EP3225778A1

EP3225778A1 - Apparatus for positioning a tunnel consolidation frame

Info

Publication number: EP3225778A1
Application number: EP17162524.7A
Authority: EP
Inventors: Giorgio Klaus PINI; Giuseppe CATALDI
Original assignee: Cp Technology Srl
Current assignee: Cp Technology Srl
Priority date: 2016-03-23
Filing date: 2017-03-23
Publication date: 2017-10-04
Also published as: ITUA20161939A1

Abstract

The present invention relates to an apparatus (1) for positioning a centering (2) for supporting and consolidating an excavation (200). The apparatus comprising movable means (5) on which a supporting frame (6) is installed. The latter carries a first lifting arm (11) rotating about at least one main axis (101) defining a movement plane (501). The first arm comprises first gripping means (32) configured to grip a central element (2B) of said centering (2). First actuating means (71, 72, 73, 74) are installed to move the first arm (11) on the movement plane (501). According to the invention, the apparatus comprises a control and command unit (50) operatively connected to first sensor means (51) configured to provide a signal characteristic of the real topographic position of a central element of the centering. Such a unit controls said first actuating means according to the result of the comparison between the real topographic position occupied by said central element and a reference topographic position assigned to the central element itself in the design phase.

Description

FIELD OF THE INVENTION

The present invention falls within the scope of making devices for performing an excavation such as for example, a railway tunnel, motorway tunnel or tunnel of other kind. In particular, the present invention relates to a movable apparatus for positioning a centering for supporting and consolidating an excavation.

BACKGROUND ART

As is known, reinforcing arches commonly referred to as centerings are used in order to consolidate excavations, such as for example motorway or railway tunnels. A centering comprises a plurality of metal elements connected to one another according to an archway configuration. In a first, commonly known embodiment thereof, there are provided three elements; a central arch and two lateral arches. The arches of the centering consist of open profiles having an H-, C- or double T-shaped cross section. According to an alternative and just as commonly known embodiment, the arches/elements of the centering may be tubular, having a circular, square, rectangular or triangular cross section. The lateral arches typically comprise a support foot slidingly mounted at the free end and configured to be lowered to the ground so as to provide a support for the centering.
The elements forming the centering are connected to one another through flange connections, such as for example those described in EP 2354447 , or more favorably through suitable joining devices, such as that described in PCT/IB2015/054023 . Such a device comprises a pair of elements, each connected to an end of a corresponding element of the centering. Such elements have conjugated profiles so that one is inserted into the other so as to complete the joining between two adjacent centering arches. Moreover, the elements of the device are connected by a hinge. The latter allows the centering to be assembled by folding the lateral arches in order to facilitate the transport of the centering itself into the excavation.
Before proceeding with the installation of the centering, visual references are traced on the excavation to facilitate the positioning of the arches forming the centering itself. The central arch of the centering is raised towards the crown, or upper wall of the excavation, through a fist lifting machine. During such a lifting, due to the effect of the hinges indicated above, also the lateral arches are raised by rotating outwards with respect to the central arch. Once the lifting of the central arch is complete, the lateral arches are rotated towards the side walls of the excavation by using further different movement/lifting machines from the machine that is lifting the centering. At the end of such a rotation, the centering is completely unfolded on a substantially vertical plane. Under this condition, the arches of the centering are stably connected to one another through the joining devices indicated above. Then, the piers of the lateral arches are lowered through suitable equipment to provide two support points for the centering. At the end of this operation, all the arches of the centering are stably fixed to the excavation.
In most cases, a traditional traxcavator such as e.g. an excavator, is used as a lifting machine. In other cases, the lifting is performed through the use of a machine provided with a mechanical arm, such as that described in EP 0583227 , at which end there is installed a gripper configured to grip the central arch of the centering. Other machines, they also typically being in the form of excavators or scrapers, are used for moving/rotating the lateral arches.
After the assembly thereof and prior to the fixing to the excavation wall, each centering normally is connected to the adjacent one through connecting chains, the ends of which are hooked to corresponding supports welded along the arches of the centerings. Alternatively to the connecting chains, a more recent and more effective solution provides using connecting elements prepared on each centering and configured to be engaged in corresponding elements prepared on the adjacent centerings. An example of such connecting elements is described in PCT/IB2015/054022.
The use of at least two or more machines to position the centering is a first, particularly critical aspect in terms of time and lastly costs. The movement of the machines indeed requires great attention due to the limited space available which obviously depends on the sizes (width-height) of the excavation. At the same time, the presence of operators - sometimes a significant number of operators - close to the excavation is just as critical a safety factor.
It has also been noted how the machines currently used for lifting, moving and positioning the elements of the centering do not allow a very accurate movement due to the configuration thereof which is often unsuitable for meeting operating needs. In particular, it has been noted that the machines currently used make it rather difficult, or in any case do not facilitate, the connection between centerings through the connecting devices described in PCT/IB2015/054022 which are instead particularly required because they result in a more reliable reinforcing structure with respect to that which may be obtained with connecting chains. Generally, it has been noted that the centering elements are not placed in an accurate manner through the known solutions of the prior art. In many cases, this generates under surface thicknesses in the successive casting step.
It has also been noted that the lifting of the centering and more generally, the positioning thereof, is completely entrusted to the skill of the operators charged with operating the machines indicated above. The check of the correct position and/or successive connection is performed visually by other operators who follow the operations from the ground or in buckets which are raised and/or moved through further machines dedicated thereto. Overall, it has been noted that the number of operators currently used for the operations described above is very high and is a critical cost factor.
With respect to that disclosed above, it is the main task of the present invention to provide an apparatus for positioning a centering for consolidating an excavation which allows the above-described problems to be overcome. Within the scope of this task, it is a first object of the present invention to provide an apparatus which allows the number of machines employed for lifting and positioning a centering to be limited. It is a second object to provide an apparatus which is versatile in terms of functionality, i.e. which in any case facilitates the positioning/installation of the centering regardless of the connecting system used for mutually connecting the centerings. It is another object to provide an apparatus which allows a faster and more accurate positioning of the centering than the one that can be obtained with traditional machines. It is again another object to provide an apparatus which allows a correct positioning of the elements, which positioning can be traced on a positioning report. Not last, it is the object of the present invention to provide an apparatus which is reliable and easy to be manufactured at competitive costs.

