DE202020101821U1 - Holding device for a camera - Google Patents

Abstract

A holding and moving device (10) for a payload (36), comprising:
a support leg (12),
a bearing arm (20) which is pivotally attached to the support leg (12) so that a payload-side section (24) and a weight-side section (26) are formed;
a first pivot arm (30) which is connected on the payload side to the section (24) of the bearing arm (20) on the payload side and to which a holding device (32) for a payload (36) can be attached or attached;
a second pivot arm (40) which is connected on the weight side to the portion (26) of the bearing arm (20) on the weight side and to which at least one counterweight (42, 44 ') can be attached or attached;
wherein the bearing arm (20), the first pivot arm (30) and the second pivot arm (40) are connected to one another in such a way that the alignment of the first and the second pivot arm (30, 40) are essentially parallel to one another in each position, characterized in that that the ratio of the distance from the connection point of the first pivot arm (30) on the bearing arm (20) to the fastening point (V2) of the holding device (32) on the first pivot arm (30) to the distance from the fastening point (V1) of the bearing arm (20) on the support foot (12) to the connection point of the first pivot arm (30) on the bearing arm (20) essentially equal to the ratio of the distance from the connection point of the second pivot arm (40) on the bearing arm (20) to the center of gravity and / or attachment point (V3) of the counterweight (42, 44 ') on the second pivot arm (40) to the distance from the attachment point (V1) of the bearing arm (20) on the support foot (12) to the connection point of the second pivot arm (40) on the bearing arm (20).

Description

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

There are a variety of camera holding devices that hold and move the camera when shooting movies. One problem is that previous camera movement devices are restricted in their freedom of movement, for example camera cranes can only move the camera on the outer surface of a sphere. Other camera cranes offer additional freedom of movement. But here there is the problem that the dynamic equilibrium is not given regardless of the position of the motion arm. Such solutions only offer equilibrium in an approximately middle position, in which the position of the camera and counterweight are approximately horizontally aligned. Positions with a larger deflection of the camera in the vertical or deviations in the vicinity of the base point cannot therefore be approached without loss of balance.

Such a suspension device is for example in the U.S. 5,192,963 A which allows an operator to make camera movements without continuously holding the weight of the camera. The device includes 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 define a pivot point. A secondary arm has a first end that is pivotally attached to the second end of the primary lever arm and a second end that contains a mount for the camera. A balance weight arm has a first end that is pivotally attached to the first end of the primary lever arm. To maintain balance, the apparatus 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. The apparatus also includes a chain drive mechanism for maintaining the camera level relative to the base when the secondary arm is pivoted about the second end of the primary lever arm.

The problem with this arrangement is that there is no dynamic weight compensation. As soon as the camera leaves an approximate position at a medium height, the counterweight can no longer compensate the camera weight with sufficient accuracy and an imbalance arises, so that the weight of the camera must be supported by the operator.

The EP 2391571 B1 discloses an articulated boom for moving a load, the boom being supported on a base and the boom having a first boom arm pivotably connected to the base, the first boom arm functioning as a receiver and pivotable about a first axis, and a second boom arm which is pivotally connected to the first cantilever arm, wherein the second cantilever arm is pivotable about a second axis, wherein the first and second cantilever arms each comprise two parallel frame bars, wherein each of the frame bars of the first cantilever arm is pivotally connected to the base and through an elbow spacer at one of said elbow ends of the first cantilever arm adjacent the second cantilever arm and spaced apart by at least one central mounting plate pivotally connected to the first cantilever arm between the elbow end and an opposite distal end, and wherein the frame bars of the first Au slegerarms are connected to the two parallel frame bars of the second cantilever arm to form a parallelogram link mechanism at the elbow end. Furthermore, the articulated arm comprises a lever arm which is pivotably connected at its lower end to the central mounting plate in order to have a fixed distance from the central mounting plate, a connecting rod which connects the lever arm to the second arm, a first counterweight which is attached to the distal Is arranged end of the first cantilever arm and a second balance weight which is arranged at an upper end of the lever arm. In this arrangement, too, the balance is only given in an approximate central position of the camera. A dynamic equilibrium is not achieved.

The object of the present invention is to provide an easy-to-use holding device with an uncomplicated construction that enables dynamic and precise weight compensation for different payloads, such as cameras. This object is achieved by a holding device according to claim 1. Further features defining the invention are contained in the subclaims.

