Gripping assembly for a tool and remote-control underwater vehicle comprising such gripping assembly

Abstract

The present invention relates to a gripping assembly (1) for a tool, comprising: a tang (101), on which the tool is mountable, having an axially symmetrical gripping portion (125) and a pair of locking seats (112), a hub (100) having an axially symmetrical recess (100a) adapted to accommodate the gripping portion (125) of the tang (101) at different angular positions around an axial direction (A-A), the tang (101) is switchable between a first and a second position, wherein the gripping portion (125) is accommodated in and extracted from the recess (100a), respectively, a sleeve (103) mounted on the hub (100) so as to be rotationally integral with the hub (100) and movable along the axial direction (A-A), a pair of locking elements (102) constrained to the sleeve (103) along the axial direction (A-A) and rotationally integral with the hub (100) around the same direction, mutually movable transversely to the axial direction (A-A) in order to switch between: a closed configuration in which they are configured to engage in the respective locking seats (112) of the tang (101) so as to hold it in the first position, locking the angular position thereof within the recess (100a) of the hub (100), an open configuration in which they enable the tang (101) to switch between the first position and the second position, switching members (104, 108) configured to move the sleeve (103) along the axial direction (A-A) and switch the locking elements (102) between the open and closed configurations.

Description

[0001] Title: “Gripping assembly for a tool and remote-control underwater vehicle comprising such gripping assembly”

[0002] DESCRIPTION

[0003] Technical Field

[0004] The present invention relates to a gripping assembly for a tool such as, for example, a tool for samplings in marine environment by means of a tip or a core barrel.

[0005] The present invention also relates to a remote-control underwater vehicle which can be used, for example, for seafloor sampling operations, comprising the above- mentioned gripping apparatus.

[0006] Particularly, but not exclusively, the present invention is usefully used in the field of electromechanical systems designated to perform core drilling samplings, as well as in that of machine tools for machining.

[0007] Background Art

[0008] In several technical fields there exists the need to attach a tool to a drive apparatus adapted to rotate it around an axial direction.

[0009] For this purpose, several gripping assemblies configured to grip a work tool and kinematically connect it to the drive apparatus have been developed.

[0010] It is worth noting that such gripping assemblies, in addition to kinematically constrain the rotation of the tool around the axial rotation of the drive apparatus, must be capable of holding the tool along the axial direction in order to prevent it from disengaging.

[0011] Among the known gripping assemblies, the “quick release” ones stand out, that is, all those gripping systems that do not require the use of generic or specific equipment to engage / di sengage the tool. For example, in the field of tools, the usage of SDS or SDS plus gripping systems is widespread. Such systems are also commonly used in electromechanical apparatuses for core drilling sampling in marine environment.

[0012] The known quick-release gripping assemblies use balls preloaded by spring means to lock the tool along the axial direction and couplings having non axially symmetrical geometries that can complementarily fit (e.g., grooved profiles) to transmit the rotary motion from the drive apparatus to the tool.

[0013] It is therefore evident that, due to the couplings having non axially symmetrical geometries, the known attachment assemblies require to fit the tool into one or more predetermined angular positions. In other words, disadvantageously, the known attachment assemblies do not enable the tool to be inserted in any random angular position.

[0014] Object of The Invention

[0015] In this context, the technical task underlying the present invention is to propose a gripping assembly for a tool which overcomes the aforementioned drawbacks of the known art.

[0016] In particular, it is an object of the present invention to provide a gripping assembly that enables the tool to be fitted into any angular position. In other words, it is an object of the present invention to provide a gripping assembly that enables the tool to be gripped without knowing its angular position in advance.

[0017] It is also an object of the present invention to provide a gripping assembly which is compact and suitable for being installed in remote-control underwater vehicles which, as such, operate in difficult environments where fitting a tool according to a predetermined orientation involves significant complications as well as the introduction of specific equipment worsening the manoeuvrability of the vehicle (increased inertias). It is also an object of the present invention to provide a gripping assembly that, in addition to enable the rotary motion to be transmitted to the tool, is capable of making it perform radial movements which can be used, for example, in core drilling operations in marine environment, to cause the detachment of the core (cylindrical sample taken from the seafloor).

[0018] It is also an object of the present invention to provide a remote-control underwater vehicle suitable for carrying out core drilling operations that is lightweight and simple to manufacture.