SUMMARY OF THE INVENTION

The present invention relates to an apparatus for positioning a centering for supporting and consolidating an excavation defined by a central element and by two side elements, which are opposite with respect to the central element. The apparatus according to the invention comprises movable means provided with movement means on which a supporting frame is installed. The latter carries a first operating arm rotating about at least one main rotation axis defining a movement plane for the first arm which is orthogonal to the main rotation axis itself. The first arm comprises first gripping means configured to grip the central element of the centering. The apparatus comprises first actuating means configured to move the first arm on the movement plane indicated above. The apparatus according to the invention is characterized in that it comprises a control and command unit operatively connected to first sensor means configured to provide a signal characteristic of the real topographic position of said central element of the centering. Such a unit is connected to the actuating means of the first arm and controls them according to the comparison between the real topographic position occupied by the central element of the centering and a reference topographic position assigned to the central element itself in the design phase.

LIST OF THE DRAWINGS

Further features and advantages of the present invention shall be more apparent from the description of embodiments, disclosed by way of a non-limiting example, with the aid of accompanying figures, in which:

Figure 1 is a first side view of a first possible embodiment of an apparatus according to the present invention;
Figure 2 is a second side view of the apparatus in Figure 1, in which certain components are not shown for increased clarity;
Figure 3 is a plan view of the apparatus in Figure 1;
Figures 4 and 5 are a side view and a plan view, respectively, of the apparatus in Figure 1, during a first operating step of the apparatus itself;
Figures 6, 7 and 8 are a side view, a front view and a plan view, respectively, of the apparatus in Figure 1, during two successive operating steps;
Figures 9 and 10 are front views of the apparatus in Figure 1, during further possible operating steps;
Figure 11 is a schematization of a preferred embodiment of an apparatus according to the invention.

The same numbers and the same reference letters in the figures identify the same elements or components.

