EP4464648A2 - Articulated boom crane for offshore application - Google Patents

Abstract

The present invention relates to an articulated boom crane, for offshore application, which articulated boom crane (1) comprises a support structure (2), an articulated boom (3), carried by said support structure (2), operating means (4) of said support structure (2) and of said articulated boom (3), and control means (5), for piloting said operating means (4). The control means (5) comprise an active compensation module (51) which is designed to pilot said operating means (4), taking into account data coming from a movement acquisition module (7), so as to stabilize a downstream end (323) of the terminal boom (32), advantageously in a horizontal plane and/or a vertical position, more preferably in all directions.

Description

Technical field of the invention

The present invention relates to the technical field of maritime cranes, and in particular that of articulated boom cranes for offshore applications.

State of the art

In recent years, a new market has developed for wind farm Service Operation Vessels (SOVs).

On these vessels, it is necessary to carry tools and spare parts in order to work on the offshore wind turbines which are installed off the sides on a platform attached to a foundation.

However, offshore operations in the high seas are complicated by the movements of the vessel caused by the waves. Despite this environment, controlled handling of loads is essential for safe work.

To overcome this constraint, the vessel must be equipped with a crane with specific requirements.

Indeed, the precision of the positioning of the load, and of the end of the crane boom, is crucial to avoid collisions with the wind turbine platform.

This constraint involves compensation for the movement of the vessel in all directions at the crane level.

To achieve this, one approach was to design a crane whose boom is modified with a terminal boom mounted mobile in translation on a main boom.

Another approach was to report a dedicated interface between the tool and the arrowhead.

Since these prior art solutions are not entirely satisfactory, there is a need for a new solution providing compensation for the movement of the vessel in all directions.

Presentation of the invention

In order to overcome the aforementioned drawback of the state of the art, the present invention provides an articulated boom crane for offshore application.

• une structure support (crane house),
• une flèche articulée (knuckle boom), portée par ladite structure support,
• des moyens de manoeuvre de ladite structure support et de ladite flèche articulée, et
• des moyens de commande, pour le pilotage desdits moyens de manoeuvre.

The articulated boom crane includes:

• a support structure (crane house),
• an articulated boom (knuckle boom), carried by said support structure,
• means for operating said support structure and said articulated boom, and
• control means, for piloting said operating means.

The jib boom comprises a main boom and a jib, in series, which main boom and which jib each have an upstream end and a downstream end.

The support structure comprises articulation means (slewing mechanism) for defining a pivoting movement of the articulated boom about a pivot axis (slewing).

The support structure and which upstream end of the main boom cooperate by means of upstream articulation means to define an oscillation movement of said main boom according to an upstream articulation axis (luffing).

The downstream end of the main boom and the upstream end of the terminal boom cooperate by means of downstream articulation means to define a folding movement of said terminal boom along a downstream articulation axis (folding).

• au moins un actionneur en pivotement, pour générer le mouvement de pivotement de ladite flèche articulée,
• au moins un premier actionneur linéaire (luffing cylinder), pour générer ledit mouvement d'oscillation de ladite flèche principale, et
• au moins un second actionneur linéaire (folding cylinder), pour générer ledit mouvement de pliage de ladite flèche terminale.

The operating means include:

• at least one pivot actuator, for generating the pivoting movement of said articulated boom,
• at least one first linear actuator (luffing cylinder), for generating said oscillating movement of said main boom, and
• at least one second linear actuator (folding cylinder), for generating said folding movement of said terminal boom.

And said control means comprise an active compensation module (Active 3D Compensation) which is designed to control said maneuvering means, taking into account data coming from a movement acquisition module (MRU - Motion Reference Unit), so as to stabilize the downstream end of the terminal boom, advantageously in a horizontal plane and/or a vertical position, more preferably in all directions.

The present invention thus ensures stabilization of the downstream end of the terminal boom by controlling, in combination, the pivoting movement of the articulated boom, the swinging movement of the main boom and the folding movement of the terminal boom.

According to a particular embodiment, said at least one second linear actuator is connected to said support structure and to said terminal boom.

In such an embodiment, the folding movement of the terminal boom, implemented by said at least one second linear actuator which is connected to the support structure (instead of the main boom), requires reduced power for the swinging movement of the main boom. This approach is interesting because the swinging movement of the main boom (lifting) consumes most of the energy in compensation mode.

• ledit au moins un second actionneur linéaire est raccordé à ladite flèche terminale par l'intermédiaire de moyens de transmission mécanique ; de préférence, ledit au moins un second actionneur linéaire comporte deux extrémités, une extrémité amont assemblée directement avec la structure support, et une extrémité aval assemblée avec la flèche terminale par l'intermédiaire des moyens de transmission mécanique ;
• les moyens de transmission mécanique comprennent une structure de parallélogramme déformable qui comprend au moins un bras longitudinal, interposé entre ledit au moins un second actionneur linéaire et ladite flèche terminale, s'étendant avantageusement en regard et le long de la flèche principale, et au moins deux bras oscillants, intercalés chacun entre ledit bras longitudinal et la flèche principale ; de préférence, les moyens de transmission comportent encore un organe de jonction, intercalé entre une extrémité aval dudit au moins un bras longitudinal et l'extrémité amont de la flèche terminale, lequel organe de jonction prolonge ladite flèche terminale du côté de son extrémité amont, et laquelle extrémité aval dudit au moins un bras longitudinal coopère avec ledit organe de jonction par le biais de moyens d'articulation.

