Gripper Assembly

Abstract

A gripping assembly (1) designed to grip a cylindrical pile (CP) provided with a longitudinal axis (AL) at its end position, said assembly (1) comprising: a first cylindrical body (10) with a central axis (CA) and defined by a first upper flat surface (2) and a second lower flat surface (3), which are parallel to each other and transverse to the central axis (CA) of the same first body (10); a plurality of gripping members (12) evenly distributed around said central axis (CA) and radially movable to engage one of said piles (CP) by friction; and a lifting arm (20) hinged to a plate (100)(100') integral with said first body (10) and comprising at least one support (22) arranged transversely to a longitudinal diametric plane (M) carried by said first body (10), said first axis (TA1) being on the outside of the first body (10) opposite said second face (3) with respect to the first face (2).

Description

[Technical field]

[0001] The present invention relates to a gripping assembly. In particular, the present invention relates to a gripping assembly for gripping a pile (or a stake) through its respective ends. More particularly, the present invention relates to a gripping assembly for gripping a pile through its respective ends, said assembly being designed to move said pile around an axis passing through said ends. [Background technology]

[0002] In the handling sector, in particular in the lifting and verticalisation of cylindrical bodies, for example but not limited to steel piles for use in the offshore energy industry (for example but not limited to the oil and gas and wind sectors), it is known to frictionally engage with the inner or outer shell of the pile to be handled using a gripping device carried by a respective shaft associated with a lifting arm rotatably coupled to the gripping device with a plurality of radially movable gripping members. In each gripping assembly, the arm has a shaft which can be rotatably gripped by a crane. The arm of each assembly is coupled to the gripping device via a shaft and a control member for controlling the reciprocating rotation, usually comprising at least one linear actuator. The function of the linear actuator is to precisely orient the gripping device in a vertical plane (for example but not limited to from vertical to horizontal and vice versa) in order to determine its insertion into the pile to be lifted or handled. After the gripping device has been fully inserted and then locked inside the pile, before starting the lifting and / or verticalization operation of the pile, the linear actuator can be floated so that the arm can passively follow the orientation of the cylindrical pile throughout the subsequent lifting operation by means of a cable connected to the crane without (or against) any opposing resistance. Considering that the mass of the pile to be lifted, understood as a foundation pile, is sometimes considerable, it may be difficult for the linear actuator alone in some cases to actively control the orientation of the arm carrying the gripping device during the operation. Therefore, in order to avoid excessively increasing the power, and therefore the mass, and also the overall dimensions of the linear actuator, which would have a negative effect on the performance of the crane used, it is common practice to "float" the arm in its rotation plane, so that the arm can passively follow the orientation of the pile throughout the entire lifting phase, in which case the pile can be verticalized.In this situation, the linear actuator remains loose and, in particular, the relative stem remains free to translate relative to the corresponding armature so that the distance between the free end of the stem and the free end of the armature can freely change and, therefore, the relative angle between the gripping device and the arm, and therefore between the pile and the arm, can freely change.

[0003] An example of such an assembly can be seen in IHC patent EP2925658, in which the arm is centrally connected to the gripping device at a diametric axis transverse to it, and the relative rotation between the gripping device and the arm is controlled by a lever operated by a linear actuator.

[0004] If, as frequently occurs, the configuration of the handled pile must be vertical at the end of the lifting for the subsequent pile driving operation, the presence of the lifting arm interposed between the crane lifting cable and the pile results in the drawback that the handling and final positioning of the pile is less easy for the lifting crane to control. The main reason for this is that, since at this stage the arm is in a "floating" configuration, the cylinder effectively resembles the second pendulum of a double pendulum configuration, where the arm constitutes the first pendulum, and the pile carried integrally by the gripping device constitutes the second pendulum. In high wind and / or very rough sea conditions, this can very much limit the controllability of the pile lifted by the cylinder, making it very difficult to position the bottom end of the pile when required.