DETAILED DESCRIPTION

With reference to the mentioned figures, apparatus 1 according to the present invention can be used for positioning a centering 2, 2' for supporting and consolidating an excavation 200. Apparatus 1 comprises movable means 5 actuated by motor means 7 and provided with movement means 77. As shown in the drawings, preferably the movable means 5 are represented by a tractor which is motorized through a thermal or electric engine, and is equipped with tracks which allow the movement thereof. In one possible variant, the movable means 5 may comprise wheels in place of the tracks. In general, for the purposes of the present invention, the expression "movement means" generically indicates those means which allow a movement of the movable means 5 over the ground on which the same rests, or a rotation of the means themselves.
Apparatus 1 comprises a supporting frame 6 which carries a first arm 11 comprising gripping means 32 for gripping a central element 2A (or central arch 2A) of centering 2. The first arm 11 rotates about a main rotation axis 101 which defines a movement plane 501 orthogonal to the main axis 101 itself. The first arm 11 is movable on plane 501 between at least one lowered position and at least one raised position. The first arm 11 is moved on plane 501 through first actuating means 71, 72, 73, 74 preferably in the form of hydraulic actuators.
According to the invention, apparatus 1 comprises a control and command unit 50 connected at least to movement means of the first arm 11 and to first sensor means 51 configured to provide a signal characteristic of the real topographic position of the central arch 2A of centering 2. In a first embodiment, the first sensor means 51 may be installed directly on the central arch 2A of centering 2 or alternatively they may be associated with the first arm 11 (Figure 11).
The control and command unit 50 is configured to control (in an automatic operating mode of apparatus 1) the actuating means 71, 72, 73, 74 of the first arm 11 according to the comparison between the real topographic position of the central arch 2A and a reference topographic position stored in unit 50 itself and established in the design phase. In other words, unit 50 compares the two topographic positions (real and reference) and controls the first arm 11 so as to raise/move the central arch 2A of centering 2 into a position detected by the first sensor means 51, corresponding to the reference topographic position or such as to deviate from it within an acceptable range.
Figures 1 and 2 show a preferred embodiment of the first arm 11 which comprises a first arm portion 21 hinged to frame 6 at the main rotation axis 101. The latter substantially is a horizontal axis when the movable means 5 rest on a horizontal reference plane P1. The first arm 11 also comprises a second arm portion 22 hinged to the first portion 21 so as to rotate about a secondary rotation axis 102 which substantially is parallel to the main axis 101. Overall, the movement plane 501 of the first arm 101 is orthogonal to the two axes 101, 102 and substantially is vertical, again in the hypothesis of resting on the horizontal plane P1.
Figure 2 shows the first arm 11 alone in a lowered position and in a raised position. Preferably, the first portion 21 has a variable extension along a first rectilinear reference direction 201. In this regard, the first portion 21 preferably is defined by two telescopically coupled components 21', 21". A first component 21' is hinged to frame 6 (first axis 101), while a second component 21" is hinged to the second portion 22 (second axis 102).
Similarly, also the second portion 22 has a variable extension along a second rectilinear reference direction 202. Preferably, the second portion 22 comprises two telescopically coupled components 22', 22": a first component 22' hinged to the first portion 21 of arm 11 and a second component 22" which carries the gripping means 32 indicated above.
In the configuration described above, the first actuating means of the first arm 11 comprise a first actuator 71 for rotating the first portion 21 with respect to frame 6, and a second actuator 72 for rotating the second portion 22 with respect to the first portion 21. In reference to the first portion 21, the actuating means of the first arm 11 comprise a third actuator 73 configured to move one of the two components 21', 12" with respect to the other, i.e. to vary the extension of the first portion 21. Similarly, there is provided a fourth actuator 74 for mutually moving the two components 22', 22" of the second portion 22, i.e. to vary the extension of the second portion 22 itself.
The actuators 71, 72, 73, 74 indicated above preferably are hydraulic actuators and they are controlled manually by an operator at least in one "manual" operating mode of apparatus 1. Alternatively, electric actuators may also be used. Apparatus 1 comprises means for selecting the operating mode (manual or automatic) which can be actuated by an operator. In the manual mode, the control and command unit 50 does not intervene on the movement of the first arm 11 and/or of the movable means 5.
Again with reference to Figures 1 and 2, preferably the movable means comprise a base 60 on which is mounted the supporting frame 6. Preferably, base 60 rotates with respect to the movement means 77 (tracks or wheels) about a further axis 400 substantially orthogonal to the main axis 101 of the first arm 11. Such a further axis substantially is vertical when the movable means 5 rest on the horizontal plane P1. Said further axis 400 may be defined by a mechanical coupling of the center pin type or by other functionally equivalent means. The presence of said axis 400 advantageously increases the operating versatility of the movable means 5.
According to a preferred embodiment, apparatus 1 comprises a second arm 12 and a third arm 13 installed on frame 6 on opposite sides with respect to the movement plane 501 of the first arm 11. The second arm 12 and the third arm 13 are indicated below also with the term side arms 12, 13. Each of the side arms 12, 13 is rotatable at least about a first rotation axis 103, 103' substantially parallel to the movement plane 501 of the first arm 11. Preferably, the two side arms 12, 13 rotate with respect to frame 6 around a second rotation axis 104 (indicated in Figure 1) substantially orthogonal to the corresponding first rotation axis 103. Preferably, the rotation for each of the side arms 12, 13 about the first axis 103 may occur simultaneously to the rotation about the second axis 104.