Other non-limiting and advantageous characteristics of this embodiment according to the invention, taken individually or in all technically possible combinations, are as follows:

• said at least one second linear actuator is connected to said terminal boom via mechanical transmission means; preferably, said at least one second linear actuator comprises two ends, an upstream end assembled directly with the support structure, and a downstream end assembled with the terminal boom via the mechanical transmission means;
• the mechanical transmission means comprise a deformable parallelogram structure which comprises at least one longitudinal arm, interposed between said at least one second linear actuator and said terminal boom, advantageously extending opposite and along the main boom, and at least two oscillating arms, each interposed between said longitudinal arm and the main boom; preferably, the transmission means further comprise a junction member, interposed between a downstream end of said at least one longitudinal arm and the upstream end of the terminal boom, which junction member extends said terminal boom on the side of its upstream end, and which downstream end of said at least one longitudinal arm cooperates with said junction member by means of articulation means.

• ledit au moins un premier actionneur linéaire (luffing cylinder) est agencé entre la structure support et la flèche principale ; de préférence, ledit au moins un premier actionneur linéaire et ledit au moins un second actionneur linéaire sont implantés de part et d'autre de la flèche principale, par exemple respectivement regard d'une paroi frontale inférieure et d'une paroi frontale supérieure ;
• ledit grue à flèche articulée comporte un tambour de treuil associé à des moyens d'entraînement en rotation et destiné à recevoir un organe de levage allongé ; de préférence, ledit module de compensation active est conçu pour piloter également ledit tambour de treuil, tenant compte de données provenant dudit module d'acquisition des mouvements, de sorte à piloter le mouvement d'enroulement dudit tambour de treuil ;
• ledit au moins un premier actionneur linéaire et/ou ledit au moins un second actionneur linéaire consiste en un vérin hydraulique ou en un vérin électrique ;
• le module de compensation comprend des moyens de collecte des données provenant du module d'acquisition des mouvements (MRU - Motion Référence Unit), des moyens de traitement, pour déterminer des instructions de commande pour les moyens de manoeuvre qui sont adaptées à stabiliser l'extrémité aval de la flèche terminale, voire aussi des instructions de commande pour le tambour de treuil, et des moyens de pilotage, pour piloter lesdits moyens de manoeuvre, voire aussi ledit tambour de treuil, tenant compte desdites instructions de commande ;
• ladite grue à flèche articulée comporte un module d'acquisition des mouvements (MRU - Motion Référence Unit).

Other non-limiting and advantageous characteristics of the product according to the invention, taken individually or in all technically possible combinations, are as follows:

• said at least one first linear actuator (luffing cylinder) is arranged between the support structure and the main boom; preferably, said at least one first linear actuator and said at least one second linear actuator are located on either side of the main boom, for example respectively facing a lower front wall and an upper front wall;
• said articulated boom crane comprises a winch drum associated with rotational drive means and intended to receive an elongated lifting member; preferably, said active compensation module is designed to also control said winch drum, taking into account data coming from said movement acquisition module, so as to control the winding movement of said winch drum;
• said at least one first linear actuator and/or said at least one second linear actuator consists of a hydraulic cylinder or an electric cylinder;
• the compensation module comprises means for collecting data from the motion acquisition module (MRU - Motion Reference Unit), processing means for determining control instructions for the maneuvering means which are adapted to stabilize the downstream end of the terminal boom, or also control instructions for the winch drum, and control means for controlling said maneuvering means, or also said winch drum, taking into account said control instructions;
• The said articulated boom crane includes a motion acquisition module (MRU - Motion Reference Unit).

Generally speaking, according to a particular embodiment, the articulated boom crane also comprises a platform which is secured to the downstream end of the terminal boom by means of connection means.

• au moins un premier actionneur en pivotement, destiné à générer un mouvement de pivotement de ladite plateforme par rapport à ladite extrémité aval, selon un axe de rotation en lacet qui est parallèle audit axe de pivotement de la flèche articulée, et
• au moins un second actionneur en pivotement, destiné à générer un mouvement de pivotement de ladite plateforme par rapport à ladite extrémité aval, selon un axe de rotation en tangage qui est parallèle à l'axe d'articulation amont et à l'axe d'articulation aval.

