Machining tool for pipes

Claim 1

Manipulator head for the remotely controlled positioning and operation of a tool in the interior of a pipe or pipeline, comprising: first and second support flanges having outer surfaces, guiding elements for the rolling advancement of the manipulator head and radially movable, hydraulically operable clamping devices for locking the manipulator head in place; a tool holder in the form of a tubular support frame having assembly openings formed therein, an inner wall surface, and third and fourth support flanges with outwardly pointing ends adjacent end faces of said tool holder, said tool holder interconnecting said first and second support flanges and being rotatably supported by said first and second support flanges; a rotating tool including a milling cutter disposed in the vicinity of one of said assembly openings for mechanically machining the inner wall surface of a pipe or pipeline, said milling cutter being disposed laterally of the axis of the manipulator head and coaxial to a radius of the manipulator head; an axially extended first guide rail attached to said inner wall surface of said tool holder, a first slide axially movable on said first guide rail, a first driving device coupled to said first slide for axially moving said tool; a second guide rail fastened to said first slide and extended parallel to a radius of the manipulator head, a second slide radially movable on said second guide rail, a second driving device coupled to said second slide for radially setting said tool; said milling cutter being fastened to said second slide, a third driving device coupled to said milling cutter for performing a working motion of said tool; and a fourth driving device disposed at one of said first and second support flanges for rotating said tool holder relative to said first and second support flanges, said fourth driving device including a worm gear transmission having a worm gear fastened on said outer surface of said one of said first and second support flanges axially of said outwardly pointing end of one of said third and fourth support flanges, a worm engaging said worm gear, a step-down transmission connected to said worm, and a drive motor connected to said transmission, said worm, transmission and drive motor being transverse to the axis of the manipulator head, and pillow blocks extending over said worm gear supporting said drive motor and said step-down transmission.