CAMERA MOUNTING DEVICE

Description

[0001] The invention relates to a holding and moving device for a payload, in particular a camera, which enables dynamic weight compensation.

[0002] There are many different camera mounting devices for holding and moving the camera during filming. One problem is that existing camera movement devices are limited in their freedom of movement. For example, camera cranes can only move the camera along the outer surface of a sphere. Other camera cranes offer additional freedom of movement. However, the problem here is that dynamic equilibrium is not maintained independently of the position of the movement arm. In particular, if the payload and / or counterweight are moved beyond the mid-height position during panning, an imbalance can arise due to disproportionate dead weights. Such solutions only offer equilibrium in an approximately mid-position, in which the camera and counterweight are roughly horizontal.Positions with a larger deflection of the camera in the vertical or deviations near the base point cannot therefore be approached without loss of balance.

[0003] Such a suspension device is disclosed, for example, in US Pat. No. 5,192,963 A, which allows an operator to perform camera movements without constantly supporting the weight of the camera. The device comprises a yoke rotatably mounted on a wheeled base for rotation about a vertical axis. A primary lever arm having first and second ends and a central portion is pivotally attached to the yoke to form a pivot point. A secondary arm has a first end pivotally attached to the second end of the primary lever arm and a second end containing a mount for the camera. A counterweight arm has a first end pivotally attached to the first end of the primary lever arm.To ensure balance, the device includes a chain drive mechanism responsive to pivoting the secondary arm about the second end of the primary lever arm in a first direction to pivot the counterweight arm about the first end of the primary lever arm in a second direction. Furthermore, the device includes a chain drive mechanism for maintaining the camera level relative to the base as the secondary arm pivots about the second end of the primary lever arm.

[0004] The problem with this arrangement is that there is no dynamic weight compensation. As soon as the camera leaves a roughly mid-height position, the counterweight can no longer compensate for the camera's weight with sufficient accuracy, resulting in an imbalance, so the camera's weight must be supported by the operator.

[0005] EP 2391571 B1 discloses an articulated boom for moving a load, wherein the boom is mounted on a base and the boom comprises a first boom arm pivotally connected to the base, wherein the first boom arm acts as a bascule and is pivotable about a first axis, and a second boom arm pivotally connected to the first boom arm, wherein the second boom arm is pivotable about a second axis, wherein the first and second boom arms each comprise two parallel frame rods, wherein each of the frame rods of the first boom arm is pivotally connected to the base and spaced from each other by an elbow spacer at one of said elbow ends of the first boom arm adjacent to the second boom arm and by at least one central mounting plate pivotally connected to the first boom arm between the elbow end and an opposite distal end,and wherein the frame rods of the first boom arm are connected to the two parallel frame rods of the second boom arm to form a parallelogram linkage mechanism at the elbow end. The articulated boom further comprises a lever arm pivotally connected at its lower end to the center mounting plate at a fixed distance from the center mounting plate, a connecting rod connecting the lever arm to the second boom arm, a first counterweight disposed at the distal end of the first boom arm, and a second counterweight disposed at an upper end of the lever arm. Even with this arrangement, balance is only achieved at an approximate center position of the camera. Dynamic balance is not achieved.

[0006] Further technological background can be found in US 2 548 476 A and US 5 531 412 A.

[0007] The object of the present invention is to provide an easy-to-use holding device with a straightforward design that enables dynamic and precise weight balancing for different payloads, such as cameras. In particular, the object of the present invention is to provide a holding and movement device that enables almost perfect dynamic equilibrium. Dynamic equilibrium can be understood as equilibrium that exists independently of the position of the individual pivot arms and during movement, even without a payload. This allows the payload to be freely positioned anywhere within the accessible space without the payload having to be supported by the operator. This object is achieved by a holding and movement device according to claim 1, 2, or 3. Further features that refine the invention are contained in the subclaims.

[0008] According to a first aspect, the holding and moving device according to the invention for a payload, in particular a camera, comprises a support foot, a bearing arm which is pivotally attached to the support foot, so that a payload-side section (e.g. a payload-side end region) and a weight-side section (e.g.a weight-side end region) are formed (for example, protruding beyond the attachment), a first pivot arm which is connected on the payload side to the payload-side section of the support arm and to which a payload, in particular a camera, and / or a holding device for a payload can be or is attached, and a second pivot arm which is connected on the weight side to the weight-side section 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 in such a way that the alignment of the first and the second pivot arm is substantially parallel to one another in every position, wherein the center of gravity of the weight side, the center of gravity of the payload side and the attachment point of the support arm on the support foot lie substantially on a straight line.

[0009] According to a second aspect, the holding and moving device for a payload according to the invention comprises a support foot, a bearing arm pivotally attached to the support foot so that a payload-side section and a weight-side section are formed, a first pivot arm connected on the payload side to the payload-side section of the bearing arm and to which a payload and / or a holding device for a payload is or can be attached, and a second pivot arm connected on the weight side to the weight-side section of the bearing arm and to which at least one counterweight is or can be attached, wherein the bearing arm, the first pivot arm, and the second pivot arm are connected to one another in such a way that the alignment of the first and second pivot arms is substantially parallel to one another in every position.wherein the ratio of the distance from the connection point of the first pivot arm on the support arm to the attachment point of the payload or the holding device on the first pivot arm to the distance from the attachment 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 and / or attachment point of the counterweight on the second pivot arm to the distance from the attachment 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, the holding and moving device for a payload according to the invention comprises a support foot, a bearing arm pivotally attached to the support foot so that a payload-side section and a weight-side section are formed, a first pivot arm connected on the payload side to the payload-side section of the bearing arm and to which a payload and / or a holding device for a payload is or can be attached, and a second pivot arm connected on the weight side to the weight-side section of the bearing arm and to which at least one counterweight is or can be attached, wherein the bearing arm, the first pivot arm, and the second pivot arm are connected to one another in such a way that the alignment of the first and second pivot arms is substantially parallel to one another in every position.wherein the weight-side second pivot arm and / or the weight-side bearing arm section are designed such that the weight of the payload-side first pivot arm and / or the payload-side bearing arm section is balanced in every position 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 attachment point of the payload or the holding device on the first pivot arm to the distance from the attachment point of the support arm on the support foot 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 and / or attachment point of the counterweight on the second pivot arm to the distance from the attachment point of the support arm on the support foot 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 bearing arm section can be designed such that the weight of the payload-side first pivot arm and / or the payload-side bearing arm section is balanced, in particular in every position of the holding and moving device.