[0019] SUMMARY OF THE INVENTION

[0020] According to the present invention, the stated technical task and specified objects are achieved by a gripping assembly and a remote-control underwater vehicle according to one or more of the appended claims.

[0021] In particular, the present invention proposes to provide a gripping assembly comprising a hub provided with an axially symmetrical recess and a tang (on which a tool is mountable) having a gripping portion which is axially symmetrical as well.

[0022] It is worth noting that the aforementioned geometries enable the recess of the hub to accommodate therein the gripping portion of the tang at any angular position around an axial direction along which it extends.

[0023] In order to lock the tang within the recess by fixing the angular position thereof, the gripping assembly comprises a pair of locking elements which are rotationally integral with the hub and movable along the axial direction by a sleeve to which they are constrained.

[0024] Upon movement along the axial direction, the locking elements are configured to move transversely to the latter direction, so as to switch between: an open configuration in which they enable the tang to be inserted in and extracted from the hub; and a closed configuration in which they are adapted to engage in designated locking seats of the tang to hold it in the recess by locking the angular position thereof around the axial direction.

[0025] In this regard, it is worth noting that the pair of locking elements which, according to the above, are rotationally integral with the hub, when brought in the closed configuration, enable a twisting torque to be transmitted from the hub to the tang and, at the same time, prevent the latter from coming out of the recess.

[0026] The switching between the open and closed configurations is controlled by designated switching members configured to move the sleeve and, thus, the locking elements, along the axial direction.

[0027] From the above it is evident that the synergistic effect of the locking elements and the axially symmetrical shapes of the recess and the gripping portion enable the tang to be fitted into the hub at any angular position in order to be subsequently locked therein.

[0028] Such a gripping system proves to be particularly suitable for the application on remote-control underwater vehicles which can be used for core drilling operations since, by not requiring the tang of a core drilling tool to be fitted into a predetermined angular position, it allows to avoid the introduction of designated electromechanical orientation means to the advantage of the weight and, therefore, of the manoeuvrability of the vehicle itself.

[0029] LIST OF THE FIGURES

[0030] Further features and advantages of the present invention will be more apparent from the indicative, and therefore non-limiting, description of a preferred, though not exclusive, embodiment of a gripping assembly for a tool and a remote-control underwater vehicle, as illustrated in the accompanying drawings, in which:

[0031] - Figure 1 shows a perspective view of a gripping assembly according to the present invention, some components being partly in section in order to better show others,

[0032] - Figure 2 shows a fully sectional perspective view of the gripping assembly of Figure 1,

[0033] - Figure 3 shows a perspective view of the gripping assembly of Figure 1, some components being partly in section in order to show some internal construction details,

[0034] - Figure 4 shows a perspective view of the gripping assembly of Figure 1, some components being partly in section in order to show some internal construction details,

[0035] - Figure 5 shows a sectional front view of the gripping assembly of Figure 1, the locking elements being in an open configuration in which they enable a tang to be extracted from / inserted in a designated recess of a hub,

[0036] - Figure 6 shows a sectional front view of the gripping assembly of Figure 1, the locking elements being in a closed configuration in which they hold the tang in the recess of the hub, locking the angular position thereof,

[0037] - Figure 7a shows a sectional front view of the gripping assembly of Figure 1 in which the locking elements are in the closed configuration and the tang is partly inserted in the recess in a first angular position,

[0038] - Figure 7a shows a sectional front view of the gripping assembly of Figure 1 in which the locking elements are in the closed configuration and the tang is partly inserted in the recess in a second angular position,

[0039] - Figure 8 shows a sectional perspective view of a first component of the gripping assembly of Figure 1,

[0040] - Figure 9 shows a perspective view of a second component of the gripping assembly of Figure 1,

[0041] - Figure 10 shows a partly sectional perspective view of a third component of the gripping assembly of Figure 1, - Figure 11 shows a perspective view of a fourth component of the gripping assembly of Figure 1,

[0042] - Figure 12 shows a partly sectional perspective view of a fifth component of the gripping assembly of Figure 1,

[0043] - Figure 13 shows a schematic representation of a remote-control underwater vehicle according to the present invention.

[0044] DETAILED DESCRIPTION

[0045] Referring to the attached Figures, the present invention relates to a gripping assembly 1 configured to hold, during a machining operation, a tool U such as, for example, a core barrel (a tool which can be used for core drilling samplings in marine environment) or a cutting tool of a machine tool.

