Floating machine and method for the maintenance of a slab of a piling structure in a body of water

Abstract

A floating machine for the maintenance of a slab of a piling structure in a body of water has a frame (7) extending along a longitudinal axis (A1); at least one floating element (8), which is coupled to the frame (7) and is configured to determine the buoyancy of the floating machine (1) in the body of water (4); a working tool (9) configured to perform a machining of a lower portion of the slab (2); and a positioning assembly (10), which is configured to support the working tool (9) in a movable manner with respect to the frame (7).

Description

[0001] "FLOATING MACHINE AND METHOD FOR THE MAINTENANCE OF A SLAB OF A PILING STRUCTURE IN A BODY OF WATER"

[0002] Cross-Reference to Related Applications

[0003] This Patent Application claims priority from Italian Patent Application No. 102023000017856 filed on August 30, 2023, the entire disclosure of which is incorporated herein by reference .

[0004] Technical Field

[0005] This invention concerns a floating machine and a method for maintaining a slab of a piling structure, like a wharf or pier, in a body of water.

[0006] State of the Art

[0007] As known, piling structures, like, for example, wharfs or piers, are positioned in a body of water to enable boats to be moored and make it possible to load and unload passengers and / or goods.

[0008] In particular, known piling structures are made of concrete and / or reinforced cement and comprise foundation piles that rest on the bed of the body of water, and a slab, which is supported by the foundation piles and acts as a surface for loading and unloading passengers and / or goods. Typically, the upper portions of the foundation piles emerge from the surface of the body of water and support the slab outside the body of water.

[0009] As known, the piling structures are subject to erosion from atmospheric agents and the wave motion of the body of water that deteriorate the slab, in particular the cement and metallic reinforcement of the slab. More specifically, the lower portion of the slab, directly facing the body of water, is subject to greater deterioration.

[0010] As a result, it is necessary to maintain the known piling structures and, in particular, the lower portion of the slab. Generally, maintaining the slab of piling structures involves scarifying and / or protective treatments of the metallic reinforcement and / or restoration of the deteriorated concrete and / or cement.

[0011] In accordance with the prior art, the maintenance operations on the lower portion of the slab are carried out by specialist workers who, using floating barges positioned next to the piling structure or scaffolding suspended from the piling structure, access a workspace between the surface of the body of water and the slab.

[0012] To make the maintenance operations faster, it is known to use "Movable Scaffolding Systems", which comprise modular components designed for rapid assembly and are generally suspended from the piling structure using ropes.

[0013] However, the known maintenance techniques have numerous drawbacks linked to the safety of the specialist workers.

[0014] In particular, the unpredictability of weather conditions makes the workspace between the surface of the body of water and the slab of the piling structure an unsafe environment for the workers to remain in. Above all, said workspace is generally reduced, with variable heights depending on the wave motion and tides of the body of water.

[0015] By way of example, the distance between the slab and the surface of the body of water can change within an interval ranging between 20 and 150 centimetres. In fact, for workers, it is only possible to access the workspace safely within limited periods of the day and depending on the weather conditions and / or tides, extending, as a result, the execution times for maintenance operations.

[0016] Subject of the Patent

[0017] One purpose of this invention is to provide a floating machine for maintaining a slab of a piling structure in a body of water that is free of the drawbacks of the prior art . In accordance with this invention, a floating machine for maintaining a slab of a piling structure in a body of water is provided, the machine comprising:

[0018] - a frame extending along a longitudinal axis;

[0019] - at least one floating element, which is coupled to the frame and is configured to determine the buoyancy of the machine in the body of water;

[0020] - a working tool configured to perform a machining of a lower portion of the slab; and

[0021] - a positioning assembly, which is configured to support the working tool in a movable manner with respect to the frame .

[0022] Thanks to this invention, it is possible to perform maintenance operations on the lower portion of the slab of a piling structure without needing to use specialist workers in the workspace between the slab and the surface of the body of water.

[0023] In this way, it is possible to eliminate the risks associated with the workers' remaining in the reduced and changeable workspace below the slab.

[0024] In addition, it is possible to carry out maintenance operations in a continuous manner, without interruptions owing to weather conditions and the tide, thus reducing the time required to perform such operations.

[0025] In particular, the floating machine comprises at least one adjustment assembly, which movably connects the at least one floating element to the frame and is configured to control a displacement of the frame with respect to the at least one floating element in a substantially vertical direction when the machine is placed in the body of water.