[0013] The center of gravity (e.g. overall center of gravity) of the weight side, the center of gravity (e.g. overall center of gravity) of the payload side and the attachment point of the bearing arm on the support leg can essentially lie on a straight line.

[0014] The orientation can generally be defined by a connecting line, in particular an imaginary and / or straight line, between two points, such as joint axes or connection points, of the respective element. The orientation can be defined by the central axis or longitudinal axis of the respective element. All geometric references, orientations, distances, lengths and / or positions can be seen or defined in a two-dimensional view, such as a side view, of the holding and movement device. The orientation of the first pivot arm can be defined by a connecting line, in particular a straight line, between the connection point of the first pivot arm on the bearing arm, in particular on the payload-side section, and the attachment point of the payload or the holding device on the first pivot arm.The orientation of the payload-side section of the support arm can be defined by a connecting line, in particular a straight one, between the attachment point of the support arm, in particular the payload-side section, on the support base and the connection point of the first pivot arm on the support arm, in particular on the payload-side section. The orientation of the second pivot arm can be defined by a connecting line, in particular a straight one, between the connection point of the second pivot arm on the support arm, in particular on the weight-side section, and the center of gravity and / or attachment point of the counterweight, in particular the counterweight for the payload, on the second pivot arm.The orientation of the weight-side section of the support arm can be defined by a connecting line, in particular a straight line, between the attachment point of the support arm, in particular the weight-side section, on the support foot and the connection point of the second pivot arm on the support arm, in particular on the weight-side section. The points, connection points, attachment points, and / or mounting points can be defined by articulation points and / or axes of rotation. The axes of rotation can be perpendicular to a two-dimensional view, such as a side view, of the holding and movement device. The support arm, the first pivot arm, and / or the second pivot arm can have different geometric and / or structural designs. The holding and movement device can be arranged vertically. The support foot can be arranged vertically. The support foot can be anchored in the floor or ceiling.The support leg can be arranged on a movement device, for example, a trolley or the like. The support leg can be arranged on a tripod, such as a camera tripod. The bearing 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 in this plane.

[0015] The distance from the connection point of the first pivot arm on the support arm to the attachment point of the payload or the holding device on the first pivot arm and the distance from the attachment point of the support arm on the support foot to the connection point of the first pivot arm on the support arm can be essentially the same length. The first pivot arm and the payload-side section of the support arm can be essentially the same length. The distance from the connection point of the first pivot arm on the support arm to the attachment point of the payload or the holding device on the first pivot arm can be greater or lesser than the distance from the attachment 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 or lesser than the length of the payload-side section 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 and / or attachment point of the counterweight on the second pivot arm and the distance from the attachment 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 the same length. The second pivot arm and the weight-side section of the support arm can be substantially the same length. The distance from the connection point of the second pivot arm on the support arm to the center of gravity and / or attachment point of the counterweight on the second pivot arm can be greater or lesser than the distance from the attachment 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 or lesser than the length of the weight-side section of the bearing arm.

[0017] The payload can be a camera, e.g. for photo and / or video recordings. The holding and movement device can be a camera holding and movement device. The alignment of the first and the alignment of the second pivot arm can be parallel to each other in any position. The overall center of gravity of the weight side, the overall center of gravity of the payload side and the attachment point of the bearing arm on the support foot can lie essentially on a straight line, preferably in any position of the holding and movement device. In general, the center of gravity or overall center of gravity can include the dead weight of the respective pivot arm, the dead weight of the respective payload or weight-side section of the bearing arm, the respective counterweight or counterweights, the dead weight of the holding device for the payload and / or the payload (e.g. camera) or can be formed or defined thereby.The center of gravity or overall center of gravity of the weight side can comprise, or be formed or defined by, the dead weight of the weight-side second pivot arm, the dead weight of the weight-side section of the support arm, and / or at least one weight-side counterweight. The center of gravity or overall center of gravity of the payload side can comprise, or be formed or defined by, the dead weight of the payload-side first pivot arm, the dead weight of the payload-side section of the support arm, the dead weight of the holding device for the payload, and / or the dead weight of the payload. The payload can preferably have its center of gravity, such as its own center of gravity, at the attachment point of the payload on the first pivot arm.The center of gravity or dead center of gravity of the payload can be formed, arranged, assumed and / or defined at the attachment point of the payload on the first pivot arm, even in the case of vertical and / or horizontal deflection or attachment of the payload. By ensuring that the centers of gravity lie on a straight line and / or by taking into account the dead loads of the structure, it is ensured that a nearly perfect dynamic equilibrium of the holding device is provided, i.e. an equilibrium that exists independently of the position of the individual pivot arms and during the movement of the holding device. Optimum equilibrium can be achieved in particular if the dead loads of the holding and moving device and / or the payload are balanced, for example with a counterweight or counterweights.This allows the payload / camera to be freely positioned anywhere within the accessible space without the operator having to support it. Extreme positions such as high, outward, and downward are also possible. The weight side is the side that is on the counterweight side with respect to the connection point of the support arm to the support foot. The payload side is the side that is correspondingly on the payload side. The payload is typically a camera, but a light, a camera, or similar devices can also be used as payload. A payload can also be a medical device or instrument.

