Manipulator for pivoting an object of manipulation

A manipulator (10) for pivoting an object of manipulation, the manipulator (10) having a frame (12) comprising a pivot base (13) which can be pivoted in a horizontal plane about a vertical pivot axis (11) relative to the frame (12) by means of a drive (26), the pivot base having a boom (20) comprising a load carrier (15) which is disposed at a free end of the boom (20) and serves to be connected to the object of manipulation, the load carrier (15) having a pivot (32) for pivoting the object of manipulation in the horizontal plane,

• wherein, in order to produce a four-bar linkage being pivotable in its entirety in the horizontal plane and comprising the boom (20), a control bar (24) extending from the frame (12) to the pivot (32) is provided, one end of the control bar (24) being articulated to the pivot (32) of the load carrier (15) and the other end being articulated to the frame (12) via a control gear (42) in such a manner that in the event of a base pivoting movement of the pivot base (13), a load carrier pivoting movement superimposed on the base pivoting movement is effected via the control gear (42) and the control bar (24);
• wherein the control gear (42) has a guide formed on the frame (12), said guide interacting with a control lever (30) which is disposed on the pivot base (13) and articulates the control bar (30) to the guide;
• and
• wherein the control lever (30) forms a lever rocker having a lever axis (34) fixed to the pivot base (13) for pivot-mounting the control lever (30) in a pivot plane parallel to the guide plane of the guide, the control lever comprising a control lever arm (35), whose end is engaged with the guide via the control head, and further comprising a driving lever arm (29) forming a driving member of the pivoting four-bar linkage.