A manipulator for controlling pipelines, especially for checking welds of pipelines with restricted access, and a method of attaching the manipulator to these pipelines

摘要

The manipulator for controlling pipelines, especially for checking peripheral welds of pipelines with restricted access, comprising at least the trolley (1) for bearing at least one probe, the control unit and the clamping element (13) for clamping around the pipelines (14) being checked. The trolley (1) is designed for circumferential movement around the pipelines (14) being checked, while the clamping element (13) is formed to encircle the pipelines (14) being checked and has two opposite free ends. The trolley (1) is equipped with two independent drive mechanisms spaced from each other, which are created for attaching the carriage (1) to the clamping element (13) and to move on it around the pipelines (14) being checked, while the control unit is programmed to control the drive mechanism for providing the required movement of the trolley (1) along the pipelines (14) being checked and for controlling the second drive mechanism for securing tensioning of the clamping element (13) during the movement of the trolley (1) by tightening of the clamping element (13) to the pipelines (14).