Equipment for removing the lining of the walls of tunnel

Abstract

The present invention relates to a piece of equipment (10, 110) for removing the cladding of the inner walls of tunnels, which equipment comprises a self-propelled carriage (20, 120) with a frame (21, 121), at least one arm (30) connected at a first end (32, 132) to the frame (21, 121) so as to be able to rotate, in an operating configuration, around a first horizontal longitudinal rotation axis (Xr1) parallel to the movement direction (X) of the carriage ( 20, 120) and a working tool (40, 140), mounted at a second opposite end (34, 134) of the arm (30, 130), configured to remove the cladding of the tunnel walls.

Description

[0001] TITLE

[0002] EQUIPMENT FOR REMOVING THE LINING OF THE WALLS OF TUNNEL DESCRIPTION

[0003] The present invention relates to a piece of equipment for removing the outermost cladding of tunnel walls.

[0004] More in detail, the present invention relates to a piece of equipment adapted to mechanically remove the surface layer of tunnel walls, such as road tunnels, railway tunnels and the like.

[0005] The present invention falls within the field of civil engineering, in particular in the infrastructure sector.

[0006] Like other underground structures, tunnels are often characterized by an outer cladding in a deteriorated and degraded state, caused both by the ageing of the construction materials and by the interaction with the particular surrounding environment, which can put the stability and functionality of the structure, as well as the safety of the people who use it, at risk.

[0007] There is therefore a periodic need to carry out maintenance interventions aimed at restoring the load-bearing capacity and impermeability of at least the outermost cladding layer.

[0008] In such restoration operations, in many cases it is necessary to remove / disintegrate the outer concrete cladding layer of the tunnel wall.

[0009] Depending on the type of intervention, the depth of removal of the cladding ranges from a few centimetres up to 10 cm or more.

[0010] Currently, there are two most widespread types of equipment for carrying out such removal operations: those that implement a mechanical removal and those that exploit what is known as hydrodemolition.

[0011] The equipment according to a variant of the present invention concerns the first type, i.e., mechanical removal. Another variant of the present invention concerns the second type, i.e., removal by means of hydrodemolition.

[0012] In the state of the art, in most cases, machinery is used for such an operation which comprise a frame which is mounted on wheels or tracks and is equipped with an articulated arm at the end of which a working tool is applied.

[0013] As regards the first type of machinery, said tool generally comprises a transverse drum milling cutter.

[0014] Typically, the operation is performed by moving the tool along a curved trajectory corresponding to the curvature of the wall and removing the lining of an entire "rib" of the tunnel, to then advance the machinery along the extension direction of the tunnel and, subsequently, repeat the operation along a new rib.

[0015] As regards the second type of machinery, said tool typically comprises one or more nozzles adapted to deliver a high pressure jet of water (up to 3000 bar) which is capable of disintegrating the concrete of the wall cladding and, at the same time, to clean the underlying reinforcing rods from any corrosion residues.

[0016] In some cases, said nozzles are mounted on a support such that they can translate with an alternating rectilinear motion along a given stroke.

[0017] In some applications, the operation is carried out by rotating the arm and the nozzle support along a curved trajectory, corresponding to the curvature of the wall, removing the cladding of an entire "rib" of the tunnel. The depth of the worked rib section is a function of the amplitude of the alternating rectilinear movement made by the nozzles.

[0018] Once the removal of the cladding of a rib has been completed, the equipment is advanced along the extension direction of the tunnel, thus repeating the operation along a new rib.

[0019] In other cases, the arm of the equipment is kept fixed and the equipment is advanced along the axis of the tunnel while the effect of the alternating movement made by the nozzles allows the equipment to remove a strip of cladding whose width (height) is a function of the nozzle stroke. With such a method, multiple passes are carried out with the arm positioned at different heights so as to treat the entire arch of the tunnel wall.

[0020] However, the equipment of the prior art used for such purposes today has some limitations.

[0021] In fact, the configuration of the prior art machinery is such that the arm generally has limited mobility. The current mobility of the arm of the current machinery allows the end of the arm, and thus the tool connected thereto, an arc of movement along the rib of the tunnel of only about 90°.

[0022] To complete the removal of the cladding along an entire rib, it is therefore necessary to rotate the equipment frame by 180° so that the movement of the arm and the tool, drum milling cutter or nozzles, covers the remaining approximately 90° of the rib.

[0023] All this, in addition to increasing execution times, can lead to inaccuracies since, in the second or further passes on the same rib, the tool (the milling cutter) must be positioned as centred as possible with the track made in the previous partial pass.

[0024] Furthermore, such known equipment is controlled manually by an operator on board or through remote controls. In cases in which the arm of the equipment comprises multiple sections articulated or hinged together, the operator has the not easy task of managing the relative rotations of the various sections to make the tool follow the ideal curved trajectory.