[0026] In this way, it is possible to control the distance of the working tool from the lower portion of the slab, compensating for the raising and lowering of the surface of the body of water compared to the slab. In other words, it is possible to keep the distance of the working tool unchanged, despite the change in the distance between the surface of the body of water and the slab owing to the tides and / or wave motion of the body of water .

[0027] In particular, the floating machine comprises two floating elements coupled to opposite ends of the frame so as to stabilise the roll of the floating machine.

[0028] In particular, the floating machine comprises a temporary constraining mechanism, provided with at least one gripping device configured to selectively bind / unbind the machine to / from the piling structure.

[0029] In this way, it is possible to ensure the floating machine is bound to the piling structure to stabilise the floating machine during slab machining operations.

[0030] Once the machining operations are finished, it is possible to unbind the floating machine from the piling structure to move the floating machine under an additional portion of the slab to be machined.

[0031] In particular, the gripping device comprises movable arms between a closed position and an open position for selectively grabbing / releasing a pile of the piling structure .

[0032] In this way, it is possible to bind the floating machine to a pair of piles of the piling structure.

[0033] In particular, the constraining mechanism comprises at least one elongated element, which supports the gripping device at one end and is movable with respect to the frame between a retracted position and an extended position.

[0034] In this way, it is possible to control the position of the gripping device and arrange the gripping device at the pile of the piling structure to be gripped.

[0035] In particular, the floating machine comprises two elongated elements, which extend along respective sliding axes that are substantially parallel to each other, and two gripping devices, each of which is supported by a free end of one of the two elongated elements.

[0036] In this way, it is possible to bind the floating machine between two piles adjacent to the piling structure.

[0037] In particular, the positioning assembly comprises an articulated arm, which supports the working tool; the working tool preferably being coupled to one end of the articulated arm .

[0038] In this way, it is possible to move the working tool in relation to the lower portion of the slab in order to position and orient the working tool in the zone of the slab to be machined.

[0039] In particular, the positioning assembly comprises a rotating body, which is pivotally coupled to the frame; a sliding element, which is pivotally coupled to the rotating body and supports the articulated arm; and an actuator assembly configured to control a sliding of the sliding element with respect to the rotating body.

[0040] In this way, during machining of the lower portion of the slab, it is possible to move the articulated arm to reach each area of the slab to be machined. In practice, the positioning assembly is configured to make a polar movement of the articulated arm.

[0041] Alternatively, the positioning assembly may comprise two trolleys movable in relation to the frame along the directions that are substantially perpendicular to each other. The articulated arm is coupled to one of the two trolleys so as to make a cartesian movement of the articulated arm.

[0042] In particular, the articulated arm comprises multiple bodies that are articulated to each other, and multiple actuators to control the relative position of the articulated bodies . In this way, it is possible to orient the working tool towards the portion of the slab to be machined.

[0043] In particular, the working tool can be interchanged so as to enable different types of processing of the lower portion of the slab. By way of example, it is possible to position a first working tool that can be interchanged to carry out washing and / or scarifying operations on the slab and / or a second working tool to carry out protective treatments of the metallic reinforcement of the slab and / or a third working tool to restore the deteriorated concrete and / or cement of the slab and / or apply protective products to the slab.

[0044] In particular, the working tool comprises at least one nozzle configured to emit a jet of liquid under pressure against the slab of the piling structure.

[0045] In this way, it is possible to carry out washing and / or scarifying operations on the lower portion of the slab. In practice, thanks to the pressurised jet of liquid, it is possible to wash and / or remove material, such as, for example, damaged cement or concrete, from the slab.

[0046] In particular, the working tool comprises a spray applicator, which is configured to spray a coating product onto the lower portion of the slab of the piling structure.

[0047] In particular, the sprayed product may be an alkalising and / or anti-corrosive substance or a cement mortar, preferably fibre-reinforced, or a protective, waterproofing material .

[0048] In this way, it is possible to carry out protective treatments on the metallic reinforcement of the slab and / or restoration operations of the concrete and / or cement of the slab .

[0049] In particular, the floating machine comprises at least one tank configured to contain the coating product on board the floating machine. More specifically, the at least one tank comprises multiple compartments configured to be selectively f illed / empt ied with water so as to make ballast tanks to compensate for weight variations of the floating machine in the body of water.

[0050] In this way, it is possible compensate for changes in the weight of the floating machine as a result of the collection of material removed from the slab of the piling structure and / or of cleaning liquids and / or of any dripping of coating material applied to the slab.

[0051] In particular, the working tool comprises a collection and treatment system configured to collect and treat material removed from the slab of the piling structure and / or cleaning liquids and / or coating products applied to the slab of the piling structure.