[0018] The second pivot arm can further comprise a holding device for a counterweight for the payload / camera. The second pivot arm can comprise a holding device for a counterweight for the payload-side first pivot arm and / or the payload-side bearing arm section. The second pivot arm can comprise at least one counterweight predetermined as a function of the payload / camera. The counterweight predetermined as a function of the payload / camera can be fastened at a variable position along the second pivot arm. The second pivot arm can comprise at least one counterweight predetermined as a function of the dead weight of the payload-side first pivot arm and / or the payload-side bearing arm section. A counterweight can be formed by the design of the bearing arm, in particular the weight-side section of the bearing arm, and / or the second pivot arm.An attached counterweight can be replaced by the design of the corresponding arm or section, which corresponds in weight and / or position of its own center of gravity to the sum and / or resultant of the component's own weight with its center of gravity and the calculated or predetermined counterweight with its center of gravity. Dynamic equilibrium can be easily achieved through weight compensation, which is achieved either through such a predetermined structural design of the bearing and pivot arms together with the variable camera / payload counterweight or through the movable weight. The bearing arm and / or pivot arms can be constructed in several parts, for example in two parts, but can also be designed to be rigid and non-rotatable, so that the respective arm / element always moves as a whole.

[0019] Preferably, the support foot can be fastened to a first longitudinal side (e.g. a first end) of the support arm, in particular a multi-row, such as a two-part, bearing arm, with respect to the respective pivot arm. The first and second pivot arms can be fastened to the respective opposite longitudinal side (e.g. at the opposite ends) of the bearing arm. This can prevent the movement space of the pivot arms from overlapping with the support foot. This can be particularly the case if the bearing arm is formed from several elements, for example two elements, and the weight-side section of the bearing arm is formed on the opposite side of the support foot than the payload-side section of the bearing arm. Then the two pivot arms cannot interfere with each other's movement.

[0020] The alignment of the payload support device and / or the payload counterweight support device can be controlled to compensate for the movement of the panning arms. This can be achieved, in particular, via a dedicated mechanical, hydraulic, or electromechanical control system. This can prevent unstable shots during camera pans. Furthermore, the payload can always maintain the same alignment regardless of the rotation / pivoting of the panning arms. This can be helpful, for example, when guiding the payload, e.g., for camera control, and when attaching and using the payload or different payloads.

[0021] The center of gravity and / or holding point / suspension point for the payload / camera and / or for the holding device for the payload / camera, the center of gravity and / or holding point for the counterweight for the payload / camera, and the attachment point of the bearing arm on the support foot can preferably lie or be arranged substantially on a straight line in any position of the holding and movement device. The center of gravity of the first swivel arm, the center of gravity of the second swivel arm, and the connection point of the bearing arm on the support foot can preferably lie substantially on a straight line in any position of the holding and movement device. This can provide a simple way to ensure extremely precise weight and payload distribution.

[0022] The payload / camera can preferably be attached to a dedicated lateral, horizontal, and / or vertical boom. The holding device for the payload / camera can be designed as a lateral, horizontal, and / or vertical boom. With a lateral and / or horizontal boom adjacent to the suspension point, it is less likely that the payload / camera will collide with other components of the holding and movement device.

[0023] The swivel arms and / or the bearing arm can preferably be connected relative to each other via chain hoists, belts, cable hoists, electric motors, and / or hydraulic rotary drives. This ensures simultaneous and aligned movement of the individual elements.

[0024] In the following, embodiments of the invention are described in more detail with reference to figures, which show schematically and by way of example: Fig. 1shows an isometric view of a holding and moving device according to the present invention; Fig. 2 shows the holding and movement device from Figure 1 in a top view; Figs. 3a-c show the holding and movement device from Figure 1 in different positions in a side view; Figs. 4a-c show further embodiments of the holding and moving device according to the present invention; Fig. 5 shows an enlarged view of a mechanical rotary connection of the bearing arm and the swivel arms; and Fig. 6a-c show schematic representations of different embodiments of the holding and moving device according to the present invention with specific relative dimensions.

[0025] All geometric references, orientations, distances, lengths, and / or positions can be seen or defined in a two-dimensional view of the holding and moving device. Figures 3a to 4c and 6a to 6c This is the two-dimensional side view of the holding and movement device, which corresponds to the drawing plane. The rotation axes of all joint points always run perpendicular to the two-dimensional drawing plane.

[0026] Figures 1 to 3c shows an isometric view of a first embodiment of a holding and moving device 10 of the present invention. The holding and moving device 10 generally comprises a support base 12, a bearing arm 20, a first payload-side pivot arm 30, and a second weight-side pivot arm 40. In the following description, a camera is used as an example of the payload.

[0027] The support foot 12 is shown here as a rod-like structure. Preferably, the support foot 12 is mobile, i.e., it can be raised and / or adjusted so that the position of the holding and moving device 10 can be changed. The support foot 12 can have rollers for this purpose. The base 14 is schematically shown in the figures as a cone or cylinder. In general, however, three or more support legs can also be used. However, a fixed support foot can also be used with the present invention, which is, for example, screwed to the floor via a flange. At its upper end, the support foot 12 is connected to the bearing arm 20 at a connection point V1.The connection point of the bearing arm 20 to the support foot 12 is preferably rotatably mounted so that the bearing arm 20 can rotate about the support foot 12 in a plane that is perpendicular to the longitudinal axis of the support foot 12 and / or can rotate in a plane that is parallel to the longitudinal axis of the support foot 12 and / or in which the longitudinal axis of the support foot 12 lies.

[0028] The connection point V1 of the support arm 20 with the support foot 12 divides the support arm 20 into two areas: a camera-side area K and a weight-side area G. The support arm 20 can be formed in one piece (ie, made from only one piece) and / or arranged only on one side of the support foot 12. In the embodiment shown, the support arm 20 is formed in several parts, in particular in two parts. In area K and in area G, a separate section / element 24, 26 of the support arm 20 is provided, which are connected to each other by a crossbar 22 (see Figure 5). However, the elements 24, 26 are connected to one another in a movement-resistant manner. The support foot 12 mounts the bearing arm 20 on the crossbar 22 in such a way that the camera-side element / section 24 is arranged on the opposite side of the support foot 12 than the weight-side element / section 26. In this way, the pivot arms 30, 40 cannot obstruct one another, since they are arranged on different sides of the support foot 12. However, it is advantageous if only the pivot arms 30, 40 are provided on the longitudinal side of the bearing arm 20 opposite the support foot 12. In this way, at least an obstruction to the movement of the pivot arms 30, 40 by the support foot 12 can be avoided.

