PILE DRIVER AND METHOD OF DRIVING A PILE INTO AN UNDERWATER BED

Abstract

A pile driver configured to drive a pile into an underwater bed includes a floatable body with a pile guide configured to guide the pile in a downward direction, and an actuator that is fixed to the floatable body and that is configured to drive the pile from the floatable body into the underwater bed. A method of driving a pile into an underwater bed includes the steps of: positioning a floatable body; arranging a pile in a pile guide configured to guide said pile in a downward direction; and driving the pile from the floatable body into the underwater bed by an actuator that is fixed to the floatable body.

Claims

1. A pile driver, configured to drive a pile into an underwater bed, comprising: a floatable body with a pile guide configured to guide said pile in a downward direction; and an actuator that is fixed to the floatable body and that is configured to drive the pile from the floatable body into the underwater bed.

2. The pile driver according to claim 1, wherein the actuator is configured to apply a gradual driving force during driving of said pile.

3. The pile driver according to claim 2, wherein the pile guide is displaceable relative to the floatable body.

4. The pile driver according to claim 3, wherein the pile guide comprises a pivot.

5. The pile driver according to claim 1, wherein the actuator comprises a pulley assembly.

6. The pile driver according to claim 5, wherein the pulley assembly comprises a first set of pulleys arranged on said floatable body and a second set of pulleys arranged on said pile.

7. The pile driver according to claim 6, wherein the pulley assembly comprises a single tensioner.

8. The pile driver according to claim 7, wherein the second set of pulleys is arranged on a pile cover.

9. The ile driver according to claim 1, wherein the actuator comprises an hydraulic extender.

10. The pile driver according to claim 9, wherein the actuator further comprises a weight that is displaceable relative to said floatable body.

11. The pile driver according to claim 1, further comprising a pile booster assembly that comprises at least one of: a substantially fluid tight seal on said pile; and a compressor configured to pressurize a fluid contained in an inner space of said pile.

12. The pile driver according to claim 11, wherein said pile booster assembly further comprises a pressure relief valve.

13. The pile driver according to claim 1, further comprising a control system.

14. The pile driver according to claim 13, wherein the control system is configured to measure at least one of: a force in the pile driver, an orientation of the pile, an orientation of the floatable body or a fluid pressure in the pile.

15. The pile driver according to claim 13, wherein the control system is configured to control at least one of the actuator, the compressor, a pressure relief valve or a displacement of the pile guide relative to the floatable body.

16. The pile driver according to claim 15, wherein the control system is configured to control at least one of the actuator, the compressor, the pressure relief valve or the displacement of the pile guide relative to the floatable body, based on a measurement of at least one of: a force in the pile driver, an orientation of the pile, an orientation of the floatable body or a fluid pressure in the pile.

17. The pile driver according to claim 1, wherein said pile is a monopile.

18. The pile driver according to claim 1, wherein said floatable body is a ship or a jack-up barge.

19. A method of driving a pile into an underwater bed, comprising the steps of: positioning a floatable body; arranging a pile in a pile guide configured to guide said pile in a downward direction; and driving said pile from the floatable body into the underwater bed by an actuator that is fixed to the floatable body.

20. The method according to claim 19, wherein the actuator applies a gradual driving force during driving of said pile.

21. The method according to claim 19, wherein the step of driving said pile from the floatable body into the underwater bed comprises displacing said pile relative to the floatable body and using at least the weight of said floatable body to drive said pile into the underwater bed.

22. The method according to claim 21, wherein said pile is substantially hollow and the method comprises the step of sealing and pressurizing said pile with a fluid to at least one of: increase the buckling resistance thereof and to reduce soil friction by liquefaction.

23. The method according to claim 22, further comprising a correction step comprising increasing the pressure of said fluid beyond the reaction forces on it to drive the pile backwards, and further comprises the step of correcting the alignment of said pile or the step of a complete decommissioning of said pile.

24. The method according to claim 19, further comprising a control step wherein a control unit measures and controls the driving of said pile.

25. (canceled)

26. A method of driving a pile into an underwater bed, comprising: positioning a floatable body, the floatable body having a pile guide configured to guide said pile in a downward direction; arranging the pile in the pile guide; and driving said pile from the floatable body into an underwater bed using an actuator fixed to the floatable body; wherein the driving step is performed using a pile driver, the pile driver including the actuator, the actuator configured to drive the pile from the floatable body into the underwater bed.

