Holding device for camera

Abstract

The invention relates to a holding and moving device (10) for a useful load (36), comprising: a support foot (12); a support arm (20) pivotably fixed to the support foot (12) such that a useful load side portion (24) and a weight side portion (26) are formed; a first pivot arm (30) which is connected on the useful load side to the useful load side portion (24) of the support arm (20), and on which a useful load (36) and / or a holding device (32) for the useful load (36) can be or are attached; and a second pivot arm (40) which is connected on the weight side to a weight-side portion (26) of the support arm (20), the support arm (20), the first pivot arm (30) and the second pivot arm (40) are connected to one another such that the alignment of the first pivot arm (30) and the second pivot arm (40) is substantially parallel to one another in each position, and wherein the at least one counterweight (42, 44, 44 ') is attachable or attachable to the second pivot arm (40), and wherein the support arm (20), the first pivot arm (30) and the second pivot arm (40) are connected to one another such that the alignment of the first pivot arm (30) and the second pivot arm (40) is substantially parallel to one another in each position. The weight-side second pivot arm (40) and / or the weight-side support arm part (26) are / is designed in such a way that the weight of the useful load-side first pivot arm (30) and / or the useful load-side support arm part (24) is balanced in each position of the holding and moving device (10).

Description

[0001] This application is a divisional application of Chinese Patent Application No. 202080037963.2, titled "Holding Device for a Camera", with an application date of May 20, 2020. Technical Field

[0002] The present invention relates to a holding and moving device for a payload, in particular a camera, which can achieve dynamic weight balancing. Background Art

[0003] There are many different camera holding devices that hold and move a camera during filming. The problem is that the movement freedom of previous camera moving devices is restricted. Thus, a camera boom only moves the camera on the outer surface of, for example, a ball. Other camera booms provide additional movement freedom. However, the problem here is that the dynamic balance is not independent of the position of the moving arm. In particular, if the pivot deviates from the intermediate height position of the payload and / or the counterweight, a disproportionate inherent weight may cause an imbalance. This solution only provides balance at an approximate central position, where the positions of the camera and the counterweight are aligned approximately horizontally. Therefore, it is not possible to approach positions with a greater vertical deflection of the camera or diverging positions close to the base point without losing balance.

[0004] Such a suspension device is disclosed, for example, in US 5,192,963 A, which enables a user to perform camera movement without continuously supporting the weight of the camera. The device includes a yoke rotatably mounted on a base provided with wheels for rotation about a vertical axis. A main lever arm having a first end, a second end, and a central portion is pivotally arranged on the yoke to form a pivot point. The secondary arm has: a first end pivotally fixed at the second end of the main lever arm; and a second end having a holder for the camera. The counterweight arm has a first end pivotally fixed to the first end of the main lever arm. To ensure balance, the device includes a chain drive mechanism that responds to the pivoting of the secondary arm about the second end of the main lever arm in a first direction to pivot the counterweight arm about the first end of the main lever arm in a second direction. In addition, the device includes a chain drive mechanism for keeping the camera horizontal relative to the base when the secondary arm pivots about the second end of the main lever arm.

[0005] The problem with this arrangement is that it does not provide dynamic weight balancing. Once the camera moves away from the approximate position of the central height, the counterweight can no longer balance the camera weight with sufficient accuracy, and there is an imbalance such that the weight of the camera still has to be supported by the user.

[0006] EP 2391571 B1 discloses an articulated extension arm for a mobile load, wherein the extension arm is mounted on a base, and the extension arm comprises: a first arm pivotally connected to the base, wherein the first arm serves as a movable structure and is pivotable about a first axis; and a second arm pivotally connected to the first arm, wherein the second extension arm is pivotable about a second axis, wherein the first arm and the second arm each comprise two parallel frame bars, wherein each frame bar of the first arm is pivotally connected to the base and is spaced apart from each other by an elbow spacer at one of the elbow ends of the first arm adjacent to the second arm and by at least one central mounting plate, the central mounting plate being pivotally connected to the first arm between the elbow end and the opposite distal end, and wherein the frame bars of the first arm are connected to the two parallel frame bars of the second arm so as to form a parallelogram linkage at the elbow end. Further, the articulated extension arm comprises: a lever arm pivotally connected to the central mounting plane at its lower end so as to have a fixed distance from the central mounting plate; a connecting rod connecting the lever arm to the second arm; a first counterweight arranged at the distal end of the first arm; and a second counterweight arranged at the upper end of the lever arm. Also in this arrangement, the balance is provided only at an approximate central position of the camera. Dynamic balance is not achieved. Summary of the Invention

[0007] It is an object of the present invention to provide an easy-to-use holding device with a non-complex construction, which can achieve dynamic and precise weight balance for different useful loads such as cameras. In particular, it is an object of the present invention to provide a holding and moving device that can achieve almost perfect dynamic balance. Dynamic balance can be understood as being independent of the position of the respective pivot arms and the balance during movement, even in the absence of a useful load. Thereby, the useful load can be freely positioned at any position within the achievable space volume without having to be supported by the user. This object is achieved by a holding and moving device according to claim 1, 2 or 3. Further features of the present invention are given in the dependent claims.

[0008] According to a first aspect, a holding and moving device for a payload, in particular a camera, according to the invention comprises: a support foot; a support arm pivotally fixed to the support foot such that a payload-side portion (e.g., a payload-side end region) and a weight-side portion (e.g., a weight-side end region) are formed (e.g., protruding beyond the fastening); a first pivot arm connected on the payload side to the payload-side portion of the support arm, and to which the payload, in particular the camera and / or the holding device for the payload, can be or is attached; and a second pivot arm connected on the weight side to the weight-side portion of the support arm and to which at least one counterweight can be or is attached, wherein the support arm, the first pivot arm and the second pivot arm are connected to one another such that the alignment of the first pivot arm and the second pivot arm is substantially parallel to one another in each position, and wherein the center of gravity on the weight side, the center of gravity on the payload side and the fastening point of the support arm on the support foot are substantially in a straight line.

[0009] According to a second aspect, a holding and moving device for a payload according to the invention comprises: a support foot; a support arm pivotally fixed to the support foot such that a payload portion and a weight-side portion are formed; a first pivot arm connected on the payload side to the payload-side portion of the support arm, and to which the payload and / or the holding device for the payload can be or is attached; and a second pivot arm connected on the weight side to the weight-side portion of the support arm, and to which at least one counterweight can be or is attached, wherein the support arm, the first pivot arm and the second pivot arm are connected to one another such that the orientation of the first pivot arm and the second pivot arm is substantially parallel to one another in each position, and wherein the ratio of the distance from the connection point of the first pivot arm on the support arm to the fastening point of the payload or the holding device on the first pivot arm to the distance from the fastening point of the support arm on the support foot to the connection point of the first pivot arm on the support arm is substantially equal to the ratio of the distance from the connection point of the second pivot arm on the support arm to the center of gravity of the counterweight and / or the attachment point of the counterweight on the second pivot arm to the distance from the fastening point of the support arm on the support foot to the connection point of the second pivot arm on the support arm.