In all cases, according to the invention, the second arm 12 and the third arm 13 of apparatus 1 each comprise further gripping means 32A configured to grip a corresponding lateral arch 2B of centering 2. As indicated better below, the two side arms 12 and 13 serve to promote the opening of centering 2 and the positioning of the side elements/lateral arches 2B.
Apparatus 1 according to the invention further comprises second actuating means 81, 82, 83, 84, 85 configured to allow the movement of the two side arms 12, 13. Namely, such second actuating means comprise a first unit configured to allow the movement of the second arm 12 in a first half-space 601 delimited by the movement plane 501 of the first arm 11. A second unit instead is configured to allow the movement of the second arm 12 in a second half-space 602 opposite to the first half-space 601, again in reference to the movement plane 501 of the first arm 11.
The two side arms 12, 13 have the same configuration both in terms of structure and in terms of actuating means employed. An embodiment of the second arm 12 is described in detail below but what follows also holds true for the third arm 13. In general, it is noted that the first rotation axis 103 of the second arm 12 is defined in a position substantially mirroring the first rotation axis (indicated with numeral 103' in Figure 3) of the third arm 13.
With reference to Figures 3 and 5, similarly to the first arm 11, also the second arm 12 comprises a first arm portion 41 and a second arm portion 42. The first portion 41 is connected to a movable part 6' of frame 6 through a first hinge connection which defines the second rotation axis 104 of the second arm 12. The movable part 6' of frame 6 is connected to a fixed part 6" of frame 6 through a second hinge connection which defines the first rotation axis 103 of the second arm 12. In essence, the rotation of the movable part 6' with respect to the fixed part 6" results in a corresponding rotation of the second arm 12 with respect to the fixed part 6" itself of frame 6.
With reference to the figures, it is worth noting that in the hypothesis of resting on plane P1, the first rotation axis 103 of the second arm 12 substantially is a vertical axis, while the second axis 104 substantially is a horizontal axis. The dual level of freedom given to such axes 103, 104 facilitates the gripping and the positioning of the side elements 2B, as described better below.
The second portion 42 of the second arm 12 instead is hinged to the first portion 41 to rotate about a third rotation axis 105 substantially orthogonal to the second rotation axis 104 defined above.
Preferably, also the first portion 41 and the second portion 42 of the second arm 12 have an extension which is variable along a first direction 401 and a second reference direction 402, respectively. For this purpose, the first portion 41 of the second arm 12 comprises a first pair of components 41 A, 41 B coupled in a telescopic manner. A first of such components (indicated with numeral 41 A) is hinged to frame 6 (third axis 103), while the second (indicated with numeral 41 B) is hinged to the second portion 42 (see Figures 3 and 5). Similarly, also the second portion 42 of the second arm 12 comprises a first component (indicated with numeral 42A) hinged to the first portion 42 and a second component (indicated with numeral 42B) telescopically coupled to the first component 42A and caring gripping means 32A selected to grip a side portion of centering 2, according to methods described below.
The actuating means of a second arm 12 (hereinafter indicated also as second actuating means) recall those described above for the first arm 11. In greater detail, the second movement means comprise a first actuator 81 (shown in Figure 5) for rotating the movable part 6' of frame 6 with respect to the fixed part 6" about a first axis 103, and a second actuator 82 (shown in Figure 1) for rotating the first portion 41 of the second arm 12 with respect to the movable part 6' of frame 6 about the second axis 104. A further actuator 83 (shown in Figure 5) is provided for rotating the second portion 42 with respect to the first portion 41 about the third rotation axis 105.
With reference to Figure 5, in the preferred configuration in which the extension of the two portions 41, 42 is adjustable, the second actuating means of the second arm 12 comprise a fourth actuator 84 for the telescopic movement of the second component 41 B with respect to the first component 41 A of the first portion 41. A further actuator 85 instead is provided for the telescopic movement of the second component 42B with respect to the first component 42A. Also the actuators 81, 82, 83, 84, 85 associated with the second arm 12 preferably are hydraulic actuators similar to those used for the first arm 11 and therefore they can also be manually controlled by an operator. Electric actuators could in any case be used also in this case.
The gripping means 32, 32A of the arms 11, 12, 13 of apparatus 1 preferably comprise a pair of jaws 33 which are switchable between a closed configuration and an open configuration through activation/deactivation means which can be actuated by an operator. As shown in the drawings, these activation/deactivation means may comprise a hydraulic actuator 89 fixed to the end of one of the jaws 33 and provided with a rod connected at the end of the other jaw.
According to the invention, the jaws 33 have a profile conforming to that of the elements 2A, 2B of centering 2. In the solution shown, the centerings 2 have a tubular shape with a closed circular shape cross section. For such a reason, the two jaws 33 have an arc of circle shape. In the case for example, in which the cross section of the centering were open (e.g. C- or I-shaped), then the two jaws 33 could have a flat shape in order to ensure a more stable grip of the corresponding portion of centering.
From the comparison between Figures 2 and 3 for example, it is worth noting that the second gripping means 32A are rotated by about 90 degrees with respect to the first gripping means 32, the configuration being equal. The first gripping means 32 have the function of gripping the central element 2A of centering 2 from the ground, while the second gripping means 32A are oriented to grip the corresponding side element 2B when centering 2 is already unfolded on a substantially vertical plane.
