Patent ID: 8573889

Claim:
Milling robot for processing the internal walls of inaccessible pipelines with a milling robot arm that supports a milling head, that is deflectable via remote control in the direction of the inner wall of the pipe and that has an end flange supported by a housing body and a face flange supporting the milling head connected with one another via a deflectable core, and a flexible supply line routed longitudinally along the milling robot arm supplies the milling head with drive power, characterized in that the core is a torsionally rigid, fixed-length pintle chain ( 20 ) which is only deflectable in one plane, that a cylindrical outer casing ( 11 ) which connects the end flange ( 4 ) to the face flange ( 7 ) sheathes a pressurized chamber ( 12 ) in a pressure-tight way, that the pintle chain ( 20 ) is longitudinally positioned at an offset to the center line M of the outer casing ( 11 ), and that the outer casing ( 11 ) is made of a rubber-elastic material with a high restoring force and is reinforced in such a way that excess pressure in the pressurized chamber ( 12 ) essentially influences its lengthwise extension, as a result of which the milling robot arm ( 1 ) deflects towards the pintle chain ( 20 ) when there is excess pressure, and an increasing restoring force is built up against the deflection with an increasing deflection in order to fix the milling head ( 3 ) in place in a certain position with regard to the pipeline wall in dependence upon the pressure in the pressurized chamber ( 12 ).