[0025] In this context, an object of the present invention is to offer equipment for removing the cladding of the inner walls of tunnels, which solves these and other problems of the prior art.

[0026] In particular, the object of the present invention is to provide equipment that allows the cladding removal operation to be carried out more precisely and in a shorter time with respect to what occurs with the known equipment.

[0027] Another object of the present invention is to make automated equipment which is easy to manage and requires only a marginal intervention by an operator.

[0028] Another object of the present invention is to provide equipment that is more productive and, therefore, less expensive in terms of operations.

[0029] The object of the present invention is also to create equipment that is practical to transport.

[0030] These and other objects are all achieved, according to the invention, by equipment for removing the cladding of the inner walls of tunnels, in accordance with claim 1.

[0031] In detail, the equipment comprises:

[0032] - a self-propelled carriage with a frame;

[0033] - at least one arm, connected at a first end to the frame so as to be able to rotate, in an operating configuration, around a first longitudinal and horizontal axis Xrl, parallel to the longitudinal direction X of the frame; and

[0034] - a working tool, mounted on the arm at a second opposite end thereof, said arm being configured to remove the cladding of the tunnel walls.

[0035] The rotation of the arm around said first axis Xrl is controlled by motor means or actuators, typically hydraulic. Preferably, the arm is connected to the frame by means of a fifth wheel, or equivalent mechanisms, which allows the rotation thereof around the first axis Xrl.

[0036] The arm, in the operating configuration, can thus oscillate in a vertical plane, completing a rotation arc of at least 180°.

[0037] According to a variant of the invention, the working tool comprises a transverse drum milling cutter. Motor means, preferably hydraulic, rotate said milling cutter.

[0038] According to another preferred variant of the invention, the working tool comprises at least one nozzle fed with a high pressure fluid, typically water.

[0039] Thanks to the arrangement of the arm and the working tool, the equipment is capable of removing the cladding along the entire wall of a rib of the tunnel, for an arc of amplitude up to 180°, or even greater, without having to move the carriage or the frame.

[0040] According to an aspect of the invention, the equipment is provided with a hydraulic circuit, in which a hydraulic fluid circulates, to power the motors and actuators. The equipment further comprises a control unit, associated with a plurality of sensors, adapted to control the hydraulic circuit.

[0041] According to a preferred variant of the invention, the equipment is at least partly automated. For example, the rotation arc that the arm completes to remove the cladding and the rotation speed can be calculated and managed by the control unit, which automatically controls the motors that rotate the arm.

[0042] For this purpose, according to an embodiment, a suitable sensor, such as an encoder, can be associated with the motor that drives the rotation of the arm or directly with the arm itself, at the first axis of rotation.

[0043] The equipment thus created is much more efficient, rapid and precise than that of the prior art. Furthermore, the removal operation is less dangerous, as it does not require the presence of an operator on board or nearby.

[0044] According to an aspect of the invention, the equipment comprises a device for controlling the rotation speed of the arm around the first rotation axis Xrl. Said control device includes at least one pressure switch located on the delivery pipes of the hydraulic actuator or motor that controls the rotation of the arm.

[0045] The pressure switch is usually previously calibrated on a threshold value of the pressure of the hydraulic fluid.

[0046] The pressure in the hydraulic circuit increases more and more as a result of the effort made by the working tool as it advances to break up the cladding. Said pressure rises until it reaches the pre-established threshold value. Once such a pressure threshold value is reached, the pressure switch reduces the pressure value of the hydraulic fluid to the actuator or motor that controls the rotation of the arm, and, consequently, the rotation (advancement) speed of the tool is reduced.

[0047] This prevents excessive contact pressure from damaging the working tool or the arm itself from being subjected to excessive stresses.

[0048] According to a variant of the invention, the arm, at its second end, comprises a support to which the working tool is connected. Such a support can advantageously be configured to rotate the tool around an axis Zt parallel to the extension direction Z of the arm and orthogonal to the first rotation axis Xrl. For example, said support element comprises a fifth wheel or equivalent rotating members.

[0049] Thereby, it is possible to orient the working tool with respect to the surface of the wall to be treated. More precisely, it is possible to rotate the milling cutter drum by 180° to be able to operate with the arm rotating in both directions of rotation, since said milling cutter drum generally has a pre-established advancement direction based on the shape of its working surface.

[0050] According to another aspect of the invention, the support comprises a joint that allows the working tool to oscillate around a second rotation axis Yr2 substantially orthogonal to the rotation axis Xrl of the arm.

[0051] Such a rotation movement can be controlled by elastic elements, dampers or both, or by active actuators, i.e., hydraulic cylinders powered by the hydraulic circuit.