[0029] The pivot arms 30, 40 are attached to both ends of the support arm 20. The pivot arms 30, 40 are each rotatably mounted at one of their ends on the respective end of the support arm 20. The camera-side first pivot arm 30 has at its other end a camera holding device 32 at a suspension point 31 or V2, by means of which a camera 36 is attached to the holding and movement device 10. The camera holding device 32 preferably extends laterally at the end region of the pivot arm 30 as shown in Figure 2 so that the camera 36 (e.g. in a top view) is arranged next to the swivel arm 30. The camera 36 can also be arranged under (see Figure 1 ) or even directly below the suspension point 31.

[0030] The second swivel arm 40 is arranged on the weight side. As shown in the Figures 4a-4cAs can be seen, there are different designs for the second pivot arm 40 and for the weight-side part 26 of the bearing arm 20, which will be described in more detail later. It is important that the first and second pivot arms 30, 40 are held parallel to each other. This is achieved by a parallel mechanism, for example, a chain hoist, a cable hoist, or a toothed belt. Figures 1 and 5Wheels 27 and chain hoist / belt 29 are shown schematically. When the camera 36 moves forward, backward, up, or down, the first swivel arm 30 extends in the desired direction and transfers this movement to the second swivel arm 40, which then simultaneously moves automatically accordingly, so that the entire holding and movement device 10, including the camera 36, ​​remains in balance. The orientation of the camera 36 can also be determined in this way. This balancing can also be carried out by other mechanisms, for example by providing a plurality of electric motors instead of the wheels 27, which are controlled jointly, or by a hydraulic system in which hydraulic drives are connected to one another and transmit the movement analogously to the chain drives.It is also possible for the bearing arm 20 and the pivot arms 30, 40 to be formed by a parallel rod gear, which ensures their parallelism. Figure 5 shows an enlarged schematic representation of the parallel mechanism with which the pivot arms can be moved in dependence on one another. The camera holding device 32 is preferably controlled in such a way that it compensates for the movement of the pivot arms 30, 40 and the support arm 20. This compensation is achieved, in particular, via a dedicated mechanical, hydraulic, or electromechanical control system analogous to the systems used for the parallel mechanism of the pivot arms. Figure 5Small wheels 23 and chains / belts 25 are shown for this purpose. This parallel mechanism is connected in particular to the support foot 12. In the illustrated embodiment, the connecting shafts of the parallel mechanism of the panning arms and the camera balancing mechanism are arranged inside each other and designed to be rotatable relative to each other. This allows the camera 36 to be held in a predetermined orientation even during movement.

[0031] In the Figures 4a , 4b and 4c Three embodiments of the holding and moving device according to the present invention are shown. In Figure 4aAn embodiment is shown in which the second swivel arm 40 is adapted to provide the dynamic balance. Here, a counterweight 44 for the holding and moving device 10 is achieved by an additional weight on the second swivel arm 40, so that the overall center of gravity S1a of the weight side G of the holding and moving device 10, the connection point V1 of the bearing arm 20 and the support foot 12, and the overall center of gravity S2a of the camera side lie essentially on a straight line in every position of the holding and moving device 10 (see dashed line in Figure 4a). The counterweight 44 serves to counterbalance the structure, in particular the dead weight of the camera-side support arm section 24, the first pivot arm 30, and the camera holding device 32. The overall center of gravity S1a of the weight side G results here from the counterweight 44, the dead weight of the second pivot arm 40, and the dead weight of the weight-side support arm section 26. The overall center of gravity S2a of the camera side K results from the dead weight of the camera holding device 32, the dead weight of the first pivot arm 30, and the dead weight of the camera-side support arm section 24. The counterweight 42 then serves to counterbalance the weight of the camera 36. The overall center of gravity S1a of the weight side G can additionally include the counterweight 42. The overall center of gravity S2a of the camera side K can additionally include the dead weight of the camera 36.The overall centers of gravity S1a and S2a then change their position, but remain essentially on a straight line in every position of the holding and moving device 10. Furthermore, the second pivot arm 40 also has a holding device for the counterweight 42 for 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 also lie on a substantially straight line (see dotted line in ). Figure 4a ). This is the case in every position of the holding and movement device 10. The counterweight 44 can also be structurally integrated into the swivel arm 40, so that the swivel arm 40 and the counterweight 44 are designed as one piece (for example, made from one piece or welded together). Figures 3a, 3b and 3cshow the holding and movement device 10 in various extreme positions in which the balance of the overall system is still maintained. Furthermore, particular attention is drawn to Figures 1 to 3 and the corresponding description.

[0032] The Figure 4b The embodiment shown is a more specific form of the first embodiment according to Figure 4a Here, the weight-side section 26 of the support arm 20 can protrude beyond the connection point to the second pivot arm 40. A counterweight 28 can also be attached to the weight-side section 26 of the support arm 20, which counterbalances the support arm 20. The counterweight 28 thus serves to counterbalance the dead weight of the camera-side section 24 of the support arm 20. In the cutout in Figure 4bA positioning variant of the counterweight 28 is shown. The position of the counterweight 28 can be determined according to the weight such that the weight of the camera-side section 24 of the support arm 20 is counterbalanced by the weight-side section 26 of the support arm 20 and / or the counterweight 28. Thus, the center of gravity of the support arm 20 lies at the connection point V1. The counterweight 44 on the second swivel arm 40 then serves to counterbalance the weight of the first swivel arm 30 and the camera holding device 32. The counterweight 42, in turn, serves to counterbalance the dead weight of the camera 36. Thus, the overall center of gravity S1b of the weight side G, the bearing point V1 of the support arm 20 on the support foot 12, and the overall center of gravity S2b of the camera side K are essentially on a straight line (see dashed line in Figure 4b). In addition, the overall centers of gravity S1b and S2b are also located on the respective swivel arms 30, 40. This remains the case even when the counterweight 42 for the camera 36 is attached. In addition, the connection point V1 of the support foot 12 with the bearing arm 20, the suspension point V2 of the camera 36 and the suspension point V3 of the camera counterweight 42 are essentially on a straight line (see dotted line in Figure 4b ). This embodiment according to Figure 4b is easier to calculate, since the complexity of the weight compensation is lower compared to the embodiment according to Figure 4ais reduced. First, the bearing arm 20 is balanced, then the two parallel swivel arms 30, 40 and then the camera 36. The overall center of gravity S1b of the weight side G results from the counterweight 44 and the dead weight of the second swivel arm 40. The overall center of gravity S2b of the camera side K results from the dead weight of the camera holding device 32 and the dead weight of the first swivel arm 30. The alignment of the holding points V2, V3 and the overall centers of gravity S1b, S2b is analogous to that from Figure 4a (see dashed and dotted lines in Figure 4b ). Furthermore, particular attention is drawn to Figures 1 to 4a and the corresponding description.