The connection means comprise a combination of at least two actuators:

• at least one first pivot actuator, intended to generate a pivoting movement of said platform relative to said downstream end, along a yaw rotation axis which is parallel to said pivot axis of the articulated boom, and
• at least one second pivot actuator, intended to generate a pivot movement of said platform relative to said downstream end, along a pitch rotation axis which is parallel to the upstream articulation axis and the downstream articulation axis.

And the active compensation module is designed to control said at least two actuators of said connection means, taking into account data coming from a movement acquisition module, so as to actively stabilize said platform, advantageously in yaw and pitch.

• les moyens de raccordement comportent un organe de liaison intégrant lesdits au moins deux actionneurs, lequel organe de liaison comporte deux extrémités : une première extrémité, supérieure, solidarisée avec ladite extrémité aval de la flèche terminale et une second extrémité, inférieure, solidarisée avec ladite plateforme ; de préférence, ladite première extrémité comporte ledit au moins un second actionneur en pivotement, et ladite second extrémité comporte ledit au moins un premier actionneur en pivotement ; encore de préférence, l'organe de liaison est solidarisé latéralement avec l'extrémité aval de la flèche terminale, et ledit organe de liaison comporte deux tronçons : un tronçon supérieur, rectiligne et parallèle à l'axe de rotation en lacet, de sorte que l'axe de rotation en tangage traverse ladite extrémité aval de la flèche terminale, et un tronçon inférieur, recourbé, de sorte que l'axe de rotation en lacet traverse ladite extrémité aval de la flèche terminale ;
• les moyens de raccordement comportent des moyens amortisseurs, avantageusement passifs, conférant un degré de liberté en translation de ladite plateforme par rapport à l'extrémité aval de la flèche terminale, selon un axe de translation parallèle à l'axe de rotation en lacet ;
• la plateforme se présente sous la forme d'une cabine adaptée à recevoir au moins un individu ;
• la plateforme comporte au moins un organe amortisseur de choc, passif, adapté à amortir les contacts / les chocs avec l'environnement ;
• la plateforme est équipée de moyens de pilotage manuel desdits au moins deux actionneurs des moyens de raccordement ;
• l'extrémité aval de la flèche terminale et les moyens de raccordement coopèrent par le biais de moyens de liaison amovible, intégrant des moyens de raccordement électrique et mécanique.

Other non-limiting and advantageous features, in connection with the platform, taken individually or in all technically possible combinations, are as follows:

• the connecting means comprise a connecting member integrating said at least two actuators, which connecting member comprises two ends: a first, upper end, secured to said downstream end of the terminal boom and a second, lower end, secured to said platform; preferably, said first end comprises said at least one second pivoting actuator, and said second end comprises said at least one first pivoting actuator; more preferably, the connecting member is secured laterally to the downstream end of the terminal boom, and said connecting member comprises two sections: an upper section, straight and parallel to the yaw rotation axis, such that the pitch rotation axis passes through said downstream end of the terminal boom, and a lower section, curved, such that the yaw rotation axis passes through said downstream end of the terminal boom;
• the connection means comprise damping means, advantageously passive, conferring a degree of freedom in translation of said platform relative to the downstream end of the terminal boom, along a translation axis parallel to the yaw rotation axis;
• the platform is in the form of a cabin suitable for receiving at least one individual;
• the platform comprises at least one passive shock-absorbing member, adapted to absorb contact/shocks with the environment;
• the platform is equipped with means for manually controlling said at least two actuators of the connection means;
• the downstream end of the terminal boom and the connection means cooperate by means of removable connection means, integrating electrical and mechanical connection means.

The present invention also relates to a machine for offshore application, equipped with an articulated boom crane according to the invention, for example a wind farm Service Operation Vessels (SOVs).

The present invention also relates to the aforementioned platform, as such, with its connection means.

Of course, the various features, variants and embodiments of the invention may be combined with each other in various combinations to the extent that they are not incompatible or mutually exclusive.

Detailed description of the invention

• [Fig. 1] est une vue générale et en perspective d'une grue à flèche articulée selon l'invention ;
• [Fig. 2] est une vue générale et de côté d'une grue à flèche articulée selon l'invention ;
• [Fig. 3] est une vue partielle et agrandie de la grue à flèche articulée, montrant plus en détails la flèche principale ;
• [Fig. 4] est une vue générale et en perspective de la grue à flèche articulée selon l'invention, équipée d'une plateforme (en forme de cabine) qui est solidarisée avec l'extrémité aval de la flèche terminale par l'intermédiaire de moyens de raccordement particulier ;
• [Fig. 5] est une vue partielle et agrandie de la grue à flèche articulée selon la figure 4, montrant plus en détails la plateforme et les moyens de raccordement ;
• [Fig. 6] est une vue générale de la grue à flèche articulée selon l'invention, équipée de la plateforme (en forme de cabine) lors de son positionnement en regard d'une surface de réception.