[0052] The aforesaid rotation around the axis Yr2 allows the tool to be oriented so that the working surface of the tool is always substantially in contact with the tunnel wall, in the specific example that the rotation axis of the drum milling cutter is as parallel as possible to the tunnel axis. Such a rotation allows the tool to work in an ideal position with respect to the surface even when the carriage (and the frame) is on a sloping or not perfectly flat section of ground.

[0053] According to another variant of the invention, said support comprises a first portion, directly connected to the end of the arm, and a second portion, slidably mounted on the first portion along a direction Xt substantially parallel to the extension axis X of the frame. Said second sliding portion carries the at least one nozzle.

[0054] The second portion is connected to an actuator which imparts an alternating rectilinear motion to said second position along the direction Xt.

[0055] The combination of the rotation movement of the arm and the alternating rectilinear movement of the nozzle allow a band- shaped section of the tunnel surface, here called "rib", to be treated, even with the frame stationary.

[0056] According to an aspect of the invention, the support is hinged at the end of the arm and is rotatable around a second rotation axis Yr2 substantially orthogonal to the rotation axis Xrl of the arm.

[0057] Such movement occurs by means of actuators, preferably hydraulic. The aforesaid actuators are also connected to the hydraulic circuit and are controlled by the control unit.

[0058] Such rotation around the axis Yr2 allows the support to move between a working position and a rest or transport position.

[0059] In the working position, the body of the support is substantially orthogonal to the arm, i.e., the translation direction Xt is substantially orthogonal to the extension axis Z of the arm and parallel to the first rotation axis Xrl.

[0060] In the rest or transport position, the body of the support is instead arranged transversally and inclined with respect to the extension axis Z of the arm, so as to reduce the dimensions of the equipment when the arm is also in the transport position, as illustrated better hereinafter.

[0061] According to a preferred variant, the angular position of the support with respect to the axis Yr2 can be controlled through the relative actuator.

[0062] Furthermore, the possibility of orienting the support in different positions around the axis Yr2 is useful for maintaining said support, and more precisely the translation axis Xt of the at least one nozzle, as parallel as possible to the tunnel axis even when the frame is not perfectly level.

[0063] According to another aspect of the invention, the arm can comprise at least two portions assembled together in a sliding or telescopic manner. The arm can thus vary its total length to adapt to tunnels with even very different sections and radii of curvature of the wall.

[0064] The first portion of the arm is fixed to the fifth wheel and the second portion slides with respect to the first.

[0065] The movement of the second portion with respect to the first is controlled by at least one actuator, preferably hydraulic.

[0066] According to an aspect of the invention, the equipment comprises a device for controlling the positioning of the second portion with respect to the first portion. Said control device comprises at least one pressure switch located on the delivery pipes of the actuator.

[0067] According to a first variant of the invention, when the second portion is extended up to bringing an abutment element of the tool into contact with the surface of the tunnel, the pressure increases beyond a threshold value set in the pressure switch, which sends the fluid to discharge, interrupting the thrust.

[0068] According to another variant of the invention, said control device comprises at least one end- stroke element, capable of coming into contact with the tunnel wall during the extension of the arm. The end- stroke element is mounted on the second portion of the arm or on the first portion of the support.

[0069] The position of the end-stroke element is such as to keep the nozzle (or nozzles) at an optimal distance from the surface to be treated, so as to maximize the disintegration action of the jet of fluid delivered.

[0070] Said end- stroke element is generally connected to the hydraulic circuit, directly or by means of the control unit, to control the extension of the actuator which drives the second portion of the arm.

[0071] When said second portion is extended to reach the working position, the nozzles and the end-stroke element are gradually brought closer to the surface of the wall. When said end- stroke element comes into contact with the surface of the wall, the hydraulic circuit interrupts the stroke of the actuator. From such a position, the equipment can start the removal operation, rotating the arm around the axis Xrl.

[0072] According to another aspect of the invention, the fifth wheel to which the arm is connected is mounted on a support hinged to the frame so as to rotate around a horizontal and transverse axis Yr3, i.e., perpendicular to the advancement direction of the frame.

[0073] Thereby the arm can be rotated between an operating position, where the first rotation axis Xrl is substantially horizontal, and a rest or transport position, where said first axis is substantially vertical and where said arm is arranged substantially horizontally and parallel to the longitudinal direction.

[0074] According to a variant of the invention, the frame comprises a fairing shaped in such a way that in the transport position the arm is at least partly received in said fairing.

[0075] According to another variant of the invention, the frame comprises a fairing, mounted on the frame, formed by movable partitions, so that, in the transport position, the arm is at least partly enclosed by said fairing.