[0033] With the embodiments according to Figures 4a and 4bDifferent cameras can be used with the same holding and movement device 10 while maintaining essentially perfect balance. If the payload changes, the counterweight 42 can be easily determined and adjusted accordingly.

[0034] Figure 4cshows a further embodiment in which the weight compensation of the camera 32 is carried out simultaneously with the weight compensation of the support arm 20 and the pivot arms 30, 40. In this embodiment, the second pivot arm 40 has a possibility for adjusting a counterweight 44', shown here as a slot 48, in which the counterweight 44' can be moved and fastened along the second pivot arm 40. In this way, the weight compensation can also be adjusted for any camera. However, the movable weight(s) must also be adapted to a changed camera. In principle, the movable counterweight 44' simply replaces the previously described counterweight 44 and the camera counterweight 42 simultaneously. The specific position and the specific weight of the movable counterweight 44' are then selected and adjusted accordingly for each camera.The overall center of gravity S1c of the weight side G of the holding and moving device 10, the connection point V1 of the bearing arm 20 and the support foot 12 and the overall center of gravity S2a of the camera side K lie essentially on a straight line in every position of the holding and moving device 10 (see dashed line in . Figure 4c ). The overall center of gravity S1c of the weight side G results here from the movable counterweight 44', the dead weight of the second swivel arm 40 and the dead weight of the weight-side bearing arm section 26. The overall center of gravity S2c of the camera side K results from the dead weight of the camera holding device 32, the dead weight of the first swivel arm 30, the dead weight of the camera-side bearing arm section 24 and the camera 36. In embodiments, such as the embodiment according to Fig. 4c, in which the center of gravity of the payload 36 is located vertically above or below the axis of the attachment point V2, the center of gravity, as the center of gravity of the payload 36, can be assumed and / or defined directly in the axis of the attachment point V2 in order to be able to carry out the subsequent calculations of the weights and distances. The center of gravity or center of gravity of the payload 36 can thus be defined in the attachment point V2 of the payload 36 on the first pivot arm 30, even with a vertical and / or horizontal deflection or attachment of the payload 36. The camera 36 is in the embodiment according to Fig. 4c included in the overall center of gravity of the camera side, because the counterweight 44' must also balance the camera 36. Furthermore, particular attention is drawn to Figures 1 to 4b and the corresponding description.

[0035] The calculation of the balance weights and their placement in the designs according to the Figures 4a-4cwill be explained below using the Figures 6a-6c briefly explained.

[0036] The definition of the individual parameters and variables for the Figures 6a-c is: aDead weight of the payload-side / camera-side bearing arm section 24, bDead weight of the payload-side / camera-side first swivel arm 30, if applicable with payload holding device / camera holding device 32, cDead weight of the camera 36, ​​dDead weight of the weight-side bearing arm section 26, eDead weight of the weight-side second swivel arm 40, fDead weight of the counterweight 42 for counterbalancing the payload / camera 36, ​​gDead weight of the counterweight 44 for counterbalancing the dead weights of the movable arms, in particular the payload-side / camera-side first swivel arm 30 and / or the payload-side / camera-side bearing arm section 24, hDead weight of the counterweight 28 for counterbalancing the bearing arm, in particular the payload-side / camera-side bearing arm section 24, iDead weight of the Counterweight 44' to compensate the dead loads of the movable arms,in particular the payload-side / camera-side first swivel arm 30 of the payload-side / camera-side support arm section 24, the payload holding device / camera holding device 32 and / or the payload / camera 36, ​​p distance from the weight-side articulation point to the center of gravity and / or attachment point / attachment point of the counterweight (g), and / or distance from the attachment point / connection point of the weight-side second swivel arm 40 on the support arm 20 to the center of gravity and / or attachment point / attachment point of the counterweight (g) for balancing the dead loads of the movable arms, in particular the payload-side / camera-side first swivel arm 30 and / or the payload-side / camera-side support arm section 24, m distance from the weight-side articulation point to the center of gravity and / or attachment point / attachment point of the counterweight (i),and / or distance from the attachment point / connection point of the weight-side second swivel arm 40 on the bearing arm 20 to the center of gravity and / or attachment point / attachment point of the counterweight (i) for balancing the dead loads of the movable arms, in particular the payload-side / camera-side first swivel arm 30 of the payload-side / camera-side bearing arm section 24, the payload holding device / camera holding device 32 and / or the payload / camera 36, ​​oDistance from the weight-side articulation point to the center of gravity, such as the center of mass, of the weight-side second swivel arm 40, and / or distance from the attachment point / connection point of the weight-side second swivel arm 40 on the bearing arm 20 to the center of gravity, such as the center of mass, of the weight-side second swivel arm 40, sDistance from the connection point V1, such as attachment point V1 of the bearing arm 20, to the center of gravity, such as the center of mass, of the weight-side Bearing arm section 26, tDistance from connection point V1,such as attachment point V1 of the support arm 20, to the weight-side articulation point and / or distance from the connection point V1, such as attachment point V1 of the support arm 20, to the attachment point / connection point of the weight-side second pivot arm 40 on the support arm 20, rDistance from the weight-side articulation point to the center of gravity and / or attachment point / attachment point of the counterweight (f), and / or distance from the attachment point / connection point of the weight-side second pivot arm 40 on the support arm 20 to the center of gravity and / or attachment point / attachment point of the counterweight (f) for balancing the payload / camera 36, ​​uDistance from the connection point V1, such as attachment point V1 of the support arm 20, to the payload-side / camera-side articulation point, and / or distance from the connection point V1, such as attachment point V1 of the support arm 20, to the attachment point / connection point of the payload-side first pivot arm 30 on Bearing arm 20,lDistance from the payload-side / camera-side articulation point to the holding point V2, and / or distance from the attachment point / connection point of the payload-side first swivel arm 30 on the bearing arm 20 to the center of gravity and / or attachment point of the payload / camera 36 and / or payload holding device / camera holding device 32, vDistance from the connection point V1, such as attachment point V1 of the bearing arm 20, to the center of gravity, such as the center of mass, of the payload-side / camera-side bearing arm section 24, wDistance from the payload-side / camera-side articulation point to the center of gravity, such as the resulting center of mass, of the payload-side / camera-side first swivel arm 30, if applicable with payload holding device / camera holding device 32, and / or distance from the attachment point / connection point of the payload-side / camera-side first swivel arm 30 on the bearing arm 20 to the center of gravity, such as the center of mass,of the payload-side / camera-side first swivel arm 30, if necessary with payload holding device / camera holding device 32, xDistance from the connection point V1, such as attachment point V1 of the bearing arm 20, to the center of gravity and / or attachment point / attachment point of the counterweight (h) and / or distance from the connection point V1, such as attachment point V1 of the bearing arm 20, to the center of gravity and / or attachment point / attachment point of the counterweight (h) for balancing the bearing arm 20, in particular the payload-side / camera-side bearing arm section 24.