[0052] In this way, it is possible to recover the material removed and / or cleaning liquids and / or any dripping of the recovery materials applied to the slab, avoiding polluting the body of water.

[0053] In particular, the collection and treatment system comprises a collection container configured to contain material removed from the slab of the piling structure and, preferably, a grinding device, which is arranged in the collection container and is configured to grind the material collected from the collection container.

[0054] More specifically, the collection container has an upper opening and a lateral wall arranged around the working tool so as to delimit together with the slab of the piling structure a closed chamber around the working tool.

[0055] In this way, it is possible to process the lower portion of the slab in the closed chamber.

[0056] In particular, the floating machine comprises a thruster assembly, preferably a propeller unit, which is configured to provide a propulsive thrust so as to move the floating machine forward in the body of water and control the immersion of the floating machine in the body of water to overcome, for example, the perimeter downstand beams of the piling structure.

[0057] In this way, it is possible to enable the autonomous navigation of the floating machine in the body of water. In particular, it is possible to control the position of the floating machine in the body of water and move the floating machine from one machining area to the other, simply, and quickly .

[0058] Another purpose of this invention is to provide a method for maintaining a slab of a piling structure in a body of water that is free of the drawbacks of the prior art.

[0059] In accordance with this invention, a method for maintaining a slab of a piling structure in a body of water is provided, the method comprising the steps of:

[0060] - placing a floating machine for maintaining said slab in a body of water;

[0061] - positioning a working tool of the floating machine in a given position below said slab; and

[0062] - performing a machining of a lower portion of said slab by means of the working tool.

[0063] Thanks to this method, it is possible to perform maintenance operations on the lower portion of the slab of a piling structure in an automated way, avoiding the use of specialist workers in the workspace between the slab and the surface of the body of water. In this way, it is possible to eliminate the risks associated with the use of specialist workers and reduce the time for performing the maintenance operations .

[0064] Brief Description of the Drawings

[0065] Additional features and advantages of this invention will be clear from the description that follows of a non- limiting embodiment, with reference to the attached figures in which:

[0066] - Figure 1 is a front view, with parts removed for clarity, of a floating machine used for maintaining a slab of a piling structure and made in accordance with this invention;

[0067] - Figures 2 and 3 are perspective views, with parts removed for clarity, of the floating machine in Figure 1 in respective operating configurations;

[0068] - Figure 4 is a plan view, with parts removed for clarity, of the floating machine in Figure 1;

[0069] - Figures 5 and 6 are views from below, with parts removed for clarity, of the floating machine in Figure 1 in respective operating configurations;

[0070] - Figure 7 is a perspective view, with parts removed for clarity, of a detail of the floating machine in Figure 1 ; and

[0071] - Figure 8 is a front view, with parts removed for clarity, of the floating machine in Figure 1 in an additional operating configuration.

[0072] Detailed Description of the Invention

[0073] With reference to Figure 1, reference number 1 identifies, as a whole, a floating machine for maintaining a slab 2 of a piling structure 3, such as a wharf or pier, in a body of water 4.

[0074] In the non-limiting example of this invention described and illustrated herein, the piling structure 3 comprises multiple foundation piles 5, which rest on the bed of the body of water 4; and the slab 2, which is supported by the foundation piles 5, is made of concrete and / or reinforced cement, and acts as a surface for loading and unloading passengers and / or goods. In particular, the foundation piles 5 comprise respective upper portions 6, which emerge from the surface of the body of water 4 and support the slab 2 outside the body of water 4.

[0075] In particular, the floating machine 1 is configured to be positioned below the slab 2, at the surface of the body of water 4.

[0076] With reference to Figures 2 and 3, the floating machine 1 comprises a frame 7 extending along a longitudinal axis Al; at least one floating element 8, which is coupled to the frame 7 and is configured to determine the buoyancy of the floating machine 1 in the body of water 4; a working tool 9 configured to perform a machining of a lower portion of the slab 2; and a positioning assembly 10, which is configured to support the working tool 9 in a movable manner with respect to the frame 7.

[0077] In accordance with a non-limiting embodiment of this invention, the frame 7 is flattened and has, in plan, a substantially square shape, in particular elongated along the longitudinal axis Al. More specifically, the frame 7 is tubular .

[0078] In particular, the positioning assembly 10 is coupled to a central portion of the frame 7 and is configured to face the slab 2 when the floating machine 1 is arranged in the body of water 4 under the slab 2.