[0076] Such a fairing can also be closed in the operating condition so as to protect the mechanical parts and control devices of the equipment from water and debris which fall downwards during the removal operation.

[0077] According to another aspect of the invention, the frame is mounted on the carriage so as to be able to rotate around a vertical axis Zc. Such rotation occurs by means of a fifth wheel interposed between the carriage and the frame. Said carriage preferably comprises a pair of tracks.

[0078] Further characteristics and details can be better understood from the following description, given by way of non-limiting example, as well as from the attached drawing tables in which: - figure 1 is a perspective view of a piece of equipment for removing the cladding of the inner walls of tunnels according to a first embodiment of the present invention, in operating configuration;

[0079] - figure 2 is a side view of the equipment illustrated in figure 1;

[0080] - figures 3a and 3b are front views of the equipment illustrated in figure 1, in two respective operating positions;

[0081] - figure 4 is a sectional side view along a vertical longitudinal plane of the equipment illustrated in figure 2;

[0082] - figure 5 is a perspective view of the equipment, according to the present invention, in the rest or transport configuration;

[0083] - figure 6 is a perspective view of the equipment, according to the present invention, in the rest configuration, loaded on a trailer for transport;

[0084] - figure 7 is a side view of a piece of equipment for removing the cladding of inner walls of tunnels, according to another embodiment of the present invention, in operating configuration;

[0085] - figure 8 is a front perspective view of the equipment illustrated in figure 7;

[0086] - figure 9 is a rear perspective view of the equipment illustrated in figure 7;

[0087] - figure 10 is a rear view of the equipment, illustrated in figure 7, during a work step inside a tunnel;

[0088] - figure 11 is a perspective view of the equipment according to the variant of the present invention, in a step of the passage from the operating configuration to the transport configuration;

[0089] - figure 12 is a sectional side view of the equipment illustrated in figure 11; and

[0090] - figure 13 is a perspective view of the equipment according to the variant of the present invention, in the transport configuration.

[0091] With reference to attached figures 1 to 6, the number 10 overall indicates a piece of equipment for removing the outer layer of tunnel cladding.

[0092] The geometric configuration depicted in figures 1 to 4 is that used during the processing, i.e., the operating one.

[0093] The geometric configuration depicted in figures 5 and 6 is that used during the transport of the equipment, i.e., not operating.

[0094] In detail, the equipment 10 comprises a self-propelled carriage 20 provided with tracks 22, which support a frame 21. According to a variant not illustrated, instead of the tracks there are wheels suitably sized to move on rough terrain.

[0095] The frame 21 is mounted on the carriage 20 by means of a fifth wheel 23 which allows the frame 21 to be oriented, rotating it around a vertical axis Zc.

[0096] An arm, indicated overall with 30, is connected at a first end 32 to the frame 21. More in detail, said first end 32 of the arm 30 is fixed to a fifth wheel 33 with a first rotation axis Xrl perpendicular to the extension axis Z of the aforesaid arm 30.

[0097] In the operating configuration illustrated in figures 1 to 4, said first rotation axis Xrl of the arm 30 is substantially parallel to the longitudinal axis X of the frame 21 and also parallel to the longitudinal direction X of the carriage 20.

[0098] In practice, the arm 30 rotates around the first rotation axis Xrl, so as to complete a rotation of up to 180° or more. During such rotation the arm changes position, between two positions in which it is arranged substantially horizontal and protruding from two sides of the frame 21, passing through an intermediate position in which it is substantially vertical.

[0099] The rotation of the fifth wheel 33 is controlled by at least one or, preferably, two hydraulic motors 31.

[0100] According to a variant not illustrated, the arm can be equipped with a counterweight arranged cantilevered beyond the centre of rotation of the fifth wheel 33. Said counterweight can be connected to an appendage which projects extends from the end 32 of the arm.

[0101] The arm 30 is an extendable arm, preferably of the telescopic type, which allows the equipment to operate in tunnels of different sizes. In the illustrated variant, the arm comprises a first portion 37 and a second portion 38 which slide together in a telescopic manner.

[0102] The first portion 37 is integral in rotation with the fifth wheel 33, while the second portion 38 extends from the first portion 37, varying the overall length of the arm between the first end 32 and the second opposite end 34.

[0103] In the illustrated example, both portions 37, 38 of the arm 30 comprise profiles with a polygonal, more precisely hexagonal, section.

[0104] According to other embodiments, the section can also be of different shapes (for example circular, quadrangular or other shape) just as the extensible portions can be more than two.

[0105] The sliding of the second portion 38 with respect to the first portion 37 is controlled by a hydraulic cylinder 39 located inside the profiles of the two portions 37, 38.

[0106] In figures 1, 2 and 3b the arm 30 is in a fully extended configuration, while in figure 3a the arm is depicted in a fully retracted configuration.