A holding and moving device according to the invention for a payload, in particular a camera, comprises a support foot, a bearing arm that is pivotably attached to the support foot so that a payload-side section (e.g. a payload-side end area) and a weight-side section (e.g. a weight-side end area) are formed (for example protrude over the attachment), a first pivot arm which is connected to the bearing arm on the payload side at a connection section, such as the payload-side section, and the a holding device for a payload, in particular a camera, has a second pivot arm, which is connected to the bearing arm on the weight side at a connecting section, such as the weight-side section, and to which at least one counterweight can be attached or attached, the bearing arm and the first pivot arm and the second pivot arm are connected to one another in such a way that the orientation of the first and second pivot arms are substantially parallel to one another in each position, the ratio of the distance from the connection point of the first pivot arm on the support arm to the attachment point of the holding device g on the first pivot arm to the distance from the attachment point of the bearing arm on the support foot to the connection point of the first pivot arm on the bearing arm essentially equal to the ratio of the distance from the connection point of the second pivot arm on the bearing arm to the center of gravity and / or the attachment point of the counterweight on the second pivot arm to the distance from the attachment point of the bearing arm on the support foot to the connection point of the second pivot arm on the bearing arm. The distance from the connection point of the first pivot arm on the bearing arm to the fastening point of the holding device on the first pivot arm and the distance from the fastening point of the bearing arm on the support foot to the connection point of the first pivot arm on the bearing arm can be essentially the same length. The first pivot arm and the section of the bearing arm on the payload side can be essentially of the same length. The distance from the connection point of the first pivot arm on the bearing arm to the fastening point of the holding device on the first pivot arm can be greater or smaller than the distance from the fastening point of the bearing arm on the support foot to the connection point of the first pivot arm on the bearing arm. The length of the first pivot arm can be greater or less than the length of the portion of the bearing arm on the payload side. The distance from the connection point of the second pivot arm on the support arm to the center of gravity and / or the 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 essentially the same length. The second pivot arm and the weight-side section of the bearing arm can be essentially the same length. The distance from the connection point of the second swivel arm on the support arm to the center of gravity and / or the attachment point of the counterweight on the second swivel arm can be greater or smaller than the distance from the attachment point of the support arm on the support foot to the connection point of the second swivel arm ( 40 ) on the bearing arm ( 20th ) be. The length of the second pivot arm can be greater or less than the length of the weight-side section of the bearing arm.

The center of gravity (e.g. total center of gravity) of the weight side, the center of gravity (e.g. total 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. The payload can be a camera, e.g. be for photo and / or video recordings. The holding and moving device can be a camera holding and moving device. The orientation of the first and the orientation of the second pivot arm can be parallel to one another in any position. The total center of gravity of the weight side, the total center of gravity of the payload side and the fastening point of the bearing arm on the support foot can, preferably in every position of the holding and moving device, lie essentially on a straight line. In general, the center of gravity or the total center of gravity can include the dead weight of the respective swivel 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 thereby be formed or defined. The total center of gravity of the weight side can include the dead weight of the weight-side second pivot arm, the dead weight of the weight-side section of the bearing arm and / or the weight-side balance weight (s) or be formed or defined thereby. The total center of gravity of the payload side can include the dead weight of the payload-side first pivot arm, the dead weight of the payload-side section of the bearing arm, the dead weight of the holding device for the payload and / or the payload or be formed or defined thereby. The fact that the centers of gravity are on a line ensures that an almost perfect dynamic equilibrium of the holding device is provided, that is to say an equilibrium that exists regardless of the position of the individual swivel arms and during the movement of the holding device. This enables the payload / camera to be freely positioned at any location within the accessible space without the operator having to support the payload / camera. Extreme positions such as far up, outward and down are also possible. The weight side is the side that is arranged on the side of the counterweight with respect to the connection point of the bearing arm with the support foot. The payload side is the side that is correspondingly arranged on the side of the payload. The payload is in particular a camera, but a lamp, a camera or similar devices can also be used as the payload.

The weight-side second pivot arm and / or the weight-side bearing arm section is preferably designed in such a way that the weight of the payload-side first pivot arm and the payload-side bearing arm section is balanced in every position of the holding and movement device. The second swivel arm can also have a holding device for a counterweight for the payload / camera. The second swivel arm can have at least one counterweight which is predetermined as a function of the payload / camera and which can be fastened at a variable position along the second swivel arm. The dynamic equilibrium is realized in a simple manner by the weight compensation, which is carried out either by such a predetermined structural design of the bearing and swivel arms together with the variable camera / payload balance or by the movable weight. The bearing arm and also the swivel arms can be constructed in several parts, but are constructed so that they cannot move and rotate, so that the respective arm always moves as a whole.

The support foot can preferably be attached to a first longitudinal side (e.g. a first end) of the bearing arm with respect to the respective pivot arm. The first and the second pivot arm can be attached to the respective opposite longitudinal side (e.g. at the opposite ends) of the bearing arm. This prevents the movement space of the swivel arms from overlapping with the support foot. This is particularly the case when the bearing arm is formed from a plurality of elements and the weight-side section of the label arm is formed on the opposite side with respect to the support foot than the payload-side section of the bearing arm. Then the two swivel arms cannot interfere with each other's movement.

It is preferred that the alignment of the payload holding device can be controlled in such a way that it compensates for the movement of the swivel arms. This can be done in particular via its own mechanical, hydraulic or electromechanical control. This avoids restless recordings when panning the camera.

The breakpoint and / or suspension point for the payload / camera and / or for the payload holding device, the center of gravity and / or breakpoint for the balance weight of the payload / camera and the fastening point of the bearing arm on the support can preferably be in any position of the holding and movement device, in Be arranged essentially on a straight line. The center of gravity of the first pivot arm, the center of gravity of the second pivot arm and the connection point of the bearing arm on the support foot can, preferably in every position of the holding and movement device, lie essentially on a straight line. This provides a simple possibility for the weight and payload-side weight distribution to be carried out extremely precisely.

