, 119°, etc., which are not listed here. In combination with the foregoing, when the included angle λ2 between the length direction of the envelope cube V3 of the handle 10 and the rotation axis of the first motor 51 and the included angle between the length direction of the second sub-surface 133 and the rotation axis of the first motor 51 When the value range of λ1 is the same, the effect of improving the user's holding comfort during shooting can also be achieved. For details, please refer to the foregoing description, which will not be repeated here. Further, in one embodiment, the value of the included angle λ2 is 80°, so that the user can hold the handle 10 in a natural and comfortable posture to photograph objects in a horizontal position, and on the basis that the photographing device 200 is aligned with the horizontal position , the handheld platform 100 can satisfy most of the shooting angles by adjusting the rotation angles of the first arm 20, the second arm 30, and the loading member 40 around the first axis L1, the second axis L2, and the third axis L3, respectively, Moreover, the handle 10 can be held in a natural and comfortable posture at most shooting angles.

Referring to FIGS. 2 and 9 , in some embodiments, the first arm 20 includes a first sub-arm 21 and a second sub-arm 22 , and the first sub-arm 21 is rotatably connected to the handle through the first rotor of the first motor 51 . 10. The second sub-arm 22 is rotatably connected to the first sub-arm 21 through the connecting shaft 23 . Specifically, referring to FIG. 9 , the first sub-arm 21 includes a first surface 211 , the second sub-arm 22 includes a second surface 221 , the first surface 211 is in contact with the second surface 221 , and the connecting shaft 23 is disposed on the first surface 211 or the second side 221. When the handheld pan/tilt head 100 is in the storage state, the longitudinal direction of the second sub-arm 22 is parallel to the second sub-surface 133 .

Please refer to FIG. 1 and FIG. 10 , in the process of switching between the storage state and the unfolded state of the handheld pan/tilt head 100 , the first sub-arm 21 and the second sub-arm 22 can rotate relative to each other. In the process of switching between the stored state and the unfolded state, the handheld platform 100 has an intermediate state. When the handheld platform 100 is in the middle state, the second sub-arm 22 does not overlap with the handle 10 , so that the second sub-arm 22 is away from the handle 10 .

For example, when the handheld gimbal 100 is in the storage state shown in FIG. 1 , the handheld gimbal 100 can drive the first arm 20 to rotate relative to the handle 10 through the first motor 51 to switch to the intermediate state as shown in FIG. 9 . When the handheld gimbal 100 is in the middle state, the second sub-arm 22 is far away from the handle 10, and the handheld gimbal 100 can drive the second sub-arm 22 to rotate relative to the first sub-arm 21 by rotating the connecting shaft 23, so as to switch as shown in FIG. 2 Expanded state shown.

When the handheld pan/tilt head 100 is in an intermediate state, the orientation in FIG. 10 is adjusted so that the first axis L1 is the pitch axis, the second axis L2 is the yaw axis, and the third axis L3 is the roll axis. When the handheld gimbal 100 is in the unfolded state, the first axis L1 is the yaw axis, the second axis L2 is the pitch axis, and the third axis L3 is the roll axis. Due to the limitation of the control principle of the three-axis gimbal, when the pitch axis is located between the yaw axis and the roll axis, the controllable range of the pitch axis generally does not exceed ±45°. However, to switch the camera position from the horizontal viewing angle to the elevation viewing angle or the top-down angle, the handheld gimbal 100 needs at least the controllable range of the pitch axis of the handheld gimbal 100 to reach ±90°, so the handheld gimbal 100 is difficult to satisfy the tilt angle when the handheld gimbal 100 is in the unfolded state. Shooting needs from a viewing angle or a top-down angle. The handheld gimbal 100 of the embodiment of the present application can be switched to the intermediate state. When the handheld gimbal 100 is in the intermediate state, the first axis L1 of the handheld gimbal 100 can be the pitch axis, which can achieve a controllable range of ±180°, that is, The first arm 20 can rotate about the first axis L1 relative to the handle 10 by ±180°. When the user is holding the hand-held pan/tilt 100 in the middle state to shoot, it can achieve low-camera photography, which is well suited for low-camera photography. The shooting needs of a large elevation angle or a large top-down angle.

Please refer to FIG. 1 and FIG. 7 , in some embodiments, the angle θ1 between the length direction of the first sub-arm 21 and the length direction of the second sub-arm 22 in the unfolded state is smaller than the angle θ1 of the first sub-arm 21 in the retracted state The included angle θ2 between the longitudinal direction and the longitudinal direction of the second sub-arm 22 . In this way, after switching from the unfolded state to the storage state, the storage space occupied will be greatly reduced.

Referring to FIGS. 1 , 7 and 10 , in some embodiments, the angle θ3 between the longitudinal direction of the first sub-arm 21 and the longitudinal direction of the second sub-arm 22 in the intermediate state is equal to the first sub-arm in the stored state. The included angle θ2 between the length direction of the arm 21 and the length direction of the second sub-arm 22 . That is, when the handheld pan/tilt head 100 is switched between the intermediate state and the storage state, the angle between the longitudinal direction of the first sub-arm 21 and the longitudinal direction of the second sub-arm 22 remains unchanged, and the first sub-arm 21 and the second sub-arm 22 remain unchanged. 22 do not rotate relative to each other, so as to ensure that the moving paths of the first arm 20 and the second arm 30 are not blocked by the handle 10 when the handheld platform 100 is switched between the intermediate state and the storage state. Specifically, when the handheld pan/tilt head 100 is switched between the intermediate state and the storage state, since the gap between the first arm 20 and the handle 10 is very small, there is not enough space for the first sub-arm 21 to face the second sub-arm 22 Rotate around the connecting shaft 23 . If the first sub-arm 21 is forcibly rotated relative to the second sub-arm 22 around the connecting shaft 23 , the first sub-arm 21 , the second sub-arm 22 , and the handle 10 will be worn.