[0079] The positioning assembly 10 comprises an articulated arm 11, which supports the working tool 9; a rotating body 12, which is rotatably coupled to the frame 7; and a sliding element 13, which is slidably coupled to the rotating body 12 and supports the articulated arm 11.

[0080] In particular, the rotating body 12 is configured to rotate around a rotation axis A2 substantially perpendicular to the longitudinal axis Al.

[0081] In addition, the positioning assembly 10 comprises an actuator assembly 14 configured to control the sliding of the sliding element 13 in relation to the rotating body 12 between a retracted position (Figure 2) and an extended position (Figure 3) . In particular, the actuator assembly 14 comprises multiple hydraulic cylinders 15, each of which is configured to act between the rotating body 12 and the sliding element 13.

[0082] In accordance with an alternative embodiment, not shown in the attached Figures, the positioning assembly 10 comprises two trolleys that are movable in relation to the frame along directions substantially perpendicular to each other. The articulated arm is coupled to one of the two trolleys so as to make a cartesian movement of the articulated arm.

[0083] In the example described and illustrated here, the floating machine 1 comprises two floating elements 8 coupled to opposite ends of the frame 7.

[0084] In addition, the floating machine 1 comprises an adjustment assembly 16 for each floating element 8, which movably connects the respective floating element 8 to the frame 7 and is configured to control a displacement of the frame 7 with respect to the floating element 8 in a substantially vertical direction when the floating machine 1 is placed in the body of water 4.

[0085] In practice, the adjustment assembly 16 is configured to control the sliding of the frame 7 in a substantially vertical direction compared to the floating elements 8 so as to adjust the distance of the frame 7 from the surface of the body of water 4.

[0086] The floating machine 1 also comprises a constraining mechanism 17, which is coupled to the frame 7 and is provided with at least one gripping device 18 configured to selectively bind / unbind the floating machine 1 to / from the piling structure 3.

[0087] In particular, the gripping device 18 comprises movable arms 19 between a closed position and an open position for selectively grabbing / releasing a foundation pile 5 of the piling structure 3. More specifically, the gripping device 18 comprises four movable arms 19.

[0088] More specifically, each gripping device 18 comprises multiple locking elements 41 that can move between a retracted position and an extended position. Each locking element 41 is arranged in a contact area between the respective gripping device 18 and the foundation pile 5.

[0089] In particular, in the extended position, the locking elements 41 are configured to be radially thrust against the respective foundation pile 5 so as to ensure a uniform gripping of said foundation pile 5 and to compensate for any errors in alignment of the foundation piles 5.

[0090] In accordance with one embodiment, the floating machine 1 comprises a thruster assembly 20, preferably a propeller unit, which is configured to provide propulsive thrust so as to move the floating machine 1 forward in the body of water 4.

[0091] In particular, the thruster assembly 20 comprises multiple propellers 21 configured to move the floating machine 1 laterally in the body of water 4, and multiple propellers 22 configured to control the vertical position of the floating machine 1 in the body of water 4.

[0092] More specifically, the propellers 21 and 22 are arranged at angular portions of the frame 7.

[0093] In addition, the floating machine 1 comprises at least one tank 23, 24 configured to contain a coating product for the slab 2 on board the floating machine 1.

[0094] In particular, the floating machine 1 comprises a tank 23 configured to contain a first coating product for protecting the metallic reinforcements of the reinforced cement of the slab 2, and a tank 24 configured to contain a second coating product to recover the concrete and / or the cement of the slab 2. More specifically, each tank 23, 24 comprises multiple compartments, not shown in the attached figures, configured to be selectively f illed / empt ied with water so as to create ballast tanks to compensate for changes in the weight of the floating machine 1 in the body of water 4 resulting from the washing and / or scarifying and / or coating product application operations on the slab 2.

[0095] In accordance with an embodiment of this invention, each tank 23, 24 comprises a production system for the coating product inside, which is not shown in the attached figures.

[0096] By way of example, the first coating product may be a mineral mortar. The second coating product may be an elastic, two-component cement mortar.

[0097] More specifically, the tanks 23 and 24 are coupled to the frame 7 and are hydraulically connected to the working tool 9.

[0098] In accordance with one embodiment, the floating machine 1 comprises a sensor assembly, not shown in the attached figures, which is configured to monitor the operation of the floating machine 1 during the slab 2 maintenance operations. In particular, the sensor assembly is configured to detect control signals indicating the position of the working tool 9, the positioning assembly 10, and the constraining mechanism 17 in relation to the slab 2 and to the foundation piles 5 of the piling structure 3. In addition, the sensor assembly is configured to detect the weight in water of the tanks 23 and 24 for the purpose of enabling the control of the quantity of water in the compartments of the tanks 23 and 24 and ensuring the correct trim of the floating machine 1.