The payload / camera can preferably be fastened to a lateral or vertical arm provided for this purpose. The payload holding device can be designed as a lateral or vertical arm. If there is a side arm next to the suspension point, it is less likely that the payload / camera can collide with other components of the fixture.

The swivel arms and the bearing arm can preferably be connected to one another in relation to movement via chain hoists, belts, cable pulls, electric motors and / or hydraulic rotary drives. This ensures a simultaneous and mutually aligned movement of the individual elements.

• 1 zeigt eine isometrische Darstellung einer Halte- und Bewegungsvorrichtung gemäß der vorliegenden Erfindung;
• 2 zeigt die Halte- und Bewegungsvorrichtung aus 1 in einer Draufsicht;
• 3a-c zeigen die Halte- und Bewegungsvorrichtung aus 1 in verschiedenen Stellungen in einer Seitenansicht;
• 4a-c zeigen weitere Ausführungsformen der Halte- und Bewegungsvorrichtung gemäß der vorliegenden Erfindung;
• 5 zeigt eine vergrößerte Ansicht auf eine mechanische Drehverbindung des Lagerarms und der Schwenkarme; und
• 6a-c zeigen schematische Darstellungen von unterschiedlichen Ausführungsformen der Halte- und Bewegungsvorrichtung gemäß der vorliegenden Erfindung mit speziellen Relativmaßen.

In the following, exemplary embodiments of the invention are described in more detail with reference to figures, which show schematically and by way of example:

• 1 shows an isometric view of a holding and moving device according to the present invention;
• 2 shows the holding and moving device 1 in a plan view;
• 3a-c show the holding and moving device 1 in different positions in a side view;
• 4a-c show further embodiments of the holding and moving device according to the present invention;
• 5 shows an enlarged view of a mechanical rotary connection of the bearing arm and the pivot arms; and
• 6a-c show schematic representations of different embodiments of the holding and moving device according to the present invention with special relative dimensions.

1 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 includes a support leg 12 , a bearing arm 20th , a first swivel arm on the payload side 30th and a second weight-side pivot arm 40 . In the following description, a camera is used as an example of the payload.

The support leg 12 is shown here as a rod. Preferably the support leg 12 mobile, ie it can be lifted and / or repositioned so that the position of the holding and movement device 10 is changeable. The stand area 14th is schematized in the figures as a cone or cylinder. In general, however, 3 or more legs can also be used. However, a fixed support foot can also be used with the present invention, which, for example, is screwed to the floor via a flange. At its upper end is the support leg 12 at a connection point V1 with the bearing arm 20th connected. The connection point of the bearing arm 20th with the support leg 12 is preferably rotatably mounted so that the bearing arm 20th around the support leg 12 can rotate in a plane perpendicular to the longitudinal axis of the support leg 12 is, and / or can rotate in a plane that is parallel to the longitudinal axis of the support leg 12 lies and / or in which the longitudinal axis of the support leg 12 lies.

The connection point V1 of the bearing arm 20th with the support leg 12 divides the bearing arm 20th into two areas: A camera-side area K and a weight-sided area G . The bearing arm 20th can be formed in one piece (ie made from only one piece) and / or only on one side of the support leg 12 be arranged. In the embodiment shown, the bearing arm is 20th formed in several parts. The area K and the area G are each as separate elements / sections 24 , 26th provided by a cross bar 22nd are connected to each other (see 5 ). However, the elements are connected to one another in a fixed manner. The support leg 12 supports the bearing arm 20th like that on the crossbar 22nd that the camera-side element / section 24 in relation to the support leg 12 is arranged on the opposite side than the weight-side element / section 26th . In this way, the swivel arms 30th , 40 do not interfere with each other as they are on different sides of the support leg 12 are arranged. However, it is an advantage if only the swivel arms 30th , 40 on the support leg 12 opposite long side of the bearing arm 20th are provided. This can at least hinder the movement of the swivel arms 30th , 40 through the support leg 12 be avoided.

At the two ends of the bearing arm 20th are the swivel arms 30th , 40 attached. The swivel arms 30th , 40 are each rotatable with one of their ends at the respective end of the bearing arm 20th appropriate. The first swivel arm on the camera side 30th has a camera holder at its other end 32 at a suspension point 31 on, by means of a camera 36 on the holding and moving device 10 is attached. The camera holding device 32 preferably extends laterally at the end region of the swivel arm 30th as in 2 shown so the camera 36 (e.g. in a top view) next to the swivel arm 30th is arranged. The camera 36 can also be found under (see 1 ) or even directly below the suspension point 31 to be appropriate.

