A pipe manipulator is configured to move a pipe in an apparatus for bending a pipe. The apparatus includes a feeding device, a heating device configured to annularly surround the pipe. at least one bending arm disposed axially downstream from the heating device in a pipe feed direction, and a bending lock disposed on the at least one bending arm and configured to grasp a pipe section to be bent and to move around a bending axis of rotation during a feeding of the pipe. The pipe manipulator includes a receiving sleeve axially displaceable in the pipe feed direction and disposed displaceably in the feeding device at an end of the pipe. The receiving sleeve is configured to reach into the pipe and to firmly clamp the pipe from an inside of the pipe and to guide the pipe in a defined manner axially through the heating device.