In addition, various other characteristics of the invention emerge from the appended description given with reference to the drawings which illustrate non-limiting embodiments of the invention and where:

• [ Fig. 1 ] is a general and perspective view of an articulated boom crane according to the invention;
• [ Fig. 2 ] is a general and side view of an articulated boom crane according to the invention;
• [ Fig. 3 ] is a partial and enlarged view of the articulated boom crane, showing the main boom in greater detail;
• [ Fig. 4 ] is a general and perspective view of the articulated boom crane according to the invention, equipped with a platform (in the form of a cabin) which is secured to the downstream end of the terminal boom by means of special connection means;
• [ Fig. 5 ] is a partial and enlarged view of the articulated boom crane according to the figure 4 , showing in more detail the platform and the connection means;
• [ Fig. 6 ] is a general view of the articulated boom crane according to the invention, equipped with the platform (in the form of a cabin) when it is positioned opposite a receiving surface.

It should be noted that, in these figures, the structural and/or functional elements common to the different variants may have the same references.

The articulated boom crane 1 according to the invention, also called a “crane” or “knuckle boom” in English, is suitable for offshore applications.

Such an articulated boom crane 1 is advantageously designed to equip a machine for offshore application (not shown - also called “offshore machine”).

This crane 1 is thus suitable for being embarked on the “offshore” machine, for example a service operation vessel (also called “Service Operation Vessel”).

The term "machine" refers in particular to marine machines, in particular ships, for example a wind farm service operation vessel (also known as a "wind farm Service Operation Vessel" or "wind farm SOV" in English).

This crane 1 is thus useful, without being limiting, for the maneuvering of tools and spare parts for intervention on offshore wind turbines.

• une structure support 2 (dit encore « crane house »), formant l'interface de la grue 1 avec l'engin,
• une flèche articulée 3 (dit encore « knuckle boom »), portée par la structure support 2,
• des moyens de manoeuvre 4, pour la manoeuvre de la flèche articulée 3 et en particulier de son extrémité aval décrite par la suite, et
• des moyens de commande 5, pour le pilotage de ces moyens de manoeuvre 4.

As schematically illustrated on the figures 1 And 2 , the articulated boom crane 1 includes:

• a support structure 2 (also called “crane house”), forming the interface between crane 1 and the machine,
• an articulated boom 3 (also called a “knuckle boom”), carried by the support structure 2,
• operating means 4, for operating the articulated boom 3 and in particular its downstream end described below, and
• control means 5, for piloting these maneuvering means 4.

The support structure 2 advantageously consists of a barrel or mast.

This support structure 2 comprises articulation means 21 (also called “slewing mechanism”), for example an orientation ring with ball bearing, to define a pivoting movement of the articulated boom 3 along a pivot axis 21' (also called “slewing”).

This 21' pivot axis thus gives a degree of freedom in rotation to the articulated boom 3.

• une flèche principale 31 (dite encore « main boom »), amont ou proximal, et
• une flèche terminale 32 (dite encore « jib »), aval ou distal.

The articulated boom 3 comprises two boom parts 31, 32 (also called arms or sections), assembled in series from the support structure 2:

• a main boom 31 (also called “main boom”), upstream or proximal, and
• a terminal arrow 32 (also called a “jib”), downstream or distal.

• une extrémité amont 312, 322, située du côté de la structure support 2, et
• une extrémité aval 313, 323, située à distance de la structure support 2.

The main arrow 31 and the terminal arrow 32 each comprise:

• an upstream end 312, 322, located on the side of the support structure 2, and
• a downstream end 313, 323, located at a distance from the support structure 2.

• une face inférieure 314, 324, dite encore « paroi frontale inférieure », destinée à être orientée vers le bas / le sol, et
• une face supérieure 315, 325, dite encore « paroi frontale supérieure », destinée à être orientée vers le haut / le ciel.

The main arrow 31 and the terminal arrow 32, here of general parallelepiped shape, each still have two opposite faces:

• a lower face 314, 324, also called “lower front wall”, intended to be oriented downwards/towards the ground, and
• an upper face 315, 325, also called “upper front wall”, intended to be oriented upwards/towards the sky.

The support structure 2 and the upstream end 312 of the main boom 31 cooperate by means of upstream articulation means 35 to define an oscillation movement of said main boom 31 along an upstream articulation axis 35' (also called "luffing" or lifting movement), advantageously horizontal and perpendicular to the pivot axis 21'.

Thus, the main boom 31 is intended to be maneuvered in rotation relative to the support structure 2, around this upstream articulation axis 35' located at its upstream end 312.

The downstream end 313 of the main boom 31 and the upstream end 322 of the terminal boom 32 cooperate by means of downstream articulation means 36 to define a folding movement of said terminal boom 32 along a downstream articulation axis 36' (called "folding" axis), advantageously horizontal and perpendicular to the pivot axis 21'.

Thus, the terminal boom 32 is intended to be maneuvered in rotation relative to the main boom 31, around the downstream articulation axis 36' located at its upstream end 322.

The upstream 35 and downstream 36 articulation means advantageously consist of articulations, for example in the form of rolling bearings, which are arranged between the assembled ends (for example of the bearing/pin type).