The second swivel arm 40 is arranged on the weight side. As in the 6a - 6c can be seen, there are different embodiments for the second pivot arm 40 and for the weight-side part 26th of the bearing arm 20th which will be described in more detail later. It is important that the first and second swivel arms 30th , 40 are kept parallel to each other. This is done by a parallel mechanism, for example a chain hoist, a cable pull or a toothed belt. In the 1 and 5 are wheels 27 and chain hoist / belt 29 shown schematically. When the camera moves 36 the first swivel arm extends to the front, back, up or down 30th in the desired direction and transfers this movement to the second swivel arm 40 , which then automatically moves at the same time, so that the entire holding and moving device 10 including camera 36 remains in balance. The alignment of the camera can also be changed 36 be set in this way. This compensation can also be carried out by other mechanisms, for example by providing a plurality of electric motors instead of the wheels 27 that are controlled together, or by a hydraulic system in which hydraulic drives are connected to one another and transfer the movement analogously to the chain drives. It is also possible that the bearing arm 20th and the swivel arms 30th , 40 be formed by a parallel rod gear, which ensure their parallelism. 5 shows an enlarged schematic representation of the parallel mechanism with which the swivel arms can be moved as a function of one another. The camera holding device 32 is preferably controlled in such a way that it controls the movement of the pivot arms 30th , 40 and the bearing arm 20th compensates. This compensation takes place in particular via its own mechanical, hydraulic or electromechanical control analogous to the systems that are used for the parallel mechanics of the swivel arms. In 5 are small wheels for it 23 and chains / straps 25th shown. This parallel mechanism is in particular with the support leg 12 connected. In the embodiment shown are the connecting shafts of the parallel mechanism of the swivel arms and the mechanism for the camera compensation are arranged in one another and designed to be rotatable with respect to one another. So can the camera 36 then also be held in a predetermined orientation during the movement.

In the 4a , 4b and 4c three embodiments of the holding and moving device according to the present invention are shown. In 4a an embodiment is shown in which the second pivot arm 40 is adjusted to provide dynamic equilibrium. Here is an additional weight on the second swivel arm 40 a balance weight 44 for the holding and moving device 10 achieved so that the overall focus S1a the weight side G the holding and moving device 10 , the connection point V1 from bearing arm 20th and support leg 12 and the overall focus S2a the camera side in every position of the holding and moving device 10 are essentially on one line (see dashed line in 4a) . The overall focus S1a the weight side G results here from the balance weight 44 , the dead weight of the swivel arm 40 and the dead weight of the bearing arm section on the weight side 26th . The overall focus S2a the camera side K results from the weight of the camera holding device 32 , the dead weight of the swivel arm 30th and the weight of the camera-side bearing arm section 24 . The balance weight 42 then serves to support the weight of a camera 36 balance. The overall focus S1a and S2a then change their position, but remain in every position of the holding and movement device 10 essentially on one line. Furthermore, the second pivot arm 40 another holding device for the balance weight 42 for the camera 36 on. In this embodiment, the breakpoints lie V3 for the balance weight 42 , the connection point V1 of the bearing arm 20th and the breakpoint V2 the camera holder 32 also on an essentially straight line (see dotted line in 4a) . This is in every position of the holding and moving device 10 the case. The balance weight 44 can also be used in the swivel arm 40 be structurally integrated so that swivel arm 40 and the balance weight 44 in one piece (for example made from one piece or welded together). The 3a , 3b and 3c show the holding and moving device 10 in various extreme positions, in which the balance of the entire system is still preserved.

In the 4b The illustrated embodiment is a more specific form of the first embodiment. The weight-side section can be used here 26th of the bearing arm 20th via the connection point to the second swivel arm 40 protrude. On the weight-side section 26th of the bearing arm 20th can also be a balance weight 28 be attached to the bearing arm 20th balanced. In the section in 4b is a positioning variant of the balance weight 28 shown. The position of the balance weight 28 will be determined according to the weight so that the weight of the camera-side portion 24 of the bearing arm 20th through the weight-side section 26th of the bearing arm 20th is balanced. Thus the center of gravity of the bearing arm lies 20th in the connection point V1 . The balance weight 44 on the second swivel arm 40 then serves to support the weight of the first swivel arm 30th balance. So then is also the overall focus S1b of the second swivel arm 40 , the bearing point V1 of the bearing arm 20th on the support leg 12 and the overall focus S2b of the first swivel arm 30th essentially on one line (see dashed line in 4b) . In addition, there are the overall priorities S1b and S2b also on the respective swivel arms. This remains so even if the balance weight 42 for the camera 36 is attached. In addition, the connection point is also here V1 of the support leg 12 with the bearing arm 20th , the suspension point V2 the camera 36 and the suspension point V3 of the camera balance 42 essentially on a straight line (see dotted line in 4b) . This embodiment according to 4b is easier to calculate because of the complexity of the counterbalancing compared to the embodiment according to 4a is reduced. First is the bearing arm 20th balanced, then the two parallel swivel arms 30th , 40 and then the camera. The overall focus S1b therefore results from the balance weight 44 and the weight of the second swivel arm 40 . The alignment of the breakpoints V2 , V3 and the overall focus S1b , S2b is analogous to the off 4a (see dashed and dotted lines in 4b) .

With the embodiments according to 4a and 4b can use different cameras with the same holding and moving device 10 used while maintaining an essentially perfect balance.