[0005] Of course, this situation ("floating" arm) can also occur when the linear actuator cannot control the relative angle between the arm and the gripping device due to wave motion or any unforeseen causes, due to improper dimensions or insufficient maintenance. In these cases, the arm may rotate too much and crash into the inner wall of the gripping device, which may result in serious damage to the arm and / or the gripping device.

[0006] Considering the above situation, it is desirable to have a gripping assembly in which, when the pile to be handled is coaxial with the gripping device that carries it, the coaxial state is maintained even when the linear actuator that adjusts the relative inclination of the gripping device with respect to the arm is deactivated. In this way, it is possible to limit and overcome the drawbacks typical of known technology, including those mentioned above, and to define a new standard for said type of equipment. DISCLOSURE OF THEINVENTION

[0007] SUMMARY OF THE PRESENT APPLICATION The present invention relates to a gripping assembly. In particular, the present invention relates to a gripping assembly for gripping a pile through its respective ends. More particularly, the present invention relates to a gripping assembly for gripping a pile through its respective ends, said assembly being designed to move said pile around an axis passing through said ends.

[0008] The above mentioned disadvantages are solved by the present invention according to at least one of the following claims.

[0009] According to one embodiment of the present invention, a gripping assembly is designed and operated to grip a cylindrical pile provided with a longitudinal axis at its end position, said assembly comprising a first cylindrical body having a central axis and gripping members evenly distributed around said central axis and movable in a radial direction to couple with one of said piles by friction, and a lifting arm comprising at least one support arranged symmetrically with respect to a longitudinal diametric plane carried by said first body hinged to a respective plate integral with said first body about a first axis transverse to said diametric plane, each said support having a central axis deployed around a fulcrum axis parallel to said first axis so as to support said arm in a rotatable manner, said first axis being parallel to and different from a diametric axis of said first body transverse to said diametric plane.

[0010] According to the embodiment as described above, each of the supports has an elbow rotatably connected to a corresponding one of the plates about the first axis via a first hook member, and each of the plates has a second connecting member concentric with the first axis and angularly slidingly connected to the elbow via a respective circular slot defined by two concave abutments.

[0011] According to the embodiment as described above, the lifting arm comprises two supports each hinged to a respective one of the plates around the first axis, the supports being arranged symmetrically with respect to the diametric plane, and the supports being connected by the central axis.

[0012] According to the embodiment as described above, a first projection at the center of the first hook member on the diametric plane and a second projection at the center of the second hook member on the diametric plane define a segment, the geometric axis of which is parallel to or coincident with the central axis.

[0013] According to the embodiment as described above, the two concave abutment portions are spaced apart from each other by an angle of less than 90° about the first axis.

[0014] According to the embodiment as described above, actuation means are disposed between said arm and said first body for moving them in relative rotational movement about said first axis.

[0015] According to the embodiment as described above, the actuation means comprises a linear actuator, the axis of which is transverse to the first axis and is carried at both ends by a second bracket connected to the arm in an angularly fixed manner and a first bracket connected to the first body.

[0016] According to the embodiment as described above, each of the second hook members comprises a pin carried by a bracket of the plate.

[0017] According to the embodiment as described above, the first hook member comprises a rotor pair.

[0018] According to the embodiment as described above, the first axis is external or internal to the first body. [Brief description of the drawings]

[0019] Further features and advantages of the gripping assembly according to the invention will become more apparent from the following description, given with reference to the accompanying drawings, which show at least one non-limiting example embodiment thereof, in which identical or corresponding parts are identified by the same reference numbers, in particular: FIG. 1 is a schematic perspective view of a gripping assembly according to the invention; 2 to 4 are lateral elevational views of the assembly of FIG. 1 in three separate operational configurations, with some parts not shown for clarity; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Before describing the preferred embodiment of the present invention or its details in detail, it is useful to clarify that the relative scope is not limited to the specific embodiments described below. The disclosure and description herein are illustrative and explanatory of one or more presently preferred embodiments and variations, and it will be apparent to those skilled in the art that various changes in design, configuration, sequence of operations, means of operation, structure and location of equipment, methodology, and use of mechanical equivalents can be made without departing from the spirit of the invention.

