CN110785600B

CN110785600B - Stability augmentation device and holder device

Info

Publication number: CN110785600B
Application number: CN201880039856.6A
Authority: CN
Inventors: 宾朋
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-08-31
Filing date: 2018-08-31
Publication date: 2021-06-08
Anticipated expiration: 2038-08-31
Also published as: CN113294670B; CN110785600A; CN113294670A; WO2020042184A1

Abstract

A stability augmentation device (100) and a holder device (200) are provided. The stability augmentation device (100) comprises a first swing arm assembly (10), a second swing arm assembly (20) and a power device (30); the first end of the second swing arm component (20) is rotatably connected with the first swing arm component (10), the second swing arm component (20) and the first swing arm component (10) can drive each other to move, and the second end of the second swing arm component (20) is connected with a part (90) to be stabilized; the power device (30) is connected with any end of the first swing arm component (10); the power device (30) adjusts the angle between the first swing arm assembly (10) and the second swing arm assembly (20) according to the displacement deviation of the part (90) to be stabilized in the vertical direction so as to compensate the displacement deviation of the part (90) to be stabilized in the vertical direction, reduce the shaking degree of the part (90) to be stabilized which fluctuates up and down, and further strengthen the stability of the part (90) to be stabilized in the vertical direction.

Description

Stability augmentation device and holder device

Technical Field

The invention relates to the technical field of cloud platforms, in particular to a stability augmentation device and a cloud platform device.

Background

Along with the development of the cloud platform technique, the user is more and more to cloud platform user demand. The existing tripod head device has no ideal correction effect on the up-and-down fluctuation and shake of a picture acquired by the shooting device in the vertical direction, and most of the existing structures are of a swing arm type, namely, an object to be stabilized is suspended outside a supporting point, so that the phenomenon of arm swing in the motion process of an operator is easily caused, and the stability augmentation of the shooting device is not facilitated.

Disclosure of Invention

The invention provides a stability augmentation device and a holder device, which are used for enhancing the stability of a part to be stabilized along the vertical direction.

Specifically, the invention is realized by the following technical scheme:

according to a first aspect of the present invention, there is provided a stability augmentation apparatus comprising: the device comprises a first swing arm assembly, a second swing arm assembly and a power device;

the first end of the second swing arm assembly is rotatably connected with the first swing arm assembly, the second swing arm assembly and the first swing arm assembly can be driven to move mutually, and the second end of the second swing arm assembly is connected with a part to be stabilized; the power device is connected with any one end of the first swing arm component;

and the power device adjusts the angle between the first swing arm assembly and the second swing arm assembly according to the displacement deviation of the part to be stabilized in the vertical direction so as to compensate the displacement deviation of the part to be stabilized in the vertical direction.

According to a second aspect of the present invention, there is provided a pan/tilt head apparatus comprising: treat and increase steady part and increase steady device, it includes to increase steady device: the device comprises a first swing arm assembly, a second swing arm assembly and a power device;

the first end of the second swing arm assembly is rotatably connected with the first swing arm assembly, the second swing arm assembly and the first swing arm assembly can be driven to move mutually, and the second end of the second swing arm assembly is connected with the part to be stabilized; the power device is connected with any one end of the first swing arm component;

According to the technical scheme provided by the embodiment of the invention, the angle between the first swing arm assembly and the second swing arm assembly is adjusted through the power device according to the displacement deviation of the part to be stabilized in the vertical direction so as to compensate the displacement deviation of the part to be stabilized in the vertical direction, so that the up-and-down fluctuation shaking degree of the part to be stabilized is reduced, and the stability of the part to be stabilized in the vertical direction is further enhanced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a perspective view of a pan-tilt apparatus according to an embodiment of the present invention;

fig. 2 is a perspective view of another perspective view of the pan and tilt head apparatus in an embodiment of the present invention;

fig. 3 is a schematic plan view of a pan/tilt head apparatus according to an embodiment of the present invention;

FIG. 4 is an exploded view of a pan and tilt head apparatus according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a first link of the stability augmentation apparatus in one embodiment of the present invention;

fig. 6 and 7 are schematic diagrams illustrating a connection relationship between the second swing arm assembly and the second connecting rod and the component to be stabilized of the stabilization device in an embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides a stability augmentation device and a holder device, which are used for enhancing the stability of a part to be stabilized along the vertical direction. The stability augmentation device and the holder device of the present invention will be described in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

Referring to fig. 1 to 7, an embodiment of the present invention provides a stability augmentation apparatus 100, including: a first swing arm assembly 10, a second swing arm assembly 20, and a power plant 30.