4c shows a further embodiment in which the weight compensation of the camera 32 simultaneously with the counterbalance of the bearing arm 20th and the swivel arms 30th , 40 is carried out. In this embodiment, the second pivot arm 40 a possibility to adjust a balance weight 44 ' on, here as a slot 48 shown in which the balance weight 44 ' along the second swivel arm 40 can be moved. A weight compensation can also be set for any camera. However, the movable weights must also be attached to a modified camera be adjusted. In principle it replaces the sliding weight 44 ' only simultaneously the balance weight described above 44 and the camera balance weight 42 . The specific position and the specific weight of the sliding counterweight 44 ' is then selected and set accordingly for each camera. The overall focus S1c the weight side G the holding and moving device 10 , the connection point V1 from bearing arm 20th and support leg 12 and the overall focus S2a the camera side are in every position of the holding and movement device 10 are essentially on one line (see dashed line in 4c ). The overall focus S1c the weight side G results here from the sliding counterweight 44 ' , the dead weight of the second swivel arm 40 and the dead weight of the bearing arm section on the weight side 26th . The overall focus S2c the camera side K results from the weight of the camera holding device 32 , the dead weight of the swivel arm 30th , the dead weight of the bearing arm section on the camera side 24 and the camera 36 . In this embodiment, the camera is included in the overall center of gravity of the camera side because the counterweight 44 ' also the camera 36 must balance.

The calculation of the counterweights and their placement in the embodiments according to 4a-c is briefly explained below.

a

Eigengewicht des nutzlastseitigen/kameraseitigen Lagerarm-Abschnittes,

b

Eigengewicht des nutzlastseitigen/kameraseitigen Schwenkarms mit Nutzlasthalteeinrichtung/Kamerahalteeinrichtung,

c

Eigengewicht der Kamera,

d

Eigengewicht des gewichtsseitigen Lagerarm-Abschnittes,

e

Eigengewicht des gewichtsseitigen Schwenkarms,

f

Eigengewicht des Ausgleichsgewichts zum Ausgleich der Nutzlast/Kamera,

g

Eigengewicht des Ausgleichsgewichts zum Ausgleich der Eigenlasten der beweglichen Arme, insbesondere des nutzlastseitigen/kameraseitigen ersten Schwenkarms und/oder des nutzlastseitigen/kameraseitigen Lagerarm-Abschnittes,

h

Eigengewicht des Ausgleichsgewichts zum Ausgleich des Lagerarmes, insbesondere des nutzlastseitigen/kameraseitigen Lagerarm-Abschnittes,

i

Eigengewicht des Ausgleichsgewichts zum Ausgleich der Eigenlasten der beweglichen Arme, insbesondere des nutzlastseitigen/kameraseitigen ersten Schwenkarms und/oder des nutzlastseitigen/kameraseitigen Lagerarm-Abschnittes, der Nutzlasthalteeinrichtung/Kamerahalteeinrichtung und der Nutzlast/Kamera,

p

Abstand vom gewichtsseitigen Gelenkpunkt zum Schwerpunkt und/oder Befestigungspunkt/Anbringungspunkt des Ausgleichsgewichts (g), und/oder Abstand vom Befestigungspunkt/Verbindungspunkt des gewichtseitigen zweiten Schwenkarms am Lagerarm zum Schwerpunkt und/oder Befestigungspunkt/Anbringungspunkt des Ausgleichsgewichts (g) für den Ausgleich der Eigenlasten der beweglichen Arme, insbesondere des nutzlastseitigen/kameraseitigen ersten Schwenkarms und/oder des nutzlastseitigen/kameraseitigen Lagerarm-Abschnittes,

m

Abstand vom gewichtsseitigen Gelenkpunkt zum Schwerpunkt und/oder Befestigungspunkt/Anbringungspunkt des Ausgleichsgewicht (i), und/oder Abstand vom Befestigungspunkt/Verbindungspunkt des gewichtseitigen zweiten Schwenkarms am Lagerarm zum Schwerpunkt und/oder Befestigungspunkt/Anbringungspunkt des Ausgleichsgewichts (i) für den Ausgleich der Eigenlasten der beweglichen Arme, insbesondere des nutzlastseitigen/kameraseitigen ersten Schwenkarms und/oder des nutzlastseitigen/kameraseitigen Lagerarm-Abschnittes, der Nutzlasthalteeinrichtung/Kamerahalteeinrichtung und der Nutzlast/Kamera,

o

Abstand vom gewichtsseitigen Gelenkpunkt zum Schwerpunkt, wie Massenschwerpunkt (z.B. Gesamtschwerpunkt), des gewichtsseitigen zweiten Schwenkarms,

s

Abstand vom Verbindungspunkt V1, wie Befestigungspunkt V1 des Lagerarms, zum Schwerpunkt, wie Massenschwerpunkt (z.B. Gesamtschwerpunkt), des gewichtsseitigen Lagerarm-Abschnittes,

t

Abstand vom Verbindungspunkt V1, wie Befestigungspunkt V1 des Lagerarms, zum gewichtsseitigen Gelenkpunkt und/oder Abstand vom Verbindungspunkt V1, wie Befestigungspunkt V1 des Lagerarms, zum Befestigungspunkt/Verbindungspunkt des gewichtseitigen zweiten Schwenkarms am Lagerarm,

r

Abstand vom gewichtsseitigen Gelenkpunkt zum Schwerpunkt und/oder Befestigungspunkt/Anbringungspunkt des Ausgleichsgewichts (f), und/oder Abstand vom Befestigungspunkt/Verbindungspunkt des gewichtseitigen zweiten Schwenkarms am Lagerarm zum Befestigungspunkt des Ausgleichsgewichts (f) für den Ausgleich der Nutzlast/Kamera,

u

Abstand vom Verbindungspunkt V1, wie Befestigungspunkt V1 des Lagerarms, zum nutzlastseitigen/kameraseitigen Gelenkpunkt, und/oder Abstand vom Verbindungspunkt V1, wie Befestigungspunkt V1 des Lagerarms, zum Befestigungspunkt/Verbindungspunkt des nutzlastseitigen ersten Schwenkarms am Lagerarm,