[0046] It should be specified that the term “hold” means that the gripping assembly 1 is capable of locking the tool so as to be able to transmit thereto both a translational and rotational motion during the machining operation. For example, the gripping assembly 1 is configured to transmit a twisting torque between a rotating spindle (not shown in the Figures) and the tool U so as to perform drilling or core drilling operations.

[0047] The gripping assembly 1 comprises a tang 101 on which the above-mentioned tool U is mountable, for example by means of a threaded or bayonet connection.

[0048] It should be specified that, in alternative embodiments to those shown in the attached Figures, the tang 101 can be made in one single piece with the tool U, defining an end portion adapted to be gripped in order to enable the movement thereof.

[0049] Referring to Figure 11, the tang 101 features a gripping portion 125 configured to be accommodated in a recess 100a of a hub 100, and a pair of locking seats 112 within which respective locking elements 102 can be engaged so as to hold the tang 101 within the hub 100 by locking the angular position thereof. Further details regarding the hub 100, the locking elements 102 and their interactions with the tang 101 are provided in a following part of the description.

[0050] The gripping portion 125 features an axially symmetrical shape, i.e. it is characterized by a radial symmetry with respect to a tang axis X-X.

[0051] Preferably, the gripping portion 125 has a truncated conical shape facilitating the insertion and centering thereof in the designated recess 100a of the hub 100.

[0052] According to an aspect, the tang 101 extends along the direction defined by its axis (tang axis X-X) between a tool interface portion 126, on which the tool U is mountable, and an opposed head portion 124.

[0053] Preferably, the gripping portion 125 is interposed between the head portion 124 and the tool interface portion 126 along the direction defined by the tang axis X-X.

[0054] Still referring to the embodiment of Figure 11, the locking seats 112 are arranged interposed between the head portion 124 and the tool interface portion 126.

[0055] Preferably, the locking seats 112 are placed onto the gripping portion 125, in particular from opposite sides with respect to the tang axis X-X.

[0056] Further, the locking seats 112 preferably form indentations featuring two locking walls 112a opposite each other and extending around the tang axis X-X (i.e., transversely to the tang axis X-X).

[0057] The gripping assembly 1 further comprises a hub 100 configured to be rotated around an axial direction A-A by means of designated transmission elements 107 connectable, for example, to motorization means.

[0058] The hub 100 comprises a recess 100a adapted to accommodate the gripping portion 126 of the tang 101 extending along the axial direction A-A.

[0059] The recess 100a features an axially symmetrical shape configured to accommodate the gripping portion 125 of the tang 101 at any angular position around the axial direction A-A.

[0060] The tang 101 is switchable between a first position, wherein the gripping portion 125 is accommodated in the recess 100a along the axial direction A-A, and a second position, wherein the gripping portion 125 is extracted from the recess 100a. In other words, in the first position the gripping portion 125 of the tang 101 occupies the recess 100a of the hub 100, whereas in the second position it leaves the same free.

[0061] Advantageously, the axially symmetrical shape of the gripping portion 125 and the recess 100a enable the tang to be switched from the first to the second position regardless of the relative angular position of the tang 101 with respect to the hub 100 around the axial direction A-A.

[0062] The switching of the tang 101 from the first to the second position occurs by moving the gripping portion 125 and the recess 100a relative to each other along the axial direction A-A, in particular through a designated access opening to the recess 100a.

[0063] In the embodiment shown in Figures 5, 6, 7a, and 7b, the recess 100a of the hub 100 is confined by a truncated conical surface 100b configured to at least partly contact the gripping portion 125 of the tang 101.

[0064] According to an aspect, to avoid the seizure of the tang 101 in the hub 100, the truncated conical surface 100b is characterized by a different taper from that of the gripping portion 125. That is to say that the truncated conical surface 100b features a first taper value which is numerically different from a second taper value characterizing the gripping portion 125. It is worth noting that the taper is a well- known geometrical parameter to the person skilled in the art and thus does not require to be further described in detail.

[0065] The gripping assembly 1 also comprises a sleeve 103 mounted on the hub 100 so as to be rotationally integral with the hub 100 around the axial direction A-A and free to move relative to the hub 100 along the same direction.