[0010] According to a third aspect, a holding and moving device for a payload according to the present invention comprises: support feet; a support arm pivotally fixed to the support feet such that a payload side portion and a weight side portion are formed; a first pivot arm connected on the payload side to the payload side portion of the support arm, and the payload and / or a holding device for the payload can be attached or is attached to the first pivot arm; and a second pivot arm connected on the weight side to the weight side portion of the support arm, and at least one counterweight can be attached or is attached to the second pivot arm, wherein the support arm, the first pivot arm and the second pivot arm are connected to each other such that the orientations of the first pivot arm and the second pivot arm are substantially parallel to each other in respective positions, wherein the weight side second pivot arm and / or the weight side support arm portion are configured such that the weight of the payload side first pivot arm and / or the payload side support arm portion is balanced in respective positions of the holding and moving device.

[0011] The ratio of the distance from the connection point of the first pivot arm on the support arm to the fastening point of the payload or the holding device on the first pivot arm to the distance from the fastening point of the support arm on the support feet to the connection point of the first pivot arm on the support arm can be substantially equal to the ratio of the distance from the connection point of the second pivot arm on the support arm to the center of gravity of the counterweight and / or the attachment point of the counterweight on the second pivot arm to the distance from the fastening point of the support arm on the support feet to the connection point of the second pivot arm on the support arm.

[0012] The weight side second pivot arm and / or the weight side support arm portion can be designed such that the weight of the payload side first pivot arm and / or the payload side support arm portion is balanced, in particular in respective positions of the holding and moving device.

[0013] The center of gravity on the weight side (e.g., the total center of gravity), the center of gravity on the payload side (e.g., the total center of gravity), and the fastening point of the support arm on the support feet can be substantially on a straight line.

[0014] The orientation can generally be defined by a connecting line between two points of the corresponding element (in particular imaginary and / or straight, such as a hinge axis or a connection point). The orientation can be defined by the central axis or longitudinal axis of the corresponding element. All geometric references, alignments, distances, lengths, and / or positions can be considered as defined in a two-dimensional view (such as a side view) of the holding and moving device during holding and movement. The orientation of the first pivot arm can be defined by a particularly straight connecting line between the connection point of the first pivot arm on the support arm, particularly on the useful load side portion, and the fastening point of the useful load or the holding device on the first pivot arm. The orientation of the useful load side portion of the support arm can be defined by a particularly straight connecting line between the fastening point of the support arm, particularly the useful load side portion, on the support foot and the connection point of the first pivot arm on the support arm, particularly on the useful load side portion. The orientation of the second pivot arm can be defined by a particularly straight connecting line between the connection point of the second pivot arm on the support arm, particularly on the weight side portion, and the center of gravity of the counterweight, particularly the counterweight for the useful load, and / or the attachment point of the counterweight on the second pivot arm. The orientation of the weight side portion of the support arm can be defined by a particularly straight connecting line between the fastening point of the support arm, particularly the weight side portion, on the support foot and the connection point of the second pivot arm on the support arm, particularly on the weight side portion. These points, connection points, fastening points, and / or attachment points can be defined by hinge points and / or rotation axes. The rotation axis can be perpendicular to the two-dimensional view (such as a side view) of the holding and moving device. The support arm, the first pivot arm, and / or the second pivot arm can be designed to be geometrically and / or structurally different. The holding and moving device can be arranged vertically. The support feet can be arranged vertically. The support feet can be anchored in the ground or ceiling. The support feet can be arranged on a moving device (such as a trolley, etc.). The support feet can be arranged on a tripod (such as a camera tripod). The support arm, the first pivot arm, and the second pivot arm can substantially define and / or form a Z shape. The formed Z shape can be aligned or oriented substantially vertically. The formed Z shape can extend substantially in a vertical plane or be aligned therein.

[0015] The distance from the connection point of the first pivot arm on the support arm to the fastening point of the useful load or the holding device on the first pivot arm and the distance from the fastening point of the support arm on the support foot to the connection point of the first pivot arm on the support arm can substantially have equal lengths. The first pivot arm and the useful load side portion of the support arm can substantially have equal lengths. The distance from the connection point of the first pivot arm on the support arm to the fastening point of the useful load or the holding device on the first pivot arm can be greater than or less than the distance from the fastening point of the support arm on the support foot to the connection point of the first pivot arm on the support arm. The length of the first pivot arm can be greater than or less than the length of the useful load side portion of the support arm.

[0016] The distance from the connection point of the second pivot arm on the support arm to the center of gravity of the counterweight and / or the attachment point of the counterweight on the second pivot arm and the distance from the fastening point of the support arm on the support foot to the connection point of the second pivot arm on the support arm can be substantially of equal length. The weight side portions of the second pivot arm and the support arm can be substantially of equal length. The distance from the connection point of the second pivot arm on the support arm to the center of gravity of the counterweight and / or the attachment point of the counterweight on the second pivot arm can be greater than or less than the distance from the fastening point of the support arm on the support foot to the connection point of the second pivot arm (40) on the support arm (20). The length of the second pivot arm can be greater than or less than the length of the weight side portion of the support arm.

[0017] The payload can be, for example, a camera for photography and / or video recording. The holding and moving device can be a camera holding and moving device. The orientation of the first pivot arm and the orientation of the second pivot arm can be parallel to each other in respective positions. The total center of gravity on the weight side, the total center of gravity on the payload side, and the fastening point of the support arm on the support foot can preferably be substantially in a straight line in respective positions of the holding and moving device. Generally, the center of gravity or total center of gravity can include the inherent weight of the respective pivot arm, the inherent weight of the respective payload or weight-side portion of the support arm, the respective one or more counterweights, the holding device for the payload, and / or the inherent weight of the payload (e.g., the camera), or be formed or defined by these weights. The center of gravity or total center of gravity on the weight side can include the inherent weight of the second pivot arm on the weight side, the inherent weight of the weight-side portion of the support arm, and / or at least one weight-side counterweight, or be formed or defined by these weights. The center of gravity or total center of gravity on the payload side can include the inherent weight of the first pivot arm on the payload side, the inherent weight of the payload-side portion of the support arm, the inherent weight of the holding device for the payload, and / or the inherent weight of the payload, or be formed or defined by these weights. Preferably, the center of gravity of the payload (such as its inherent center of gravity) can be in the fastening point of the payload on the first pivot arm. The center of gravity or inherent center of gravity of the payload can be formed, arranged, mounted, and / or defined at the fastening point of the payload on the first pivot arm, even when the payload is vertically and / or horizontally deflected or attached. Due to the center of gravity being in a straight line and / or considering the inherent loads of the structure, an almost perfect dynamic balance of the holding device is ensured, i.e., independent of the position of the respective pivot arms and the balance during the movement of the holding device. The best balance can be achieved especially when the inherent loads of the holding and moving device and / or the payload are balanced, for example, by one or more counterweights. Thereby, the payload / camera can be freely positioned at various positions of the achievable space volume without the user having to support the payload / camera. Extreme positions such as far up, far out, and far down can also be achieved. The weight side is the side arranged on the counterweight side relative to the connection point of the support arm and the support foot. The payload side is correspondingly arranged on the side of the payload. The payload is especially a camera, but a light, a photographic device, or a similar device can also be used as the payload. The payload can also be a medical device or instrument.