The first end of the second swing arm assembly 20 is rotatably connected with the first swing arm assembly 10, the second swing arm assembly 20 and the first swing arm assembly 10 can be driven to move, and the second end of the second swing arm assembly 20 is connected with the part 90 to be stabilized. The power unit 30 is connected to either end of the first swing arm assembly 10. In this embodiment, the power device 30 is connected to an end of the first swing arm assembly 10 remote from the second swing arm assembly 20.

The power device 30 can adjust the angle between the first swing arm assembly 10 and the second swing arm assembly 20 according to the displacement deviation of the component to be stabilized 90 in the vertical direction, so as to compensate the displacement deviation of the component to be stabilized 90 in the vertical direction, reduce the up-and-down fluctuation degree of the component to be stabilized, and further enhance the stability of the component to be stabilized in the vertical direction.

In an alternative embodiment, the first swing arm assembly 10 and the second swing arm assembly 20 are movable with respect to each other through a transmission structure. Optionally, the transmission structure is a gear structure disposed on the first swing arm assembly 10 and the second swing arm assembly 20 and engaged with each other, so that the first swing arm assembly 10 and the second swing arm assembly 20 can realize synchronous movement. In the present embodiment, the first swing arm assembly 10 is provided with a first gear structure 16, and the second swing arm assembly 20 is provided with a second gear structure 26 matched with the first gear structure 16, so that the first swing arm assembly 10 and the second swing arm assembly 20 can be driven to move relative to each other by the mutual engagement of the first gear structure 16 and the second gear structure 26. In this embodiment, the transmission structure is a gear transmission, and it can be understood that the transmission structure may also be a chain transmission, a belt transmission, a friction wheel transmission, or other transmission modes.

The power device 30 and the first swing arm assembly 10 can be driven to move mutually through a transmission structure. Alternatively, the power unit 30 includes a driving motor, and the transmission structure is a gear structure engaged with each other and provided on the driving motor of the first swing arm assembly 10 and the power unit 30. In this embodiment, the first swing arm assembly 10 is provided with the third gear structure 18, and the driving motor of the power device 30 is provided with the fourth gear structure 31 matched with the third gear structure 18, so that the first swing arm assembly 10 and the power device 30 can be driven to move relative to each other through mutual engagement of the third gear structure 18 and the fourth gear structure 31.

In an alternative embodiment, at least one of the first and second

swing arm assemblies

10 and 20 is a four-bar linkage. The first swing arm assembly 10 and the second swing arm assembly 20 may be both four-bar mechanisms, and the gear structures provided on the first swing arm assembly 10 and the second swing arm assembly 20 may enable the two four-bar mechanisms to realize synchronous motion.

The first swing arm assembly 10 is a four-bar linkage, and includes a first connecting bar 11, a second connecting bar 12, a third connecting bar 13 and a fourth connecting bar 14 which are rotatably connected in sequence, wherein the second connecting bar 12 and the fourth connecting bar 14 are respectively provided with at least two pivoting parts 15, so that two ends of the first connecting bar 11 and the third connecting bar 13 are respectively pivoted on the second connecting bar 12 and the fourth connecting bar 14. In this embodiment, the second link 12 and the fourth link 14 are both provided with two pivoting portions 15, the first link 11 is located above the third link 13, and the second link 12 and the fourth link 14 are respectively located at two sides of the first link and the third link 13. The first link 11 has one end pivotally connected to one of the pivotal portions 15 of the second link 12 and the other end pivotally connected to one of the pivotal portions 15 of the fourth link 14. Accordingly, one end of the third link 13 is pivotally connected to the other pivotal part 15 of the second link 12, and the other end is pivotally connected to the other pivotal part 15 of the fourth link 14, thereby forming a four-bar linkage.

The second swing arm assembly 20 comprises a fifth connecting rod 21 and a sixth connecting rod 22, and the second connecting rod 12 of the first swing arm assembly 10, the fifth connecting rod 21 and the sixth connecting rod 22 of the second swing arm assembly 20 and the part to be stabilized 90 are sequentially pivoted and jointly form a four-bar mechanism. The second link 12 of the first swing arm assembly 10 is provided with three pivoting portions 15, which are sequentially arranged, wherein the first pivoting portion 15 is pivoted with the first link 11, the second pivoting portion 15 is pivoted with the third link 13 and the sixth link 22, and the third pivoting portion 15 is pivoted with the fifth link 21. One end of the part to be stabilized 90 close to the second swing arm assembly 20 is provided with a bracket part 91. The fifth link 21 and the sixth link 22 of the second swing arm assembly 20 are both pivoted with the bracket 91, so as to form a four-bar linkage.