Description

[0047] In the following description preferred embodiments of the present invention are further elucidated with reference to the drawing, in which:

[0048] FIG. 1 is a schematic cross sectional view of the first preferred embodiment of the pile driver according to the disclosure;

[0049] FIG. 2 shows a top plane view of the first preferred embodiment of the pile guide assembly and the pile actuator assembly:

[0050] FIG. 3 shows a cross sectional view of an alternative embodiment of the pile guide assembly and the pile actuator assembly of the pile driver;

[0051] FIG. 4 shows a top view of the pile actuator assembly from FIG. 3;

[0052] FIG. 5 shows a cross-sectional view of the pile guide assembly from FIG. 3 at the level of the horizon;

[0053] FIG. 6 shows an alternative embodiment of the pile driver, wherein the pile actuator assembly employs vertical supports and an extender:

[0054] FIG. 7 shows a further alternative embodiment of the pile actuator assembly without the use of pulleys to drive the pile;

[0055] FIG. 8 shows an alternative embodiment of the pile actuator assembly, wherein the downward driving force is also used for tightening of the grip on the pile;

[0056] FIG. 9 shows an alternative embodiment of the pile driver, wherein the pile actuator assembly drives the pile by using the vertical force of a weight:

[0057] FIG. 10 shows an alternative embodiment of the pile actuator assembly, wherein the pile is driven by a driving lever and a driving pivot;

[0058] FIGS. 11A and 11B show an alternative embodiment of the pile actuator assembly, according to one embodiment of the disclosure; and

[0059] FIG. 12 shows an exemplary pile driving control system, according to one embodiment of the disclosure.

[0060] FIG. 1 shows a pile driver embodiment according to the present invention, which comprises a pile guide assembly 10, connecting a pile 1 to a floatable body 2, a pile actuator assembly 20 and a pile booster assembly 40 attached to the top end of the pile 1 and a pile driving control system 30 connected to all said assemblies. The pile driver is configured to drive the pile 1 into an underwater bed 70 with a gradual driving force by the pile actuator assembly 20 while keeping the pile 1 vertical with the pile guide assembly 10 within desired tolerances defined on the pile midline 62.

[0061] In this preferred embodiment, the pile guide assembly 10 is configured to keep the pile 1 both vertical and in the same absolute position in the horizontal plane during driving while the floatable body 2 (e.g. sea vessel) is in motioneither translational or rotational motion (by waves or any other external influence). The pile guide assembly 10 provides motion compensation for the rotational motion (in one or more axis) of the floatable body horizontal 61 relative to the absolute horizon 60 and for the translational movement (in one or more axis) of the balance rotation point B in the pile 1 relative to the rotation point A in the underwater bed 70. Aligning the balance rotation point B above the underwater bed rotation point A keeps the pile 1 vertical. At the same time, the pile actuator assembly 20 is configured to keep the driving force rotation point C in vertical alignment also with the underwater bed rotation point A, minimizing the arising of any horizontal forces on the pile 1 from the driving.

[0062] The pile guide assembly 10 comprises a pile guide frame 11 with a positioning platform 13 at one end and a pivot 15 at the other end, which is equipped with a gripper 17 that grips the pile 1. The positioning platform 13 is in contact with the floatable body 2 and is configured to slide relative to it by means of the intermediate friction element 19. The positioning platform 13 is attached to the floatable body 2 by a positioning means 18 (e.g. hydraulic cylinder) allowing to force the positioning platform 13 to slide relative to the floatable body 2 with a desired force and in a desired direction, in this way absorbing any translational motion of the floatable body 2 relative to the pile 1 and keeping pile 1 in the same position. The pivot 15 is configured to rotate in all axis while the pile 1 is held by the gripper 17 allowing for any rotation of floatable body horizontal 61 to be absorbed and keeping the pile 1 vertical. The pile guide frame 11 and the pivot 15 are optionally connected by an elastic element 12 providing a dampened translation of the motion forces between the positioning platform 13 and the pile 1.