[0066] In the embodiment shown in Figures 10 and 12, the kinematic connection between the sleeve 103 and the hub 100 is made by means of designated guide elements 109, 123, configured to enable them to slide relative to each other along the axial direction A-A and, at the same time, lock the mutual rotation thereof around the axial direction A-A.

[0067] According to an aspect shown in Figures 3 and 4, the sleeve 103 features an annular form configured to be put on externally on the hub 100, preferably coaxially to the axial direction A-A.

[0068] The gripping assembly 1 also comprises a pair of locking elements 102 configured to act on the locking seats 112 of the tang 101 in order to lock it within the recess 100a of the hub 100 both along and around the axial direction A-A.

[0069] The locking elements 102 are translationally integral with the sleeve 103 along the axial direction A-A and rotationally integral with the hub 100 around the axial direction A-A. Thus, the locking elements 102 are kinematically constrained both to the hub 102 and the sleeve 103, so as to translate along the axial direction A-A with the sleeve 103, and rotate around the axial direction A-A with the hub 100.

[0070] Upon their movement along the axial direction A-A, the locking elements 102 are mutually movable towards or away from each other transversely to the axial direction A-A so as to switch between a closed configuration (Figure 6) and an open configuration (Figure 5).

[0071] In the closed configuration, the locking elements 102 are configured to engage in the respective locking seats of the tang so as to hold it in the aforementioned first position, locking the angular position of the gripping portion of the tang 101 around the axial direction A-A within the recess 100a of the hub 100. Thus, when the tang 101 is in the first position and the locking elements 102 are in the closed configuration, the tang 101 and the hub 100 are integral when moved and rotated so as to allow core drilling or drilling operations, for example.

[0072] In the open configuration, the locking elements 102 enable the tang 101 to switch between the first and the second position. In other words, when the locking elements 102 are in the open configuration, they enable the tang 101 and the hub 100 to mutually move along the axial direction A-A so as to enable the gripping portion 125 to be inserted in / extracted from the recess 100a.

[0073] In the embodiment of Figure 12, the hub 100 comprises guide members 106 functionally associated to the locking elements 102 which, upon movement of the sleeve 103 - and, therefore, of the locking elements 102 as well - along the axial direction A-A, are configured to mutually move them transversely to the axial direction A-A to and from the recess 100a.

[0074] Preferably, in the closed configuration, the locking elements 102 are partly arranged in the recess 100a so as to be able to engage with the respective locking seats 112 when these latter move to the area thereof - for example, by means of a rotation of the hub 100 and the tang 101 relative to each other in the first position.

[0075] Preferably, the guide members 106 comprise two pairs of guides 106a. The guides 106a of each pair are arranged on opposite sides of the recess 100a and extend transversely to the axial direction A-A. Still more preferably, the guides 106a are grooved holes passing through a side wall 100c of the hub 100 confining the recess 100a.

[0076] As shown in the embodiment shown in Figures 3-6, each locking element 102 is arranged in a respective pair of guides 106a so as to have a central portion 102a arranged inside the recess 100a in the closed configuration and opposed peripheral portions 102b slidably engaged in the respective pair of guides 106a.

[0077] Preferably, as shown in Figure 3, the peripheral portions 102b of the locking elements 102 extend through the side wall 100c of the hub 100 by means of the guides 106a shaped as grooved through-holes.

[0078] According to an aspect, the peripheral portions 102b of the locking elements

[0079] 102 are constrained to the sleeve 103 along the axial direction A-A.

[0080] In particular, in the embodiment shown in Figures 3, 4, and 10, the sleeve 103 comprises a plurality of housings 111 within which the locking elements 102 engage so as to be integral with the sleeve 103 along the axial direction A-A. Preferably, each peripheral portion 102b of the locking elements 102 is engaged in a respective housing 111 of the sleeve 103.

[0081] Referring to Figure 10, each housing 111 preferably features a pair of abutment walls I l la, opposite each other and extending transversely to the axial direction A-A, between which a respective peripheral portion 102b of the locking elements 102 is interposed so as to be held along the axial direction A-A.

[0082] According to an embodiment, each locking member 102 features a rod-like shape extending along a respective main extension direction between the above- mentioned peripheral portions 102b arranged peripherically to the central portion 102a.

[0083] The gripping assembly 1 constituting the subject matter of the present description also comprises switching members 104, 108 configured to move the sleeve

[0084] 103 along the axial direction A-A so as to switch the locking elements 102 between the open and closed configurations.