In an alternative embodiment, a first gear structure 16 is provided on the first link 11 at the connection point with the second swing arm assembly 20. Accordingly, the fifth link 21 of the second swing arm assembly 20 is provided with a second gear structure 26 at a portion connected to the first link 11 of the first swing arm assembly 10. The first gear structure 16 and the second gear structure 26 are matched to realize the rotational connection between the first swing arm assembly 10 and the second swing arm assembly 20 and can move with each other.

A third gear structure 18 is arranged on the first connecting rod 11 and connected with the power device 30. Accordingly, a fourth gear structure 31 is provided at a portion of the power unit 30 where the driving motor is connected to the first link 11. The first swing arm assembly 10 and the power device 30 can move relative to each other through the cooperation of the first gear structure 16 and the second gear structure 26.

In an alternative embodiment, the first link 11 includes at least one arm 111, and the arm 111 of the first link 11 is pivoted to the second link 12 at one end and pivoted to the fourth link 14 at the other end. The end of the support arm 111 of the first link 11 close to the second swing arm assembly 20 is provided with a first gear structure 16 matched with the second swing arm assembly 20, and the first gear structure 16 may be integrated with or fixedly connected with the support arm 111.

Correspondingly, the third link 13 includes the same number of arms 131 corresponding to the first link 11, and one end of the arm 131 of the third link 13 is pivotally connected to the second link 12, and the other end is pivotally connected to the fourth link 14.

The fifth link 21 includes the same number of arms 211 corresponding to the first link 11, one end of the arm 211 of the fifth link 21 is pivoted to the second link 12, and the other end is pivoted to the support portion 91 of the member to be stabilized 90. The sixth link 22 includes the same number of support arms 221 corresponding to the first link 11, one end of each support arm 221 of the sixth link 22 is pivoted to the second link 12, and the other end is pivoted to the support portion 91 of the to-be-stabilized component 90.

In a further embodiment, a third gear structure 18 engaged with the power device 30 is disposed at an end of the arm 111 of the first link 11 close to the power device 30, and the third gear structure 18 may be integrated with or fixedly connected to the arm 111. In this embodiment, one of the arms 111 of the first link 11 is provided with a third gear structure 18. Correspondingly, the drive motor of the power unit 30 is provided with a fourth gear structure 31 cooperating with the third gear structure 18 of the first link 11.

In this embodiment, the first link 11 includes two oppositely disposed arms 111 and a connecting member 112 connecting the two arms 111, and the first link 11 is a housing with a "concave" shape in cross section. It will be appreciated that the arm 111 of the first link 11 is a plate structure having a certain width, and the connecting member 112 of the first link 11 is connected between the upper ends of the two arms 111, so that the first link 11 is formed as a housing having a "concave" shape in cross section.

The first connecting rod 11 and the third connecting rod 13 are arranged in parallel, the third connecting rod 13 comprises two oppositely arranged support arms 131 and a connecting piece for connecting the two support arms 131, and the third connecting rod 13 is a shell with a concave section. It can be understood that the third link 13 and the first link 11 are mirror images of each other, the arm 131 of the third link 13 is a plate structure with a certain width, and the connecting element of the third link 13 is connected between the lower ends of the two arms 131, so that the third link 13 is formed into a housing with a concave section.

The fifth connecting rod 21 comprises two oppositely arranged support arms 211 and a connecting piece for connecting the two support arms 211, and the fifth connecting rod 21 is a shell with a concave section.

It should be noted that if only one arm 111 of the first link 11 of the first swing arm assembly 10 is provided with the first gear structure 16, one of the arms 211 of the fifth link 21 of the second swing arm assembly 20 is provided with the second gear structure 26. If both arms 111 of the first link 11 of the first swing arm assembly 10 are provided with the first gear structure 16, both arms 211 of the fifth link 21 of the second swing arm assembly 20 are provided with the second gear structure 26. In the present embodiment, both arms 111 of the first link 11 of the first swing arm assembly 10 are provided with the first gear structure 16. One end of the part to be stabilized 90 close to the second swing arm assembly 20 is provided with two bracket parts 91 which are oppositely arranged. The support arms 211 of the fifth link 21 of the second swing arm assembly 20 are located between the two support portions 91 and are provided with a second gear structure 26.

