Abstract: A pipe inspection apparatus includes a vehicle which is capable of moving along the bore of the pipe, two rubber cup-shaped members at each end of the vehicle for aligning the vehicle lengthwise in the pipe, a floating assembly of inspection devices such as ultrasonic transducers disposed circumferentially around the vehicle, and at least four link members pivotally attached to the assembly and to the vehicle to constrain the assembly to move in a direction normal to the length of the vehicle. The assembly may be resiliently suspended from the vehicle, and may also be provided with a centralizing device, such as a rubber cup-shaped member or rollers or skids, to centralize the assembly in the bore of the pipe.