[0107] The maximum length of the arm 30 can vary as a function of the size (diameter) of the tunnel, it being understood that, thanks to the extendable configuration, a specific piece of equipment can work in tunnels of even very different diameters with the same arm 30.

[0108] For example, the arm 30 can have a maximum length, when extended, of approximately 7-10 metres, and a length in the retracted position of approximately 3-5 metres.

[0109] A working tool indicated overall by 40 is applied at the second end 34 of the arm 30.

[0110] According to a preferred aspect of the invention, said working tool 40 includes at least one transverse drum milling cutter which, in turn, comprises a fork support 42 and a drum 44 rotatably mounted on said fork support 42.

[0111] The fork support 42 is connected to the second end 34 of the arm 30 by means of a support 46.

[0112] Said support 46 comprises a first fixed portion 46a, applied to the second end 34 of the arm, and a second movable portion 46b hinged on the first portion 46a around a second rotation axis Yr2 orthogonal to the first rotation axis Xrl of the arm. The tool 40, and more precisely the fork support 42, is connected to the second portion 46b of the support 46.

[0113] The first portion 46a and the second portion 46b of the support 46 are shaped so as to allow a rotation of the tool 40 up to approximately ±30° with respect to a neutral position where the rotation axis of the milling cutter is orthogonal to the extension direction Z of the arm 30.

[0114] The rotation of the second portion 46b of the support 46 is controlled by springs and / or dampers 47 interposed between the first portion 46a and the second portion 46b.

[0115] According to a preferred variant of the present invention, the support 46 further comprises a rotating member 48, such as a fifth wheel or similar, to which the fork support 42 of the tool 40 is connected.

[0116] Said rotating member 48 allows the tool 40 to rotate around a transverse axis Zt and more precisely orthogonal to the first rotation axis Xrl of the arm 30. The rotation of the rotating member 48 is controlled by a hydraulic motor 49 (fig. 4).

[0117] As mentioned above, the arm 30 is fixed to a fifth wheel 33 which is mounted in a rotatable manner around the first rotation axis Xrl on a support 52 connected to the frame 21.

[0118] According to a preferred embodiment, said support 52, in turn, is connected to the frame 21 in a rotatable manner around a third rotation axis Yr3 which is substantially horizontal and perpendicular to the longitudinal direction X of the frame 21.

[0119] Such rotation of the support 52 brings the arm 30 between an operating position, in which it oscillates in a vertical plane, in particular in which it is arranged vertically, to a nonoperating or transport position, in which it is arranged horizontally and parallel to the longitudinal axis X, as illustrated in figure 5.

[0120] The support 52 comprises a plate 52a, on which the fifth wheel 33 is fixed, which is hinged on two arms 52b integral with the frame 21.

[0121] The rotation of the support 52 is controlled by actuators, preferably hydraulic, not illustrated in the figures.

[0122] The shape and arrangement of the support 52 allow the arm 30 to remain raised with respect to the frame 21 in the transport position, as visible in figure 5.

[0123] According to a preferred variant, the frame 21 is provided with a fairing 56 which encloses the various components of the equipment, such as the motor and other parts of the hydraulic, electrical and electronic systems.

[0124] Said fairing 56, in the upper part, has an elongated recess 58 which extends in the direction X of the frame and in which the arm 30 is housed at least partly in the rest position.

[0125] A hydraulic system, complete with control sensors, not depicted, is included for the movement of the motor members parts and actuators of the equipment 10.

[0126] According to a preferred variant, said circuit is equipped with at least a first control device comprising a pressure switch configured to limit the delivery pressure to the actuator 39 during the extension of the second portion 38 of the arm 30.

[0127] More in detail, when the abutment elements 45 of the tool 40 (for example a drum milling cutter) are pushed against the wall of the tunnel, the pressure in the circuit increases and once a certain pre-established threshold value is exceeded, the pressure switch interrupts or reduces the hydraulic supply to the actuator 39. The device thus allows the automatic positioning of the tool 40 against the tunnel wall and optimal contact pressure management.

[0128] An electrical system, not depicted, complete with control unit, control sensors and radio transmitter devices, is included for the management of the equipment 10. Said control unit is also responsible for controlling the hydraulic circuit.

[0129] According to a preferred variant, an encoder is included which is associated with the motors 31 of the fifth wheel 33 for the rotation of the arm 30. Such an encoder allows the control unit to precisely and automatically control the rotation of the arm 30 so as to make the equipment work on an arch of the tunnel wall of pre-established amplitude.

[0130] Radio transmitter devices allow an operator on the ground to manoeuvre the equipment 10 by means of a radio control.

[0131] An example of typical use of the equipment 10 is described below.