[0085] Preferably, the switching members 104, 108, in addition to enable the locking members 102 to switch between the open and closed configurations, are also configured to hold / lock them in the above-mentioned open and closed configurations.

[0086] In the embodiment shown in Figures 1-6, the switching members 104, 108 comprise a first switching body 104 mounted idle on the sleeve 103 around the axial direction A-A. Thus, the sleeve 103 is free to rotate around the axial direction A- A with respect to the first switching body 104.

[0087] Still referring to the embodiment shown in Figures 1-6, when moved along the axial direction A-A the first switching body 104 is integral with the sleeve with respect to the hub 100. That is to say that the first switching body 104 moving along the axial direction A-A imposes an equal movement to the sleeve 103 along the same direction which, in turn, drags the locking members 102 in accordance with the above. Thus, the first switching body 104 moving along the axial direction A-A causes the locking members 102 to switch between the closed and open configurations.

[0088] In the embodiment shown in Figure 9, the first switching body 104 comprises an annular shape configured to be mounted externally to the sleeve 103 and featuring a protrusion 119 projecting from an inner wall thereof and extending around the axial direction A-A.

[0089] In the embodiment of Figure 10, the sleeve 103 comprises a slot 121 extending around the axial direction A-A, adapted to slidably accommodate the protrusion 119 therein so as to enable the rotation, but not the translation of the first switching body 104 and the sleeve 103 relative to each other with respect to the axial direction A-A.

[0090] According to an aspect, the first switching body 104 comprises fastening means 110 configured to keep the angular position of the first switching body 104 fixed around the axial direction A-A upon rotation of the sleeve 103 around the same.

[0091] Preferably, the fastening means 110 guide the movement of the first switching body 104 along the axial direction A-A. According to an aspect, the fastening means 110 comprise a plurality of channels 110 extending along the axial direction A-A adapted, for example, to slide along designated guide pins (not depicted) fastened to a case or a frame.

[0092] Preferably, the first switching body 104 is mounted on the sleeve 103 so as to be coaxial with the hub 100.

[0093] In the embodiment shown in Figures 1-6, the switching members 104, 108 also comprise a second switching body 108 kinematically connected to the first switching body 104 to control the position of the sleeve 103 along the axial direction A- A.

[0094] Preferably, the second switching body 108 features an annular shape and is mounted on the first switching body 104 so as to be coaxial with the hub 100. In particular, in the embodiment shown in Figure 1, the second switching body 108 is mounted externally to the first switching body 104.

[0095] The second switching body 108 controls the position of the sleeve 103 along the axial direction A-A by moving relative to the first switching body 104.

[0096] According to an aspect, the second connection body 108 is fixed along the axial direction A-A with respect to the hub 100 and rotatable around the axial direction A- A relative to the first connection body 108 to which it is kinematically connected.

[0097] For example, in the embodiment shown in Figures 8 and 9, the first and the second switching bodies 104, 108 feature at least a slider 120 and a groove 114, 115, 116, 118, respectively. The slider 120 is slidably engaged in the groove 114, 115, 116, 118 so as to be able to slide therein upon movement of the first and the second switching bodies 104, 108 relative to each other.

[0098] In detail, referring to Figure 8, the groove preferably comprises at least a first and a second section 115, 116, spaced apart along the axial direction A-A, functionally associated to the closed and open configurations, respectively. The second switching body 108, by moving in a relative manner with respect to the first switching body 104 - for example, by a mutual rotation around the axial direction A-A - arranges the slider 120 in the first or in the second section 115, 116 of the groove, so as to switch the locking elements 102 between the open and closed configurations.

[0099] When the slider 120 is in the first or in the second section 115, 116, it fixes the position of the locking elements 102 along the axial direction A- A. Thus, when the slider 120 moves to the first or the second section 115, 115, the locking elements 102 are held / fixed in the closed or open configuration, respectively.

[0100] The first and the second section 115, 116 of the groove preferably extend around the axial direction A-A, in particular arranging at two different levels along the axial direction A-A. Thus, when the slider 120 moves from the first to the second section 115, 116 of the groove (or vice versa), it causes a movement of the first switching body 104 along the axial direction A-A which, according to the above, is sequentially transmitted to the sleeve 103 and to the locking elements 102.