In an optional embodiment, the upper portion of the second link 12 of the first swing arm assembly 10 is located between two support arms 111 of the first link 11, two ends of the upper portion of the second link 12 are both provided with first rotating shafts 51, the two support arms 111 of the first link 11 are both provided with first through holes 52 for sleeving the corresponding first rotating shafts 51, and the first link 11 is pivoted with the second link 12 through the first rotating shafts 51.

The lower portion of the second connecting rod 12 is located between two support arms 211 of the fifth connecting rod 21, two ends of the lower portion of the second connecting rod 12 are respectively provided with a second rotating shaft 53, the two support arms 211 of the fifth connecting rod 21 are both provided with a second through hole 54 for sleeving the corresponding second rotating shaft 53, and the second swing arm assembly 20 is pivoted with the second connecting rod 12 through the second rotating shaft 53.

The inner walls of the two support parts 91 of the component to be stabilized 90 are respectively provided with a third rotating shaft 57, the sixth connecting rod 22 is provided with a third through hole 58 for sleeving the corresponding third rotating shaft 57, and the second swing arm assembly 20 is pivoted with the support parts 91 of the component to be stabilized 90 through the third rotating shafts 57. Accordingly, the first connecting rod 11 and the power device 30 can be connected to each other by means of a rotating shaft, and will not be described in detail herein.

In an alternative embodiment, the width of the fifth link 21 is at least greater than the width of the third link 13, so that the third link 13 is at least partially accommodated in the fifth link 21 when the first swing arm assembly 10 and the second swing arm assembly 20 are relatively rotated and folded (as shown in fig. 3), the volume occupied by the stability enhancing device 100 is reduced, and the device is convenient to carry. It will be appreciated that when the third link and the fifth link each include two arms, the distance between the two arms of the fifth link is at least greater than the distance between the two arms of the third link, so that the two arms of the third link are at least partially received between the two arms of the fifth link when folded.

In an alternative embodiment, the first swing arm assembly 10 further includes a resilient member 17. One end of the elastic member 17 is connected to the first link 11, and the other end of the elastic member 17 is connected to one end of the third link 13, which is far away from the end of the first link 11 connected to the elastic member 17. Alternatively, one end of the elastic member 17 is connected to the second link 12, and the other end is connected to the fourth link 14. In this embodiment, one end of the elastic member 17 is connected to the first link 11, and the other end is connected to one end of the third link 13 far from the end of the first link 11 connected to the elastic member 17. The elastic member 17 can provide an elastic pre-tightening force to the first swing arm assembly 10 to prevent the first swing arm assembly 10 from shaking, thereby further enhancing the stability of the component 90 to be stabilized.

In an alternative embodiment, the stability augmentation device 100 further comprises a weight adjustment knob 40 connected to the first swing arm assembly 10. The weight adjusting knob 40 can be used for adjusting the tightness degree between the first gear structure 16 of the first swing arm assembly 10 and the second gear structure 26 of the second swing arm assembly 20, and for adjusting the tightness degree between the third gear structure 18 of the first swing arm assembly 10 and the fourth gear structure 31 of the power device 30, so as to adjust the resistance magnitude when the first gear structure 16 and the second swing arm assembly 20 are driven to move relative to each other and the resistance magnitude when the first swing arm assembly 10 and the power device 30 are driven to move relative to each other, thereby avoiding the failure of the stability enhancement device caused by the incomplete contact between the gear structures.

According to the stability augmentation device, according to the displacement deviation of the component to be stabilized 90 along the vertical direction, the driving motor of the power device 30 is used for controlling the angle between the first swing arm assembly 10 and the second swing arm assembly 20, the first swing arm assembly 10 and the second swing arm assembly 20 can be meshed with each other through a gear structure to realize synchronous motion, the purpose of compensating the displacement deviation of the component to be stabilized 90 along the vertical direction is achieved, the up-and-down fluctuation shaking degree of the component to be stabilized 90 is reduced, and the stability of the component to be stabilized 90 along the vertical direction is further enhanced.