[0063] The pile actuator assembly 20 comprises a first set of pulleys 25, near the lower end of the pile 1, and a second set of pulleys 22, near the top end of the pile 1, that are interconnected by a tensioner 23 (e.g. steel cable). The first set of pulleys 25 is connected to the positioning platform 13 and the second set of pulleys 22 is connected to a pile cover 21, which is positioned on the top of the pile 1. The first set of pulleys 25 and the second set of pulleys 22 preferably, but not necessarily, comprise an equal number of individual pulleys that are positioned in a plane symmetrical configuration around the circumference of the pile 1. The tensioner 23 is laced through the pulleys in an alternating sequencefrom one pulley of the first set 25, along the length of the pile 1 and into one pulley of the second set 22 and back to the first set of pulleys 25and ends up in a force tool 26 (e.g. winch) that is configured to pull it through all the pulleys and wind the tensioner 23 up. By winding up the tensioner 23, the pile cover 21 is pulled towards the positioning platform 13 with a gradual and plane symmetrical force. This forces the pile 1 in a downward direction into the underwater bed 70, creating an upwards resistance force, and pushes the positioning platform 13 upwards against the floatable body 2, creating a downward reaction force. Since the weight of the floatable body 2 is larger than the resistance force of the pile 1 in the underwater body 70, the pile 1 is driven into the underwater bed 70 with a gradual force regulated by the force tool 26 to the desired depth. The first set of pulleys 25 are configured, by means of their rotation, to accommodate for any changes in the inclination of the positioning platform 13 relative to the pile cover 21 and keeping the force from the tensioner 23 always vertical. Thus, in this embodiment, the first set of pulleys 25 and the second set of pulleys 22 enable the driving force rotation point C to be in vertical alignment with the balance rotation point B.

[0064] The pile cover 21 further comprises an optional brake 27 that can restrain the speed of the tensioner 23 going through the second set of pulleys 22 by limiting their rotational speed either individually or as a group. This allows adjustments to be made in the axial symmetry of the forces applied on the pile cover 21 in the longitudinal direction of the pile 1. In case one side of the pile cover 21 is needed to exercise a larger downwards force than the rest (e.g. to correct for non-verticality), the brake 27 on that side is activated creating a fixed point of force application increasing the driving force on that side of the pile cover 21.

[0065] In addition, the tensioner 23 also optionally comprises an elastic element 24 configured to absorb quick and/or fluctuating changes in the length of the tensioner 23 without directly increasing the load on the force tool 26 or the pile 1.

[0066] The pile booster assembly 40 comprises a fluid 44 that fills the pile 1 between the pile cover 21 and the underwater bed 70. The pile booster assembly 40 further comprises a seal 45, which is positioned between the pile cover 21 and the pile 1 and is configured to be substantially fluid tight allowing the fluid 44 to be pressurized to a desired level. Preferably, the contact layer between the pile 1 and the underwater bed 70 is also configured to be fluid tight, depending on the soil type. To the pile 1 is connected a compressor 41, by a pressurization line 42, that is configured to pump fluid under pressure inside the pile 1 from the outside environment (not shown). The pile cover 21 comprises a pressure relief valve 43 that allows the fluid 44 to escape from the pile 1 when a certain pressure is reached.

[0067] The pile booster assembly 40 is configured to enable for a larger pile driving force by increasing the allowable buckling stress of the pile 1 by an increased internal pressure of the fluid 44. When the support from the pressure of the fluid 44 inside the pile is not needed any more, or has reached the desired magnitude, the pressure relief valve 43 is opened and the excess pressure of the fluid 44 is released.

[0068] The pile driving control system 30 comprises a controller 31 and the measurement units for pile position 320, floatable body position 321 and fluid pressure 330. The controller 31 is configured to receive data from and is connected to the floatable body position measurement unit 321 by the position data input line 322, to the fluid pressure measurement unit 330 by the pressure data input line 331 and to the pile position measurement unit 320 and floatable body position measurement unit 321 by the position control line 35. Furthermore, the controller 31 is configured to control and is connected to the pressure relief valve 43 by the valve control line 332, to the compressor 41 by the compressor control line 333, to the brake 27 by the brake control line 37, to the force tool 26 by the force control line 36 and to the positioning means 18 by the position control line 35.