According to another aspect of the invention, unit 50 is operatively connected also to the actuating means 81, 82, 83, 84, 85 of each side arm 12, 13 and to second sensor means 51 A configured to provide a signal characteristic of the real topographic position taken by one side element 2B of centering 2. In the automatic operating mode, unit 50 controls the actuating means 81, 82, 83, 84, 85 of each side arm 12, 13 according to the result of the comparison between the real topographic position detected by the second sensor means 51 A and a reference topographic position established for the corresponding lateral arch 2B in the design phase and stored in unit 50 itself. Unit 50 compares the two topographic positions (real and reference) also for the side arms 12, 13 and controls the second actuating means so as to bring the corresponding lateral arch 2B into a position considered acceptable with respect to the reference position established in the design phase.
The second sensor means 51 A may also be directly installed on the lateral arch 2B of centering 2 or alternatively they may be associated with the corresponding side arm 12, 13 (see the schematization in Figure 11).
With reference again to Figure 11, preferably the first sensor means 51 and/or the second sensor means 51 A comprise a position sensor installed on the corresponding arm 11, 12, 13 in a position close to the corresponding gripping means 32, 32A. As shown in the drawings, such a sensor preferably is installed at the second portion 22, 42 of arm 11, 12, 13, and more preferably on the second component 22B, 42B defined above. The position of the sensor is fixed with respect to the gripping means 32, 32A and therefore with respect to the arch 2A, 2B of centering 2 once this is gripped. Therefore, the position of the sensor becomes characteristic of that of the arch of the centering.
In an alternative embodiment, the first sensor means 51 and/or second sensor means 51 A could comprise a plurality of sensors operatively associated with the actuating means of the corresponding arm 11, 12, 13. In this hypothesis, the hydraulic actuators indicated above could integrate a transducer configured to generate a signal characteristic of the travel/position of the corresponding actuator. According to the signals received from such transducers, unit 50 could, through a suitable algorithm, calculate the real position of the gripping means 32 and therefore of the arch of centering 2A, 2B gripped thereby.
Apparatus 1 according to the invention preferably also comprises further sensor means 52 configured to provide a signal characteristic of the real position and/or of the orientation of the movement plane 501 of the first arm 11. Such second sensor means 52 are operatively connected to unit 50. In the automatic operating mode, unit 50 commands and controls the movement means 77 of the movable means 5 according to the deviation, in terms of position and orientation, between the movement plane 501 and the plane of symmetry 300 of the excavation 200. In particular, unit 50 controls the movement means 77 so as to cancel such a deviation or bring the same back within a predetermined tolerance field (stored in unit 50) considered acceptable.
The control and command unit 50 is described below by dividing the same into a plurality of modules. Such a subdivision is performed only for simplicity of description and is not to be considered as the real physical structure of the device. Rather, each module may be implemented as an electronic circuit on a suitable hardware support, as a routine software, a subroutine software or both. Each module may be integrated on a local unit or form part of a network. Such modules may also communicate with one another directly or through wireless protocols. Unit 50 comprises a data acquisition module 50A configured to acquire a signal transmitted by the first sensor means 51 associated with the first arm 11 and possibly, when present, also by the further sensor means 51 A associated with the two side arms 12, 13. Unit 50 further comprises a processing module 50B connected to the data acquisition module 50A and a memory module 50C, it also connected to the processing module 50B. Unit 50 also comprises a control module 50D connected to the processing module 50B and to the actuating means of the first arm 11 to control the activation thereof. Module 50D could also be connected to the movement means 77 so as to also control movements or rotations of the movable means 5 within the excavation. Module 50D may also be connected to the actuating means of the side arms 12, 13 when they are associated with said second sensor means 51 A.
The topographic position, established in the design phase, of the centerings 2, 2' provided for consolidating excavation 200 is stored in the memory module 50C. Namely, the reference topographic position established for the central arch 2A, and preferably for the lateral arches 2B, is stored for each centering. Preferably, module 50C is configured to store the final position actually occupied by centering 2, 2' at the end of the installation thereof. This occurs in order to generate a report about the real topography of the centerings in the excavation.
In a possible embodiment, the processing module 50B could be configured so as to activate raising the central arch 2A, and therefore centering 2, only if the position and alignment of the movement plane 501 of the first arm 11 were acceptable with respect to the plane of symmetry 300 of excavation 200. In this hypothesis, the acquisition module 50A transfers the information on the real position and orientation of the movement plane 501 detected by said further sensor means 52 to the processing module 50B. The processing module 50B compares such information with the reference information (position/orientation of the plane of symmetry 300) stored in the memory module 50C. According to such a comparison, the processing module 50B sends signals to the control module 50D which actuates the movement means 77 of the movable means 5 to bring the deviation between the planes 501, 300 back to an acceptable value. According to this possible, but not exclusive, embodiment, the control of the position/orientation of the movable means 5 is therefore preliminary to the successive raising of centering 2.