[0037] The design of the individual elements of the different embodiments can then be calculated using the following formulas:

[0038] For the embodiment in the Figures 1 to 4a and 6a : provided: l u = r t f = c ⋅ u + c ⋅ l r + t g = a ⋅ v + b ⋅ u − d ⋅ s − e ⋅ t t p = b ⋅ t ⋅ w − e ⋅ o ⋅ t a ⋅ v + b ⋅ u − e ⋅ t − d ⋅ s

[0039] For the embodiment in the Figures 4b and 6b : provided: l u = r t für x vorbestimmt : h = v ⋅ a − d ⋅ s x für h vorbestimmt : x = v ⋅ a − d ⋅ s h g = b ⋅ u − e ⋅ t t p = b ⋅ t ⋅ w − e ⋅ o ⋅ t b ⋅ u − e ⋅ t f = c ⋅ u + c ⋅ l r + t

[0040] For the embodiment in the Figures 4c and 6c : i = a ⋅ v + c ⋅ u + b ⋅ u − d ⋅ s − e ⋅ t t m = b ⋅ t ⋅ w + c ⋅ l ⋅ t − e ⋅ o ⋅ t a ⋅ v + c ⋅ u + b ⋅ u − e ⋅ t − d ⋅ s

[0041] These formulas can be used to calculate and construct the dynamic weight compensation for the holding and moving device 10.

[0042] Figure 7shows a further embodiment of the holding and movement device with further components of a parallelogram mechanism. Such a mechanism has further components which must be included in the calculation formulas listed for weight compensation. Such components must be included in the dead loads of the adjacent components. The added parts or sections 46, 48 to form the parallelogram mechanism must be taken into account and also influence the balance. The additional parallelogram rod 48 has its own weight and a center of gravity of the force FS . FS can therefore represent the dead weight of the parallelogram rod 48 at its center of gravity. This force or dead weight FS must be broken down into two components which represent the holding force of the rod 48 at its ends. FS is the sum of F and F 2 .A non-centered center of gravity is to be broken down inversely and directly proportional to the distances / lengths from the center of gravity to the ends. The force or weight F is then assigned to the second pivot arm 40 as a weight component at the attachment point on component 40 and affects its own weight and center of mass position. Analogously, the force or weight F 2 is assigned to the first pivot arm 30 as a weight component at the attachment point on component 30 and affects its own weight and center of mass position. The extended part 46 of the second pivot arm 40 is assigned to this. Furthermore, particular reference is made to . Figures 1 to 6c and the corresponding description.

[0043] Figure 8shows a schematic of an embodiment with off-axis dead center of gravity of the movable arms. As shown above, the distances between the articulation points and the alignment of their connecting lines are particularly important for the basic geometric structure. The individual arms serve as a structural connection of the articulation points, but their shape can be freely designed. The calculation formulas already take into account that the center of gravity of a component, for example the support arm 20, does not necessarily have to be halfway between the ends of the component. However, they can be located on the imaginary connecting line between the articulation points. To allow complete freedom of design, components can also be designed with off-axis dead center of gravity. In the Figure 8In the exemplary embodiment shown, the centers of gravity of the components / arms, for example of the first pivot arm 30, are located outside the connecting line between the articulation points of the respective component / arm. The distance to this line can be referred to as the off-axis center of gravity and is the distance A a , A b , A d , A e or A g . The force or weight acting on these off-axis centers of gravity is a, b, d, e or g. The off-axis centers of gravity of the dead weights a and d of the support arm sections 24, 26 can be mutually balanced and described or defined by the formula d*A d = a*A a . The off-axis centers of gravity of the dead weights b and e can be balanced by the off-axis center of gravity of the counterweight g and can be described or defined by the formula A g = (b*A b + e*A e ) / g. The off-axis center of gravity must be taken into account differently for each embodiment.In principle, it can be said that the off-axis position of the dead center of gravity of a component can be compensated for by an opposite off-axis position of the counterweight on the opposite component. For example, from the front boom arm 30 to the rear boom arm 40 and / or from the front section 24 of the support arm 20 to the rear section 26 of the support arm 20. Furthermore, particular reference is made to . Figures 1 to 7 and the corresponding description.

[0044] Figure 9ashows a variant in which the payload's center of gravity lies on the axis of the suspension point V2 for the payload 36. The payload 36 is mounted in such a way that its center of gravity lies on the axis of the suspension point V2 for the payload 36 and / or directly in the suspension point V2. For the determination of the overall center of gravity of the payload side K, this positioning of the payload 36 can be assumed or defined. This can also be the case if the payload 36 and / or its center of gravity is actually mounted or present with vertical and / or horizontal deflection. The position-independent equilibrium is thus also ensured. In the direction of the axis (in Figure 9a perpendicular to the drawing plane) it can be offset.