[0069] FIG. 2 shows a top plane view of the first preferred embodiment of the pile guide assembly 10 and the pile actuator assembly 20. On the pile 1 is positioned the pile cover 21 with the pulleys of the second set 22 attached in a symmetrical configuration. From the second set of pulleys 22 extends the tensioner 23 downwards to the first set of pulleys 25, which are connected to the positioning platform 13. In this preferred embodiment the positioning platform 13 is star shaped for a more optimal distribution of the forces created during the driving of the pile 1. To the positioning platform 13 are connected the friction elements 19 which are configured to slide against the bottom part of the floatable body 2. The floatable body is further connected to the positioning platform 13 by the positioning means 18.

[0070] FIG. 3 shows one of several preferred embodiments of the pile guide assembly 10 and the pile actuator assembly 20 of the pile driver according to the invention. The pile 1, with a pile midline 62, is positioned on the underwater bed 70 at the underwater bed rotation point A where it is to be driven. The floatable body 2, with a floatable body horizon 61, is positioned around the pile 1 with the pile guide assembly 10 and pile actuator assembly 20 attached to it.

[0071] The pile guide assembly 10 comprises the positioning platform 13, the positioning means 18 and a vertical support 3. The positioning platform 13 comprises the gripper 17, which grips the pile 1, and is configured to move in a horizontal direction, parallel to the horizon 60, but not in vertical direction.

[0072] In the horizontal direction, the positioning platform 13 is connected to the floatable body 2 by the positioning means 18 with ball joints 181 at the connection points. The positioning means 18 comprises chambers with a first fluid 14 and a second fluid 16 and a piston 141 that separates them. The chambers of the first fluid 14 and second fluid 16 are configured to expand and contract to regulate the position of the piston 141 and the attached positioning platform 13 in the horizontal direction. The first fluid 14 is preferably with high viscosity (e.g. oil) and the second fluid 16 is preferably with low viscosity (e.g. gas), which enables the push force to be large, while the recovery to position (where no force is required) to be executed with speed.

[0073] In the vertical direction, the positioning platform 13 is connected to the floatable body 2 by the rigid vertical support 3 with ball joints 4 at the connection points, which are configured to allow rotation due to the horizontal shifting of the positioning platform 13, but no vertical movement, allowing the positioning platform 13 to be supported on the floatable body 2.

[0074] The pile actuator assembly 20 comprises the pile cover 21 with the attached second set of pulleys 22, the first set of pulleys 25, the tensioner 23 and an extender 28. The pile cover 21 is positioned on the top of the pile 1 and is equipped with the symmetrically positioned second set of pulleys 22. The tensioner 23 connects the second set of pulleys 22 to the extender 28 by passing over the first set of pulleys 25. The first set off pulleys 25 is configured to guide the tensioner 23 from a vertical direction, coming from the pile cover 21, to an angular direction towards the extender 28 to the side. Preferably, the product of length L.sub.1 and angle .sub.1 is kept equal to the product of the length L.sub.2 and angle .sub.2 in order to balance the resulting horizontal forces along the horizon 60 on the first set of pulleys 25 and positioning platform 13. This balance is performed in combination with the corrections by the positioning means 18 allowing for the most optimal total correction to be achieved by the most efficient combination of reaction speed and load capacity between the positioning means 18 and the extender 28.

[0075] The extender 28 is attached to the rigid vertical support 3 with movable connections 281 and 282 and is configured to extend and shorten the distance between the movable connections 281 and 282 (e.g. by a hydraulic cylinder). The end of the tensioner 23 is attached to the movable connection 282 of the extender 28 in such a way that when the extender 28 extends the tensioner 23 is pulled downwards.

[0076] The movable connections 281 and 282 are configured to be easily released from the vertical support 3, slide along its length and be fixed into position again. The extender 28 is thus configured to create a downwards force and also reposition itself along the length of the vertical support 3. By fixing the upper movable connection 281 to the vertical support 3 and releasing the lower movable connection 282, the extender 28 is able to push downwards against the vertical support 3 when it is extended. By fixing the lower movable connection 282 to the vertical support 3 and releasing the upper movable connection 281, the extender 28 is able to reposition itself by contracting. Repeating these extending and contracting steps, the pile cover 21 is pulled downwards with a gradual force by the extender 28 and tensioner 23. This forces the pile 1 in a downward direction and into the underwater bed 70, creating an upwards resistance force, and pushes the vertical support 3 upwards pulling on the floatable body 2, creating a downward reaction force. Since the weight of the floatable body 2 is larger than the resistance force of the pile 1 in the underwater body 70, the pile 1 is pushed into the underwater bed 70 with a gradual force regulated by the extender 28.