The upstream 35' and downstream 36' articulation axes extend parallel to each other, advantageously horizontally.

The downstream end 323 of the terminal boom 32 is controlled in space by the maneuvering means 4 which are controlled by the control means 5.

• la largeur (gauche/droite) d'axe x, ou abscisse, horizontal,
• la profondeur (avant/arrière) d'axe y, ou ordonnée, horizontal, et
• la hauteur (haut/bas) d'axe z, ou cote, vertical.

In particular, the downstream end 323 is movable on the three axes (also called dimensions or directions), advantageously according to a position defined in a Cartesian coordinate system, namely advantageously:

• the width (left/right) of the x-axis, or abscissa, horizontal,
• the depth (front/back) of the y-axis, or ordinate, horizontal, and
• the height (top/bottom) of the z-axis, or vertical dimension.

• au moins un actionneur en pivotement 41, pour générer le mouvement de pivotement de ladite flèche articulée 3,
• au moins un premier actionneur linéaire 42 (dit encore « luffing cylinder »), par exemple un actionneur linéaire ou deux actionneurs linéaires parallèles, pour générer le mouvement d'oscillation de la flèche principale 31 autour de son axe d'articulation amont 35' (relevage), et
• au moins un second actionneur linéaire 43 (dit encore « folding cylinder »), par exemple un actionneur linéaire ou deux actionneurs linéaires parallèles, pour générer le mouvement de pliage de la flèche terminale 32 autour de son axe d'articulation aval 36'.

For this purpose, the operating means 4 comprise:

• at least one pivot actuator 41, for generating the pivoting movement of said articulated boom 3,
• at least one first linear actuator 42 (also called a “luffing cylinder”), for example a linear actuator or two parallel linear actuators, to generate the oscillating movement of the main boom 31 around its upstream articulation axis 35' (lifting), and
• at least one second linear actuator 43 (also called “folding cylinder”), for example a linear actuator or two parallel linear actuators, to generate the folding movement of the terminal boom 32 around its downstream articulation axis 36'.

• une extrémité amont 421, 431, côté de la structure support 2, et
• une extrémité aval 422, 432, opposée à la structure support 2.

As described below in connection with the figure 3 , said at least one first linear actuator 42 and said at least one second linear actuator 43 each comprise two ends:

• an upstream end 421, 431, side of the support structure 2, and
• a downstream end 422, 432, opposite the support structure 2.

The upstream ends 421, 431 and downstream ends 422, 432 are advantageously assembled within the crane 1 by means of upstream and downstream articulation means which advantageously consist of articulations, for example in the form of rolling bearings (for example of the bearing/trunnion type).

Generally speaking, said at least one pivot actuator 41 consists, for example, of a motor member integrated into the support structure 2.

And the linear actuators 42, 43 advantageously consist of hydraulic cylinders, preferably associated with a hydraulic unit (not shown). The linear actuators 42, 43 can also consist of electric cylinders.

According to the invention, the control means 5 are designed to control the maneuvering means 4 so as to stabilize (in space, advantageously along the three axes) the downstream end 323 of the terminal boom 32.

Preferably, the control means 5 are designed to stabilize the downstream end 323 of the terminal boom 32 in a horizontal plane and/or a vertical position, or even in all directions.

By "horizontal plane" we advantageously mean a stabilization in the plane defined by the width (x or abscissa axis, horizontal) and the depth (y or ordinate axis).

By "vertical position" we advantageously mean a height stabilization (z axis or dimension, vertical).

By "all directions" we advantageously mean stabilization in width (x-axis or abscissa, horizontal), in depth (y-axis or ordinate) and in height (z-axis or dimension, vertical).

For this, the control means 5 comprise an active compensation module 51 (also called “Active 3D Compensation”) which is designed to control the maneuvering means 4, taking into account data coming from a movement acquisition module 7 (also called “MRU” for “Motion Reference Unit”), so as to stabilize the downstream end 323 of the terminal boom 32, advantageously in a horizontal plane and/or a vertical position, or even in all directions.

The active compensation module 51 is thus structured to control the maneuvering means 4 so as to compensate for the movements of the crane 1, and in particular of the downstream end 323 of the terminal boom 32, caused by the waves.

Such an active compensation module 51 thus provides precise positioning of the downstream end 323 of the terminal boom 32, making it possible to maintain this downstream end 323 of the terminal boom 32 in a constant position.

• des moyens de collecte des données 511 provenant du module d'acquisition des mouvements 7,
• des moyens de traitement 512, pour déterminer des instructions de commande pour les moyens de manoeuvre 4 qui sont adaptées à stabiliser l'extrémité aval 323 de la flèche terminale 32, et
• des moyens de pilotage 513, pour piloter lesdits moyens de manoeuvre 4 tenant compte desdites instructions de commande.

According to a preferred embodiment, the active compensation module 51 comprises:

• means of collecting data 511 from the movement acquisition module 7,
• processing means 512, for determining control instructions for the maneuvering means 4 which are adapted to stabilize the downstream end 323 of the terminal boom 32, and
• control means 513, for controlling said operating means 4 taking into account said control instructions.