[0099] In accordance with one embodiment not shown in the attached figures, the sensor assembly comprises a navigation system, which is configured to detect the position and speed of the floating machine 1 in the body of water 4. In particular, the navigation system comprises a laser sensor and / or a sonar and / or a video camera.

[0100] In accordance with another embodiment not shown in the attached figures, the sensor assembly comprises a scansion device, which is configured to automatically scan the lower portion of the slab 2. In particular, the scansion device is supported by the articulated arm 11 and comprises a video camera and / or a Lidar sensor and / or a laser sensor.

[0101] In addition, the floating machine 1 comprises a control unit, not shown in the attached figures, which is in communication with said sensor assembly and is configured to control the operation of the floating machine 1 as a function of the control signals detected by the sensor assembly. In particular, the control unit is configured to control the working tool 9, the positioning assembly 10, the constraining mechanism 17, and the thruster assembly 20 as a function of the control signals detected by the sensor assembly.

[0102] With reference to Figure 4, each adjustment assembly 16 comprises multiple guides 25, each of which is configured to slidably connect the frame 7 to the respective floating element 8, and multiple actuators 26 configured to control the sliding of the frame 7 along the respective guides 25.

[0103] In particular, the adjustment assembly 16 comprises four guides 25 slidably connected to each of the floating elements 8 and a pair of actuators 26 for each of the floating elements 8.

[0104] More specifically, each actuator 26 comprises a hydraulic cylinder. In addition, each actuator comprises a first retraction sensor, not shown in the attached figures, configured to detect the position of the frame 7 in relation to the floating elements 8.

[0105] With reference to Figures 5 and 6, the constraining mechanism 17 comprises two gripping devices 18, each of which is provided with actuators 27, in particular hydraulic ones, to open and close the movable arms 19.

[0106] The constraining mechanism 12 comprises two elongated elements 28, which are coupled to the frame 7 and extend along respective sliding axes A3, A4 substantially parallel to each other.

[0107] In particular, each elongated element 28 supports a respective gripping device 18 at one end and is movable in relation to the frame 7 between a retracted position (Figure 4) and an extended position (Figure 5) .

[0108] More specifically, the constraining mechanism 17 comprises an actuator assembly 29 configured to control the sliding of the elongated elements 28 along the respective sliding axes A3, A4 between the retracted position (Figure 4) and the extended position (Figure 5) .

[0109] In practice, the actuating assembly 29 is configured to implement the simultaneous sliding in opposite directions of the elongated elements 28 along the respective sliding axes A3, A4.

[0110] In particular, the actuating assembly 29 comprises two actuators 30, each of which is configured to control the sliding of one of the two elongated elements 28. More specifically, each actuator 30 comprises a hydraulic cylinder and a second retraction sensor, not shown in the attached figures, configured to detect the position of the respective elongated element 28 in relation to the frame 7.

[0111] With reference to Figure 7, the articulated arm 11 comprises multiple bodies 31, 32, and 33 that are articulated to each other, and multiple actuators (not shown in the attached figures) to control the relative position of the articulated bodies 31, 32, and 33.

[0112] In particular, the articulated body 31 extends along a longitudinal axis A5 and is configured to be elongated in a telescopic manner along the longitudinal axis A5. The articulated body 32 is hinged to the articulated body 31 around the longitudinal axis A5 and a rotation axis A6 substantially perpendicular to the longitudinal axis A5. The articulated body 33 is hinged to the articulated body 32 around a rotation axis A7. More specifically, the rotation axes A6 and A7 are substantially parallel to each other.

[0113] In practice, the articulated bodies 31, 32, and 33 form a wrist that can be adjusted by the positioning assembly 10.

[0114] In the example described and illustrated here, the working tool 9 is coupled to one end of the articulated arm 11. In particular, the working tool 9 is coupled to the articulated body 33. More specifically, the working tool 9 is hinged to the articulated body 33 around a rotation axis A8 that is substantially perpendicular to the rotation axis A7.

[0115] In the non-limiting example of this invention described and illustrated here, the articulated arm 11 has five degrees of freedom.

[0116] In accordance with one embodiment, the working tool 9 comprises at least one nozzle 34 configured to emit a pressurised jet of liquid against the slab 2 of the piling structure 3. In particular, the nozzle 34 is hydraulically connected to a supply circuit of a pressurised liquid, such as pressurised water.

