Drive unit for a vehicle for use as a robot in pipe systems, cavities or the like and a vehicle having same

A vehicle (23, 28) for use as a robot in pipe systems or cavities, the vehicle (22, 23) comprises a vehicle body (24, 29) on which at least one drive unit is arranged for locomotion, the drive unit (10, 40, 50;

• 10a, 10a′, 10b, 10b′) comprises at least one ring-like outer wheel (11) and at least one driven magnetic wheel (12, 12a, 12b), the at least one outer wheel (11) and the at least one magnetic wheel (12, 12a, 12b) have axes parallel to each other and are arranged eccentrically in relation to one another, and engaging with one another, in such a way that, when rotating relative to the at least one outer wheel (11) the at least one magnetic wheel (12, 12a, 12b) delineates with its wheel axis a concentric circle lying within the outer wheel (11), the outer wheel (11) and the magnetic wheel (12, 12a, 12b) are arranged one behind an other in an axial direction, and the engagement between the outer wheel (11) and the magnetic wheel (12, 12a, 12b) is effected by a circular, concentric disk (13) that is connected securely against rotation to the magnetic wheel (12, 12a, 12b) and rolls with its outer peripheral surface (14) on the inner peripheral surface (16) of the outer wheel (11).