In practice, the control means 5 comprise a computer. And the active compensation module 51 comprises a computer program which comprises instructions which, when said computer program is executed by said computer, form the data collection means 511, the processing means 512 and the control means 513, when it is executed on said computer.

The active compensation module 51 thus advantageously constitutes a computer-controlled system which makes it possible to maintain the position of the downstream end 323 of the terminal boom 32 (compensating for movements caused by waves), using the maneuvering means 4.

According to a particular embodiment, the operator can control the articulated boom crane 1 via the control means 5, during which the movements caused by the waves are compensated by the active compensation module 51.

The processing means 512 advantageously comprise a mathematical model or algorithm, which determines the control instructions for the maneuvering means 4, which are adapted to stabilize the downstream end 323 of the terminal boom 32 as a function of the data coming from the movement acquisition module 7 (or, in other words, adapted to compensate for the movements caused by the waves).

Thus, in practice, the maneuvering means 4 are controlled by the active compensation module 51 according to the invention so as to maneuver the downstream end 323 of the terminal boom 32, advantageously along the three axes, taking into account the information coming from the movement acquisition module 7 so as to stabilize (in space, advantageously along the three axes) this downstream end 323 of the terminal boom 32.

• en largeur par un pilotage coordonné de l'actionneur en pivotement 41 en combinaison avec les premier actionneur linéaire 42 et second actionneur linéaire 43,
• en profondeur par un pilotage coordonné des premier actionneur linéaire 42 et second actionneur linéaire 43, et
• en hauteur par un pilotage coordonné des premier actionneur linéaire 42 et second actionneur linéaire 43.

For example, the downstream end 323 of the terminal boom 32 is notably maneuverable along the following axes:

• in width by coordinated control of the pivot actuator 41 in combination with the first linear actuator 42 and second linear actuator 43,
• in depth by coordinated control of the first linear actuator 42 and second linear actuator 43, and
• in height by coordinated control of the first linear actuator 42 and second linear actuator 43.

Generally, the movement acquisition module 7 can be chosen from among the movement acquisition modules 7 known to those skilled in the art.

Such a movement acquisition module 7, advantageously conventional in itself, is designed to record and evaluate the movements of the craft due to the waves and, as a corollary, the movements of the downstream end 323 of the terminal boom 32.

This movement acquisition module 7 consists, for example, of an inertial unit.

The articulated boom crane 1 may include this movement acquisition module 7; alternatively, this movement acquisition module 7 may equip the machine.

• un rayon d'action maximal R1, et
• un rayon d'action maximal nominal R2, dans un mode de compensation (ici inférieur au rayon d'action maximal R1).

In practice, as illustrated in the figure 2 , the articulated boom 3 has two action radii:

• a maximum range R1, and
• a nominal maximum action radius R2, in a compensation mode (here less than the maximum action radius R1).

The articulated arrow 3, illustrated on the Figures 1 to 3 , is particularly suitable for equipping an articulated boom crane 1 whose control means 5 include such an active compensation module 51.

Generally speaking, such an articulated boom 3 according to the invention is intrinsically interesting, possibly for equipping an articulated boom crane 1 whose control means 5 are devoid of such an active compensation module 51 or when the compensation mode 51 is inactivated.

Indeed, said at least one second linear actuator 43 here has a particular layout in that it is connected here to the support structure 2 and to the terminal arrow 32.

However, as discussed above, the folding movement of the terminal boom 32, implemented by said at least one second linear actuator 43 which is connected to the support structure 2, requires reduced power for the oscillating movement of the main boom 31. This approach is interesting because the oscillating movement of the main boom 31 (lifting) consumes most of the energy in compensation mode.

For this purpose, said at least one second linear actuator 43 is advantageously connected to the terminal boom 32 by means of mechanical transmission means 45 (see in particular the figure 3 ).

• l'extrémité amont 431 assemblée directement avec la structure support 2, et
• l'extrémité aval 432 assemblée avec la flèche terminale 32 par l'intermédiaire des moyens de transmission mécanique 45.

In this context, as described below in connection with the figure 3 , said at least one second linear actuator 43 advantageously comprises two ends:

• the upstream end 431 assembled directly with the support structure 2, and
• the downstream end 432 assembled with the terminal arrow 32 by means of the mechanical transmission means 45.

• un allongement qui provoque un repliement de la flèche terminale 32 vers la flèche principale 31, et
• un raccourcissement qui provoque un déploiement de la flèche terminale 32 par rapport à la flèche principale 31.

In this context, said at least one second linear actuator 43 is maneuverable in length, advantageously with:

• an elongation which causes a folding of the terminal arrow 32 towards the main arrow 31, and
• a shortening which causes a deployment of the terminal boom 32 relative to the main boom 31.