[0018] The second pivot arm may also include holding means for a counterweight of the payload / camera. The second pivot arm may include holding means for a counterweight of the payload-side first pivot arm and / or the payload-side support arm portion. The second pivot arm may include at least one counterweight that is predetermined according to the payload / camera. The counterweight predetermined according to the payload / camera may be fixed at a variable position along the second pivot arm. The second pivot arm may include at least one counterweight that is predetermined according to the inherent weight of the payload-side first pivot arm and / or the payload-side support arm portion. The counterweight may be formed by the support arm, in particular the weight side portion of the support arm, and / or the structure of the second pivot arm. The counterweight to be attached may be replaced by the structure of the corresponding arm or portion, which corresponds in terms of weight and / or the position of the inherent center of gravity to the sum and / or result of the inherent weight of the component and its center of gravity and the calculated or predetermined counterweight and its center of gravity. By means of weight balancing, dynamic balance can be achieved in a simple manner, which is carried out by this predetermined structural design of the support arm and the pivot arm and the variable camera / payload counterweight or by a movable weight. The support arm and / or the pivot arm may be designed in multiple parts, for example designed in two parts, however they may be constructed to be stationary and non-rotating, such that the corresponding arm / element always moves as a whole.

[0019] Preferably, the support feet may be fixed relative to the respective pivot arm on the first longitudinal side (e.g., the first end) of the support arm, which is in particular multi-part (i.e., two-part). The first pivot arm and the second pivot arm may be fixed at the respective opposite longitudinal sides (e.g., at the opposite ends) of the support arm. In this way, the movement space of the pivot arm can be prevented from overlapping with the support feet. This may be the case in particular if the support arm is formed by multiple elements, for example two elements, and the weight side portion of the support arm is formed relative to the support feet on the side opposite to the payload portion of the support arm. Then the two pivot arms will not interfere with each other during movement either.

[0020] The orientation of the holding means for the payload and / or the holding means for the counterweight of the payload may be controlled in a manner that balances the movement of the pivot arm. This can be achieved in particular by separate mechanical, hydraulic or electromechanical control. In this way, unstable shooting during pivoting of the camera can be avoided. In addition, the payload can always maintain the same orientation regardless of the rotation / pivoting of the pivot arm. For example, this is helpful when guiding the payload (e.g., guiding the camera) and when attaching and using the payload or different payloads.

[0021] The center of gravity and / or the holding point / suspension point of the payload / camera and / or the holding device for the payload / camera, the center of gravity and / or the holding point of the counterweight for the payload / camera, and the fastening point of the support arm on the support foot are preferably substantially in a straight line or substantially arranged in a straight line in the respective positions of the holding and moving device. The center of gravity of the first pivot arm, the center of gravity of the second pivot arm, and the connection point of the support arm on the support foot are preferably substantially in a straight line in the respective positions of the holding and moving device. This can provide a simple way to achieve a weight distribution on the counterweight and payload sides with extremely high precision.

[0022] Preferably, the payload / camera can be attached to a laterally, horizontally, and / or vertically extending arm provided for this purpose. The holding device for the payload / camera can be designed as a laterally, horizontally, and / or vertically extending arm. On the laterally and / or horizontally extending arm near the suspension point, the payload / camera is less likely to collide with other components of the holding and moving device.

[0023] Preferably, the pivot arm and / or the support arm can be movably connected to each other via a chain hoist, a belt, a cable hoist, an electric motor, and / or a hydraulic rotary drive. In this way, it can be ensured that the individual elements move simultaneously and in alignment with each other. Description of the Drawings

[0024] Below, exemplary embodiments of the present invention will be described in more detail with reference to the drawings, which schematically and by way of example show:

[0025] Figure 1 is an isometric view of the holding and moving device according to the present invention;

[0026] Figure 2 is Figure 1 a plan view of the holding and moving device of

[0027] Figures 3a to 3c is Figure 1 a side view of the holding and moving device of

[0028] Figures 4a to 4c is another embodiment of the holding and moving device according to the present invention;

[0029] Figure 5 is an enlarged view of the mechanical rotational connection of the support arm and the pivot arm;

[0030] Figures 6a to 6c is a schematic view of different embodiments of the holding and moving device according to the present invention with specific relative dimensions;

[0031] Figure 7 shows another embodiment of the holding and moving device with additional components of a parallelogram mechanism;

[0032] Figure 8 An exemplary embodiment with an off-axis inherent load center of gravity having a boom is schematically shown;

[0033] Figure 9a An embodiment of a useful load is shown, wherein the inherent center of gravity of the useful load lies on the axis of the suspension point for the useful load;

[0034] Figure 9b An embodiment of a useful load is shown, wherein the inherent center of gravity of the useful load is independent of a position vertically below or above the axis of the suspension point for the useful load; and

[0035] Figure 9c An embodiment of a useful load is shown, wherein the inherent center of gravity of the useful load independent of position is horizontally offset to the axis of the suspension point for the useful load. Detailed Description

[0036] All geometric references, orientations, distances, lengths, and / or positions can be viewed and defined in a two-dimensional view of the holding and moving device. In Figures 3a to 4c and Figures 6a to 6c this is a two-dimensional side view of the holding and moving device, which corresponds to the plane of the drawing. The axis of rotation of all hinge points is always perpendicular to the two-dimensional plane of the drawing here.

[0037] Figures 1 to 3c An isometric view of a first embodiment of the holding and moving device 10 of the present invention is shown. The holding and moving device 10 generally includes support feet 12, a support arm 20, a first useful load side pivot arm 30, and a second weight side pivot arm 40. In the following description, a camera is used as the useful load by way of example.

[0038] The support feet 12 are depicted here as rod-shaped. Preferably, the support feet 12 are movable, i.e., they can be raised and / or adjusted such that the position of the holding and moving device 10 can be changed. The support feet 12 can have rollers for this purpose. The placement surface 14 is schematically shown in the figure as a cone or a cylinder. However, generally 3 or more support legs can also be used. However, fixed support feet can also be used in the present invention, for example, the support feet are screwed to the base via flanges. At its upper end, the support feet 12 are connected to the support arm 20 at the connection point V1. Preferably, the connection point of the support arm 20 with the support feet 12 is rotatably mounted such that the support arm 20 can rotate around the support feet 12 in a plane perpendicular to the longitudinal axis of the support feet 12 and / or can rotate in a plane parallel to the longitudinal axis of the support feet 12 and / or in the plane in which the longitudinal axis of the support feet 12 lies.