Referring to FIG. 9 , in some embodiments, the value range of the included angle α between the length direction of the first sub-arm 21 and the connecting shaft 23 is (25°, 65°), for example, the value of the included angle α It can be 26°, 30°, 34°, 38°, 42°, 45°, 48°, 50°, 53°, 58°, 60°, 64°, etc., which are not listed here.

In some embodiments, the value range of the included angle β between the length direction of the second sub-arm 22 and the connecting shaft 23 is (25°, 65°), for example, the value of the included angle β may be 26°, 30°, 34°, 38°, 42°, 45°, 48°, 50°, 53°, 58°, 60°, 64°, etc., which are not listed here.

Please refer to FIG. 10 , if the value of the included angle α is less than 25°, and the value of the included angle β is less than 25°, then the length direction of the first sub-arm 21 and the length direction of the second sub-arm 22 in the handheld gimbal 100 in the unfolded state The included angle θ2 in the length direction is too large, which causes the user to naturally stretch out his arms to hold the handle 10. When photographing an object in a horizontal position through the photographing device 200 mounted on the hand-held head 100, the photographing device 200 cannot be aligned with the horizontal position. Adjust the holding position to an unnatural and uncomfortable position for use with the gimbal. Please refer to FIG. 11 , if the value of the included angle α is greater than 65°, and the value of the included angle β is greater than 65°, the length direction of the first sub-arm 21 and the length direction of the second sub-arm 22 in the handheld gimbal 100 in the unfolded state The included angle θ2 in the length direction is too small, which also causes the user to adjust the holding posture to an unnatural and uncomfortable posture in order to use the gimbal. In the embodiment of the present application, the value range of the included angle α is (25°, 65°), and the value range of the included angle β is (25°, 65°), so that the user can hold the handle in a natural and comfortable posture 10Shooting objects in a horizontal position. Further, in one embodiment, the value of the included angle α is 38°, and the value of the included angle β is 48°, so that the user can hold the handle 10 in a natural and comfortable posture to shoot the object in the horizontal position, and then On the basis that the photographing device 200 is aligned with the horizontal position, the handheld platform 100 can adjust the positions of the first arm 20, the second arm 30, and the loading member 40 around the first axis L1, the second axis L2, and the third axis L3, respectively. The rotation angle satisfies most shooting angles, and the handle 10 can be held in a natural and comfortable posture under most shooting angles.

Referring to FIG. 10 , in some embodiments, the supplementary angle of the included angle between the length direction of the first sub-arm 21 and the length direction of the second sub-arm 22

The range of values is (-30°, 40°), such as a supplementary angle

The value of can be -29°, -20°, -15°, -10°, 0°, 10°, 15°, 20°, 25°, 30°, 35°, 39°, etc., different here an enumeration. Specifically, please refer to Figure 7, the supplementary angle

At the same time, it is also the complementary angle of the included angle λ1 between the length direction of the second sub-surface 133 and the rotation axis of the first motor 51 (equivalent to the first axis L1 ). Since there is an included angle λ1 between the length direction of the second sub-surface 133 and the rotation axis of the first motor 51 , in order to make the handheld pan/tilt head 100 in the stored state compact, the value range of the included angle λ1 is (50°, 120°), therefore the supplementary angle of the included angle between the length direction of the first sub-arm 21 and the length direction of the second sub-arm 22

The value range of is (-30°, 40°). In one embodiment, the value of the included angle λ1 is 80°, and the supplementary angle

The value of is 10°, so that the handheld gimbal 100 can be switched to the storage state, and the handheld gimbal 100 in the storage state has a compact structure and can save storage space.

Referring to FIG. 11 , in some embodiments, at least one side surface of the handle 10 connected to the upper end surface 11 or the lower end surface 12 is provided with a functional module 70 . The function module 70 includes at least one of a touch panel 74 , a control button, a status indicating device, or a display screen. The function module 70 is used for displaying the status information of the handheld gimbal 100 or the photographing device 200 mounted on the handheld gimbal 100 , or for the user to operate to control the handheld gimbal 100 or the photographing device 200 .

Please refer to FIG. 1 , in one embodiment, the first side surface 13 is provided with a functional module 70 , and in the storage state, there is a gap between the first arm 20 and the first side surface 13 to prevent the first arm 20 from pressing the functional module 70 . wrong operation.

In some embodiments, the function module 70 includes a first button 71 and a second button 72 . The first button 71 is used to control the working state of the handheld PTZ 100 . For example, the first button 71 is used to control the switching between normal operation, shutdown, standby, automatic follow focus, manual follow focus and other modes of the handheld gimbal 100 . The second button 72 is used to control the photographing device 200 mounted on the mount 40 to photograph images. For example, the second button 72 is used to control the photographing apparatus 200 to perform operations such as taking pictures, taking pictures, and adjusting the focus.