Referring to fig. 1 to 4, an embodiment of the present invention further provides a holder device 200, including a to-be-stabilized component 90 and a stability augmentation device 100, where the stability augmentation device 100 includes a first swing arm assembly 10, a second swing arm assembly 20, and a power device 30. The first end of the second swing arm assembly 20 is rotatably connected with the first swing arm assembly 10, the second swing arm assembly 20 and the first swing arm assembly 10 can be driven to move mutually, and the second end of the second swing arm assembly 20 is connected with the part to be stabilized 90; the power unit 30 is connected to either end of the first swing arm assembly 10. The power device 30 adjusts the angle between the first swing arm assembly 10 and the second swing arm assembly 20 according to the displacement deviation of the component to be stabilized 90 along the vertical direction, so as to compensate the displacement deviation of the component to be stabilized 90 along the vertical direction, and solve the up-and-down fluctuation and shake phenomenon of the picture caused by the up-and-down fluctuation of the camera body when the pan-tilt device 200 shoots. It should be noted that the description of the stability augmentation device 100 in the above embodiments and embodiments is also applicable to the holder device 200 of the present invention.

In an alternative embodiment, the holder device 200 further includes a support portion 80, the support portion 80 is pivotally connected to the first swing arm assembly 10 of the stability enhancing device 100, and the support portion 80 is used for providing a supporting force for the stability enhancing device 100 and the component to be stabilized 90.

In the present embodiment, the supporting portion 80 is a handle, the handle includes a holding portion 83, and the center of gravity of the to-be-stabilized component 90 and the holding portion 83 are in the same vertical direction. It can be understood that, when the holder device 200 is in a static state or a moving state, the center of gravity of the to-be-stabilized component 90 and the holding portion 83 of the handle are always kept in the same vertical direction, so as to eliminate the swing caused by the offset moment, reduce the swing of the arm of the operator during the holding process, and further enhance the stabilizing effect of the to-be-stabilized component 90. Of course, in other examples, the support portion 80 may have other configurations, such as a camera stand, a support boom, and the like.

Further, the handle may include a bending part 82 and a holding part 83 connected to the bending part 82, the bending part 82 is connected to the second swing arm assembly 20, and the holding part 83 extends in a horizontal direction, so as to be held by a user.

In an alternative embodiment, the member to be stabilized 90 includes a connecting member 92, and at least two pivoting portions (which may be understood as the bracket portion 91) are provided on the connecting member for pivoting with the second swing arm assembly 20.

Further, the component to be stabilized 90 includes a plurality of rotatably connected bracket assemblies 93 and a load 94 supported by the bracket assemblies. Optionally, the load 94 is a camera. The image up-and-down fluctuation and shake phenomena caused by the up-and-down fluctuation of the body when the holder device 200 shoots can be solved through the stability augmentation device 100, and meanwhile, the influence caused by the deflection moment is solved.

The support assembly 93 may be a three-axis pan-tilt support, the support assembly 93 may include a yaw axis assembly 95 connected to a second end of the second swing arm assembly 20 of the stability increasing apparatus 100, and a roll axis assembly 96 connected to the yaw axis assembly 95, and the load 94 may be mounted on the roll axis assembly 96.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The holder handle and the holder having the holder handle provided by the embodiment of the present invention are described in detail above, and the principle and the embodiment of the present invention are explained in detail herein by applying specific examples, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A stability augmentation device, comprising: the device comprises a first swing arm assembly, a second swing arm assembly and a power device;

2. The stability augmentation device of claim 1, wherein the first swing arm assembly and the second swing arm assembly are movable relative to each other through a transmission structure.

3. The stability augmentation device of claim 2, wherein the transmission structure is an intermeshing gear structure disposed on the first and second swing arm assemblies.

4. The stability augmentation device of claim 3, wherein at least one of the first and second swing arm assemblies is a four-bar linkage.

5. The stability augmentation device of claim 4, wherein the first swing arm assembly is a four-bar linkage mechanism comprising a first bar, a second bar, a third bar and a fourth bar which are rotatably connected in sequence, wherein each of the second bar and the fourth bar is provided with at least two pivoting parts for respectively pivoting two ends of the first bar and the third bar to the second bar and the fourth bar.

6. The stability augmentation apparatus of claim 5, wherein a gear structure is provided at a portion of the first link connected to the second swing arm assembly.

7. The stability augmentation device of claim 6, wherein the first link comprises at least one arm, one end of the arm being pivotally connected to the second link and the other end being pivotally connected to the fourth link; one end of the support arm close to the second swing arm assembly is provided with a gear structure matched with the second swing arm assembly, and the gear structure and the support arm are integrated or fixedly connected.