[0039] The connection point V1 of the support arm 20 and the support leg 12 divides the support arm 20 into two regions: a camera-side region K and a weight-side region G. The support arm 20 can be designed as a single piece (i.e., manufactured as only one piece) and / or can be arranged only on one side of the support leg 12. In the illustrated embodiment, the support arm 20 consists of a plurality of parts, in particular two parts. Separate parts / components 24, 26 of the support arm 20 are provided in the regions K and G respectively, and these separate parts / components are connected to each other by a crossbar 22 (see Figure 5 ). The components 24, 26 are connected to each other such that they are immovable. The support leg 12 supports the support arm 20 on the crossbar 22 such that the camera-side component / part 24 is arranged on the side opposite to the weight-side component / part 26 with respect to the support leg 12. In this way, the pivot arms 30, 40 do not obstruct each other because they are arranged on different sides of the support leg 12. However, it is advantageous that only the pivot arms 30, 40 are arranged on the longitudinal side of the support arm 20 opposite to the support leg 12. In this way, at least any obstruction to the movement of the pivot arms 30, 40 caused by the support leg 12 can be avoided.

[0040] The pivot arms 30, 40 are fixed at both ends of the support arm 20. Each of the pivot arms 30, 40 is rotatably attached to the corresponding end of the support arm 20 at one of its ends. The first pivot arm 30 on the camera side has a camera holding device 32 at its other end at the suspension point 31 or V2, and the camera 36 is attached to the holding and moving device 10 by means of this holding device. Preferably, the camera holding device 32 extends laterally in the end region of the pivot arm 30, as Figure 2 shown, such that the camera 36 is arranged near the pivot arm 30 (e.g., in a plan view). The camera 36 can also be attached below the suspension point 31 (see Figure 1 ) or even directly below it.

[0041] The second pivot arm 40 is arranged on the weight side. As Figures 4a to 4c shown, the second pivot arm 40 and the weight-side portion 26 of the support arm 20 have different embodiments, which will be described in more detail below. It is important that the first pivot arm 30 and the second pivot arm 40 remain parallel to each other. This is achieved by a parallel mechanism (such as a chain hoist, a cable hoist or a toothed belt). In Figure 1 and Figure 5, the wheels 27 and the chain hoist / belt 29 are schematically shown. When the camera 36 moves forward, backward, upward or downward, the first pivot arm 30 extends in the desired direction and transmits the movement to the second pivot arm 40, which then automatically moves accordingly at the same time so that the entire holding and moving device 10 including the camera 36 remains balanced. Similarly, the orientation of the camera 36 can also be determined in this way. This balance can also be performed by other mechanisms, for example by providing a plurality of electric motors controlled together instead of the wheels 27, or by a hydraulic system in which the hydraulic drives are connected to each other and transmit the movement to the chain drive in a similar manner. The supporting arm 20 and the pivot arms 30, 40 can also be formed by a parallel rod transmission device that ensures that they are parallel. Figure 5 An enlarged schematic diagram of a parallel mechanism is shown, by which the pivoting arms can be moved relative to each other. Preferably, the camera holding device 32 is controlled so that it balances the movement of the pivoting arms 30, 40 and the supporting arm 20. This balancing is performed in particular by means of a separate mechanical, hydraulic or electromechanical control system similar to the system for the parallel mechanism of the pivoting arms. Figure 5 A small wheel 23 and a chain / belt 25 are shown for this purpose. The parallel mechanism is in particular connected to the support foot 12. In the embodiment shown, the connecting axis of the parallel mechanism of the pivoting arm and the mechanism for camera compensation are arranged inside each other and are designed to be rotatable relative to each other. As a result, the camera 36 can then also be kept in a predetermined orientation during movement.

[0042] Figure 4a , Figure 4b and Figure 4c Three embodiments of the holding and moving device according to the invention are shown. Figure 4a An embodiment is shown in which the second pivot arm 40 is adapted to provide a dynamic balance. Here, the additional weight on the second pivot arm 40 provides a counterweight 44 for the holding and moving device 10, so that the total center of gravity S1a on the weight side G of the holding and moving device 10, the connection point V1 of the support arm 20 and the support foot 12, and the total center of gravity S2a on the camera side are substantially in a straight line in any position of the holding and moving device 10 (see Figure 4a(dash in). The counterweight 44 is used to balance the construction, in particular the inherent weights of the camera-side support arm portion 24, the first pivot arm 30, and the camera holding device 32. The total center of gravity S1a of the weight side G is the result of the counterweight 44, the inherent weight of the second pivot arm 40, and the inherent weight of the weight-side support arm portion 26. The total center of gravity S2a of the camera side K is the result of the inherent weight of the camera holding device 32, the inherent weight of the first pivot arm 30, and the inherent weight of the camera-side support arm portion 24. Then, the counterweight 42 is used to balance the weight of the camera 36. The total center of gravity S1a of the weight side G may additionally include the counterweight 42. The total center of gravity S2a of the camera side K may additionally include the inherent weight of the camera 36. Thus, the total centers of gravity S1a and S2a change their positions, but remain substantially in a straight line in each position of the holding and moving device 10. In addition, the second pivot arm 40 also includes a holding device for the counterweight 42 of the camera 36. In this embodiment, the holding point V3 for the counterweight 42, the connection point V1 of the support arm 20, and the holding point V2 of the camera holding device 32 are also substantially in a straight line (see Figure 4a the dotted line in). This is the case in any position of the holding and moving device 10. The counterweight 44 may also be structurally integrated into the pivot arm 40 such that the pivot arm 40 and the counterweight 44 are designed as a single piece (e.g., manufactured from a single piece or welded to each other). Figure 3a , Figure 3b and Figure 3c show the holding and moving device 10 in different extreme positions, where the balance of the entire system is still maintained. Additionally, with particular reference to Figure 1 FIGS. 3 and the associated description.