[0101] The groove 114, 115, 116, 118 also comprises a connection section 114 extending in parallel to the axial direction A-A connecting the first and the second section 115, 116.

[0102] Preferably, the first section 115, the second section 116, and the connection section 114 define a path featuring substantially a “C”-shape.

[0103] It is worth noting that, when the slider 120 is in the connection section 114, the locking elements 102 - integrally with the first switching body 104 and the sleeve 103 - are free to move along the axial direction A-A. Thus, when the slider 120 is in the connection section 114, the locking elements 102 are free to move along the axial direction A-A and, therefore, to switch between the closed and open configurations. To subsequently fasten the locking elements 102 in the closed or open configurations, it is necessary to bring the slider 120 into the first or into the second section 115, 116 of the groove.

[0104] Preferably, the groove 114, 115, 116, 118 also comprises a fitting section adapted to enable the slider 120 to be fitted (introduced) into the groove itself.

[0105] Preferably, the first switching body 104 comprises a plurality of sliders 120 arranged around the axial direction A-A and, accordingly, the second switching body 108 comprises a plurality of respective grooves 114, 115, 116, 118 arranged around the axial direction A-A. Still more preferably, the sliders 120 are three and are positioned at 120° around the axial direction A-A from one another, thus the respective grooves are three and are positioned at 120° around the axial direction A-A, as well.

[0106] According to an aspect shown in Figure 2, the switching members 104, 108 comprise spring back elements 113 acting on the locking elements 102. Such spring back elements 113 are configured to store elastic energy when the locking elements 102 switch from the closed configuration to the open configuration and, on the other hand, to release elastic energy when the locking elements 102 move from the open configuration to the closed one.

[0107] It is worth noting that, when the slider 120 is in the connection section 114, the spring back elements 113 serve as a preload in order to keep / retum the locking elements 102 in the closed configuration.

[0108] Advantageously, when the tang 101 is in the first position and the slider 120 is accommodated in the connection section 114, the spring back elements 113 allow to automatically accommodate the locking elements 102 in the respective locking seats

[0109] 112, simply by rotating the hub 100 with respect to the tang 101 around the axial direction A-A. Indeed, as a result of the preload exerted by the spring back elements

[0110] 113, when the locking seats 112 move to the area of the respective locking elements 102, these latter spontaneously switch from the open configuration to the closed one, moving to the respective locking seats 112.

[0111] In the embodiment shown in Figures 5 and 6, the spring back elements 113 extend along the axial direction A-A between a pair of opposed ends engaged with the sleeve 103 and a designated abutment element lOOd of the hub 100, respectively. The sleeve 103, by translating along the axial direction A-A, varies its relative position with respect to the abutment element lOOd along the same axial direction A-A. In Figure 5, the spring back elements 113 are in a compressed state, and the locking elements 102 are in the open configuration; on the other hand, in Figure 6, the spring back elements 113 are in a released configuration - or, in any case, in a smaller state with respect to Figure 5 - and the locking elements 102 are in the closed configuration.

[0112] According to an aspect, the spring back elements 113 comprise a plurality of compression springs arranged circumferentially around the axial direction A-A or, alternatively, comprise an annular-shaped spring arranged coaxially with the axial direction A-A.

[0113] According to an embodiment, the gripping assembly 1 constituting the subject matter of the present description is also configured to move the tang 101 transversely, in particular radially, with respect to the axial direction A-A. This movement of the tang 101 and, accordingly, of the tool U mounted thereon, can be used to perform cutting operations, in particular in seafloor core drilling sampling activities, to break the core.

[0114] For this purpose, preferably the head portion 124 of the tang 101 features an eccentric shape with respect to the gripping portion 125, more precisely with respect to the tang axis X-X.

[0115] Referring to Figures 7a and 7b, the locking elements 102 in the closed configuration are configured to engage from opposite sides on the head portion 124 of the tang 101 when the latter is in a third position where the gripping portion 125 is partly inserted in the recess 100a of the hub 100 along the axial direction A-A.

[0116] Advantageously, in doing so, upon rotation of the hub 100 around the axial direction A-A, as a result of the interaction between the locking elements 102 on the eccentric head portion 124, the tang performs a transverse, in particular radial, displacement to the axial direction A-A. In other words, upon rotation of the hub around the axial direction A-A, the tang axis X-X is caused to be offset and / or inclined with respect to the axial direction A-A (Figure 7b).