8. The augmentation stabilizing device of claim 7, wherein the first link comprises two oppositely disposed arms and a connecting member connecting the two arms, and the first link is a housing having a "concave" shape in cross section.

9. The device according to claim 7 or 8, wherein the third link comprises the same number of arms corresponding to the first link, and one end of each arm is pivotally connected to the second link, and the other end of each arm is pivotally connected to the fourth link.

10. The stability augmentation apparatus of claim 9, wherein the third link comprises two oppositely disposed arms and a connecting member connecting the two arms, and the first link and the third link are disposed in parallel.

11. The stability augmentation device of claim 5, wherein the first swing arm assembly further comprises a resilient member;

one end of the elastic piece is connected to the first connecting rod, and the other end of the elastic piece is connected to one end, far away from the first connecting rod, of the third connecting rod, and connected with the elastic piece; or

One end of the elastic piece is connected to the second connecting rod, and the other end of the elastic piece is connected to the fourth connecting rod.

12. The stability augmentation device of claim 5, wherein the second swing arm assembly comprises a fifth connecting rod and a sixth connecting rod, and the second connecting rod, the fifth connecting rod, the sixth connecting rod and the part to be stabilized of the first swing arm assembly are sequentially pivoted and jointly form a four-bar mechanism.

13. The stability augmentation device of claim 12, wherein the second link of the first swing arm assembly is provided with three pivoting portions, and the three pivoting portions are sequentially arranged, wherein the first pivoting portion is pivotally connected to the first link, the second pivoting portion is pivotally connected to the third link and the sixth link, and the third pivoting portion is pivotally connected to the fifth link.

14. The stability augmentation apparatus of claim 12, wherein a gear structure is provided at a portion of the fifth link connected to the first swing arm assembly.

15. The stability augmentation device of claim 12, wherein the width of the fifth link is at least greater than the width of the third link, such that the third link is received in the fifth link when the first and second swing arm assemblies rotate relative to each other and are folded.

16. The stability augmentation apparatus of claim 1, wherein the power device and the first swing arm assembly are movable relative to each other through a transmission structure.

17. The stability augmentation device of claim 16, wherein the transmission structure is an intermeshing gear structure disposed on the first swing arm assembly and the power device.

18. The stability augmentation device of claim 17, wherein the first swing arm assembly is a four-bar linkage mechanism comprising a first bar, a second bar, a third bar and a fourth bar which are rotatably connected in sequence, wherein each of the second bar and the fourth bar is provided with at least two pivoting parts to pivot two ends of the first bar and the third bar to the second bar and the fourth bar, respectively.

19. The stability augmentation apparatus of claim 18, wherein a gear structure is provided at a portion of the first link connected to the power unit.

20. The stability augmentation device of claim 19, wherein the first link comprises at least one arm, the arm being pivotally connected at one end to the second link and at the other end to the fourth link; one end of the support arm close to the power device is provided with a gear structure matched with the power device, and the gear structure and the support arm are integrated or fixedly connected.

21. The stability augmentation apparatus of claim 20, wherein the first link comprises two arms oppositely disposed, and one end of the arm near the power device is provided with a gear structure engaged with the power device.

22. The stability augmentation apparatus of claim 1, further comprising a weight adjustment knob coupled to the first swing arm assembly.

23. A pan and tilt head device, comprising: treat and increase steady part and increase steady device, it includes to increase steady device: the device comprises a first swing arm assembly, a second swing arm assembly and a power device;

24. A holder device according to claim 23, further comprising a support portion pivotally connected to said first swing arm assembly, said support portion being adapted to provide a support force for said stability enhancing device and said component to be stabilized.

25. A holder device according to claim 24, wherein said support portion is a handle comprising a grip portion, the centre of gravity of said part to be stabilized being in the same vertical direction as said grip portion.

26. A head apparatus according to claim 23, wherein the part to be stabilized comprises a connecting member, the connecting member being provided with at least two pivoting portions for pivotally connecting to the second swing arm assembly.

27. A head arrangement according to claim 23, wherein the member to be stabilised comprises a plurality of rotatably connected cradle assemblies and a load supported by the cradle assemblies.