[0077] FIG. 4 shows a top view of the pile actuator assembly 20 from FIG. 3. The floatable body 2 supports the vertical supports 3 to which the extender 28 is connected by the upper movable connection 281 and the lower movable connection 282. In the gap in the floatable body 2 is positioned the pile 1. On the pile 1 is positioned the pile cover 21 with attached second set of pulleys 22. The tensioner 23 is stretched over the second set of pulleys 22 downwards to the lower movable connection 282.

[0078] FIG. 5 shows a cross-sectional view of the pile guide assembly 10 from FIG. 3 at the level of the horizon 60. The pile 1 is positioned in the gap for the floatable platform 2 and is guided in the desired position relative to it though the positioning platform 13 and the attached gripper 17 which grips the pile 1. The positioning platform 13 is attached to the floatable body 2 by the positioning means 18 and the ball joints 181 at the connection points. The positioning means 18 comprises chambers with a first fluid 14 and a second fluid 16. The horizontal position of the positioning platform 13 is adjusted by extending or contracting the positioning means 18 from all sides in a coordinated manner.

[0079] The positioning platform 13 is supported in the vertical direction on the floatable body 2 by the vertical support 3. The first set of pulleys 25 is attached around the positioning platform 13 stretching the tensioner 23 coming from the top towards its attachment point on the vertical support 3.

[0080] FIG. 6 shows an alternative embodiment of the pile driver according to the invention comprising the pile guide assembly 10 and the pile actuator assembly 20 positioned on the pile 1. The pile 1, with the pile midline 62, is positioned in a gap of the floatable body 2 and resting on the underwater bed 70.

[0081] The pile actuator assembly 20 comprises the positioning platform 13 which is supported in a vertical direction and from underneath by the rigid vertical support 3. The vertical support 3 is connected to the floatable body 2 by the ball joint 4, which allows for the rotation of the upper part of the vertical support 3 and thus for the horizontal movement of the positioning platform 13 along the horizon 60. The vertical support 3 is kept vertical in relation to the horizon 60, and in parallel to the pile midline 62, by the positioning means 18 (only one side shown) which connects the positioning platform 13 to the floatable body 2 by the ball joints 181. By extending and contracting the positioning means 18 the positioning platform 13 is moved along the horizontal plane 60.

[0082] The pile actuator assembly 20 further comprises the extender 28 which is connected to the rigid vertical support 3 by the upper movable connection 281 and the lower movable connection 282. To the lower movable connection is connected a driving support element 231 which limits the upward motion of a second driving support element 232 by the friction element 19 in between. To the second driving support element 232 is connected the tensioner 23 which extends upwards to the pile cover 21. The pile cover 21 is placed on the top of the pile 1 and supports the second set of pulleys 22 through which the top part of the tensioner 23 is laced. The extender 28 forces the pile 1 into the underwater bed 70 by extending and pushing the lower movable connection 282 downwards, which puts the tensioner 23 under tension through the first driving support element 231 and the second driving support element 232, to finally pull the pile cover 21 downwards.

[0083] The pile guide assembly 10 comprises the pile guide frame 11 and a secondary positioning means 180. The pile guide frame 11 is fitted with a gripper 17 on the one end that grips the pile 1. On the other end, the pile guide frame 11 is connected to the secondary positioning means 180 (e.g. hydraulic cylinder) of which several are symmetrically placed (only one shown) in the circumference of the pile. The secondary positioning means 180 is connected to the floatable body 2 by the positioning ball joint 182. This enables the positioning of the pile 1 by means of the gripper 17 by the secondary positioning means 182, which is configured to push and pull the pile guide frame 11 against the floatable body 2.

[0084] FIG. 7 shows an alternative embodiment of the pile actuator assembly 20 without the use of pulleys to drive the pile 1. The pile 1 is positioned on the underwater bed 70 from the floatable body 2 by the pile guide assembly 10 and ready to be driven by the pile actuator assembly 20. The pile guide assembly 10 keeps the pile 1 vertical with the positioning platform 13 equipped with the gripper 17 and the positioning means 18 attached to the floatable body 2.