[0117] For example, the rotation of the hub 100 around the axial direction A-A is controlled by designated motorization means through the transmission members 107.

[0118] An object of the present description is also a remote-control vehicle 1000 for seafloor sampling operations, i.e. a preferably small-sized underwater ROV.

[0119] It should be specified that ROVs considered to be small in size, unlike other underwater devices, feature moderate size and weight so that they can be deployed with small-sized vessels to the advantage of the operation management costs. For example, these ROVs typically feature dimensions of less than 750x600x550 mm and weights below 60 kg.

[0120] Referring to Figure 13, the vehicle 1000 comprises at least one gripping assembly 1 in accordance with the above and a core drilling tool 1003 (referred to as “corer” in the jargon) mounted on the tang 101 of the gripping assembly 1.

[0121] Furthermore, the above-mentioned vehicle 1000 also comprises first and second motorization means 1001, 1002 functionally associated to the gripping assembly 1.

[0122] In detail, the first motorization means 1001 are configured to rotate the hub 100 of the gripping assembly 1 around the axial direction A-A when the tang 101 is in the first position.

[0123] According to an aspect, the first motorization means 1001 act on the hub 100 by means of the transmission members 107 which, for example, may comprise a gear wheel keyed or otherwise rotationally fixed around the axial direction A-A to the hub 100.

[0124] In use, the first motorization means 1001 are used to provide the drive torque to the tool 10003 during the core drilling, when the tang 101 is in the first position and the locking elements 102 are in the closed configuration. Furthermore, preferably, the first motorization means 1001 can also be used to bring the locking seats 112 in the area of the respective locking elements 102 when the tang 101 is in the first position. In use, when the tang is in the first position and the locking elements 102 are in the open configuration, the first motorization means 1001 can be used to rotate the hub 100 with respect to the tang 101 until the locking elements 102 are at the locking seats 112 in which they are accommodated to move to the closed configuration.

[0125] Conversely, the second motorization means 1002 are configured to drive the switching members 104, 108 of the gripping assembly 1 so as to control the locking elements 102 between the open and closed configurations in accordance with the above.

[0126] According to an aspect, preferably, the second motorization means 1002 are configured to act on the second switching body 108 to move it - for example, to rotate it around the axial direction A-A - relative to the first switching body 104.

[0127] In an embodiment, the second motorization means 1002 are kinematically connected to the second switching body 108 by means of a belt or chain, or an array of gears.

[0128] Obviously, several modifications equivalent to the variations set forth above can be made by the person skilled in the art without thereby departing from the scope of protection as defined by the appended claims.

Claims

CLAIMS1. A gripping assembly (1) for a tool (U), comprising:- a tang (101), on which the tool (U) is mountable, having an axially symmetrical gripping portion (125) and a pair of locking seats (112),- a hub (100) having an axially symmetrical recess (100a) extending along an axial direction (A- A) and adapted to accommodate the gripping portion (125) of the tang (101) at any angular position around the axial direction (A-A), the tang (101) being switchable between a first position, wherein the gripping portion (125) is accommodated in the recess (100a) along the axial direction (A-A), and a second position, wherein the gripping portion (125) is extracted from the recess (100a),- a sleeve (103) mounted on the hub (100) so as to be rotationally integral with the hub (100) around the axial direction (A-A) and free to move relative to the hub (100) along the axial direction (A-A),- a pair of locking elements (102) constrained to the sleeve (103) along the axial direction (A-A) and rotationally integral with the hub (100) around the axial direction (A-A), the locking elements (102) being mutually movable transversely to the axial direction (A-A) upon movement along the axial direction (A-A) in order to switch between:- a closed configuration in which they are configured to engage in the respective locking seats (112) of the tang (101) so as to hold the tang (101) in the first position and lock the angular position of the gripping portion (125) of the tang (101) around the axial direction (A-A) in the recess (100a) of the hub (100),- an open configuration in which they enable the tang (101) to switch between the first position and the second position,- switching members (104, 108) configured to move the sleeve (103) along the axial direction (A-A) and switch the locking elements (102) between the open and closedconfigurations, said switching members (104, 108) comprising:- a first switching body (104) mounted idle on the sleeve (103) around the axial direction (A- A), the first switching body (104) being integrally movable along the axial direction (A-A) with the sleeve (103) with respect to the hub (100),- a second switching body (108) kinematically connected to the first switching body (104) to control the position of the sleeve (103) along the axial direction (A-A), characterized in that the second connection body (108) is fixed along the axial direction (A-A) with respect to the hub (100) and rotatable around the axial direction (A-A) with respect to the first connection body (108).