In some embodiments, the function module 70 includes an indicator light 73 , and the indicator light 73 is used to indicate the working state of the handheld pan/tilt 100 . For example, when the indicator light 73 is off, it indicates that the handheld gimbal 100 is in an off state; when the indicator light 73 is always on, it indicates that the handheld gimbal 100 is in a standby state; when the indicator light 73 is always on, it indicates that the handheld gimbal 100 is in a normal operating state; When the yellow light of the indicator light 73 is always on, it indicates that the handheld gimbal 100 is in the automatic follow focus state. When the yellow light of the indicator light 73 is flashing, it indicates that the handheld gimbal 100 is in the manual follow focus state, etc. The indicator light 73 indicates the working state of the handheld gimbal 100. The methods are not limited to the above-mentioned methods, and are not listed one by one here.

In some embodiments, the functional module 70 includes a touch panel 74, and the touch panel 74 is used to control the rotation of at least one of the first arm 20, the second arm 30, and the loading member 40, so as to adjust the load on the loading member. The orientation of the photographing device 200 on 40 , and locking the photographing device 200 in the target orientation. For example, after the touchpad 74 is clicked, the control of the first arm 20 is entered. When the finger presses the touchpad 74 and drags it in a certain direction, the first arm 20 will then move toward the first axis L1 relative to the handle 10 in this direction. Rotate the direction until the finger stops dragging or the finger leaves the touchpad 74; after clicking the touchpad 74 again, the control of the first arm 20 will be released. 10 is relatively fixed, that is, the first arm 20 will not be able to move relative to the handle 10 . The manner in which the touch panel 74 controls the rotation of at least one of the first arm 20 , the second arm 30 , and the loading member 40 is not limited to the manner described above, and will not be listed one by one here.

In some embodiments, the functional module 70 includes a port 75 that can be used for charging the handheld pan/tilt 100 to provide power for a motor in the handheld pan/tilt 100 . The port 75 can also be used for data transmission of the handheld pan/tilt 100 . For example, the port 75 is used for data transmission between the handheld platform 100 and the photographing device 200 mounted on the mount 40 , so that the user can control the photographing device 200 to photograph images through the function module 70 . For another example, the port 75 is used for data transmission between the handheld pan/tilt 100 and terminal devices such as computers and mobile phones, so that the user can remotely control the handheld pan/tilt 100 through the terminal device, or enable the handheld pan/tilt 100 to update data from the terminal device.

In some embodiments, the handheld pan/tilt head 100 further includes an inertial measurement unit (not shown in the figure), and the inertial measurement unit is disposed inside the handle 10 . The inertial measurement unit is used to measure the three-axis attitude angle and acceleration of the handheld gimbal 100, so that the handheld gimbal 100 can automatically control the first arm 20, the second arm 30, and the loading member 40 according to the measurement data obtained by the inertial measurement unit. at least one rotation, so that the hand-held head 100 can maintain balance.

Referring to FIG. 1 , in some embodiments, when the handheld gimbal 100 is in a stowed state, the first axis L1 , the second axis L2 and the third axis L3 are all non-orthogonal.

The first axis L1 and the second axis L2 are not orthogonal. Specifically, when the handheld platform 100 is in the storage state, the second axis L2 is perpendicular to the plane where the second sub-surface 133 of the first side surface 13 is located, and the first axis L1 is opposite to The plane on which the first sub-surface 131 of the first side surface 13 is located has a preset inclination angle. In this way, in the stored state, there is a gap between the first arm 20 and the first side surface 13 . When the first side surface 13 is provided with the functional module 70 , the first arm 20 can prevent the functional module 70 from being pressed by the first arm 20 to cause misoperation or wear.

The second axis L2 is non-orthogonal to the third axis L3, so that the loading member 40 in the storage state can face the lower end surface 12 of the handle 10, so as to reduce the storage space.

The first axis L1 and the third axis L3 are non-orthogonal, so that the loading member 40 in the storage state can face the lower end surface 12 of the handle 10 to reduce the storage space.

Referring to FIG. 2 , in some embodiments, when the handheld pan/tilt head 100 is in the unfolded state, the first axis L1 , the second axis L2 and the third axis L3 are all non-orthogonal. Specifically, in the deployed state, the first axis L1 is the yaw axis, the first arm 20 can rotate around the yaw axis, the second axis L2 is the pitch axis, the second arm 30 can rotate around the pitch axis, and the third axis L3 For the roll axis, the loading member 40 can rotate around the roll axis, so that the handle 10, the first arm 20, the second arm 30, and the loading member 40 of the hand-held pan/tilt head 100 constitute a three-axis pan/tilt, so that the hand-held pan/tilt head 100 is loaded on the hand-held pan/tilt head to form a three-axis pan/tilt. The photographing device 200 of 100 can satisfy multiple angles of photographing such as pitch angle, yaw angle, and roll angle.

In some embodiments, during the process of switching between the stowed state and the unfolded state of the handheld pan/tilt head 100, the first axis L1, the second axis L2 and the third axis L3 are all kept non-orthogonal. In this way, even if the handheld gimbal 100 is not in the unfolded state, as long as the handheld gimbal 100 is equipped with the photographing device 200, the photographing device 200 can capture multiple angles such as pitch angle, yaw angle, and roll angle.