[0045] Figure 9bshows a variant in which the payload's center of gravity lies vertically below or above the axis of the suspension point V2 for the payload 36, regardless of the position. The payload 36 and / or the holding device 32 for the payload 36 can also be mounted such that its center of gravity lies vertically above or below the axis of the suspension point V2 for the payload 36. In this case, it can be ensured that the position and / or orientation of the payload 36 and / or the holding device 32 for the payload 36 remains essentially unchanged in the vertical direction even in other positions of the first pivot arm 30. For example, a rotation of the first pivot arm 30 can be compensated.This can be realized, for example, by a corresponding mechanism which couples the position and / or orientation of the payload 36 and / or the holding device 32 for the payload 36 about the axis V2 with the orientation of the support at the base point V1 of the support arm 20.

[0046] Figure 9c shows a variant in which the payload's center of gravity is horizontally / horizontally offset from the axis of the suspension point V2 for the payload 36, regardless of its position. The payload 36 and / or the holding device 32 for the payload 36 can be mounted so that its center of gravity is also horizontally offset from the suspension point V2. The same mechanism for maintaining the position and / or orientation of the payload 36 and / or the holding device 32 for the payload 36 can be provided as in the variant described above according to Figure 9b, however, such that the position and / or orientation of the payload 36 and / or the holding device 32 for the payload 36 remains substantially unchanged horizontally. Additionally, the counterweight 42 for the payload 36 can be mounted displaced in the opposite horizontal direction. The counterweight 42 can additionally be coupled, in a similar manner to the coupling mechanism described above, in position, orientation, and / or rotation about the axis point V3 to the base support, such as the orientation of the support at the base point V1 of the support arm 20. The counterweight 42 can have the following horizontal counter-displacement (counterweight offset): Auslage Gegengewicht = Auslage Gewichtsseite Auslage Nutzlastseite ∗ Auslage Nutzlast The counterweight 42 does not necessarily have to be mounted displaced in the opposite horizontal direction. The counterweight 42 and / or its center of gravity can alternatively be arranged directly on the second pivot arm 40, for example, as in the embodiments described above. To compensate for the torque caused by the horizontally displaced payload 36 in the suspension point V2, a parallel mechanism can be provided. The parallel mechanism can be arranged on the first pivot arm 30 and / or on the payload-side section 24 of the bearing arm 20. The parallel mechanism can, for example, be arranged as Fig. 5 have the parallel mechanism described. This allows the torque to be directed into the base support and / or the support foot 12.

[0047] The variants according to Figures 9a, 9b and 9c can be combined with each other as desired.

[0048] "May" refers in particular to optional features of the invention. Accordingly, there are also further developments and / or embodiments of the invention that additionally or alternatively comprise the respective feature(s).

[0049] If necessary, isolated features may also be selected from the combinations of features disclosed here and used in combination with other features to define the subject matter of the claim, dissolving any structural and / or functional connection that may exist between the features. Reference symbol

[0050] 10 Holding and moving device 12 Support foot 14 Standing surface 20 Bearing arm 22 Crossbar 23 Wheels 24 Camera-side element / section 25 Chain hoist / belt 26 Weight-side element / section 27 Wheels 28 Counterweight 29 Chain hoist / belt 30 First pan arm 31 Suspension point 32 Camera holding device 36 Camera 40 Second pan arm 42 Counterweight (camera) 44 Counterweight 44 Counterweight 46 Section of the parallelogram mechanism 48 Part of the parallelogram mechanism G Weight-side area K Camera-side area S1a Weight-side center of gravity S1b Weight-side center of gravity S1c Weight-side center of gravity S2a Camera-side center of gravity S2b Camera-side center of gravity S2c Camera-side center of gravity V1 Connection point V2 Holding point V3 Holding point FS Force / dead weight of the parallelogram bar at the center of gravity F 1 Force / weight component of the parallelogram bar F 2 Force / weight component of the parallelogram bar A a Off-axis of the center of gravity of the payload-sideBearing arm section A b Off-axis of the center of gravity of the first swivel arm A d Off-axis of the center of gravity of the weight-side bearing arm section A e Off-axis of the center of gravity of the second swivel arm A g Off-axis of the center of gravity of the counterweight

Claims

1. Holding and moving device (10) for a useful load (36), comprising: a support foot (12); a bearing arm (20), which is secured pivotably onto the support foot (12), so that a useful load side section (24) and a weight-side section (26) are formed; a first pivot arm (30), which is connected on the useful load side to the useful load side section (24) of the bearing arm (20) and to which a useful load (36) and / or a holding device (32) for a useful load (36) can be attached or is attached; and a second pivot arm (40), which is connected on the weight side to the weight-side section (26) of the bearing arm (20) and to which at least one balance weight (42, 44, 44') can be attached or is attached, wherein the bearing arm (20), the first pivot arm (30) and the second pivot arm (40) are connected to one another such that the orientation of the first and the second pivot arm (30, 40) are essentially parallel to one another in each position, characterised in that the centre of gravity (S1a, S1b, S1c) of the weight side (G) with or without balance weight (42, 44, 44'), the centre of gravity (S2a, S2b, S2c) of the useful load side (K) with or without useful load (36) and the fastening point (V1) of the bearing arm (20) on the support foot (12) are essentially in a straight line.

2. Holding and moving device (10) for a useful load (36), comprising: a support foot (12); a bearing arm (20), which is secured pivotably onto the support foot (12), so that a useful load side section (24) and a weight-side section (26) are formed; a first pivot arm (30), which is connected on the useful load side to the useful load side section (24) of the bearing arm (20) and to which a useful load (36) and / or a holding device (32) for a useful load (36) can be attached or is attached; and a second pivot arm (40), which is connected on the weight side to the weight-side section (26) of the bearing arm (20) and to which at least one balance weight (42, 44, 44') can be attached or is attached, wherein the bearing arm (20), the first pivot arm (30) and the second pivot arm (40) are connected to one another such that the orientation of the first and the second pivot arm (30, 40) are essentially parallel to one another in each position, characterised in that the weight-side second pivot arm (40) and / or the weight-side bearing arm section (26) are designed such that the weight of the useful load side first pivot arm (30) and / or the useful load side bearing arm section (24) is balanced in each position of the holding and moving device (10).