[0117] In the example described and illustrated herein, the working tool 9 comprises a distributor 43, which supports multiple nozzles 34, in particular six nozzles 34. More specifically, each nozzle 34 is adjustably coupled to the distributor 43.

[0118] In addition, the working tool 9 comprises a spray applicator 35, which is configured to spray the first coating product onto the lower portion of the slab 2 of the piling structure 3. In particular, the spray applicator 35 is hydraulically connected to the tank 23 (Figures 2-6) .

[0119] The working tool 9 also comprises a spray applicator 44, which is configured to spray the second coating product onto the lower portion of the slab 2 of the piling structure 3. In particular, the spray applicator 43 is hydraulically connected to the tank 24 (Figures 2-6) .

[0120] In particular, the distributor 43 supports the applicators 35 and 44 oriented along respective first directions parallel to each other and supports the nozzles 34 oriented along second directions substantially perpendicular to the first directions.

[0121] In accordance with one embodiment, the working tool 9 is interchangeable .

[0122] The floating machine 1 also comprises a collection and treatment system 36 configured to collect and treat material removed from the slab 2 of the piling structure 3.

[0123] In particular, the collection and treatment system 36 comprises a collection container 37 configured to contain material removed from the slab 2 and / or washing liquids and / or coating products applied to the slab 2 of the piling structure 3 and / or any dripping of recovery materials applied to the slab 2, and a grinding device 38, which is arranged in the collection container 37 and is configured to grind the material collected from the collection container 37.

[0124] More specifically, the collection container 37 has an upper opening 39 and a lateral wall 40 arranged around the working tool 9 so as to delimit together with the slab 2 of the piling structure 3 a closed chamber around the working tool 9 when the collection container 37 is in contact with the slab 2.

[0125] In particular, the collection container 37 is made of a deformable material like, for example, a rubber element suitably pressurised to adapt to the shape of the piling structure 3.

[0126] In the non-limiting example of this invention described and illustrated herein, the container 37 comprises an annular sealing element 42, which is coupled at one free end of the collection container 37 and is configured to come into contact with the lower portion of the slab 2 so as to avoid any water and / or waste coming out of the closed chamber delimited by the collection container 37.

[0127] In use and with reference to Figure 1, the floating machine 1 is launched in the body of water 4 and, via the thruster assembly 20 (Figures 2-6) , moves forward in the body of water 4 until reaching a working position under the slab 2 of the piling structure 3. In particular, the control unit controls the thruster assembly 20 as a function of the signals detected by the navigation system.

[0128] With reference to Figure 6, once in the working position, the actuating assembly 29 controls the sliding of the elongated elements 28 from the retracted position to the extended position so as to position the gripping devices 18 at the foundation piles 5.

[0129] At this point, the actuators 27 control the closure of the movable arms 19 around the respective foundation pile 5 and the locking elements 41 (Figures 2 and 3) are pushed against the foundation pile 5 so as to grip said foundation pile 5 and bind the floating machine 1 to the piling structure 3.

[0130] Once the floating machine 1 has been bound to the foundation piles 5, the thruster assembly 20 switches off the propellers 21 and 22 and the sensor assembly detects the position of the floating machine 1 in relation to the slab 2. In particular, the sensor assembly detects the distance of the working tool 9 from the slab 2.

[0131] The actuators 26 of the adjustment assembly 16 control the sliding of the frame 7 in relation to the floating elements 8 along the respective guides 25 so as to adjust the distance of the working tool 9 from the slab 2. In particular, the adjustment assembly 16 controls the sliding of the frame 7 so that the collection container 37 comes into contact with the slab 2 so as to delimit a closed chamber around the working tool 9 (Figure 8) .

[0132] At this point, the scansion device automatically scans the lower portion of the slab 2 to define the initial state of the slab 2.

[0133] Subsequently, with reference to Figure 2, the floating machine 1 starts the washing and / or scarifying operations of the lower portion of the slab 2.

[0134] With reference to Figure 8, a pressurised liquid is fed to the nozzles 34, which spray a jet of said liquid against the lower portion of the slab 2.

[0135] During the delivery of the jet of liquid, the positioning assembly 10 controls the position and orientation of the working tool 9.

[0136] In particular, the rotating body 12 rotates around the rotation axis A2 and, at the same time, the actuator assembly 14 controls the sliding of the sliding element 13 in relation to the rotating body 12 between the retracted position (Figure 2) and the extended position (Figure 3) . At the same time, the articulated arm 11 adjusts the orientation of the nozzles 34 in relation to the lower portion of the slab 2 so as to direct the jets of pressurised liquid sprayed by the nozzles 34 towards a given machining area of the slab 2.