[0085] The pile actuator assembly 20 comprises the force tool 26 attached to the floatable body 2 and the tensioner 23 which spans over the top of the pile 1 and is attached directly to the pile cover 21 without any pulleys. The downwards driving force of the pile actuator assembly 20 is directed by the extender 28 attached between the floatable body 2 and the tensioner 23 through the first set of pulleys 25. By extending or contracting the extender 28, the position of bottom end of the tensioner 23 can be regulated and thus the horizontal force components Fx and Fh acting on the top end of the pile 1. Since the top end of the tensioner 23 is fixed to the pile cover 21 these changes in direction by the extender 28 is used to minimize the horizontal forces that can take the pile 1 out of its vertical position driving.

[0086] In addition, the pile actuator assembly 20 comprises a torsion element 210 positioned between the pile 1 and the pile cover 21. The torsion element 210, comprises two contact surfaces, one to the pile 1 and one to the pile cover 21, and is configured to allow a rotation between said two surfaces, thus allowing the pile 1 to rotate in around its axis relative to the pile cover 21 and floatable body 2 to which it is connected by means of the tensioner 23. Thus, in case the floatable body 2 and the pile actuator assembly 20 are rotated (e.g. by the current or waves) the contact to the pile 1 is kept constant and no friction or torsion is created.

[0087] FIG. 8 shows an alternative embodiment of the pile actuator assembly 20 where the downward driving force is also used for tightening of the grip on the pile 1. The pile 1 is configured on the underwater bed 70 by the pile guide assembly 10 and is pushed downwards by the pile actuator assembly 20. The pile actuator assembly 20 comprises the force tool 26, attached to the floatable body 2 and is configured to pull on the one end of the tensioner 23. The other end of the tensioner 23 is guided over the top end of the pile 1, through the second set of pulleys 22, and is fastened to the floatable body 2 by an intermediary elastic element 24. The tensioner 23 is directed through the first set of pulleys 25, which are attached to the floatable body 2 by means of the extender 28, and to the pile guide frame 11. The pile guide frame 11 keeps in contact with the pile 1 by means of the gripper 17. Thus, the pile guide frame 11 is configured between the first set of pulleys 25 such that the force on the gripper 17 can be tightened or loosened by changing the force in the force tool 26 and/or the position of the extender 28, eliminating in this way the need for a separate gripped actuator.

[0088] FIG. 9 shows an alternative embodiment of the pile driver where the pile actuator assembly 20 drives the pile 1 into the underwater bed 70 by using the vertical force of a weight 200. In this embodiment, the pile 1 is configured on the underwater bed 70 in the body of water 80. In the body of water 80, the floatable body 2 is positioned close to the pile 1 and supports the pile actuator assembly 20 and pile guide assembly 10 above the pile 1. The floatable body 2 may comprise several separate units that may be interconnected and each supporting part of the pile actuator assembly 20 and the pile guide assembly 10.

[0089] The pile actuator assembly 20 comprises a weight 200 supported on the floatable body 2 by the extenders 28. The extenders 28 are configured with sufficient capacity to lower and raise the weight 200 in a controlled manner and the floatable body 2 is configured with sufficient buoyancy to support the weight 200 without sinking. Under the weight 200 is attached the positioning platform 13 which is configured to slide along the lower surface of the weight 200 by the friction element 19. To the positioning platform 13 is attached the tensioner 23 by means of the first set of pulleys 25. The middle section of the tensioner 23 is spanned across the top end of the pile 1, where the pile cover 21 is placed, and is guided through the second set of pulleys 22. The pile actuator assembly 20 further comprises the torsion element 210 positioned between the pile 1 and the pile cover 21. In this preferred embodiment of the pile actuator assembly 20, in the event that the pile 1 needs to be driven in the underwater bed 70, the extenders 28 are slowly contracted allowing the weight 200 to be lowered and push downwards on the positioning platform 13 and tensioners 23, thus, pulling the pile cover 21 and the pile 1 also in a downward direction. In this process, the torsion element 210 allows the floatable body 2 to rotate in the body of water 80 around the pile 1 without interrupting the driving in the underwater bed 70.

[0090] The pile guide assembly 10 comprises the pile guide frame 11 attached to the positioning platform 13 and the positioning means 18 configured to push and pull the positioning platform 13 relative to the floatable body 2. To the pile guide frame 11 is connected the pivot 15 with gripper 17 which holds the pile 1. The pile guide assembly 10 is configured to guide the driving direction of the pile 1 while it is pushed in the underwater bed 70 by the pile actuator assembly 20 to achieve the desired verticality.