[0132] The operator positions the equipment 10, in the rest position, as illustrated in figure 5, along the longitudinal axis of the tunnel G with the front part of the frame 21 facing the advancement direction.

[0133] At this point, the operator selects a command to lift the arm 30, activating the actuators which rotate the support 52 around the third rotation axis Yr3, bringing said fifth wheel 33, and thus the aforesaid arm 30, outside the shape of the frame 21, until the arm 30 reaches the vertical position, as illustrated in figure 3b.

[0134] At this point, the equipment 10 is ready to be able to position the tool 40 near the surface of the wall P of the tunnel G and proceed with the removal.

[0135] Once the arm 30 has been rotated with respect to the first axis Xrl in the working position, the second portion 38 is then extended, bringing the tool 40 towards the tunnel wall, as shown in figure 3b.

[0136] With reference to the attached figures from 7 to 13, the number 110 generally indicates a piece of equipment for removing the outer layer of the tunnel cladding according to another variant of the invention.

[0137] The geometric configuration depicted in figures 7 to 10 is that used during the processing, i.e., the operating one.

[0138] The geometric configuration depicted in figure 13 is that used during the transport of the equipment, i.e., during rest.

[0139] The geometric configuration depicted in figures 11 and 12 is an intermediate transition step between the operating configuration and that of rest / transport.

[0140] In detail, the equipment 110 comprises a self-propelled carriage 120 provided with tracks 122, which support a frame 121. According to a variant not illustrated, the frame is supported by wheels suitably sized to move on rough terrain.

[0141] An arm, indicated overall with 130, is connected at a first end 132 to the frame 121. More in detail, said first end 132 of the arm 130 is fixed to a fifth wheel 133 with a first rotation axis Xrl perpendicular to the extension axis Z of the aforesaid arm 130.

[0142] In the operating configuration illustrated in figures 7 to 10, said first rotation axis Xrl of the arm 130 is substantially parallel to the longitudinal axis X of the frame 121 and the carriage 120.

[0143] In practice, the arm 130, rotating around the first rotation axis Xrl, can complete a rotation of at least 180° between respective positions in which it is arranged substantially horizontally and protruding from opposite sides of the carriage 120, passing through an intermediate position in which it is substantially vertical, as in figures 7 to 10.

[0144] The rotation of the fifth wheel 133 is controlled by at least one, preferably two, hydraulic motors, not illustrated in the figures.

[0145] According to a preferred variant, the arm 130 can be equipped with a counterweight 136 arranged to project beyond the centre of rotation of the fifth wheel 133. Said counterweight 136 is connected to the end of an appendage 135 which protrudes from the end 132.

[0146] The arm 130 is an extendable arm, preferably of the telescopic type, so as to be able to work in tunnels of different sizes. In the illustrated variant, the arm comprises a first portion 137 and a second portion 138 which slide together in a telescopic manner.

[0147] The first portion 137 is fixed to the fifth wheel 133; the second portion 138 extends from the first portion 137, varying the overall length of the arm 130 between the first end 132 and the second opposite end 134. In the illustrated example, both portions 137, 138 of the arm 130 comprise profiles with a quadrangular (rectangular) section.

[0148] According to other embodiments, the section can also have different shapes (for example circular or other shape) just as the portions can be more than two.

[0149] The sliding of the second portion 138 with respect to the first portion 137 is controlled by actuators, for example one or more hydraulic cylinders, which are preferably placed inside the profiles of the two portions.

[0150] The maximum length of the arm 130 can vary as a function of the size of the tunnel, it being understood that, thanks to the extendable configuration, the equipment with the same arm 130 can work in tunnels of even very different diameters.

[0151] For example, the arm can have a maximum length, when extended, of approximately 7-10 metres, and a length in the retracted position of approximately 3-5 metres.

[0152] A working tool indicated overall by 140 is applied at the second end 134 of the arm 130.

[0153] According to a preferred aspect of the invention, said working tool 140 includes two nozzles 141 configured to deliver a pressurised liquid.

[0154] The nozzles are mounted on a support 142 connected to the second end 134 of the arm 130.

[0155] According to a preferred variant, the support 142 comprises a first portion 143, directly connected to the arm 130, and a second portion 144 slidably mounted on the first portion.

[0156] The first portion 143 and the second portion 144 of the support 142 have a narrow and elongated shape and can be obtained from bars, profiles or similar elements.

[0157] In the example of the figures, the first portion 143 comprises a bar with a substantially circular section and the second portion 144 comprises a hollow C-section profile in whose cavity the first portion 143 is inserted. Rolling or sliding means such as wheels, bearings or the like are interposed between the two portions to allow the relative sliding.