[0137] At the end of the washing and / or scarifying operations, the scansion device scans the slab 2 to verify the state of the slab 2 after the operations carried out.

[0138] Once the scarifying operations are finished, the floating machine 1 starts the coating operations of the lower portion of the slab 2.

[0139] The first coating product is fed by the tank 23 to the spray applicator 35, which sprays said first coating product on the lower portion of the slab 2. During the delivery of the first coating product, the positioning assembly 10 controls the position and orientation of the spray applicator 35. In addition, the compartments of the tank 23 are filled with water to keep the weight of the floating machine 1 in water constant.

[0140] Subsequently, the second coating product is fed by the tank 24 to the spray applicator 35, which sprays said second coating product on the lower portion of the slab 2. During the delivery of the second coating product, the positioning assembly 10 controls the position and orientation of the spray applicator 35. In addition, the compartments of the tank 24 are filled with water to keep the weight of the floating machine 1 in water constant.

[0141] At the end of the coating operations, the scansion device scans the slab 2 to verify the state of the slab 2 after the operations carried out.

[0142] With reference to Figure 7, during the washing and / or scarifying and coating operations of the lower portion of the slab 2, the collection and treatment system 36 collects the material removed from the slab 2 in the collection container 37 and the grinding device 38 grinds the material collected by the collection container 37.

[0143] Once the maintenance operations are finished on the lower portion of the slab 2, with reference to Figure 6, the actuators 26 of the adjustment assembly 16 control the sliding of the frame 7 in relation to the floating elements 8 along the respective guides 25 so as to space the working tool 9 apart from the slab 2 (Figure 1) .

[0144] At this point, with reference to Figures 5 and 6, the actuators 27 control the opening of the movable arms 19 so as to unbind the floating machine 1 from the piling structure 3.

[0145] Subsequently, the actuating assembly 29 controls the sliding of the elongated elements 28 from the extended position (Figure 6) to the retracted position (Figure 5) and the thruster assembly 20 advances the floating machine 1 in the body of water 4 until reaching an additional working position under the slab 2 of the piling structure 3.

[0146] It is understood that multiple floating machines 1 may be used at the same time to carry out the maintenance in parallel in various areas of the slab 2. By way of example, while a first floating machine 1 carries out washing and / or scarifying operations of a first area of the slab 2, a second floating machine 1 carries out coating operations of a second area of the slab 2.

[0147] Finally, it is clear that, variations can be made to this invention in relation to the embodiment described without, however, departing from the scope of the following claims .

Claims

CLAIMS1. A floating machine for the maintenance of a slab of a piling structure in a body of water, the floating machine (1) comprising:- a frame (7) extending along a longitudinal axis (Al) ;- at least one floating element (8) , which is coupled to the frame (7) and is configured to determine the buoyancy of the floating machine (1) in the body of water (4) ;- a working tool (9) configured to perform a machining of a lower portion of the slab (2) ; and- a positioning assembly (10) , which is configured to support the working tool (9) in a movable manner with respect to the frame (7) .

2. The floating machine as claimed in Claim 1, and comprising the at least one adjustment assembly (16) , which movably connects the at least one floating element (8) to the frame (7) and is configured to control a displacement of the frame (7) with respect to the at least one floating element (8) in a substantially vertical direction when the floating machine (1) is placed in the body of water (4) .

3. The floating machine as claimed in Claim 2, wherein the at least one adjustment assembly (16) comprises a guide (25) , which is configured to slidably connect the frame (7) to the at least one floating element (8) , and a first actuator (26) configured to control the sliding of the frame (7) along said guide (25) .

4. The floating machine as claimed in any one of the foregoing Claims, and comprising two floating elements (8) coupled to opposite ends of the frame (7) .

5. The floating machine as claimed in any one of the foregoing Claims, and comprising a constraining mechanism (17) provided with at least one gripping device (18) configured to selectively bind / unbind the floating machine6. The floating machine as claimed in Claim 5, wherein the gripping device (18) comprises movable arms (19) between a closed position and an open position for selectively grabbing / releasing a pile of the piling structure (3) .

7. The floating machine as claimed in Claim 5 or 6, wherein the constraining mechanism (17) comprises at least one elongated element (28) , which carries the gripping device (18) at one end and is movable with respect to the frame (7) between a retracted position and an extended position.

