Manipulator automatically movable in the interior of a pipeline

摘要

The invention relates to a manipulator, automatically movable in the interior of a pipeline (2), for carrying out work on the inner surface of this pipeline (2) with a testing or working unit (20) which contains a testing or working means (24) rotatable about the longitudinal axis of this pipeline (2). The testing and working unit (20) comprises a first drive means (4) for producing this rotary movement, at least one vehicle (8, 9) for driving the manipulator in the direction of this longitudinal axis, and a second drive means (10) for driving this vehicle (8, 9), the working unit (20), the vehicle or the vehicles (8, 9), and the drive means (4, 10) being arranged one behind the other in the longitudinal direction and being coupled to one another with flexible connecting elements (60, 62, 64, 66, 12). With a pipe-interior manipulator designed in this way, pipes of small nominal diameters and small radii of curvature can be traversed. <IMAGE>