Figures from 4 to 10 show the steps in sequence for installing a tubular centering 2 through an apparatus 1 according to the present invention. In particular, the drawings show the installation of a centering 2 in which the elements 2A, 2B are connected through a jointing device of the type described in Patent Application PCT/IB2015/054023. It is worth noting that in Figures 4, 6, 9 and 10, like in Figure 2, the first arm 11 alone is shown only for reasons of clarity.
With reference to Figures 4 and 5, a centering 2 initially is resting on the ground and the two lateral arches 2B are folded inwards (Fig. 5) by means of the hinges 8 mentioned above. Apparatus 1 is moved close to centering 2. Once the position suitable for lifting is reached, the operator manually controls the first arm 11 to hook the central arch 2A through the related gripping means 32. For this purpose, a first visual reference preferably is traced at the midplane of the central arch 2A. In this step, apparatus 1 is actuated in manual mode.
Once the central arch 2A is gripped, apparatus 1 may operate in manual mode or in automatic mode again. In the manual mode of the unit, the operator actuates the first arm 11 by acting on suitable manual controls. In particular, the operator acts on the first actuating means 71, 72, 73, 74, 75 so as to raise the central arch 2A towards the crown on which a second visual reference preferably is traced. The operator operates in order to cause the two visual references to coincide.
If the automatic mode is selected, once the gripping has been performed, the first sensor means 51 generate signals which are acquired by the acquisition module 50A. The latter transfers the information on the real topographic position of the central element 2A to the processing module 50B. The processing module 50B compares such a real position with the reference position stored in the memory module 50C. According to the result of such a comparison, the processing module 50B sends control signals to the control module 50D which in a corresponding manner activates the actuators 71, 72, 73, 74 of the first arm 11. In particular, the processing module 50B calculates, through suitable algorithms, the trajectory which each component of the first arm 11 should travel to bring the central arch 2A into the reference topographic position.
With reference to Figures 6 and 7, once the central arch 2A is raised, the operator selects the manual mode again and actuates the second arm 12 to hook a lateral arch 2B of centering 2 preferably in a portion close to the support foot 2C (i.e. the free end not constrained to hinge 8 and intended to rest on the ground). Then, the operator actuates the third arm 13 for a similar purpose. The possibility of varying the extension of the portions 41, 42 of the side arms 12, 13 allows easy access to the lateral arches 2B. Simultaneously, the orientation and the configuration of the gripping means 32A facilitate the gripping of the arches themselves. As is apparent from Figure 7, as a whole, the degrees of freedom given to the portions 41, 42 of the arms 12, 13 allow a quick and effective opening of the lateral arches 2B and therefore an easier positioning thereof.
It is worth noting that once the two lateral arches 2B are gripped, the positioning thereof may be completed both in manual mode and in automatic mode, similarly to that provided for the central arch 2A.
Once the opening of centering 2 is complete (Figure 8), the same is connected to the centering installed previously (indicated with numeral 2') through the chains or taking advantage of the connecting elements described in PCT/IB2015/054022, which are schematized in Figures 9 and 10. In particular, Figure 9 shows centering 2 before the connection with the centering 2' already installed, while Figure 10 shows the same centerings 2, 2' at the completion of the connection. With reference to Figure 9, it is worth noting that centering 2 initially is arranged at a distance L1 assessed along the direction of extension 302 of excavation 200, which is greater than distance L provided between two adjacent centerings at the end of the installation. Then centering 2 is translated towards that already installed (2') so that each connecting element 91 A integral with centering 2 is connected to the corresponding connecting element 91 B integral with centering 2' already installed. It is worth noting that contrary to known solutions, the translation of centering 2 along said direction of extension 302 of excavation 200 is promoted by the particular configuration provided for the second portion 22, 42 of the arms 11, 12, 13 of apparatus 1. In fact, the connection of the two centerings 2, 2' may advantageously be completed by controlling the actuators 74, 85 provided to vary the extension of the second portion 22, 42 of each arm 11, 12, 13.
With reference to figures 1 and 7, according to a preferred embodiment, for each of the two side arms 12 and 13, the second portion 42 comprises push means configured to push the support foot 2C associated with the end of the corresponding lateral arch 2B. Such push means preferably comprise an actuator 90 oriented towards the ground, which intervenes on a portion 2D of the support foot 2C to cause the lowering thereof up to contact with the ground. Namely, actuator 90 is activated at the completion of the opening of the centering (condition in Figure 10). Once the descent of the support foot 2C is completed, the support foot 2C is locked to or automatically locks the corresponding lateral arch 2B in the position reached. Then actuator 90 is deactivated. It is worth noting that the use of push means of the side wall associated with the side arms 12, 13 of apparatus 1 substantially makes the adjustment of the position of the side walls automatic and therefore very fast.
The apparatus according to the invention allows the preset tasks and objects to be completely achieved. In particular, the apparatus allows a fast and effective positioning of a consolidating centering without the need to use other movement machines. Compared to traditional solutions, the apparatus according to the invention allows the number of operators to be reduced and ensures better safety conditions.