[0158] According to a preferred variant, said support 142 is hinged to the second end 134 of the arm 130 so as to rotate around a second rotation axis Yr2 orthogonal to the first rotation axis Xrl and to the extension direction Z of the arm. The rotation of the support 142 around the axis Yr2 is controlled by a hydraulic actuator 145.

[0159] The fifth wheel 133, to which the arm 130 is connected, is in turn mounted on a support 152 connected to the frame 121.

[0160] According to a preferred embodiment of the invention, said support 152 is connected to the frame 121 in a rotatable manner around a third rotation axis Yr3 which is substantially horizontal and perpendicular to the longitudinal direction X of the frame 121.

[0161] Such rotation of the support 152 brings the arm 130 between an operating position, in which it oscillates in a vertical plane, in particular in which it is arranged vertically, to a nonoperating transport position, in which it is arranged horizontally and substantially parallel to the longitudinal axis X of the frame, as illustrated in figure 13.

[0162] The support 152 comprises a plate 152a, on which the fifth wheel 133 is fixed, and two arms 152b, on which the plate 152a is fixed, which are hinged to the frame 121.

[0163] The rotation of the support 152 is controlled by actuators 154, preferably hydraulic.

[0164] The shape and arrangement of the support 152 allow the arm 130 to remain raised with respect to the frame 121 in the transport position, as visible in figure 13.

[0165] According to a preferred variant, the frame 121 is provided with an openable fairing 156 which, in the closed configuration, defines a compartment 160 in which the arm 130 is stored in the rest position.

[0166] Said fairing 156 comprises an openable upper cover 158, a front wall 162, a rear wall 164, respectively on the front and rear of the self-propelled carriage 120, and two side walls 161, 163, on one of which the upper cover 158 is hinged.

[0167] In the illustrated embodiment, said front 162 and rear 164 walls respectively comprise portions 162a and 164a which are movable, slidingly or by rotation, between a closed position, in which they delimit the space 160, to an open position, where they are moved laterally towards the outside.

[0168] In the variant depicted, each of the aforesaid two portions 162a, 164a is substantially symmetrical with respect to the other, i.e., the two portions join, in the closed position, at the centreline axis of the carriage 120. Said walls 162, 164 of the fairing 156 have respective shaped openings 166, 168 centrally.

[0169] The front opening 166 is circular in shape so as to allow the fifth wheel 133 and the arm 130 to protrude beyond the front wall 62 in the working position, as shown in figures 7 to 12.

[0170] The rear opening 168 is rectangular in shape so as to allow the arm 130 to protrude beyond the rear wall 164 in the transport position, as shown in figure 13.

[0171] A hydraulic system, complete with control sensors, not depicted, is included for the movement of the motor members parts and actuators of the equipment 110.

[0172] According to a preferred variant, said circuit is equipped with a control device comprising at least one end-stroke element 146, mounted at the second end 134 of the arm.

[0173] Said end- stroke element comprises an arm 147a which supports a wheel 147b. The arm 147a is connected to a valve or a switch which, directly or indirectly, interact with the hydraulic circuit to activate or stop the extension of the actuator which controls the second portion 138 of the arm 130.

[0174] An electrical system, not depicted, complete with control unit, control sensors and radio transmitter devices, is included for the management of the equipment 110. Said control unit is also responsible for controlling the hydraulic circuit.

[0175] According to a preferred variant, an encoder is included which is associated with each motor 131 of the fifth wheel 133 for the rotation of the arm 130. Such an encoder allows the control unit to precisely and automatically control the rotation of the arm 130 so as to make the equipment work on an arch of the tunnel wall of pre-established amplitude.

[0176] Radio transmitter devices allow an operator on the ground to manoeuvre the equipment 110 by means of a radio control.

[0177] An example of typical use of the equipment 110 is described below.

[0178] The operator positions the equipment 110, in the rest position, as illustrated in figure 13, along the longitudinal axis of the tunnel G with the front part of the frame 121 facing the advancement direction.

[0179] At this point, the operator selects a command to lift the arm 130, activating the actuators which rotate the support 152 around the third rotation axis Yr3, bringing said fifth wheel 133, and thus the aforesaid arm 130, outside the shape of the frame 121, until the arm 130 reaches the vertical position, as illustrated in figures 11 and 12.

[0180] Subsequently, the actuator 145 is driven to rotate the support 142 around the axis Yr2 so as to arrange said support substantially orthogonal to the extension axis of the arm 130.

[0181] At this point, the equipment 110 is ready to be able to position the nozzles 141 near the surface of the wall P of the tunnel G and proceed with the removal.

[0182] Once the arm 130 has been rotated with respect to the first axis Xrl in the removal start position, the second portion 137 of the arm 130 is then extended, bringing the nozzles 141 towards the tunnel wall, as shown in figure 10. The extension is interrupted by the control device described above, commanding the stroke of the actuator, when the end-stroke element 146 comes into contact with the wall P of the tunnel G.

