| 摘要 |
<p>A manipulator head for the remotely controlled positioning and operation of a tool in the interior of a pipe includes: first support flanges having guiding elements and clamping devices; a tubular tool holder frame having second support flanges interconnecting the first support flanges and being rotatably supported thereby; a rotating tool including a milling cutter at an assembly opening in the tool holder for machining the inner wall surface of a pipe; a first guide rail attached to the inner wall surface of the tool holder, a first slide axially movable on the first guide rail, a first driving device coupled to the first slide for axially moving the tool; a second guide rail fastened to the first slide, a second slide radially movable on the second guide rail, a second driving device coupled to the second slide for radially setting the tool; the milling cutter being fastened to the second slide, a third driving device coupled to the milling cutter for a working motion of the tool; and a fourth driving device disposed at one of the first support flanges for rotating the tool holder relative thereto including a worm gear transmission having a worm gear fastened on the outer surface of one of the first support flanges, and a worm, a step-down transmission and a drive motor transverse to the axis of the manipulator head; and pillow blocks supporting the drive motor and the step-down transmission.</p> |