3. Holding and moving device (10) according to claim 1 or 2, wherein the ratio of the distance (l) of the connecting point of the first pivot arm (30) on the bearing 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 bearing arm (20) on the support foot (12) to the connecting point of the first pivot arm (30) on the bearing arm (20) is essentially equal to the ratio of the distance (r) of the connecting point of the second pivot arm (40) on the bearing arm (20) to the centre of gravity and / or attachment point (V3) of the balance weight (42, 44') on the second pivot arm (40) to the distance (t) of the fastening point (V1) of the bearing arm (20) on the support foot (12) to the connecting point of the second pivot arm (40) on the bearing arm (20).

4. Holding and moving device (10) according to claim 1 or 3, wherein the weight-side second pivot arm (40) and / or the weight-side bearing arm section (26) are designed such that the weight of the useful load side first pivot arm (30) and / or the useful load side bearing arm section (24) is balanced in each position of the holding and moving device (10).

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

6. Holding and moving device (10) according to at least one of the preceding claims, wherein the distance (l) of the connecting point of the first pivot arm (30) on the bearing 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) of the fastening point (V1) of the bearing arm (20) on the support foot (12) to the connecting point of the first pivot arm (30) on the bearing arm (20) is essentially of equal length or the distance (l) of the connecting point of the first pivot arm (30) on the bearing 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 or smaller than the distance (u) of the fastening point (V1) of the bearing arm (20) on the support foot (12) to the connecting point of the first pivot arm (30) on the bearing arm (20).

7. Holding and moving device (10) according to at least one of the preceding claims, wherein the distance (r) of the connecting point of the second pivot arm (40) on the bearing arm (20) to the centre of gravity and / or attachment point (V3) of the balance weight (42, 44') on the second pivot arm (40) and the distance (t) of the fastening point (V1) of the bearing arm (20) on the support foot (12) to the connecting point of the second pivot arms (40) on the bearing arm (20) is essentially of equal length or the distance (r) of the connecting point of the second pivot arm (40) on the bearing arm (20) to the centre of gravity and / or attachment point (V3) of the balance weight (42, 44') on the second pivot arm (40) is greater or smaller than the distance (t) of the fastening point (V1) of the bearing arm (20) on the support foot (12) to the connecting point of the second pivot arm (40) on the bearing arm (20).

8. Holding and moving device (10) according to at least one of the preceding claims, wherein the overall centre of gravity (S1a, S1b, S1c) of the weight side (G), the overall centre of gravity (S2a, S2b, S2c) of the useful load side (K) and the fastening point (V1) of the bearing arm (20) on the support foot (12) are essentially in a straight line, in particular in each position of the holding and movement device.

9. Holding and moving device (10) according to at least one of the preceding claims, wherein the centre of gravity (S1a, S1b, S1c) or overall centre of gravity (S1a, S1b, S1c) of the weight side (G) comprises the inherent weight (e) of the weight-side second pivot arm (40), the inherent weight (d) of the weight-side section (26) of the bearing arm (20) and / or at least one weight-side balance weight (28, 42, 44, 44'), and / or the centre of gravity (S2a, S2b, S2c) or overall centre of gravity (S2a, S2b, S2c) of the useful load side (K) comprises the inherent weight (b) of the useful load side first pivot arm (30), the inherent weight (a) of the useful load side section (24) of the bearing arm (20), the inherent weight of the holding device (32) for the useful load (36) and / or the inherent weight (c) of the useful load (36).

10. Holding and moving device (10) according to at least one of the preceding claims, wherein the second pivot arm (40) further includes a holding device for a balance weight (42, 44') for the useful load (36) and / or a holding device for a balance weight (44, 44') for the useful load side first pivot arm (30) and / or the useful load side bearing arm section (24).

11. Holding and moving device (10) according to at least one of the preceding claims, wherein the second pivot arm (40) has at least one balance weight (42, 44') predetermined as a function of the useful load.

12. Holding and moving device (10) according to claim 11, wherein the balance weight (44') predetermined as a function of the useful load can be secured in a variable position along the second pivot arm (40).

13. Holding and moving device (10) according to at least one of the preceding claims, wherein the second pivot arm (40) has at least one balance weight (44, 44') predetermined as a function of the inherent weight of the useful load side first pivot arm (30) and / or of the useful load side bearing arm section (24).

14. Holding and moving device (10) according to at least one of the preceding claims, wherein the support foot (12) is secured with respect to the respective pivot arm (30, 40) on a first longitudinal side of the bearing arm (20) and the first and the second pivot arm (30, 40) are secured on the respective opposite longitudinal side of the bearing arm (20).

15. Holding and moving device (10) according to at least one of the preceding claims, wherein the bearing arm (20) is formed from a plurality, in particular two, elements (24, 26) and the weight-side section (26) of the bearing arm (20) is formed relative to the support foot (12) on the opposite side as the useful load side section (24) of the bearing arm (20).

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

17. Holding and moving device (10) according to at least one of the preceding claims, wherein a centre of gravity and / or holding point (V2) for the useful load (36) and / or for the holding device for the useful load, a centre of gravity and / or holding point (V3) for a balance weight (42) for the useful load (36) and the fastening point (V1) of the bearing arm (20) on the support foot (12) and / or wherein a centre of gravity of the first pivot arm (30) and a centre of gravity of the second pivot arm (40) and a connecting point (V1) of the bearing arm (20) on the support foot (12) are essentially in a straight line.

18. Holding and moving device (10) according to at least one of the preceding claims, wherein the holding device (32) for the useful load (36) and / or the holding device for the balance weight (42, 44') for the useful load (36) is designed as a lateral, vertical and / or horizontal extension arm.

19. Holding and moving device (10) according to at least one of the preceding claims, wherein the pivot arms (30, 40) and / or the bearing arm (20) are connected relative to another movably via chain hoists, belts, wire ropes, electric motors and / or hydraulic rotary drives.

20. 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 photo and / or video camera.