Referring to FIG. 2 , in some embodiments, the range of the included angle ω between the second axis L2 and the third axis L3 is [30°, 60°], for example, the value of the included angle ω may be 30 °, 34°, 37°, 40°, 42°, 45°, 49°, 50°, 53°, 58°, 60°, etc., which are not listed here. If the included angle ω is less than 30°, the included angle ω between the second axis L2 and the third axis L3 is too small, the loading member 40 rotates relative to the second arm 30 around the third axis L3 and the second arm 30 rotates relative to the first arm 20 rotates around the second axis L2 and can adjust the shooting angle smaller. If the included angle ω is greater than 60°, when the second arm 30 rotates relative to the first arm 20 around the second axis L2 , the first arm 20 is likely to block the moving path of the photographing device 200 , resulting in a limited adjustable photographing angle. When the range of the included angle ω between the second axis L2 and the third axis L3 is [30°, 60°], the photographing device 200 mounted on the handheld platform 100 can have a larger angle adjustment range. Further, in one embodiment, the included angle ω between the second axis L2 and the third axis L3 is 45°, which not only satisfies the requirement that the moving path of the photographing device 200 is not blocked by the first arm 20 but also satisfies the second axis. The included angle ω between the axis L2 and the third axis L3 is sufficiently large, and the adjustable shooting angle is sufficiently large.

Referring to FIG. 1 and FIG. 12 , in some embodiments, the handheld gimbal 100 may further include a tripod assembly 80 . The stand assembly 80 is rotatably provided on the handle 10, and the stand assembly 80 can be switched between a folded state and a use state. As shown in FIG. 12 , in the use state, the tripod assembly 80 and the end of the handle 10 close to the lower end surface 12 are used to support the handle 10 together. As shown in FIG. 1 , in the folded state, the stand assembly 80 partially wraps the handle 10 .

When the tripod assembly 80 is switched to the use state, the tripod assembly 80 expands outward and forms a tripod structure together with the end of the handle 10 close to the lower end surface 12, so as to place the handheld gimbal 100 loaded with the photographing device 200 on a fixed position. position to shoot, so that the shooting picture is more stable. When the tripod assembly 80 is switched to the folded state, the tripod assembly 80 is folded inward to form a part of the handle 10 for the user to hold.

Referring to FIG. 2 , in some embodiments, the handle 10 includes a second side surface 14 opposite to the first side surface 13 , and the tripod assembly 80 is rotatably disposed on the second side surface 14 .

Please refer to FIG. 1 and FIG. 2 together. In some embodiments, in the folded state, the tripod assembly 80 protrudes from the lower end surface 12 to form a storage position 83 , and in the storage state, the second arm 30 is located at the storage position 83 . Specifically, the storage position 83 has at least one open side 831 , and the open side 831 is used for placing the second arm 30 into the storage position 83 . The storage position 83 can provide storage space for the second arm 30 in the storage state of the handheld gimbal 100 , so that the handheld gimbal 100 in the storage state has a compact structure and saves the space occupied by the tripod assembly 80 and the second arm 30 in the storage state.

In some embodiments, the storage position 83 has at least one protective side 833 that at least partially shields the second arm 30 to protect the second arm 30 from scratches. The connection between the second arm 30 and the first arm 20 is relatively fragile, and is easily damaged by external force, so that the second arm 30 cannot smoothly rotate relative to the first arm 20 . In the storage state of the handheld gimbal 100 , the second arm 30 is wrapped by the tripod assembly 80 . When the portable gimbal 100 in the storage state is squeezed or twisted, the tripod assembly 80 can protect the second arm 30 and the third leg assembly 80 . The connection between the second arm 30 and the first arm 20 prevents damage to the connection between the second arm 30 and the first arm 20 .

Further, referring to FIG. 12 , in some embodiments, the tripod assembly 80 may include a first tripod 81 and a second tripod 82 , and the first end of the first tripod 81 is rotatably disposed on the second side surface 14. The first end of the second leg frame 82 is rotatably disposed on the second side surface 14 . In the use state, the second end of the first leg frame 81 and the second end of the second leg frame 82 are located on opposite sides of the handle 10 respectively, and are used together with the end of the second side surface 14 close to the lower end surface 12 to The handle 10 is supported. In the folded state, the second end of the first leg frame 81 is in contact with the second end of the second leg frame 82 to form a storage position 83 , and the storage position 83 is used for accommodating the second arm 30 .

When the tripod assembly 80 is switched to the use state as shown in FIG. 12 , the first tripod 81 and the second tripod 82 are respectively extended outward, and together with the end of the handle 10 close to the lower end surface 12 form a tripod structure. When the tripod assembly 80 is switched to the folded state shown in FIG. 2 , the first tripod 81 and the second tripod 82 are respectively folded inward and connected to form a part of the handle 10 . The connected first leg frame 81 and the second leg frame 82 form a storage position 83 for placing the second arm 30 in the storage state of the handheld pan/tilt head 100 (as shown in FIG. 1 ).

Please refer to FIG. 12 , in some embodiments, the handle 10 further includes a third side 15 and a fourth side 16 opposite to each other, and the third side 15 and the fourth side 16 are connected to the first side 13 and the second side 14 , The second side 14 is provided with a first notch 141 and a second notch 143 , the first notch 141 penetrates part of the third side 15 , the second notch 143 penetrates part of the fourth side 16 , and the first notch 141 is used to partially accommodate the first tripod 81. The second gap 143 is used to partially accommodate the second tripod 82 . That is, when the tripod assembly 80 is switched to the use state, the first tripod 81 extends outward from the first notch 141 , and the second tripod 82 extends outward from the second gap 143 . When the tripod assembly 80 is switched to the folded state, the first tripod 81 is retracted into the first notch 141 , and the second tripod 82 is retracted into the second gap 143 , so as to further reduce the storage of the handheld gimbal 100 volume, thereby reducing the space occupied.