[0043] Figure 4b The illustrated embodiment is a more specific form of the first embodiment according to Figure 4a . Here, the weight-side portion 26 of the support arm 20 may protrude beyond the connection point with the second pivot arm 40. A balance weight 28 may also be attached to the weight-side portion 26 of the support arm 20 to balance the support arm 20. Thus, the counterweight 28 is used to balance the inherent weight of the camera-side portion 24 of the support arm 20. Figure 4b The details in show a positioning variant of the counterweight 28. The position of the counterweight 28 may be determined according to the weight such that the weight of the camera-side portion 24 of the support arm 20 is balanced by the weight-side portion 26 of the support arm 20 and / or the counterweight 28. Thus, the center of gravity of the support arm 20 is located at the connection point V1. Then, the counterweight 44 on the second pivot arm 40 is used to balance the weights of the first pivot arm 30 and the camera holding device 32. The counterweight 42 is used to balance the inherent weight of the camera 36. Thus, the total center of gravity S1b of the weight side G, the support point V1 of the support arm 20 on the support foot 12, and the total center of gravity S2b of the camera side K are then substantially in a straight line (see Figure 4bthe dash line in []. In addition, the total center of gravity S1b and S2b are also located on the respective pivot arms 30, 40. The same applies when attaching the counterweight 42 for the camera 36. Additionally, the connection points V1 of the support feet 12 and the support arm 20, the suspension point V2 of the camera 36, and the suspension point V3 of the camera counterweight 42 are also substantially in a straight line (see Figure 4b the dotted line in []. Since the complexity of balancing is reduced compared to the embodiment according to Figure 4a , the calculation of this embodiment according to Figure 4b is simpler. First, balance the support arm 20, then balance the two parallel pivot arms 30, 40, and then balance the camera 36. Therefore, the total center of gravity S1b on the weight side G is the result of the counterweight 44 and the inherent weight of the second pivot arm 40. The total center of gravity S2b on the camera side K is generated by the inherent weight of the camera holding device 32 and the inherent weight of the first pivot arm 30. The alignment of the holding points V2, V3 and the total centers of gravity S1b, S2b is similar to that of Figure 4a (see Figure 4b the dash line and the dotted line in []. For additional details, specifically refer to Figures 1 to 4a and the associated description.

[0044] For the embodiment according to Figure 4a and Figure 4b , different cameras can be used with the same holding and moving device 10, and at the same time, substantially perfect balance can be maintained. Thus, when changing the useful load, the counterweight 42 can be easily determined and adjusted accordingly.

[0045] Figure 4c shows another embodiment, in which the weight balance of the camera 32 is carried out simultaneously with the weight balance of the support arm 20 and the pivot arms 30, 40. In this embodiment, the second pivot arm 40 can adjust the counterweight 44', shown here as the slot 48, where the counterweight 44' can move along the second pivot arm 40 and be fixed. Thus, the weight balance can be adjusted for any camera. However, the displaceable weight must also be adjusted to adapt to the changing camera. In principle, the displaceable counterweight 44' only replaces the above-mentioned counterweight 44 and the camera counterweight 42. Then, the specific position and specific weight of the displaceable counterweight 44' are selected and adjusted accordingly for each camera. The total center of gravity S1c on the weight side G of the holding and moving device 10, the connection point V1 of the support arm 20 and the support feet 12, and the total center of gravity S2a on the camera side K are substantially in a straight line at each position of the holding and moving device 10 (see Figure 4c(the dash line in). Here, the total center of gravity S1c of the weight side G is the result of the displaceable counterweight 44’, the inherent weight of the second pivot arm 40, and the inherent weight of the weight side support arm portion 26. The total center of gravity S2c of the camera side K is the result of the inherent weight of the camera holding device 32, the inherent weight of the first pivot arm 30, and the inherent weights of the camera side support arm portion 24 and the camera 36. In an embodiment where the inherent center of gravity of the useful load 36 is above or below the axis perpendicular to the fastening point V2 (for example, according to Figure 4c of the embodiment), the center of gravity of the useful load 36 (such as the inherent center of gravity) can be adopted and / or directly defined in the axis of the fastening point V2 so as to be able to perform the following calculations of weight and distance. Thus, the center of gravity or the inherent center of gravity of the useful load 36 can be defined in the fastening point V2 of the useful load 36 on the first pivot arm 30, even if the useful load 36 deflects vertically and / or horizontally or is attached. The camera 36 is included in the total center of gravity on the camera side in an embodiment according to Figure 4c because the counterweight 44’ must also balance the camera 36. Additionally, with particular reference to Figures 1 to 4b and the associated description.

[0046] The following refers to Figures 6a to 6c for a brief description of the calculation and positioning of the counterweight in an embodiment according to Figures 4a to 4c of the embodiment.

[0047] Figures 6a to 6c The definitions of the respective parameters and variables of

[0048] a: The inherent weight of the useful load side / camera side support arm portion 24;

[0049] b: The inherent weight of the useful load side / camera side first pivot arm 30, possibly with the useful load holding device / camera holding device 32;

[0050] c: The inherent weight of the camera 36;

[0051] d: The inherent weight of the weight side support arm portion 26;

[0052] e: The inherent weight of the weight side second pivot arm 40;

[0053] f: The inherent weight of the counterweight 42 for balancing the useful load / camera 36;

[0054] g: The inherent weight of the counterweight 44 for compensating the inherent load of the boom, especially the useful load side / camera side first pivot arm 30 and / or the useful load side / camera side support arm portion 24;

[0055] h: The inherent weight of the counterweight 28 for compensating the support arm, especially the useful load side / camera side support arm portion 24;

[0056] i: The inherent weight of the counterweight 44' for compensating the inherent load of the boom, in particular the first pivot arm 30 on the useful load side / camera side or the support arm portion 24 on the useful load side / camera side, the useful load holding device / camera holding device 32, and / or the useful load / camera 36;

[0057] p: The distance from the weight-side hinge point to the center of gravity and / or the fastening point / attachment point of the counterweight (g), and / or the distance from the fastening point / connection point of the weight-side second pivot arm 40 on the support arm 20 to the center of gravity and / or the fastening point / attachment point of the counterweight (g), where the counterweight (g) is used to balance the inherent load of the boom, in particular the first pivot arm 30 on the useful load side / camera side and / or the support arm portion 24 on the useful load side / camera side;

[0058] m: The distance from the weight-side hinge point to the center of gravity and / or the fastening point / attachment point of the counterweight (i), and / or the distance from the fastening point / connection point of the weight-side second pivot arm 40 on the support arm 20 to the center of gravity and / or the fastening point / attachment point of the counterweight (i), where the counterweight (i) is used to balance the inherent load of the boom, in particular the first pivot arm 30 on the useful load side / camera side or the support arm portion 24 on the useful load side / camera side, the useful load holding device / camera holding device 32, and / or the useful load / camera 36;

[0059] o: The distance from the weight-side hinge point to the center of gravity (such as the centroid) of the weight-side second pivot arm 40, and / or the distance from the fastening point / connection point of the weight-side second pivot arm 40 on the support arm 20 to the center of gravity (such as the centroid) of the weight-side second pivot arm 40;

[0060] s: The distance from the connection point V1 (such as the fastening point V1 of the support arm 20) to the center of gravity (such as the centroid) of the weight-side support arm portion 26;

[0061] t: The distance from the connection point V1 (such as the fastening point V1 of the support arm 20) to the weight-side hinge point and / or the distance from the connection point V1 (such as the fastening point V1 of the support arm 20) to the fastening point / connection point of the weight-side second pivot arm 40 on the support arm 20;