2. The gripping assembly (1) according to claim 1, wherein the hub (100) comprises guide members (106) functionally associated to the locking elements (102) and configured to mutually move them transversely to the axial direction (A-A) from and toward the recess (100a) upon movement of the sleeve (103) along the axial direction (A-A).

3. The gripping assembly (1) according to claim 2, wherein:- the guide members (106) comprise two pairs of guides (106a) arranged at opposite sides of the recess (100a) and extending transversely to the axial direction (A-A),- each locking element (102) is arranged in a respective pair of guides (106a) so as to have a central portion (102a) arranged inside the recess (100a) in the closed configuration and opposed peripheral portions (102b) engaged in the respective pair of guides (106a).

4. The gripping assembly (1) according to claim 3, wherein the peripheral portions (102b) of the locking elements (102) are constrained to the sleeve (103) along the axialdirection (A-A).

5. The gripping assembly (1) according to one of the preceding claims, wherein:- the switching members (104, 108) comprise spring back elements (113) acting on the locking elements (102),- the spring back elements (113) are configured to store elastic energy when the locking elements (102) switch from the closed configuration to the open configuration, and to release elastic energy when the locking elements (102) switch from the open configuration to the closed one.

6. The gripping assembly (1) according to one of the preceding claims, wherein the first switching body (104) comprises fastening means (110) configured to keep the angular position of the first switching body (104) fixed around the axial direction (A- A) upon rotation of the sleeve (103) around the axial direction (A-A).

7. The gripping assembly (1) according to one of the preceding claims, wherein:- the first switching body (104) features at least a slider (120),- the second switching body (108) features at least a groove (114, 115, 116, 118) in which the slider (102) is slidably engaged, said groove (114, 115, 116, 118) comprising at least a first section (115), functionally associated to the closed configuration, and a second section (116), functionally associated to the open configuration, spaced apart along the axial direction (A-A),- the second switching body (108) is movable relative to the first switching body (104) in order to arrange the slider (102) in the first or the second section (115, 116) of the groove and switch the locking elements (102) between the open and closed configurations.

8. The gripping assembly (1) according to claim 7, wherein:- the first and second sections (115, 116) of the groove (114, 115, 116, 118) extend around the axial direction (A-A),- the groove (114, 115, 116, 118) comprises a connection section (114) extending in parallel to the axial direction (A-A) connecting the first and second sections (115, 116).

9. The gripping assembly (1) according to any one of the preceding claims, wherein:- the tang (101) comprises a head portion (124) which is eccentric to the gripping portion (125),- the locking elements (102) in the closed configuration are configured to engage from opposite sides the head portion (124) when the tang (101) is in a third position where the gripping portion (125) is partly inserted into the recess (100a) of the hub (100) so that a rotation of the hub (100) around the axial direction (A-A) causes a tang axis (X- X) to be offset and / or inclined with respect to the axial direction (A-A).

10. The gripping assembly (1) according to claim 9, wherein:- the tang (101) has a tool interface portion (126) on which the tool (U) is mountable,- the locking seats (112) are interposed between the head portion (124) and a tool interface portion (126).

11. The gripping assembly (1) according to any one of the preceding claims, wherein the locking seats (122) of the tang (101) are arranged on the gripping portion (125) from opposite sides.

12. The gripping assembly (1) according to any one of the preceding claims, wherein:- the recess (100a) of the hub (100) is confined by a truncated conical surface (100b) characterized by a first taper value,- the gripping portion (125) of the tang (101) has a truncated conical shape characterized by a second taper value which is different from the first taper value.

13. A remote-control underwater vehicle (1000) for seafloor sampling operations, comprising:- a gripping assembly (1) according to any one of the preceding claims,- first motorization means (1001) configured to rotate the hub (100) of the gripping assembly (1) around the axial direction (A-A) when the tang (101) is in the first position,- second motorization means (1002) configured to drive the switching members (104, 108) of the gripping assembly (1) so as to switch the locking elements (102) between the open and closed configurations, - a core drilling tool (U) mounted on the tang (101) of the gripping assembly (1).

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