In some embodiments, the first leg frame 81 may include a first supporting portion 815 and a first wrapping portion 817 extending from the first supporting portion 815 , and the second leg frame 82 may include a second supporting portion 825 and a second supporting portion 817 . The second wrapping portion 827 of the portion 825 extends. In the use state, the first support portion 815 and the second support portion 825 support the handle 10 . In the folded state, the first support portion 815 is at least partially opposite to the second side surface 14 , the first wrapping portion 817 is at least partially received in the first cutout 141 , the second support portion 825 is at least partially opposite to the second side surface 14 , and the second wrapping portion is at least partially opposite to the second side surface 14 . 827 is at least partially received in the second gap 143 . When the handheld gimbal 100 is in the storage state, the first wrapping portion 817 and the second wrapping portion 827 can protect the second arm 30 and the connection between the second arm 30 and the first arm 20, and prevent the second arm 30 and the second arm The connection between 30 and the first arm 20 is damaged by external force.

In one embodiment, the first leg frame 81 is non-detachable and rotatably mounted on the second side surface 14, so that the installation of the first leg frame 81 is firm and reliable. In another embodiment, the first stand 81 can be detachably and rotatably mounted on the second side surface 14 to facilitate unloading, repair, maintenance and replacement of the first stand 81 . In one embodiment, the second leg bracket 82 is non-detachable and rotatably mounted on the second side surface 14 , so that the installation of the second leg bracket 82 is firm and reliable. In another embodiment, the second stand 82 is detachably and rotatably mounted on the second side surface 14 to facilitate unloading, repair, maintenance and replacement of the second stand 82 .

In some embodiments, the first leg frame 81 and the second leg frame 82 have a co-rotating axis (not shown), the first leg frame 81 and the second leg frame 82 can move synchronously around the rotation axis, or the first leg frame The frame 81 and the second leg frame 82 can respectively rotate around the same rotation axis.

In some embodiments, the first leg frame 81 and the second leg frame 82 rotate around two different rotation axes, for example, the first leg frame 81 rotates around a first rotation axis, and the second leg frame 82 rotates around a second rotation axis In this way, a shaft lock structure can be provided on the first rotating shaft and the second rotating shaft respectively, so as to be able to lock or unlock the first leg frame 81 and the second leg frame 82 respectively. The foot stand assembly 80 is lockable at least in the folded state and the in-use state so as to be able to remain in the folded or in-use state.

In one embodiment, the rotating shaft is provided with a limiting member, and the first leg frame 81 and/or the second leg frame 82 is provided with a positioning locking point. When the limiting member is matched with the positioning locking point, the first leg frame 81 and/or the positioning locking point Or the second tripod 82 is in a locked state and cannot be freely rotated around the rotation axis; the first tripod 81 and/or the second tripod 82 can be rotated with a little force to disengage the limiter from the positioning card point. When disengaged from the positioning card point, the first tripod 81 and/or the second tripod 82 are in an unlocked state and can freely rotate around the rotation axis.

In another embodiment, the rotating shaft is a camshaft, the first leg frame 81 and/or the second leg frame 82 are provided with a locking groove, and when the camshaft is matched with the locking groove, the first leg frame 81 and/or the second leg frame 81 and/or the second leg frame The foot bracket 82 is in the locked state and cannot rotate freely around the camshaft; the first foot bracket 81 and/or the second foot bracket 82 can be rotated with a little force to disengage the camshaft from the locking groove. When the camshaft is disengaged from the locking groove , the first leg frame 81 and/or the second leg frame 82 are in an unlocked state and can freely rotate around the camshaft.

To sum up, the handheld gimbal 100 of the embodiment of the present application can be switched between the storage state and the unfolded state. When the handheld gimbal 100 is in the storage state, the first arm 20 faces the first side 13 of the handle 10 , and the second arm 30 is opposite to the first side 13 of the handle 10 . Opposite to the lower end surface 12, the hand-held platform 100 in the stored state is compact in structure.

Please refer to FIG. 1 and FIG. 2 , the present application also provides a handheld gimbal 300 . The handheld platform 300 includes a handle 10 , a first arm 20 , a second arm 30 , and a loading member 40 . The handle 10 includes an upper end surface 11 , a lower end surface 12 opposite to the upper end surface 11 , and a first side surface 13 connecting the upper end surface 11 and the lower end surface 12 . The first arm 20 is rotatably mounted on the first side surface 13 around the first axis L1. The second arm 30 is rotatably attached to the first arm 20 about the second axis L2. The loading member 40 is rotatably mounted on the second arm 30 about the third axis L3. The handheld pan/tilt head 300 can be switched between the storage state shown in FIG. 1 and the unfolded state shown in FIG. 2 . In the unfolded state, the first axis L1 , the second axis L2 and the third axis L3 are all non-orthogonal.