[0062] r: The distance from the weight-side hinge point to the center of gravity and / or the fastening point / attachment point of the counterweight (f), and / or the distance from the fastening point / connection point of the weight-side second pivot arm 40 on the support arm 20 to the center of gravity and / or the fastening point / attachment point of the counterweight (f), where the counterweight (f) is used to balance the useful load / camera 36;

[0063] u: The distance from the connection point V1 (such as the fastening point V1 of the support arm 20) to the useful load side / camera side hinge point, and / or the distance from the connection point V1 (such as the fastening point V1 of the support arm 20) to the fastening point / connection point of the first pivot arm 30 on the useful load side on the support arm 20;

[0064] l: The distance from the useful load side / camera side hinge point to the holding point V2, and / or the distance from the fastening point / connection point of the first pivot arm 30 on the useful load side on the support arm 20 to the center of gravity and / or fastening point of the useful load / camera 36 and / or the useful load holding device / camera holding device 32;

[0065] v: The distance from the connection point V1 (such as the fastening point V1 of the support arm 20) to the center of gravity (such as the center of mass) of the useful load side / camera side support arm portion 24;

[0066] w: The distance from the useful load side / camera side hinge point to the center of gravity (such as the generated center of mass) of the useful load side / camera side first pivot arm 30 (which may have a useful load holding device / camera holding device 32), and / or the distance from the fastening point / connection point of the useful load side / camera side first pivot arm 30 on the support arm 20 to the center of gravity (such as the center of mass) of the useful load side / camera side first pivot arm 30 (which may have a useful load holding device / camera holding device 32);

[0067] x: The distance from the connection point V1 (such as the fastening point V1 of the support arm 20) to the center of gravity and / or fastening point / attachment point of the counterweight (h), and / or the distance from the connection point V1 (such as the fastening point V1 of the support arm 20) to the center of gravity and / or fastening point / attachment point of the counterweight (h), where the counterweight (h) is used to balance the support arm 20, in particular the useful load side / camera side support arm portion 24.

[0068] Then, the configurations of the respective elements of different embodiments can be calculated using the following formula:

[0069] For Figures 1 to 4a and Figure 6a the embodiments in

[0070] Provided that:

[0071]

[0072] For Figure 4b and Figure 6b the embodiments in

[0073] Provided that:

[0074] For x predetermined: For h predetermined:

[0075]

[0076] For Figure 4c and Figure 6c the embodiments in

[0077]

[0078] These formulas can be used to calculate and construct the dynamic weight balance for holding and moving device 10.

[0079] Figure 7 Another embodiment of the holding and moving device with additional components of a parallelogram mechanism is shown. Such a mechanism has additional components that must be included in the calculation formulas for weight balance. These components must be included in the inherent loads of adjacent components. The additional parts or portions 46, 48 used to form the parallelogram mechanism must be considered, and these parts or portions also affect the balance. The additional parallelogram rod 48 has an inherent weight and a force F S at its inherent center of gravity. F S Thus, the inherent weight of the parallelogram rod 48 at the inherent center of gravity can be represented. This force or inherent weight F S must be decomposed into two components, which represent the holding forces of the rod 48 at its ends. F S Here is the sum of F1 and F2. The off-center center of gravity is decomposed inversely proportional to the distance / length from the inherent center of gravity to the ends directly. The force or weight F1 is then distributed as a weight component to the second pivot arm 40 at the attachment point on the component 40 and affects its inherent weight and center of mass. Similarly, the force or weight F2 is added as a weight component to the first pivot arm 30 at the attachment point and affects its inherent weight and center of mass. The extension 46 of the second pivot arm 40 is added to this. Additionally, with special reference Figures 1 to 6c and the associated description.

[0080] Figure 8 An exemplary embodiment with an off-axis inherent load center of gravity of the boom is schematically shown. As shown above, the distances between the hinge points and the orientation of their connecting lines are necessary for the basic geometry. Each arm serves as a structural connection for the hinge points, but can be designed in any form. The calculation formulas have taken into account that, for example, the inherent center of gravity of the components of the support arm 20 does not have to be located in the middle between the ends of the component. However, they can be located on the imaginary connecting line between the hinge points. To allow complete freedom in design, the components can also be designed with an off-axis center of gravity. In Figure 8 the exemplary embodiment shown, for example, the center of gravity of the component / arm of the first pivot arm 30 is located outside the connecting line between the hinge points of the corresponding component / arm. The distance to this line can be called the off-axis degree of the center of gravity and is the distance A a 、A b 、A d 、A e or Ag The forces or weights acting on these off-axis centers of gravity are a, b, d, e, or g. The off-axis degrees of the inherent weights a and d of the support arm portions 24 and 26 can be balanced, described, or defined by the formula d*A d = a*A a to each other. The off-axis degrees of the inherent weights b and e can be balanced by the off-axis degree of the counterweight g and described or defined by the formula A g = (b*A b + e*A e ) / g. The off-axis degrees of the centers of gravity are considered to be different for each embodiment. Basically, it can be said that the off-axis degrees of the centers of gravity of the inherent weights of the components on the corresponding relative components can be balanced by the relative off-axis degrees of the counterweights. Thus, for example, in terms of the front extension arm 30 on the rear extension arm 40 and / or in terms of the front portion 24 of the support arm 20 on the rear portion 26 of the support arm 20. Additionally, with particular reference to Figures 1 to 7 and the associated description.

[0081] Figure 9a A variant is shown in which the inherent center of gravity of the useful load lies on the axis of the suspension point V2 for the useful load 36. The useful load 36 is mounted such that its inherent center of gravity lies on the axis of the suspension point V2 for the useful load 36 and / or directly at the suspension point V2. In order to determine the total center of gravity of the useful load part K, in particular, such a positioning of the useful load 36 can be assumed or defined. This can also be the case if the useful load 36 and / or its inherent center of gravity are actually attached or provided to be deflected vertically and / or horizontally. Thus, balance independent of position is also achieved in this way. In the direction of the axis (perpendicular to the plane of the drawing in Figure 9a ), this can be offset.

[0082] Figure 9b A variant is shown in which the inherent center of gravity of the useful load is independent of the position vertically below or above the axis of the suspension point V2 for the useful load 36. The useful load 36 and / or the holding device 32 for the useful load 36 can also be attached in such a way that its inherent center of gravity is vertically above or below the axis of the suspension point V2 for the useful load 36. It can be ensured that at other positions of the first pivot arm 30, the position and / or alignment of the useful load 36 and / or the holding device 32 for the useful load 36 also remain substantially unchanged in the vertical direction. For example, the rotation of the first pivot arm 30 can be compensated. For example, this can be achieved by a corresponding mechanism that combines the position and / or orientation of the useful load 36 and / or the holding device 32 for the useful load 36 around the axis V2 with the orientation of the support on the base point V1 of the support arm 20.