I

Abstand vom nutzlastseitigen/kameraseitigen Gelenkpunkt zum Haltepunkt V2, und/oder Abstand vom Befestigungspunkt/Verbindungspunkt des nutzlastseitigen ersten Schwenkarms am Lagerarm zum Befestigungspunkt der Nutzlast/Kamera und/oder Nutzlasthalteeinrichtung/Kamerahalteeinrichtung,

v

Abstand vom Verbindungspunkt V1, wie Befestigungspunkt V1 des Lagerarms, zum Schwerpunkt, wie Massenschwerpunkt (z.B. Gesamtschwerpunkt), des nutzlastseitigen/kameraseitigen Lagerarm-Abschnittes,

w

Abstand vom nutzlastseitigen/kameraseitigen Gelenkpunkt zum Schwerpunkt, wie resultierenden Massenschwerpunkt (z.B. Gesamtschwerpunkt), des nutzlastseitigen/kameraseitigen ersten Schwenkarms mit Nutzlasthalteeinrichtung/Kamerahalteeinrichtung,

x

Abstand vom Verbindungspunkt V1, wie Befestigungspunkt V1 des Lagerarms, zum Befestigungspunkt/Anbringungspunkt des Ausgleichsgewicht (h) und/oder Abstand vom Verbindungspunkt V1, wie Befestigungspunkt V1 des Lagerarms, zum Befestigungspunkt/Anbringungspunkt des Ausgleichsgewichts (h) für den Ausgleich des Lagerarmes, insbesondere des nutzlastseitigen/kameraseitigen Lagera rm-Abschnittes.

The definition of the individual parameters and variables for the 6a-c reads:

a

Dead weight of the payload-side / camera-side bearing arm section,

b

Dead weight of the payload-side / camera-side swivel arm with payload holding device / camera holding device,

c

Weight of the camera,

d

Dead weight of the bearing arm section on the weight side,

e

Dead weight of the weight-side swivel arm,

f

Dead weight of the counterweight to compensate for the payload / camera,

G

Dead weight of the counterweight to compensate for the dead loads of the movable arms, in particular the payload-side / camera-side first swivel arm and / or the payload-side / camera-side bearing arm section,

H

Dead weight of the counterweight to balance the bearing arm, in particular the bearing arm section on the payload side / camera side,

i

Dead weight of the counterweight to compensate for the dead loads of the movable arms, in particular the payload-side / camera-side first swivel arm and / or the payload-side / camera-side bearing arm section, the payload holding device / camera holding device and the payload / camera,

p

Distance from the articulation point on the weight side 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 pivot arm on the bearing arm to the center of gravity and / or attachment point / attachment point of the balance weight (g) for balancing the dead loads the movable arms, in particular the payload-side / camera-side first swivel arm and / or the payload-side / camera-side bearing arm section,

m

Distance from the hinge point on the weight side 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 on the bearing arm to the center of gravity and / or attachment point / attachment point of the balance weight (i) for balancing the dead loads the movable arms, in particular the payload-side / camera-side first swivel arm and / or the payload-side / camera-side bearing arm section, the payload holding device / camera holding device and the payload / camera,

O

Distance from the articulation point on the weight side to the center of gravity, such as the center of mass (e.g. overall center of gravity), of the weight-side second swivel arm,

s

Distance from the connection point V1 , like attachment point V1 of the bearing arm, to the center of gravity, such as the center of gravity (e.g. total center of gravity), of the bearing arm section on the weight side,

t

Distance from the connection point V1 , like attachment point V1 of the bearing arm, to the pivot point on the weight side and / or the distance from the connection point V1 , like attachment point V1 of the bearing arm, to the attachment point / connection point of the weight-side second pivot arm on the bearing arm,

r

Distance from the pivot point on the weight side 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 swivel arm on the bearing arm to the attachment point of the balance weight (f) for balancing the payload / camera,

u

Distance from the connection point V1 , like attachment point V1 of the bearing arm, to the pivot point on the payload / camera side, and / or the distance from the connection point V1 , like attachment point V1 of the bearing arm, to the attachment point / connection point of the first swing arm on the payload side on the bearing arm,

I.

Distance from the payload-side / camera-side pivot point to the stopping point V2 , and / or distance from the attachment point / connection point of the payload-side first swivel arm on the bearing arm to the attachment point of the payload / camera and / or payload holding device / camera holding device,

v

Distance from the connection point V1 , like attachment point V1 of the bearing arm, to the center of gravity, such as the center of mass (e.g. overall center of gravity), of the bearing arm section on the payload / camera side,

w

Distance from the payload-side / camera-side pivot point to the center of gravity, such as the resulting center of mass (e.g. overall center of gravity) of the payload-side / camera-side first swivel arm with payload holding device / camera holding device,

x

Distance from the connection point V1 , like attachment point V1 of the bearing arm, to the attachment point / attachment point of the counterweight (h) and / or the distance from the connection point V1 , like attachment point V1 of the bearing arm, to the attachment point / attachment point of the balance weight (h) for balancing the bearing arm, in particular the bearing arm section on the payload side / camera side.