When the user performs photography through the photographing device 200 mounted on the handheld platform 300 , it is often necessary to observe the image being photographed through the display screen of the photographing device 200 . When the handheld gimbal 300 of the embodiment of the present application is in the unfolded state, the first axis L1 , the second axis L2 and the third axis L3 are all non-orthogonal, so that when the user naturally holds the handle 10 to shoot, the first axis L1 , the second axis L2 and the third axis L3 are mounted on the handheld gimbal The angle of the display screen of the photographing device 200 of 100 is appropriate, so that the user can observe the picture being photographed through the display screen.

Please refer to FIG. 1 , FIG. 2 , and FIG. 10 , the present application further provides a handheld gimbal 400 . The handheld platform 400 includes a handle 10, a first arm 20, and a second arm 30. The handle 10 includes an upper end surface 11, a lower end surface 12 opposite to the upper end surface 11, and a first side surface 13 connecting the upper end surface 11 and the lower end surface 12. . The first arm 20 is rotatably mounted on the first side surface 13 , the first arm 20 includes a first sub-arm 21 and a second sub-arm 22 , and the second sub-arm 22 is rotatably connected to the first sub-arm 21 through a connecting shaft 23 . The second arm 30 is rotatably mounted to the second sub-arm 22 . Wherein, the handheld pan/tilt 100 can be switched between the storage state shown in FIG. 1 and the unfolded state shown in FIG. 2 . During the switching process, the handheld pan/tilt 100 has an intermediate state as shown in FIG. 10 , in the middle In the state, the second sub-arm 22 does not overlap with the handle 10 .

Specifically, when the handheld pan/tilt head 100 is in an intermediate state, the orientation in FIG. 10 is adjusted so that the first axis L1 is the pitch axis, the second axis L2 is the yaw axis, and the third axis L3 is the roll axis. When the handheld gimbal 100 is in the unfolded state, the first axis L1 is the yaw axis, the second axis L2 is the pitch axis, and the third axis L3 is the roll axis. The handheld gimbal 400 of the present application can be switched between the storage state, the intermediate state, and the unfolded state. When the handheld gimbal 400 is in the intermediate state, the first axis L1 of the handheld gimbal 400 is the pitch axis, which can achieve ±180° The controllable range, that is, the first arm 20 can rotate ±180° relative to the handle 10 around the first axis L1, when the user shoots at the bottom camera position or the high camera position, it can well meet the needs of a large elevation angle or a large top view angle. shooting needs.

Referring to FIG. 13 , the present application provides a photographing apparatus 1000 . The photographing device 1000 includes the handheld gimbal 100 of any of the above-mentioned embodiments, or the handheld gimbal 300 of any of the above-mentioned embodiments, or the handheld gimbal 400 of any of the above-mentioned embodiments, and a photographing device 200 , and the photographing device 200 is installed on the handheld platform. The mount 40 of the pan/tilt head 100 (100/300/400). The user can control the photographing device 200 by inputting a control command in the function module 70 of the handheld PTZ 100 (100/300/400), for example, controlling the photographing device 200 to take pictures, record videos, adjust the focus, and so on. In one embodiment, the photographing device 200 is fixedly installed on the loading member 40 of the handheld platform 100 (100/300/400), so that the installation is firm and reliable. In another embodiment, the photographing device 200 is detachably mounted on the loading member 40 of the handheld pan/tilt head 100 (100/300/400), so that the photographing device 200 of different models can be replaced to cope with different photographing scenes. In the photographing device 1000 of the embodiment of the present application, the handheld pan/tilt 100 can be switched between the storage state and the unfolded state. When the handheld pan/tilt 100 is in the retracted state, the handheld pan/tilt 100 has a very compact structure for easy storage and storage.

Please refer to FIG. 14 , the present application provides a movable platform 2000 , and the movable platform 2000 includes the handheld pan/tilt 100 of any of the foregoing embodiments, or the handheld pan/tilt 300 of any of the foregoing embodiments, or any of the foregoing embodiments. The handheld pan/tilt 400, the movable platform body 2100, and the handheld pan/tilt 100 (100/300/400) are installed on the movable platform body 2100. The movable platform 2000 may be a gimbal bracket, an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, or the like. The movable platform 2000 can carry the handheld gimbal 100 to move, so as to drive the handheld gimbal 100 (100/300/400) and the photographing device 1000 to move when the handheld gimbal 100 is loaded with the photographing device 1000, so as to be performed in places that are difficult for users to reach. shoot. For example, the movable platform 2000 is an unmanned aerial vehicle, and the unmanned aerial vehicle can carry the handheld gimbal 100 (100/300/400) loaded with the photographing device 1000 to photograph at a high altitude in an overhead view. In the mobile platform 2000 according to the embodiment of the present application, the handheld pan/tilt 100 (100/300/400) can be switched between the stored state and the unfolded state. When the handheld pan/tilt 100 (100/300/400) is in the stored state, The handheld gimbal 100 (100/300/400) has a very compact structure for easy storage.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc. A particular feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of this application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims

A hand-held PTZ is characterized in that, comprising:

a handle, the handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface;

a first arm rotatably mounted on the first side surface; and

The second arm is rotatably mounted on the first arm;