[0021] Furthermore, it should be understood that while the accompanying figures and drawings have the purpose of clearly illustrating and disclosing presently preferred embodiments to those skilled in the art, they are not drawings showing how these embodiments should be implemented in practice or in actual representations of the final product, but rather, these figures may include simplified conceptual diagrams for ease of understanding or to provide easier and more rapid explanation. Furthermore, the relative dimensions and placement of components may differ from those shown and still function in the spirit of the invention.

[0022] Furthermore, it should be understood that the various directions, such as "up", "down", "left", "right", "front", "rear", etc., are made solely with respect to the description in conjunction with the drawings, and that components may be oriented differently, for example, during shipping and production, as well as during operation. Because many different and separate embodiments can be devised within the concepts taught herein, and because multiple modifications can be made to the embodiments described herein, it should be understood that the details provided below should be construed as illustrative and non-limiting with respect to the spirit of the invention.

[0023] In Fig. 1, the number 1 indicates as a whole a gripping assembly 1 designed to grip a cylindrical pile CP provided with a longitudinal axis AL in an end position. The assembly 1 comprises a first cylindrical body 10 defined by a first upper planar surface 2 and a second lower planar surface 3 parallel to each other, of which only a line cutting transversely through a central axis CA of said first body 10 can be seen in the attached drawings. Said first body 10 comprises a number of gripping members 12 evenly distributed around the central axis CA and radially movable to couple by friction with one of the piles CP, shown by dashed lines in Figs. 2 to 4 to indicate the overall dimensions of the CP. The gripping members 12 are of known type and comprise wedges (or wedges) operable by linear actuators. As they are not important for understanding the invention, they will not be described in more detail for economy of text and figures.

[0024] The assembly 1 further comprises a lifting arm 20 in the form of a fork, thus having two sides 22 and 22' arranged symmetrically with respect to a longitudinal diametric plane M of the first body 10, the lines of which are only visible in FIG. 1. The two sides 22 and 22' are hinged to the first body 10 in respective plates 100 and 100' about a first axis TA1 transverse to the plane M and are arranged above the first face 2 and therefore opposite said first face 2 with respect to the second face 3. These plates 100 and 100' are internal and arranged symmetrically with respect to the diametric plane M, without limiting the scope of the invention. In particular, the two sides 22 and 22' are also fitted on an axis 21 which is symmetric with respect to the diametric plane M and concentric with respect to the first axis TA1.

[0025] 1, the sides 22 and 22' are connected at the top by a central axis 24 parallel to the first axis TA1 and revolving around a fulcrum axis AF previously arranged to be rotatably gripped, and then by a gripping member of a crane, known and not shown for economy of illustration. Considering the symmetry of the assembly 1, the text and / or the figures may present only one of the symmetrical components of the arm 20, for example only one of the sides 22 and 22', for clarity of illustration and without limiting the scope of the invention.

[0026] 1 and 2, each side 22 / 22' has an elbow 220 / 220' rotatably coupled (or coupled rotoidally) about a first axis TA1 to a rectangular plate 100 / 100' integral with the first body 10 via a first hook member 222 / 222' formed of a rotoidal pair concentric with the first axis TA1, comprising a bracket 101 / 101' carried at the top by the plate 100 / 100' and an angular portion of the elbow 220 / 220', the bracket 101 / 101' and the angular portion of the elbow 220 / 220' being connected by an axis 21. As can be seen at the top of FIG. 1, each plate 100 / 100' has a bracket 102 / 102' arranged symmetrically with respect to the central axis CA of the same first body 10, the shape of which is generally indicated by dashed lines only in FIG. 2. Each bracket 102 / 102' houses a second hook member 14 / 14', which is, without limiting the generality of the invention, a pin. The two pins 14 and 14' are aligned along a second axis TA2 parallel to the first axis TA1.