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

For the embodiment in the 1 to 4a and 6a : $$\begin{array}{c}\frac{\text{l}}{\text{u}}=\frac{\text{r}}{\text{t}}\text{provided:}\\ \begin{array}{ccc}\text{f}=\frac{\text{c}\cdot \text{u}+\text{c}\cdot \text{l}}{\text{r}+\text{t}}& \text{G}=\frac{\text{a}\cdot \text{v}+\text{b}\cdot \text{u}-\text{d}\cdot \text{s}-\text{e}\cdot \text{t}}{\text{t}}& \text{p}=\frac{\text{b}\cdot \text{t}\cdot \text{w}-\text{e}\cdot \text{O}\cdot \text{t}}{\text{a}\cdot \text{v}+\text{b}\cdot \text{u}-\text{e}\cdot \text{t}-\text{d}\cdot \text{s}}\end{array}\end{array}$$

For the embodiment in the 4b and 6b : For the embodiment in the 4b and 6b : $$\begin{array}{cccc}& \frac{\text{l}}{\text{u}}=\frac{\text{r}}{\text{t}}\text{provided:}& & \\ \text{f}\ddot{\text{u}}\text{r x predetermined}:& \text{H}=\frac{\text{v}\cdot \text{a}-\text{d}\cdot \text{s}}{\text{x}}& \text{f}\ddot{\text{u}}\text{r h predetermined}:& \text{x}=\frac{\text{v}\cdot \text{a}-\text{d}\cdot \text{s}}{\text{H}}\\ \text{G}=\frac{\text{b}\cdot \text{u}-\text{e}\cdot \text{t}}{\text{t}}& \text{p}=\frac{\text{b}\cdot \text{t}\cdot \text{w}-\text{e}\cdot \text{O}\cdot \text{t}}{\text{b}\cdot \text{u}-\text{e}\cdot \text{t}}& & \\ \text{f}=\frac{\text{c}\cdot \text{u}+\text{c}\cdot \text{l}}{\text{r}+\text{t}}& & & \end{array}$$

For the embodiment in the 4c and 6c : $$\begin{array}{cc}\text{i}=\frac{\text{a}\cdot \text{v}+\text{c}\cdot \text{u}+\text{b}\cdot \text{u}-\text{d}\cdot \text{s}-\text{e}\cdot \text{t}}{\text{t}}& \text{m}=\frac{\text{b}\cdot \text{t}\cdot \text{w}+\text{c}\cdot \text{l}\cdot \text{t}-\text{e}\cdot \text{O}\cdot \text{t}}{\text{a}\cdot \text{v}+\text{c}\cdot \text{u}+\text{b}\cdot \text{u}-\text{e}\cdot \text{t}-\text{d}\cdot \text{s}}\end{array}$$

With these formulas the dynamic weight compensation for the holding and moving device can be determined 10 calculate and design.

In particular, optional features of the invention are referred to as “can”. Accordingly, there are also developments and / or exemplary embodiments of the invention which additionally or alternatively have the respective feature or the respective features.

If necessary, isolated features can also be selected from the feature combinations disclosed here and used in combination with other features to delimit the subject matter of the claim, dissolving any structural and / or functional relationship that may exist between the features.

List of reference symbols

10

Holding and moving device

12

Support leg

14th

Stand space

20th

Bearing arm

22nd

Cross bar

23

bikes

24

camera-side element / section

25th

Chain hoist / belt

26th

weight element / section

27

bikes

28

Counterweight

29

Chain hoist / belt

30th

first swivel arm

31

Suspension point

32

Camera holding device

36

camera

40

second swivel arm

42

Balance weight (camera)

44

Counterweight

44 '

Counterweight

G

weight-side area

K

camera-side area

S1a

center of gravity on the weight side

S1b

center of gravity on the weight side

S1c

center of gravity on the weight side

S2a

focus on the camera side

S2b

focus on the camera side

S2c

focus on the camera side

V1

Connection point

V2

Breakpoint

V3

Breakpoint

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• US 5192963 A [0003]
• EP 2391571 B1 [0005]

Claims (15)