Wherein, the hand-held pan/tilt can be switched between a storage state and an unfolded state, in the storage state, the first arm is opposite to the first side surface of the handle, and the second arm is opposite to the lower end surface .
The hand-held pan/tilt head according to claim 1, wherein in the storage state, the projection of the hand-held pan/tilt head on the longitudinal section of the handle is in the shape of a racetrack.
The hand-held pan/tilt according to claim 1, wherein the hand-held pan/tilt further comprises a first motor, a second motor, a third motor, and a loading member, and the first arm is rotated by the first motor the second arm is rotatably mounted on the first arm by the second motor, the loading member is rotatably mounted on the second arm by the third motor, The first motor is rotatable about a first axis, the second motor is rotatable about a second axis, and the third motor is rotatable about a third axis.
The handheld pan/tilt head according to claim 3, wherein in the storage state, the first axis, the second axis and the third axis are not orthogonal.
The handheld pan/tilt head according to claim 3, wherein in the unfolded state, the first axis, the second axis and the third axis are all non-orthogonal.
The handheld pan/tilt head according to claim 3, wherein in the process of switching between the stored state and the unfolded state, the first axis, the second axis and the third axis are all Keep it non-orthogonal.
The handheld pan/tilt head according to claim 3, wherein the value of the included angle range between the second axis and the third axis is [XX, XX].
The hand-held platform according to claim 1, wherein in the storage state, there is a gap between the first arm and the first side surface, and the first side surface is provided with a function module, the function The module is used to display the status information of the handheld pan/tilt or the photographing device mounted on the handheld pan/tilt, or to be manipulated by a user to control the pan/tilt or the camera.
The handheld PTZ according to claim 8, wherein the functional module comprises at least one of a touch panel, a control button, a status indicating device, or a display screen.
The handheld pan/tilt head according to claim 1, wherein the hand-held pan/tilt head further comprises a first motor, the first side surface comprises the connected first sub-surface and the second sub-surface, the first sub-surface A motor is arranged on the first sub-surface, the first arm is rotatably mounted on the first sub-surface through the first motor, and the length direction of the second sub-surface is in line with the rotation axis of the first motor The value range of the included angle between them is (50°, 120°).
The handheld pan/tilt head according to claim 1, wherein the hand-held pan/tilt head further comprises a first motor, the first arm is rotatably mounted on the first side surface through the first motor, and the handle The value range of the included angle between the length direction of the enveloping cube and the rotation axis of the first motor is (50°, 120°).
The hand-held pan/tilt head according to claim 1, wherein the hand-held pan/tilt head further comprises a first motor, the first arm is rotatably mounted on the first side surface through the first motor, and the first arm is rotatably mounted on the first side surface. An arm includes a first sub-arm and a second sub-arm, the first sub-arm is rotatably connected to the first motor, and the second sub-arm is rotatably connected to the first sub-arm through a connecting shaft.
The handheld pan/tilt head according to claim 12, wherein the value range of the included angle between the length direction of the first sub-arm and the connecting shaft is (25°, 65°).
The handheld pan/tilt head according to claim 12, wherein the value range of the included angle between the length direction of the second sub-arm and the connecting shaft is (25°, 65°).
The hand-held platform according to claim 12, wherein the first sub-arm includes a first surface, the second sub-arm includes a second surface, and the first surface is in contact with the second surface, The connecting shaft is disposed on the first surface or the second surface.
The handheld platform according to claim 12, wherein in the unfolded state, the included angle between the longitudinal direction of the first sub-arm and the longitudinal direction of the second sub-arm is smaller than that in the stored state. The included angle between the length direction of the first sub-arm and the length direction of the second sub-arm.
The handheld gimbal according to claim 12, wherein during the switching process, the handheld gimbal has an intermediate state, in which the length direction of the first sub-arm and the second sub-arm are in the intermediate state. The included angle between the length directions of the first sub-arm is equal to the included angle between the length direction of the first sub-arm and the length direction of the second sub-arm in the storage state.
The handheld platform according to claim 12, wherein in the storage state, the value range of the supplementary angle of the included angle between the longitudinal direction of the first sub-arm and the longitudinal direction of the second sub-arm is (-30°, 40°).
The handheld gimbal according to claim 12, wherein the first side surface comprises the first sub-surface and the second sub-surface that are connected by bending, and the first motor is arranged on the first sub-surface. The length direction of the second sub-arm is parallel to the second sub-surface.
The hand-held platform according to claim 1, wherein the hand-held platform further comprises a tripod assembly, the tripod assembly is rotatably disposed on the handle, and the tripod assembly can be folded with Switching between use states, in the use state, the foot stand assembly and the end of the handle close to the lower end surface are used to support the handle together.
The hand-held platform according to claim 1, wherein the hand-held platform further comprises a tripod assembly, the tripod assembly is rotatably disposed on the handle, and the tripod assembly can be folded with Switching between use states, in the folded state, the foot stand assembly partially wraps the handle.
The hand-held platform according to claim 21, wherein in the folded state, the tripod assembly protrudes from the lower end surface to form a storage position, and in the storage state, the second arm located in the storage position.
The hand-held platform according to claim 22, wherein the storage position has at least one open side, and the open side is used for the second arm to be placed in the storage position.
The handheld platform according to claim 22, wherein the storage position has at least one protection side, and the protection side at least partially shields the second arm.
The hand-held platform according to any one of claims 20-24, wherein the handle comprises a second side surface opposite to the first side surface, and the foot stand assembly is rotatably arranged on the first side surface. Two sides.
The handheld platform according to claim 25, wherein the tripod assembly comprises a first tripod and a second tripod, and the first end of the first tripod is rotatably disposed on the second tripod. On the side surface, the first end of the second tripod is rotatably disposed on the second lateral surface, and in the use state, the second end of the first tripod and the second end of the second tripod They are respectively located on opposite sides of the handle, and are used together with the end of the second side surface close to the lower end surface to support the handle;
The handheld platform according to claim 25, wherein the tripod assembly comprises a first tripod and a second tripod, and the first end of the first tripod is rotatably disposed on the second tripod. On the side, the first end of the second leg is rotatably disposed on the second side, and in the folded state, the second end of the first leg and the second end of the second leg Connecting to form a storage position, the storage position is used for placing the second arm.
The hand-held platform according to claim 26 or 27, wherein the handle further comprises a third side surface and a fourth side surface opposite to each other, and the third side surface and the fourth side surface are both connected to the first side surface. side and the second side, the second side is provided with a first notch and a second notch, the first notch penetrates part of the third side, the second notch penetrates part of the fourth side, so The first gap is used to partially accommodate the first tripod, and the second gap is used to partially accommodate the second tripod.
The handheld platform according to claim 28, wherein the first tripod comprises a first support portion and a first wrapping portion extending from the first support portion, and in the use state, the first stand A support portion supports the handle. In the folded state, the first support portion is at least partially opposite to the second side surface, and the first wrapping portion is at least partially accommodated in the first notch.
The handheld platform according to claim 28, wherein the second tripod comprises a second support portion and a second wrapping portion extending from the second support portion, and in the use state, the first Two supporting parts support the handle. In the folded state, the second supporting part is at least partially opposite to the second side surface, and the second wrapping part is at least partially accommodated in the second notch.
The hand-held platform according to claim 28, wherein the first tripod and the second tripod have a co-rotating axis; or, the first tripod and the second tripod surround two Different rotation axes turn.
The hand-held platform according to claim 28, wherein the first foot stand is detachably mounted on the second side surface; and/or the second foot stand is detachably mounted on the first foot stand Two sides.
The handheld platform according to claim 1, wherein the handheld platform further comprises a loading member, the loading member is rotatably mounted on the second arm, and the loading member is used for loading a photographing device.
The handheld pan/tilt head according to claim 33, wherein in the stored state, the loading member can face the lower end surface.
The hand-held platform according to claim 33, wherein the loading member comprises a suction cup or a mobile phone clip.
The handheld pan/tilt according to claim 33, wherein the suction cup comprises at least one of a magnetic suction cup or an air pressure suction cup.
The handheld pan/tilt head according to claim 33, wherein the loading member comprises a magnetic first suction cup, the hand-held pan/tilt head further comprises a mobile phone clip, the mobile phone clip comprises a magnetic second suction cup, the The second suction cup is adsorbed on the first suction cup so that the mobile phone clip is mounted on the loading member.
The hand-held platform according to claim 37, wherein the first suction cup is provided with a non-circular groove, the second suction cup comprises a protrusion corresponding to the groove, and the protrusion accommodates in said groove; or