[0027] With particular reference to Figures 2-4, each elbow 220 / 220' is shaped similar to a triangle having a convex hypotenuse, and each pin 14 / 14' is coupled to the elbow 220 / 220' to slide angularly through a respective circular slot 226 / 226' defined by two concave abutment portions 224 and 224' concentric with a first axis TA1 having a size less than 90° and equal to 90°.

[0028] With particular reference to FIG. 3, a first projection P1 in the center of the rotor pair 222 / 222′ on the diametric plane M and a second projection P2 in the center of the pin 14 / 14′ on the diametric plane M define a segment P1-P2, whose geometric axis GA is perpendicular and equidistant to the ends of the same segment P1-P2 and intersects with the fulcrum axis AF.

[0029] With reference to any one of the accompanying drawings, the assembly 1 comprises an actuating member 30 arranged between the arm 20 and the first body 10 to move them in a relative rotational movement about a first axis TA1. In particular, the actuating member 30 comprises a linear actuator 32, the axis of which transverses the first axis TA1 and is fitted to the axis 21, so that it is carried at both ends by a second bracket 36 connected in an angularly fixed manner to the arm 20 and by a first bracket 34 connected to the first body 10.

[0030] The use of the assembly 1 can be easily understood from the above description and does not require further explanation. However, it may be useful to specify that each assembly consisting of elbow 220 / 220', slot 226 / 226' and pin 14 / 14' defines a cam-tappet mechanism in which slot 226 / 226' is a cam and the tappet is formed from pin 14 / 14', and that the unit determining the movement of the tappet relative to the cam is actuator 32.

[0031] It should further be noted that in use, when the assembly 1 is positioned as in Fig. 4, the linear actuator 32 is in a maximum extension state and the first body 10 is supported symmetrically by the pins 21 of the rotor pair 222 / 220' and the pins 14 / 14' engaging with the slits 226 with respect to a longitudinal plane N transverse to the diametric plane M, the line of which coincides with the lines of the geometric axis GA, the central axis CA and the longitudinal axis AL. In particular, in this case, the fulcrum axis AF of the central axis 24 and the centre of the pins 14 and the centre of the rotor pair 222 are located at the vertices of an isosceles triangle symmetrical with respect to the longitudinal plane N, the isosceles triangle AF-P1-P2 having the segment P1-P2 as its base. In this case, the stress on the plate 100 / 100' will be spread over the bracket 102 / 102' optimizing the distribution of mass on the first body 10 and maximizing the stability of the first body 10 and the pile CP connected thereto with respect to the axis 24, and naturally with respect to the crane, thus reducing the load on the linear actuator 32 in case of vibration of the pile CP itself. It is easy to see that once the assembly 1 is placed with the arm 20 and the sides 22 and 22', as in the position of Figure 4, any deactivation of the linear actuator 32 does not change the relative position between the arm 20 and the first body 10. The mass of the unit of the first body 10 and the mass of the relative pile CP to be gripped are spread between the axis 21 and the pin 14 / 14' and are therefore carried by the arm 20 so as to always be centered about the fulcrum axis AF of the central shaft 24, thus avoiding the double pendulum effect in the "floating arm" condition mentioned above in the discussion of the prior art, so that any rotation of the unit can occur only about the fulcrum axis AF of the central shaft 24. In this operating condition, due to the particular nature of the connection between these two components of the gripping assembly 1, no impacts can occur between the arm 20 and the first body 10 when the first body carries a respective pile CP aligned with its central axis CA, since the arm 20 is completely outside the first body 10. Finally, it will be apparent that modifications and changes can be made to the gripping assembly 1 described and illustrated herein without departing from the scope of the invention.

[0032] For example, the embodiment of assembly 1 described above is functionally equivalent to a further embodiment in which plates 100 and 100' are fully housed within first body 10, so that respective brackets 102 and 102' are also housed within a longitudinal extension of first body 10 without modifying or limiting the scope of the invention. In this case, first axis TA1 is inside first body 10, although this is omitted for economy of illustration.