Claims

An apparatus (1) for positioning a centering (2) for supporting and consolidating an excavation (200) defined by a central element (2A) and by two side elements (2B) which are opposite with respect to said central element (2A), said apparatus (1) comprising:
- movable means (5) provided with movement means (77);

- a supporting frame (6) installed on said movable means (5);

- at least a first lifting arm (11) mounted on said frame (6) and rotating about at least one main rotation axis (101) which defines a movement plane (501) for said first arm (11) which is orthogonal to the main axis (101) itself, said first arm (11) comprising first gripping means (32) configured to grip said central element (2A) of said centering (2);

- first actuating means (71, 72, 73, 74) of said first arm (11) configured to move said first arm (11) on said movement plane (501);
wherein said apparatus (1) comprises a control and command unit (50) operatively connected to first sensor means (51) configured to provide a signal characteristic of the real topographic position of said central element (2A) of said centering (2), said unit (50) being connected to said actuating means (71,72,73,74) of said first arm (11) and controlling the same according to the result of the comparison between said real topographic position occupied by said central element (2A) of said centering and a reference topographic position assigned to said central element (2A) itself in the design phase.
An apparatus (1) according to claim 1, wherein said first sensor means (51) comprise a position sensor operatively installed on the first arm (11) in a position close to said gripping means (32) and/or a plurality of sensors operatively associated with said first actuating means (71,72,73,74,75) of said first arm (11).
An apparatus (1) according to claim 1 or 2, wherein said first sensor means (51) can be installed directly on the central arch (2A) of said centering (2).
An apparatus (1) according to any one of claims from 1 to 3, wherein said apparatus (1) comprises a second arm (12) and a third arm (13) mounted on said frame (6) on opposite sides with respect to said movement plane (501) of said first arm (11), said second arm (12) and said third arm (13) each comprising further gripping means (32A) configured to grip one corresponding element of said side elements (2B) of said centering (2), said apparatus (1) comprising second actuating means (81, 82, 83, 84, 85) for the movement of said second arm (12) and of said third arm (13), and wherein said unit (50) is operatively connected to second sensor means (51 A) configured to provide a signal characteristic of the real position of the corresponding side element (2B) of said centering (2), said unit (50) being operatively connected to said second actuating means (81, 82, 83, 84, 85) to control the same according to the comparison between said real topographic position occupied by said side element (2B) and a reference topographic position assigned to the side element (2B) itself in the design phase.
An apparatus (1) according to claim 4, wherein said second sensor means (51 A) comprise, for said second arm (12) and/or for said third arm (13), a sensor installed in a position close to said further gripping means (32A) and/or a plurality of sensors operatively associated with said second actuating means (81, 82, 83, 84, 85).
An apparatus (1) according to claim 4 or 5, wherein said second sensor means (51 A) can be installed on a corresponding lateral arch (2B) of said centering (2).
An apparatus (1) according to any one of claims from 1 to 6, wherein said apparatus (1) comprises second sensor means (52) configured to provide a signal characteristic of the real position and/or of the orientation of the movement plane (501) of said first arm (11), said second sensor means (52) being operatively connected to said unit (50) which controls said movement means (77) according to the deviation, in terms of position and/or orientation, between said movement plane (501) and a plane of symmetry (300) of said excavation (200).
An apparatus (1) according to any one of claims from 1 to 7, wherein said unit (50) comprises:
- an acquisition module (50A) configured to acquire a signal transmitted by said sensor means (51);