8. The floating machine as claimed in Claim 7, wherein the at least one elongated element (28) extends along a respective sliding axis (A3, A4) and is slidable along the respective sliding axis (A3, A4) between the retracted position and the extended position; the constraining mechanism (17) comprising an actuating assembly (29) configured to control the sliding of the at least one elongated element (28) along the respective sliding axis (A3, A4) .

9. The floating machine as claimed in any one of the foregoing Claims, wherein the positioning assembly (10) comprises an articulated arm (11) , which carries the working tool (9) ; preferably the working tool (9) being coupled to one end of the articulated arm (11) .

10. The floating machine as claimed in Claim 9, wherein the positioning assembly (10) comprises a rotating body (12) , which is pivotally coupled to the frame (7) ; a sliding element (13) , which is pivotally coupled to the rotating body (12) and carries the articulated arm (11) ; and an actuator assembly (14) configured to control a sliding of the sliding element (13) with respect to the rotating body (12) .

11. The floating machine as claimed in Claim 9 or 10, wherein the articulated arm (11) comprises a plurality of bodies (31, 32, 33) articulated with each other, and aplurality of second actuators to control the relative position of the articulated bodies (31, 32, 33) .

12. The floating machine as claimed in any one of the foregoing Claims, wherein the working tool (9) is interchangeable .

13. The floating machine as claimed in any one of the foregoing Claims, wherein the working tool (9) comprises at least one nozzle (34) configured to emit a jet of liquid under pressure against the slab (2) of the piling structure (3) .

14. The floating machine as claimed in any one of the foregoing Claims, and comprising a collection and treatment system (36) configured to collect and process material removed from the slab (2) of the piling structure (3) and / or washing liquids and / or coating products applied to the slab (2) of the piling structure (3) .

15. The floating machine as claimed in Claim 14, wherein the collection and treatment system (36) comprises a collection container (37) configured to contain material removed from the slab (2) of the piling structure (3) and / or washing liquids and / or coating products applied to the slab (2) of the piling structure (3) , and preferably a grinding device (38) , which is disposed in the collection container (37) and is configured to grind the material collected from the collection container (37) .

16. The floating machine as claimed in Claim 15, wherein the collection container (37) has an upper opening (39) and a lateral wall (40) arranged around the working tool (9) so as to delimit together with the slab (2) of the piling structure (3) a chamber closed around the working tool ( 9 ) .

17. The floating machine as claimed in any one of the foregoing Claims, wherein the working tool (9) comprises a spray applicator (35, 44) , which is configured to spray acoating product onto the lower portion of the slab (2) of the piling structure (3) .

18. The floating machine as claimed in Claim 17, and comprising at least one tank (23, 24) configured to contain the coating product on board the floating machine (1) .

19. The floating machine as claimed in Claim 18, wherein the at least one tank (23, 24) comprises a plurality of compartments configured to be selectively f illed / empt ied with water so as to make ballast tanks to compensate for weight variations of the floating machine (1) in the body of water (4) .

20. The floating machine as claimed in any one of the foregoing Claims, and comprising a thruster assembly (20) , preferably a propeller unit, which is configured to provide propulsive thrust so as to advance the floating machine (1) in the body of water (4) .

21. A method for the maintenance of a slab of a piling structure in a body of water, the method comprising the steps of :- placing a floating machine (1) for the maintenance of said slab (2) in a body of water (4) ;- positioning a working tool (9) of said floating machine (1) in a given position below said slab (2) ; and- performing a machining of the lower portion of said slab (2) by means of said working tool (9) .

22. The method as claimed in Claim 21, and comprising the steps of movably connecting a floating element (8) to the frame (7) of the floating machine (1) ; and controlling a displacement of the frame (7) with respect to the floating element (8) in a substantially vertical direction.

23. The method as claimed in Claim 21 or 22, and comprising the step of selectively binding / unbinding the floating machine (1) to / from the piling structure (3) by means of a constraining mechanism (17) .

24. The method as claimed in any one of Claims 21 to 23, and comprising the step of emitting a jet of liquid under pressure against the slab (2) of the piling structure (3) by means of the working tool (9) .

25. The method as claimed in Claim 24, and comprising the step of collecting and processing material removed from the slab (2) of the piling structure (3) and / or washing liquids and / or coating products applied to the slab (2) of the piling structure (3) .

26. The method as claimed in any one of Claims 21 to25, and comprising the step of spraying a coating product onto the lower portion of the slab (2) of the piling structure (3) by means of the working tool (9) .

Images