[0033] Furthermore, the scope of the invention also includes a variant of the gripping assembly 1 in which the first body 10 is supported by a lifting arm 20 having one single support 22 also arranged symmetrically with respect to the diametric plane M. The support 22 is hinged to the first body 10 about a first axis TA1 in a respective plate 100 arranged in the center of the first body 10.

[0034] Furthermore, the scope of the present invention includes further variations of the assembly 1 in which the arm 20 has a portion accommodating an axis 24 having dimensions different (greater or smaller) than those shown in the accompanying drawings, such that when the first body 10 is positioned with its longitudinal axis AL vertical, the geometric axis GA of the segment P1-P2 is parallel to the central axis CA of the first cylindrical body 10, but the fulcrum axis AF of the central axis 24 is transverse and inclined to the geometric axis GA.

[0035] In the claims, reference signs in parentheses shall not be interpreted as limiting the claims. The term "comprises" does not exclude the presence of other elements or steps in addition to those recited in the claim. Moreover, the term "a" as used in this context is defined as one or more than one. Moreover, the use of introductory phrases such as "at least one" and "one or more" in the claims shall not be interpreted in a sense of limiting any particular claim that includes this claim element introduced in the present invention, including only one, even if the introduction of another claim element by the indefinite article "a" or "an" includes an introductory phrase such as "one or more" or "at least one" and an indefinite article such as "a" or "an". The same applies to the use of express articles. Unless otherwise specified, terms such as "first" and "second" are used to arbitrarily distinguish the elements that these terms describe. Thus, these terms are not necessarily designed to indicate a chronological or any other priority of said elements. The mere fact that several measures are recited in different claims does not mean that a combination of these measures cannot be used to advantage. The following is an invention described at the beginning of the present application. <Claim 18> A gripping assembly (1) designed to grip a cylindrical pile (CP) provided with a longitudinal axis (AL) at an end position, said assembly (1) having a central axis (CA) and gripping members (12) evenly distributed around said central axis (CA) and movable radially to couple with one of said piles (CP) by friction, said assembly (1) comprising a first cylindrical body (10) defined by a first upper flat surface (2) and a second lower flat surface (3) parallel to each other and transverse to said central axis (CA) of said first body (10), and a second lower flat surface (4) arranged transverse to a longitudinal diametric plane (M) and transverse to said diametric plane. and a lifting arm (20) having at least one support (22) carried by the first body (10) hinged to a plate (100)(100') integral with the first body (10) about a first axis (TA1) extending in a direction perpendicular to the first axis (TA1), each of the supports (22)(22') having a central shaft (24) extending about a fulcrum axis (AF) parallel to the first axis (TA1) so as to support the arm (20) in a rotatable manner, the first axis (TA1) being disposed on an outer side of the first body (10) opposite the second face (3) with respect to the first face (2). <Claim 2> 2. The assembly according to claim 1, characterized in that each of the supports (22), (22') has an elbow (220), (220') rotatably connected to the corresponding plate (100), (100') about the first axis (TA1) by a first hook member (222), (222'), and each of the plates (100), (100') has a second hook member (14), (14') concentric with the first axis (TA1) and connected to the elbow (220), (220') for angular sliding movement through a respective circular slit (226), (226') defined by two concave abutments (224), (224'). <Claim 3> 3. The device according to claim 2, characterized in that the lifting arm (20) comprises two supports (22), (22'), each hinged to a respective one of the plates (100), (100') about the first axis (TA1), the supports (22), (22') being arranged symmetrically with respect to the diametric plane (M), and the supports (22), (22') being connected by the central axis (24). <Claim 4> 4. An assembly according to claim 2 or 3, characterized in that a first projection (P1) in the center of the first hook member (222)(222') on the diametric plane (M) and a second projection (P2) in the center of the second hook member (14)(14') on the diametric plane (M) define a segment (P1-P2) whose geometric axis (GA) is parallel to or coincident with the central axis (CA). <Claim 5> 5. An assembly according to claim 4, characterized in that the two concave abutment portions (224)(224') are spaced apart from each other by an angle of less than 90° about the first axis (TA1). <Claim 6> 6. An assembly according to any one of claims 1 to 5, characterized in that it comprises actuation means (30) arranged between said arm and said first body and adapted to move them in a relative rotational movement about said first axis (TA1). <Claim 7> 7. An assembly according to claim 6, characterized in that the actuating means (30) comprises a linear actuator (32) whose axis is transverse to the first axis (TA1) and is carried at both ends by a first bracket (34) connected to the first body (10) and a second bracket (36) connected to the arm (20) in an angularly fixed manner. <Claim 8> 8. An assembly as claimed in any one of claims 3 to 7, characterized in that each of the second hook members (14)(14') comprises a pin (14)(14') carried by a bracket (102)(102') of the plate (100)(100'). <Claim 9> 9. An assembly according to any one of the preceding claims, characterized in that the first hook members (222)(222') comprise rotor pairs. <Claim 10> 10. An assembly according to any one of the preceding claims, characterized in that the first axis (TA1) is external or internal to the first body (10).