[0091] FIG. 10 shows an alternative embodiment of the pile actuator assembly 20 comprising a driving lever 240 and a driving pivot 241. The floatable body 2 supports the driving pivot 241 around which the driving lever 240 is configured to rotate. One end of the driving lever 240 is connected the extender 28, which is further connected to the floatable body 2, and the other end of the driving lever 240 is connected to the weight 200. The weight 200 is positioned on top of the pile 1 which is placed on the underwater body 70. The extender 28 is configured with sufficient capacity as to be able to push the weight 200 downwards when extending and pivoting the driving lever 240. In this preferred embodiment, the action stroke of the pile driver is during the extension of the extender 28, instead of during compressing as described in the embodiment of FIG. 9. During this action stroke, the extender 28 is required to generate only a limited force, utilized for regulating the speed of driving, whereas the major force component required for driving the pile 1 is provided by the weight 200 itself.

[0092] FIGS. 11A and 11B show an alternative embodiment of the pile actuator assembly 20 where the force for driving the pile 1 is created by the vertical movement of the floatable body itself (e.g. jack-up barge). The pile 1 is shown positioned on the underwater bed 70 in the body of water 80 with the floatable body 2 floating on the surface of the body of water 80 next to the pile 1. The floatable body 2 is equipped with legs 244 which are configured to retract and/or extend, lifting the floatable body 2 out of the body of water 80.

[0093] The pile actuator assembly 20 comprises the driving pivot 241 positioned on the floatable body 2 and the driving lever 240 configured to pivot on the driving pivot 241. To one end of the driving lever 240 is connected the leg 244 of the floatable body 2 by a leg lock 243. The leg lock 243 is configured to lock and release the connection between the leg 244 and the driving lever 240 whenever required. To the other end of the driving lever 240 is connected the pile guide frame 11. The pile guide frame 11 is equipped with the gripper 17 that holds the pile 1 in a vertical position. To the pile guide frame 11 is attached the first set of pulleys 25. The tensioner 23 is connecting the first set of pulleys 25 to the second set of pulleys 22 which are attached to the pile cover 21 positioned on the top of the pile 1. In this embodiment the pile 1 is driven into the underwater bed 70 when the floatable body 2 is elevated out of the body of water 80 on the legs 244 in the direction of the upwards arrow. The leg lock 243 transfers, that motion to the one end of the driving lever 240 which pivots around the driving pivot 241, pushing the other end of the driving lever 240 downwards in the direction of the downwards arrow. The leg lock 243 can be released and the driving pivot element 240 locked in a lower position repeating the upwards motion. This gradual jacking up of the floatable body 2 results on the controlled driving of the pile 1 into the underwater bed 70, wherein the already existing elements for jacking up the floatable body 2 are used.

[0094] FIG. 12 illustrates an exemplary pile driving control system 30 of the pile driver according to the invention. The pile driving control system 30 comprises a controller 31 and the measurement units for pile position 320, floatable body position 321 and fluid pressure 330. The controller 31 is configured to receive data from and is connected to the floatable body position measurement unit 321 by means of the position data input line 322, to the fluid pressure measurement unit 330 by means of the pressure data input line 331 and to the pile position measurement unit 320 and floatable body position measurement unit 321 by means of the position control line 35. Furthermore, the controller 31 is configured to control and is connected to the pressure relief valve 43 by means of the valve control line 332, to the compressor 41 by the compressor control line 333, to the brake 27 by the brake control line 37, to the force tool 26 by the force control line 36 and to the positioning means 18 by the position control line 35. The control signals sent by the controller 31 may be based on a pre-configured model of operation or they can be based on the data input collected by the controller 31 in real-time.

[0095] Although they show preferred embodiments of the invention, the above described embodiments are intended only to illustrate the invention and not to limit in any way the scope of the invention. Accordingly, it should be understood that where features mentioned in the appended claims are followed by reference signs, such signs are included solely for the purpose of enhancing the intelligibility of the claims and are in no way limiting on the scope of the claims. Furthermore, it is particularly noted that the skilled person can combine technical measures of the different embodiments. The scope of the invention is therefore defined solely by the following claims.