28. A head device according to claim 27, wherein said load is a camera.

29. A holder device according to claim 25, wherein said handle comprises a bent member and a holding portion connected to said bent member, said bent member being connected to said second swing arm assembly, said holding portion extending in a horizontal direction.

30. A head arrangement according to claim 27, wherein the carriage assembly comprises a yaw axis assembly connected to the second end of the second swing arm assembly of the stability augmentation apparatus and a roll axis assembly connected to the yaw axis assembly, the load being carried by the roll axis assembly.

31. A head apparatus according to claim 23, wherein the first and second swing arm assemblies are movable relative to each other by a drive arrangement.

32. A head apparatus according to claim 31, wherein the transmission structure is an intermeshing gear structure provided on the first and second swing arm assemblies.

33. A head apparatus according to claim 32, wherein at least one of the first and second swing arm assemblies is a four bar linkage.

34. A head apparatus according to claim 33, wherein the first swing arm assembly is a four-bar linkage comprising a first bar, a second bar, a third bar and a fourth bar rotatably connected in series, wherein each of the second bar and the fourth bar is provided with at least two pivotal connections for pivotally connecting two ends of the first bar and the third bar to the second bar and the fourth bar, respectively.

35. A head apparatus according to claim 34, wherein the first link is provided with a gear arrangement at a location where it is connected to the second swing arm assembly.

36. A head apparatus according to claim 35, wherein said first link comprises at least one arm pivoted at one end to said second link and at the other end to said fourth link; one end of the support arm close to the second swing arm assembly is provided with a gear structure matched with the second swing arm assembly, and the gear structure and the support arm are integrated or fixedly connected.

37. A head apparatus according to claim 36, wherein said first link comprises two oppositely disposed arms and a connecting member connecting said arms, said first link being a housing having a "concave" shape in cross-section.

38. A head apparatus according to claim 36 or 37, wherein the third link comprises the same number of arms as the first link, and wherein one end of each arm is pivotally connected to the second link and the other end of each arm is pivotally connected to the fourth link.

39. A head apparatus according to claim 38, wherein the second link comprises two oppositely disposed arms and a connecting member connecting the two arms, the first and second links being arranged in parallel.

40. A head arrangement according to claim 34, wherein said first swing arm assembly further comprises a resilient member;

41. A head apparatus according to claim 34, wherein the second swing arm assembly comprises a fifth link and a sixth link, the second link, the fifth link, the sixth link and the part to be stabilized of the first swing arm assembly being pivotally connected in sequence and together forming a four-bar linkage, wherein the three pivotally connected parts of the second link of the first swing arm assembly are connected to the first link respectively.

42. A head apparatus according to claim 41, wherein the second link of the first swing arm assembly is provided with three pivotally connected portions arranged in series, wherein a first pivotally connected portion is pivotally connected to the first link, a second pivotally connected portion is pivotally connected to the third link and the sixth link, and a third pivotally connected portion is pivotally connected to the fifth link.

43. A head apparatus according to claim 41, wherein the fifth link is provided with a gear arrangement at a location where it is connected to the first swing arm assembly.

44. A head apparatus according to claim 41, wherein the width of the fifth link is at least greater than the width of the second link, such that the second link is received within the fifth link when the first and second swing arm assemblies are rotated relative to each other and folded.

45. A head apparatus according to claim 23, wherein said power means and said first swing arm assembly are movable relative to each other by a transmission structure.

46. A head apparatus according to claim 45, wherein the transmission structure is an intermeshing gear structure provided on the first swing arm assembly and the power unit.

47. A holder device according to claim 46, wherein said first swing arm assembly is a four-bar linkage comprising a first bar, a second bar, a third bar and a fourth bar rotatably connected in sequence, wherein each of said second bar and said fourth bar is provided with at least two pivot joints for pivotally connecting two ends of said first bar and said third bar to said second bar and said fourth bar, respectively.

48. A head apparatus according to claim 47, wherein the first link is provided with a gear arrangement at a location where it is connected to the power means.

49. A head apparatus according to claim 48, wherein said first link comprises at least one arm pivoted at one end to said second link and at the other end to said fourth link; one end of the support arm close to the power device is provided with a gear structure matched with the power device, and the gear structure and the support arm are integrated or fixedly connected.

50. A head apparatus according to claim 49, wherein said first link comprises two arms, and wherein said arm adjacent said power means is provided with a gear arrangement for engagement with said power means.

51. A holder device according to claim 23, further comprising a weight adjustment knob connected to said first swing arm assembly.