[0083] Figure 9cA variant is shown in which the useful load's inherent center of gravity independent of position is horizontally offset to the axis of the suspension point V2 for the useful load 36. The useful load 36 and / or the holding device 32 for the useful load 36 can be attached such that its inherent center of gravity is also horizontally shifted to the suspension point V2. The same mechanism for maintaining the position and / or alignment of the useful load 36 and / or the holding device 32 can be provided for the useful load 36, as in the Figure 9b foregoing variant, but also such that the position and / or orientation of the useful load 36 and / or the holding device 32 for the useful load 36 remains substantially unchanged in the horizontal direction. Additionally, a counterweight 42 for the useful load 36 can be mounted to shift in the opposite horizontal direction. The counterweight 42 can be additionally incorporated into the base support in terms of its position, orientation, and / or rotation about the axis point V3 in a manner similar to the above-described combining mechanism, as is the orientation of the support on the base point V1 of the support arm 20. The counterweight 42 can have the following horizontal reverse displacement (offset counterweight):

[0084]

[0085] The counterweight 42 does not necessarily need to be attached to shift in the opposite horizontal direction. Alternatively, the counterweight 42 and / or its center of gravity can be directly arranged on the second pivot arm 40, for example, as in the above-described embodiment. To compensate for the torque of the suspension point V2 caused by the horizontally shifted useful load 36, a parallel mechanism can be provided.

[0086] The parallel mechanism can be arranged on the first pivot arm 30 and / or on the useful load side portion 24 of the support arm 20. The parallel mechanism can have, for example Figure 5 the described parallel mechanism. In this way, the torque can be directed to the base support and / or the support feet 12.

[0087] According to Figure 9a 、 Figure 9b and Figure 9c the variants can be combined with each other according to the desire.

[0088] "Can" particularly refers to the optional features of the present invention. Thus, there are also additional embodiments and / or exemplary embodiments of the present invention that additionally or alternatively have the corresponding one or more features.

[0089] From the combinations of the features disclosed herein, by ending any structural and / or functional connections that may exist between the features, individual features can also be selected and used in combination with other features to define the subject matter of the claims.

[0090] Reference numerals

[0091] 10 Holding and moving device

[0092] 12 Support feet

[0093] 14 Placement surface

[0094] 20 Support arm

[0095] 22 Cross bar

[0096] 23 Wheel

[0097] 24 Camera side element / part

[0098] 25 Chain hoist / belt

[0099] 26 Weight side element / part

[0100] 27 Wheel

[0101] 28 Counterweight

[0102] 29 Chain hoist / belt

[0103] 30 First pivot arm

[0104] 31 Suspension point

[0105] 32 Camera holding device

[0106] 36 Camera

[0107] 40 Second pivot arm

[0108] 42 Counterweight (camera)

[0109] 44 Counterweight

[0110] 44’ Counterweight

[0111] 46 Part of parallelogram mechanism

[0112] 48 Part of parallelogram mechanism

[0113] G Weight side area

[0114] K Camera side area

[0115] S1a Weight side center of gravity

[0116] S1b Weight side center of gravity

[0117] S1c Weight side center of gravity

[0118] S2a Camera side center of gravity

[0119] S2b Camera side center of gravity

[0120] S2c Camera side center of gravity

[0121] V1 Connection point

[0122] V2 Holding point

[0123] V3 holding point

[0124] F S Force / gravitational weight of the parallelogram link at the natural center of gravity

[0125] Force / weight component of the F1 parallelogram link

[0126] Force / weight component of the F2 parallelogram link

[0127] A a Off-axis degree of the center of gravity of the payload side support arm part

[0128] A b Off-axis degree of the center of gravity of the first pivot arm

[0129] A d Off-axis degree of the center of gravity of the weight side support arm part

[0130] A e Off-axis degree of the center of gravity of the second pivot arm

[0131] A g Off-axis degree of the center of gravity of the counterweight

Claims

1. A holding and moving device (10) for a payload (36), comprising: Support leg (12); Support arm (20), which is pivotally fixed to the support leg (12) such that a useful load side portion (24) and a weight side portion (26) are formed; First pivot arm (30), which is connected on the useful load side to the useful load side portion (24) of the support arm (20), and a useful load (36) and / or a holding device (32) for the useful load (36) can be attached or are attached to the first pivot arm; And Second pivot arm (40), which is connected on the weight side to the weight side portion (26) of the support arm (20), and at least one counterweight (42, 44, 44') can be attached or is attached to the second pivot arm, wherein the support arm (20), the first pivot arm (30) and the second pivot arm (40) are connected to one another such that the orientations of the first pivot arm (30) and the second pivot arm (40) are substantially parallel to one another in each position, characterized in that the total center of gravity (S1a, S1b, S1c) of the weight side (G), the total center of gravity (S2a, S2b, S2c) of the useful load side (K) and the fastening point (V1) of the support arm (20) on the support leg (12) are substantially on a straight line, wherein the total center of gravity (S1a, S1b, S1c) of the weight side (G) includes the inherent weight (e) of the second pivot arm (40) on the weight side and the inherent weight (d) of the weight side portion (26) of the support arm (20), and the total center of gravity (S2a, S2b, S2c) of the useful load side (K) includes the inherent weight (b) of the first pivot arm (30) on the useful load side and the inherent weight (a) of the useful load side portion (24) of the support arm (20).

2. The holding and moving device (10) according to claim 1, wherein, The ratio of the distance (l) from the connection point of the first pivot arm (30) on the support arm (20) to the fastening point (V2) of the useful load (36) or the holding device (32) on the first pivot arm (30) to the distance (u) from the fastening point (V1) of the support arm (20) on the support leg (12) to the connection point of the first pivot arm (30) on the support arm (20) is substantially equal to the ratio of the distance (r) from the connection point of the second pivot arm (40) on the support arm (20) to the center of gravity of the counterweight (42, 44') and / or the attachment point (V3) of the counterweight on the second pivot arm (40) to the distance (t) from the fastening point (V1) of the support arm (20) on the support leg (12) to the connection point of the second pivot arm (40) on the support arm (20).

3. A holding and moving device (10) for a payload (36), comprising: Support leg (12); Support arm (20), which is pivotally fixed to the support leg (12) such that a useful load side portion (24) and a weight side portion (26) are formed; A first pivot arm (30) which is connected on the useful load side to the useful load side portion (24) of the support arm (20), and to which the useful load (36) and / or the holding device (32) for the useful load (36) can be or is attached; and a second pivot arm (40) which is connected on the weight side to the weight side portion (26) of the support arm (20), and to which at least one counterweight (42, 44, 44') can be or is attached, wherein the support arm (20), the first pivot arm (30) and the second pivot arm (40) are connected to one another such that the orientations of the first pivot arm (30) and the second pivot arm (40) are substantially parallel to one another in all positions, characterized in that, the weight side second pivot arm (40) and / or the weight side support arm portion (26) are designed such that the weight of the useful load side first pivot arm (30) and the useful load side support arm portion (24) is balanced in all positions of the holding and moving device (10).