Holding and moving device (10) for a payload (36), comprising: a support foot (12), a bearing arm (20) which is pivotably attached to the support foot (12) so that a payload-side section (24) and a weight-side Section (26) are formed; a first pivot arm (30) which is connected on the payload side to the section (24) of the bearing arm (20) on the payload side and to which a holding device (32) for a payload (36) can be attached or attached; a second pivot arm (40) which is connected on the weight side to the portion (26) of the bearing arm (20) on the weight side and to which at least one counterweight (42, 44 ') can be attached or attached; wherein the bearing arm (20), the first pivot arm (30) and the second pivot arm (40) are connected to one another in such a way that the alignment of the first and the second pivot arm (30, 40) are essentially parallel to one another in each position, characterized in that that the ratio of the distance from the connection point of the first pivot arm (30) on the bearing arm (20) to the fastening point (V2) of the holding device (32) on the first pivot arm (30) to the distance from the fastening point (V1) of the bearing arm (20) on the support foot (12) to the connection point of the first pivot arm (30) on the bearing arm (20) essentially equal to the ratio of the distance from the connection point of the second pivot arm (40) on the bearing arm (20) to the center of gravity and / or attachment point (V3) of the counterweight (42, 44 ') on the second pivot arm (40) to the distance from the attachment point (V1) of the bearing arm (20) on the support foot (12) to the connection point of the second pivot arm (40) on the bearing arm (20). Holding and moving device (10) according to Claim 1 , wherein the distance from the connection point of the first pivot arm (30) on the bearing arm (20) to the fastening point (V2) of the holding device (32) on the first pivot arm (30) and the distance from the fastening point (V1) of the bearing arm (20) on the support foot (12 ) to the connection point of the first pivot arm (30) on the bearing arm (20) is essentially the same length or the distance from the connection point of the first pivot arm (30) on the bearing arm (20) to the attachment point (V2) of the holding device (32) on the first pivot arm (30 ) is greater or smaller than the distance from the attachment point (V1) of the bearing arm (20) on the support foot (12) to the connection point of the first pivot arm (30) on the bearing arm (20). Holding and moving device (10) according to Claim 1 or 2 , wherein the distance from the connection point of the second pivot arm (40) on the bearing arm (20) to the center of gravity and / or attachment point (V3) of the counterweight (42, 44 ') on the second pivot arm (40) and the distance from the attachment point (V1) of the bearing arm (20) on the support foot (12) to the connection point of the second swivel arm (40) on the bearing arm (20) is essentially the same length or the distance from the connection point of the second swivel arm (40) on the bearing arm (20) to the center of gravity and / or attachment point (V3 ) of the counterweight (42, 44 ') on the second pivot arm (40) is greater or smaller than the distance from the attachment point (V1) of the bearing arm (20) on the support leg (12) to the connection point of the second pivot arm (40) on the bearing arm (20) . Holding and moving device (10) according to one of the preceding claims, wherein the center of gravity (S1a, S1b, S1c) of the weight side (G), the center of gravity (S2a, S2b, S2c) of the payload side (K) and the attachment point (V1) of the The bearing arm (20) on the support leg (12) lie essentially on a straight line. Holding and moving device (10) according to one of the preceding claims, wherein the total center of gravity (S1a, S1b, S1c) of the weight side (G), the total center of gravity (S2a, S2b, S2c) of the payload side (K) and the attachment point (V1) of the The bearing arm (20) on the support leg (12), in particular in every position of the holding and moving device, lie essentially on a straight line. Holding and moving device (10) according to Claim 5 , the total center of gravity (S1a, S1b, S1c) of the weight side (G) being the dead weight of the weight-side second pivot arm (40), the dead weight of the weight-side section (26) of the bearing arm (20) and / or at least one weight-side balancing weight (42, 44 ') and / or the overall center of gravity (S2a, S2b, S2c) of the payload side (K) includes the dead weight of the payload-side first pivot arm (30), the dead weight of the payload-side section (24) of the bearing arm (20), the dead weight of the holding device (32 ) for the payload and / or the payload (36). Holding and moving device (10) according to one of the preceding claims, in which the weight-side second pivot arm (40) and / or the weight-side bearing arm section (26) are designed such that the weight of the payload-side first pivot arm (30) and the payload-side bearing arm section (24) is balanced in every position of the holding and moving device (10), and the second pivot arm (40) also has a holding device for a counterweight (42) for the payload (36). Holding and moving device (10) according to one of the preceding claims, in which the second pivot arm (40) has at least one counterweight (44 ') which is predetermined as a function of the payload and which can be fastened at a variable position along the second pivot arm (40). Holding and moving device (10) according to one of the preceding claims, in which the support foot (12) 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 attached to the opposite longitudinal side of the bearing arm (20). Holding and moving device (10) according to one of the preceding claims, in which the bearing arm (20) is formed from several elements (24, 26) and the weight-side section (26) of the bearing arm (20) with respect to the support foot (12) on the opposite side is formed as the payload-side section (24) of the bearing arm (20). Holding and moving device (10) according to one of the preceding claims, in which the alignment of the payload holding device (32) is controlled in such a way that it compensates for the movement of the pivot arms (30, 40). Holding and moving device (10) according to one of the preceding claims, in which a holding point (V2) for the payload (36), a center of gravity and / or holding point (V3) for a counterweight (42) of the payload and the fastening point (V1) of the bearing arm (20) on the support leg (12) and / or in which a center of gravity of the first pivot arm (30) and a center of gravity of the second pivot arm (40) and a connection point (V1) of the bearing arm (20) on the support leg (12) essentially lie in a straight line. Holding and moving device (10) according to one of the preceding claims, in which the payload holding device (32) is designed as a lateral arm. Holding and moving device (10) according to one of the preceding claims, in which the pivot arms (30, 40) and the bearing arm (20) are connected relative to one another in terms of movement via chain hoists, belts, cables, electric motors and / or hydraulic rotary drives. Holding and moving device (10) according to one of the preceding claims, wherein the payload is a camera, such as a photo and / or video camera.

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