Manipulator for pivoting an object of manipulation

1. 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.

2. The manipulator according to claim 1 , characterized in that the guide defines a control curve along which a control head of the control lever ( 30 ) is guided.

3. The manipulator according to claim 2 , characterized in that the control curve is a guiding groove ( 27 ) into which the control head, which is a driver ( 36 ), engages.

4. The manipulator according to claim 2 , characterized in that the control curve defines a sequence of control points whose distance (a) from the vertical pivot axis ( 11 ) of the pivot base ( 13 ) defines a parallelogram angle (a) formed between the driving member and the fixed member of the articulated pivoting parallelogram ( 28 ).

5. The manipulator according to claim 1 , characterized in that the guide is a control disk ( 25 ) which is connected to the frame ( 12 ).

6. The manipulator according to claim 1 , characterized in that the lever axis ( 34 ) is disposed above the boom ( 20 ) on the pivot base ( 13 ) and intersects a longitudinal axis ( 37 ) of the boom ( 20 ).

7. The manipulator according to claim 1 , characterized in that the control gear ( 42 ) comprises a pivot carrier ( 33 ) connected to the pivot base ( 13 ), the guide connected to the frame ( 12 ), and the control lever ( 30 ) connected to the pivot carrier ( 33 ) via the lever axis ( 34 ).

8. The manipulator according to claim 7 , characterized in that the pivot axis ( 21 ) of the boom ( 20 ) is formed on the pivot carrier ( 33 ) together with the lever axis ( 34 ) of the control lever ( 30 ).

9. The manipulator according to claim 1 , characterized in that in order to form a lifting linkage ( 14 ) which has an articulated lifting parallelogram ( 17 ) formed in a vertical plane, the boom ( 20 ) is articulated to the pivot base ( 13 ) via a pivot axis ( 21 ) and disposed parallel to a load arm ( 19 ) articulated to the pivot base ( 13 ) via a pivot axis ( 18 ), the boom ( 20 ) and the load arm ( 19 ) being articulated to each other via the load carrier ( 15 ) at their ends opposite the pivot base ( 13 ).

10. The manipulator according to claim 9 , characterized in that in order to realize the pivoting four-bar linkage as an articulated pivoting parallelogram ( 28 ), the boom ( 20 ) is disposed parallel to the control bar ( 24 ).

11. The manipulator according to claim 9 , characterized in that the drive ( 26 ) serves both to pivot the lifting linkage ( 14 ) and to pivot the pivot ( 32 ) of the load carrier ( 15 ).

12. The manipulator according to claim 11 , characterized in that the drive ( 26 ) is disposed on the guide.

13. 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 in order to form a lifting linkage ( 14 ) which has an articulated lifting parallelogram ( 17 ) formed in a vertical plane, the boom ( 20 ) is articulated to the pivot base ( 13 ) via a pivot axis ( 21 ) and disposed parallel to a load arm ( 19 ) articulated to the pivot base ( 13 ) via a pivot axis ( 18 ), the boom ( 20 ) and the load arm ( 19 ) being articulated to each other via the load carrier ( 15 ) at their ends opposite the pivot base ( 13 ).