• au moins un bras longitudinal 461, interposé entre ledit au moins un second actionneur linéaire 43 et la flèche terminale 32, et
• au moins deux bras oscillants 462, intercalés chacun entre le bras longitudinal 461 et la flèche principale 31.

In this case, the mechanical transmission means 45 comprise a deformable parallelogram structure 46 which comprises:

• at least one longitudinal arm 461, interposed between said at least one second linear actuator 43 and the terminal arrow 32, and
• at least two swing arms 462, each interposed between the longitudinal arm 461 and the main boom 31.

On the figure 3 , said at least one longitudinal arm 461 advantageously extends opposite and along the main boom 31, in particular its upper front wall 315.

• une extrémité amont 4611 assemblée avec l'extrémité aval 432 dudit au moins un second actionneur linéaire 43, ici par une liaison pivot, et
• une extrémité aval 4612 assemblée avec l'extrémité amont 322 de la flèche terminale 32, ici par une liaison pivot.

Said at least one longitudinal arm 461 also comprises two ends:

• an upstream end 4611 assembled with the downstream end 432 of said at least one second linear actuator 43, here by a pivot connection, and
• a downstream end 4612 assembled with the upstream end 322 of the terminal arrow 32, here by a pivot connection.

Said at least two oscillating arms 462 (here in the form of a ladder or H) are assembled, in a rotatable manner (free to rotate), with the longitudinal arm 461 and the main boom 31.

In particular, the swing arms 462 are assembled here with the upper front wall 315 of the main boom 31.

• d'un premier côté, avec la flèche principale 31 (vers son extrémité amont 312), et
• d'un second côté, avec le couple composé de l'extrémité amont 4611 dudit au moins un bras longitudinal 461 et de l'extrémité aval 432 dudit au moins un second actionneur linéaire 43.

A 4621 upstream swing arm is assembled:

• on the first side, with the main arrow 31 (towards its upstream end 312), and
• on a second side, with the couple composed of the upstream end 4611 of said at least one longitudinal arm 461 and the downstream end 432 of said at least one second linear actuator 43.

• d'un premier côté, avec la flèche principale 31 (vers son extrémité aval 313), et
• d'un second côté, avec le couple composé de l'extrémité aval 4612 dudit au moins un bras longitudinal 461 et de l'extrémité amont 322 de la flèche terminale 32.

A 4622 downstream swing arm is assembled:

• on the first side, with the main arrow 31 (towards its downstream end 313), and
• on a second side, with the pair composed of the downstream end 4612 of said at least one longitudinal arm 461 and the upstream end 322 of the terminal boom 32.

According to the present embodiment, illustrated in the figure 3 in particular, the mechanical transmission means 45 also comprise a junction member 47, interposed between the downstream end 4612 of said at least one longitudinal arm 461 and the upstream end 322 of the terminal boom 32.

This junction member 47 extends the terminal arrow 32 on the side of its upstream end 322.

And the downstream end 4612 of said at least one longitudinal arm 461 cooperates with this joining member 47 by means of articulation means 475 (pivot).

• un tronçon rallonge 325, prolongeant la flèche terminale 32 au-delà des moyens d'articulation aval 36 et du côté de la paroi frontale supérieure 315 de la flèche principale 31, et
• un bras intercalaire 471, formant ici une bielle, assemblé avec l'extrémité aval 4612 dudit au moins un bras longitudinal 461 et le tronçon rallonge 325 par le biais de moyens de liaison d'articulation 472 (pivot).

In this case, this connecting organ 47 is composed of two parts:

• an extension section 325, extending the terminal boom 32 beyond the downstream articulation means 36 and on the side of the upper front wall 315 of the main boom 31, and
• an intermediate arm 471, here forming a connecting rod, assembled with the downstream end 4612 of said at least one longitudinal arm 461 and the extension section 325 by means of articulation connection means 472 (pivot).

In other words, the mechanical transmission means 45 comprise a connecting rod-crank type assembly, with the intermediate arm 471 forming a connecting rod and the extension section 325 forming a crank.

Furthermore, said at least one first linear actuator 42 (also called “luffing cylinder”) is arranged between the support structure 2 and the main boom 31.

Said at least one first linear actuator 42 extends here opposite the lower front wall 314 of the main boom 31.

• l'extrémité amont 421 assemblée directement avec la structure support 2, et
• l'extrémité aval 422 assemblée avec la flèche principale 31, au niveau de sa paroi frontale inférieure 314.

In this case, said at least one first linear actuator 42 advantageously comprises two ends:

• the upstream end 421 assembled directly with the support structure 2, and
• the downstream end 422 assembled with the main boom 31, at the level of its lower front wall 314.

Generally, said at least one first linear actuator 42 and said at least one second linear actuator 43 are located on either side of the main boom 31, for example respectively facing its lower front wall 314 and its upper front wall 315.