Claims

1. A gripping assembly (1) designed to grip a cylindrical pile (CP) provided with a longitudinal axis (AL) at its end position, said assembly (1) comprising a cylindrical first body (10) having a central axis (CA) and a number of gripping members (12) evenly distributed around said central axis (CA) and radially movable to engage with one of said piles (CP) by friction, said assembly (1) being defined by a first upper flat surface (2) and a second lower flat surface (3) parallel to each other and transverse to said central axis (CA) of said first body (10). a first body (10) and a lifting arm (20) arranged transversely to a longitudinal diametric plane (M) and comprising at least one support (22) carried by said first body (10) hinged to a plate (100) (100') integral with said first body (10) about a first axis (TA1) transverse to said diametric plane, each support (22) (22') comprising a central axis (24) deployed about a fulcrum axis (AF) parallel to said first axis (TA1) so as to support said arm (20) in a rotatable manner, each said support portion (22)(22') has an elbow (220)(220') rotatably connected to a corresponding said plate (100)(100') about said first axis (TA1) by a first hook member (222)(222'), each said plate (100)(100') having a second hook member (14)(14') connected to said elbow (220)(220') for angular sliding movement through a respective circular slit (226)(226') concentric with said first axis (TA1) and defined by two concave abutments (224)(224'); said lifting arm (20) comprises two supports (22)(22') each hinged to a respective one of said plates (100)(100') about said first axis (TA1), said supports (22)(22') being arranged symmetrically with respect to said diametric plane (M), said supports (22)(22') being connected by said central axis (24); A gripping assembly, characterized in that each of said second hook members (14)(14') comprises a pin (14)(14') carried by a bracket (102)(102') of said plate (100)(100').

2. 2. An assembly according to claim 1, characterized in that a first projection (P1) in the center of said first hook member (222)(222') on said diametric plane (M) and a second projection (P2) in the center of said second hook member (14)(14') on said diametric plane (M) define a segment (P1-P2), and a geometric axis (GA) perpendicular to said segment (P1-P2) and equidistant from both ends of said segment (P1-P2) is parallel to or coincident with said central axis (CA).

3. 3. An assembly according to claim 2, characterized in that said two concave abutments (224) (224') are spaced apart from each other by an angle of less than 90° about said first axis (TA1).

4. 4. An assembly according to any one of claims 1 to 3, characterized in that it comprises actuation means (30) arranged between said arm and said first body for moving them in a relative rotational movement about said first axis (TA1).

5. 5. An assembly according to claim 4, characterized in that the actuating means (30) comprises a linear actuator (32) whose axis is transverse to the first axis (TA1) and is carried at both ends by a first bracket (34) connected to the first body (10) and a second bracket (36) connected to the arm (20) in an angularly fixed manner.

6. An assembly according to any one of the preceding claims, characterized in that said first hook members (222) (222') are formed of a rotor pair.

7. Assembly according to any one of the preceding claims, characterized in that said first axis (TA1) is external or internal to said first body (10).

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