The second suction cup is provided with a non-circular groove, the first suction cup includes a protrusion corresponding to the groove, and the protrusion is accommodated in the groove.
The hand-held pan/tilt according to claim 33, wherein at least one side of the handle connected to the upper end face or the lower end face is provided with a function module, and the function module is used to display the hand-held pan/tilt. Or the status information of the photographing device mounted on the loading piece or for the user to manipulate to control the pan/tilt or the photographing device.
The handheld PTZ according to claim 39, wherein the functional module comprises:

A first button, the first button is used to control the working state of the handheld pan/tilt; and/or

an indicator light, the indicator light is used to indicate the working state of the handheld pan/tilt; and/or

a second button, the second button is used to control the photographing device mounted on the loading member to photograph images; and/or

a touch panel, the touch panel is used to control the rotation of at least one of the first arm, the second arm, and the loading member, so as to adjust the orientation of the photographing device mounted on the loading member , and locking the camera in the target orientation; and/or

port, which is used for charging or data transfer.
The hand-held pan/tilt head according to claim 1, wherein the hand-held pan/tilt head further comprises an inertial measurement unit, and the inertial measurement unit is arranged inside the handle.
A hand-held PTZ is characterized in that, comprising:

a handle, the handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface;

a first arm, which is rotatably mounted on the first side surface around a first axis;

a second arm rotatably mounted to the first arm about a second axis; and

a loading member rotatably mounted on the second arm about a third axis;

Wherein, the handheld pan/tilt head can be switched between a stored state and an expanded state, and in the expanded state, the first axis, the second axis and the third axis are not orthogonal.
A hand-held PTZ is characterized in that, comprising:

a handle, the handle includes an upper end surface, a lower end surface opposite to the upper end surface, and a first side surface connecting the upper end surface and the lower end surface;

a first arm, the first arm is rotatably mounted on the first side surface, the first arm includes a first sub-arm and a second sub-arm, the second sub-arm is connected to the first sub-arm through a connecting shaft the sub-arm swivel connection; and

a second arm, the second arm is rotatably mounted on the second sub-arm;

Wherein, the handheld pan/tilt can be switched between a storage state and an unfolded state, and during the switching process, the first sub-arm and the second sub-arm can rotate relative to each other.
A photographing device, comprising:

The hand-held gimbal of any one of claims 1-43; and

A photographing device, the photographing device is mounted on the loading part of the handheld platform.
A movable platform, characterized in that, comprising:

The hand-held gimbal of any one of claims 1-43; and

A movable platform body; the handheld platform is installed on the movable platform body.