[0183] According to a preferred variant, the control unit of the equipment can be programmed as a function of the geometry of the tunnel so that the equipment moves automatically, in particular the arm 30, 130, carrying out the removal operation on an entire rib of the gallery.

[0184] The advancement of the carriage 20, 120 along the tunnel, to carry out the processing on a subsequent rib, is generally carried out manually with a radio control, although it can also be automated. Also the movement of the arm, if necessary, can be carried out completely manually with the radio control.

[0185] Of course the invention is susceptible to various modifications and alternative constructions, and some preferred embodiments have been shown in the drawings and described in detail. It is to be understood, however, that there is no intention to limit the invention to the specific embodiment illustrated, but instead, it is intended to cover all modifications, alternative constructions, and equivalents which fall within the scope of the invention as defined in the claims.

Claims

CLAIMS1. A piece of equipment (10, 110) for removing the cladding of the inner walls of tunnels, said equipment (10, 110) comprising: a self-propelled carriage (20, 120) with a frame (21, 121); at least one arm (30, 130) connected at a first end (32, 132) to the frame (21, 121) so as to be able to rotate, in an operating configuration, around a first horizontal longitudinal rotation axis (Xrl) parallel to the movement direction (X) of the carriage (20, 120); a working tool (40, 140) mounted on the arm at a second opposite end (34, 134) thereof, said tool being configured to remove the cladding of the tunnel walls.

2. The equipment (10, 110) according to claim 1, wherein the arm (30, 130) comprises at least two portions (37, 137, 38, 138) assembled together in a sliding or telescopic manner.

3. The equipment (10, 110) according to claim 2, comprising at least one actuator for moving the second portion (38, 138) of the arm (30, 130) with respect to the first portion (37, 137), the equipment comprising a device for automatically controlling the position of the second portion (38, 138) with respect to the first portion (37, 137).

4. The equipment (10, 110) according to any one of the preceding claims, wherein the first end (32, 132) of the arm (30, 130) is connected to a fifth wheel (33, 133), which allows the rotation around the first rotation axis (Xrl).

5. The equipment (10) according to claim 4, wherein the fifth wheel (33, 133) is mounted on a support (52, 152) hinged to the frame (21, 121) so as to rotate around a third rotation axis (Yr3) which is horizontal and transverse, i.e., perpendicular, to the longitudinal direction (X) of the frame (21, 121), so as to move the arm (30, 130) between an operating position, where the first rotation axis (Xrl) is substantially horizontal, and a rest or transport position, where said first axis (Xrl) is substantially vertical and where said arm (30, 130) is arranged substantially horizontally and parallel to the longitudinal direction (X) of the carriage (20,6. The equipment (10) according to any one of the preceding claims, wherein the working tool (40) comprises a transverse drum milling cutter.

7. The equipment (10) according to claim 6, wherein the arm (30), at the second end (34), comprises a support (46) to which the working tool (40) is connected, said support (46) being configured to rotate the working tool (46) around an axis (Zt) which is orthogonal to the first rotation axis (Xrl) of the arm (30).

8. The equipment (10) according to claim 7, wherein said support (46) comprises a rotating member (48) of the fifth wheel type.

9. The equipment (10) according to claim 7 or 8, wherein the support element (46) comprises a joint which allows the working tool (40) to oscillate around a second rotation axis (Yr2) which is substantially orthogonal to the first rotation axis (Xrl) of the arm (30).

10. The equipment (10) according to claim 5, wherein the frame (21) comprises a fairing (56) shaped to at least partially receive said arm (30) in the rest or transport position.

11. The equipment (110) according to any one of claims 1 to 5, wherein said tool (140) comprises at least one nozzle (141), which can be fed with a pressurised fluid, adapted to generate a high pressure jet to be directed against the wall surface.

12. The equipment (110) according to claim 11, wherein said at least one nozzle (141) is mounted on a support (142), in turn connected to the second end (134) of the arm (130), said support (142) being configured to rotate around an axis (Yr2) orthogonal to the first rotation axis (Xrl) and to the extension direction (Z) of the arm (130).

13. The equipment (110) according to claim 12, wherein said support (142) comprises a first portion (143), directly connected to the second end (134) of the arm (130), and a second portion (144), slidably mounted on the first portion (143) along a direction (Xt) which is substantially parallel to the extension direction (X) of the frame, the at least one nozzle (141) being mounted on said second sliding portion (144).

14. The equipment (110) according to claim 5, wherein the frame (121) comprises a fairing (156) comprising movable partitions (158, 162, 164), in the transport position said arm (130) being at least partly enclosed by said fairing (156).

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