4. The holding and moving device (10) according to claim 1 or 3, wherein, The ratio of the distance (l) from the connection point of the first pivot arm (30) on the support arm (20) to the fastening point (V2) of the useful load (36) or the holding device (32) on the first pivot arm (30) to the distance (u) from the fastening point (V1) of the support arm (20) on the support foot (12) to the connection point of the first pivot arm (30) on the support arm (20) is substantially equal to the ratio of the distance (r) from the connection point of the second pivot arm (40) on the support arm (20) to the center of gravity of the counterweights (42, 44') and / or the attachment point (V3) of the counterweights on the second pivot arm (40) to the distance (t) from the fastening point (V1) of the support arm (20) on the support foot (12) to the connection point of the second pivot arm (40) on the support arm (20).

5. The holding and moving device (10) according to claim 1, 2 or 4, wherein, The weight side second pivot arm (40) and / or the weight side support arm portion (26) are designed such that the weight of the useful load side first pivot arm (30) and / or the useful load side support arm portion (24) is balanced in all positions of the holding and moving device (10).

6. The holding and moving device (10) according to claim 2, 3, 4 or 5, wherein, The centers of gravity (S1a, S1b, S1c) of the weight side (G), the centers of gravity (S2a, S2b, S2c) of the useful load side (K) and the fastening point (V1) of the support arm (20) on the support foot (12) are substantially on a straight line.

7. The holding and moving device (10) according to at least one of the preceding claims, wherein, The distance (l) from the connection point of the first pivot arm (30) on the support arm (20) to the fastening point (V2) of the useful load (36) or the holding device (32) on the first pivot arm (30) and the distance (u) from the fastening point (V1) of the support arm (20) on the support foot (12) to the connection point of the first pivot arm (30) on the support arm (20) are substantially of equal length, or the distance (l) from the connection point of the first pivot arm (30) on the support arm (20) to the fastening point (V2) of the useful load (36) or the holding device (32) on the first pivot arm (30) is greater than or less than the distance (u) from the fastening point (V1) of the support arm (20) on the support foot (12) to the connection point of the first pivot arm (30) on the support arm (20).

8. The holding and moving device (10) according to at least one of the preceding claims, wherein, The distance (r) from the connection point of the second pivot arm (40) on the support arm (20) to the center of gravity of the counterweights (42, 44’) and / or the attachment point (V3) of the counterweights on the second pivot arm (40) and the distance (t) from the fastening point (V1) of the support arm (20) on the support foot (12) to the connection point of the second pivot arm (40) on the support arm (20) are substantially of equal length, or the distance (r) from the connection point of the second pivot arm (40) on the support arm (20) to the center of gravity of the counterweights (42, 44’) and / or the attachment point (V3) of the counterweights on the second pivot arm (40) is greater than or less than the distance (t) from the fastening point (V1) of the support arm (20) on the support foot (12) to the connection point of the second pivot arm (40) on the support arm (20).

9. The holding and moving device (10) according to at least one of the preceding claims, wherein, The total center of gravity (S1a, S1b, S1c) of the weight side (G), the total center of gravity (S2a, S2b, S2c) of the useful load side (K), and the fastening point (V1) of the support arm (20) on the support foot (12) are substantially on a straight line, especially in the respective positions of the holding and moving device.

10. The holding and moving device (10) according to at least one of the preceding claims, wherein, The total center of gravity (S1a, S1b, S1c) of the weight side (G) includes the inherent weight (e) of the second pivot arm (40) on the weight side, the inherent weight (d) of the weight side portion (26) of the support arm (20), and at least one weight side counterweight (28, 42, 44, 44’), and / or the total center of gravity (S2a, S2b, S2c) of the useful load side (K) includes the inherent weight (b) of the first pivot arm (30) on the useful load side, the inherent weight (a) of the useful load side portion (24) of the support arm (20), and the inherent weight of the holding device (32) for the useful load (36) and / or the inherent weight (c) of the useful load (36).

11. The holding and moving device (10) according to at least one of the preceding claims, wherein, The second pivot arm (40) further comprises holding means for a counterweight (42, 44') of the useful load (36) and / or holding means for a counterweight (44, 44') of the useful load side first pivot arm (30) and / or the useful load side support arm portion (24).

12. The holding and moving device (10) according to at least one of the preceding claims, wherein, The second pivot arm (40) has at least one counterweight (42, 44') predetermined according to the useful load.

13. The holding and moving device (10) according to claim 12, wherein, The counterweight (44') predetermined according to the useful load can be fixed in a variable position along the second pivot arm (40).

14. The holding and moving device (10) according to at least one of the preceding claims, wherein, The second pivot arm (40) has at least one counterweight (44, 44') which is predetermined according to the intrinsic weight of the useful load side first pivot arm (30) and / or the useful load side support arm portion (24).

15. The holding and moving device (10) according to at least one of the preceding claims, wherein, The support feet (12) are fixed on the first longitudinal side of the support arm (20) with respect to the respective pivot arms (30, 40), and the first pivot arm (30) and the second pivot arm (40) are fixed on the respective opposite longitudinal sides of the support arm (20).

16. The holding and moving device (10) according to at least one of the preceding claims, wherein, The support arm (20) is formed by a plurality of elements (24, 26), in particular by two elements, and the weight side portion (26) of the support arm (20) is formed on the side opposite to the useful load side portion (24) of the support arm (20) with respect to the support feet (12).

17. The holding and moving device (10) according to at least one of the preceding claims, wherein, The orientation of the holding means (32) for the useful load (36) and / or the holding means for the counterweight (42, 44') of the useful load (36) is controlled such that this balances the movement of the pivot arms (30, 40).

18. The holding and moving device (10) according to at least one of the preceding claims, wherein, The center of gravity and / or the holding point (V2) of the useful load (36) and / or the holding means for the useful load, the center of gravity and / or the holding point (V3) of the counterweight (42) for the useful load (36), and the fastening point (V1) of the support arm (20) on the support feet (12), and / or wherein, The center of gravity of the first pivot arm (30), the center of gravity of the second pivot arm (40), and the connection point (V1) of the support arm (20) on the support feet (12) are substantially in a straight line.

19. The holding and moving device (10) according to at least one of the preceding claims, wherein, The holding means (32) for the useful load (36) and / or the holding means for the counterweight (42, 44') of the useful load (36) are designed as laterally, vertically, and / or horizontally extending arms.

20. The holding and moving device (10) according to at least one of the preceding claims, wherein, The pivot arms (30, 40) and / or the support arm (20) are movably connected to each other via a chain hoist, a belt, a wire rope, an electric motor, and / or a hydraulic rotary drive.

21. The holding and moving device (10) according to at least one of the preceding claims, wherein, The useful load (36) is a camera, such as a camera and / or a video camera.

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