The invention is based on a wiper device comprising a wiper arm (20a; 20b; 20c), and comprising at least one wiper blade (18a, 18a, 18a) which is coupled to the wiper arm (20a; 20b; 20c) and comprises at least one wiper lip (22a, 22a, 22a) for wiping a surface (16a; 16b; 16c) of a protective element (14a; 14b; 14c) of a sensor device (12a), in particular of a lidar device, and comprising a wiper arm guide unit (24a) which is provided for moving the wiper arm (20a; 20b; 20c) in an at least substantially translatory manner along a guide track (50a).

It is proposed that the wiper device comprises a rotary joint (26a), by means of which the wiper blade (18a, 18a, 18a) is pivotably mounted on the wiper arm (20a; 20b; 20c).