- a processing module (50B) connected to said acquisition module (50A);

- a memory module (50C) connected to said processing module (50C);

- a control module (50D) connected to said actuating means (71, 72, 73, 74) and/or to said movement means (77) of said movable means (5),
wherein there are stored, in said memory module (50C), the topographic position of said centering (2) and/or the topographic positions of said elements (2A, 2B) of said centering (2) established in the design phase.
An apparatus (1) according to claim 8 when depending on 7, wherein said processing module (50B) is configured to control said first actuating means (71, 72, 73, 74) only when said deviation between said movement plane (501) and said plane of symmetry (300) is null or falls within a predefined tolerance field.
An apparatus (1) according to any one of claims 4 to 9, wherein said second arm (12) and said third arm (13) rotate at least about a corresponding first rotation axis (103, 103') substantially parallel to said movement plane (201) of said first arm (11) and/or with respect to a second rotation axis (104) substantially orthogonal to said corresponding first rotation axis (103, 103').
An apparatus (1) according to any one of claims from 1 to 10, wherein said first arm (11) comprises a first arm portion (21) hinged to said frame (6) to rotate about said main axis (101) and a second arm portion (22) hinged to said first portion (21) to rotate about a secondary rotation axis (102) substantially parallel to said main axis (101), said first actuating means comprising at least a first actuator member (71) to rotate said first portion (21) with respect to said frame (6) and at least a second actuator member (72) to rotate said second portion (22) with respect to said first portion (21).
An apparatus (1) according to claim 11, wherein the extension of said first portion (21) and/or the extension of said second portion (22) is variable along a reference direction (201, 202), said first actuating means comprising a third actuator (73) configured to vary the extension of said first portion (21) along a first reference direction (201) and/or a fourth actuator (74) configured to vary the extension of said second portion (22) along a second reference direction (202).
An apparatus (1) according to any one of claims from 10 to 12, wherein said second arm (12) and/or said third arm (13) each comprise a first arm portion (41) and a second portion (42), said first portion (41) being hinged on a movable part (6') of said frame (6) so as to rotate about said second rotation axis (104), said movable part (6') being connected to a fixed part (6") of said frame by means of a connection which defines said first axis (103), said first portion (41) being hinged to said first portion (41) to rotate about a third rotation axis (105) substantially orthogonal to said second axis (104), said second actuating means comprising at least a first actuator member (81) to rotate said movable portion (6') of said frame with respect to said fixed portion (6"), at least a second actuator member (82) to rotate said portion (41) with respect to said movable portion (6') of said frame and a third actuator member (83) to rotate said second portion (42) with respect to said first portion (41).
An apparatus (1) according to claim 13, wherein said extension of said first portion (41) and/or of said second arm portion (42) is variable along a reference direction (401, 402), said second actuating means comprising a fourth actuator (84) configured to vary the extension of said first portion (41) along a first reference direction (401) and/or a fifth actuator (85) configured to vary the extension of said second portion (42) along a second reference direction (402).
An apparatus (1) according to any one of claims from 4 to 14, wherein said second arm (12) and/or said third arm (13) comprise push means configured to push a support foot (2C) of said lateral arch (2B) of said centering (2).