Generally speaking, as illustrated in particular on the figure 1 , the articulated boom crane 1 may also comprise a winch drum 8 associated with rotation drive means (not shown, for example at least one motor, advantageously electric or hydraulic) and intended to receive an elongated lifting member 81 (advantageously a cable, for example a metal cable or a synthetic cable).

The winch drum 8 is here carried by the terminal boom 32, at its upper face 325 and on the side of its upstream end 322.

The articulated boom 3 is advantageously equipped with pulleys 82, here distributed along the terminal boom 32, which are sized, distributed and arranged to guide the elongated lifting member 81 between the winch drum 8 and the load to be lifted (not shown).

According to an advantageous embodiment, the active compensation module 51 is designed to also control the winch drum 8 (in particular its rotation drive means), taking into account data coming from the movement acquisition module 7, so as to control the winding (and unwinding) movement of the winch drum 8.

In this embodiment, the winch drum 8 may be used to smooth the vertical compensation, in order to maintain the vertical position of the free end of the elongated lifting member 81.

This approach offers the advantage of allowing a second-order, vertical (in height) correction, in combination with the movements of the articulated boom 3.

Still in this embodiment, the stabilization of the downstream end 323 of the terminal boom 32 (by controlling the maneuvering means 4) is coordinated with the winding movement of the winch drum 8.

• les moyens de traitement 512, pour déterminer des instructions de commande pour les moyens de manoeuvre 4 qui sont adaptées à stabiliser l'extrémité aval 323 de la flèche terminale 32, et le cas échéant pour déterminer des instructions de commande pour le tambour de treuil 8 (en particulier ses moyens d'entraînement en rotation) qui sont adaptées à lisser la compensation verticale, et
• des moyens de pilotage 513, pour piloter les moyens de manoeuvre 4 et, avantageusement le tambour de treuil 8 (en particulier ses moyens d'entraînement en rotation), tenant compte des instructions de commande.

According to this embodiment, the active compensation module 51 comprises in particular:

• the processing means 512, for determining control instructions for the maneuvering means 4 which are adapted to stabilize the downstream end 323 of the terminal boom 32, and where appropriate for determining control instructions for the winch drum 8 (in particular its rotation drive means) which are adapted to smooth the vertical compensation, and
• control means 513, for controlling the operating means 4 and, advantageously, the winch drum 8 (in particular its rotation drive means), taking into account the control instructions.

The active compensation module 51 thus advantageously constitutes a computer-controlled system which makes it possible to maintain the downstream end 323 of the terminal boom 32 using the operating means 4, or even to maintain the free end (intended to cooperate with a load) of the elongated lifting member 81 in a determined vertical position.

The processing means 512 advantageously comprise a mathematical model or algorithm, which determines the control instructions for the maneuvering means 4 which are adapted to stabilize the downstream end 323 of the terminal boom 32 (or also the control instructions for the winch drum 8, in particular its rotation drive means, which are adapted to vertically stabilize the free end of the elongated lifting member 81 in a determined vertical position) as a function of the data coming from the movement acquisition module 7.

According to an advantageous technical characteristic illustrated on the figures 4 And 5 , the articulated boom crane 1 also advantageously includes a platform 9 which is secured to the downstream end 323 of the terminal boom 32 by means of connection means 10.

By “platform” we advantageously mean a structure intended to receive individuals (generally a cabin) or loads, with a view to their transfer.

The platform 9 is advantageously suspended from the articulated boom 3 by means of the connection means 10.

In general, the connection means 10 ensure active stabilization of the platform 9 during movements of the articulated boom 3.

This active stabilization advantageously occurs at least along one axis of rotation in pitch (advantageously horizontal) and along one axis of rotation in yaw (advantageously vertical).

In other words, the platform 9 advantageously defines a reception plane 91 which is advantageously intended to be horizontally stable, advantageously in pitch and yaw.

• l'extrémité aval 323 de la flèche terminale 32 est stabilisée dans l'espace, avantageusement selon les trois axes, et
• la plateforme 9 est stabilisée (de préférence en tangage et en lacet) par rapport au mouvement de l'extrémité aval 323 de la flèche terminale 32.

In particular, the platform 9 thus cooperates with the articulated boom 3 so that:

• the downstream end 323 of the terminal arrow 32 is stabilized in space, advantageously along the three axes, and
• the platform 9 is stabilized (preferably in pitch and yaw) relative to the movement of the downstream end 323 of the terminal boom 32.

• au moins un premier actionneur en pivotement 101, destiné à générer un mouvement de pivotement de la plateforme 9 par rapport à l'extrémité aval 323, selon un axe de rotation en lacet 101' qui est parallèle à l'axe de pivotement 21' de la flèche articulée 3, et
• au moins un second actionneur en pivotement 102, destiné à générer un mouvement de pivotement de la plateforme 9 par rapport à l'extrémité aval 323, selon un axe de rotation en tangage 102' qui est parallèle à l'axe d'articulation amont 35' et à l'axe d'articulation aval 36'.

For this purpose, the connection means 10 comprise a combination of at least two actuators 101, 102:

• at least one first pivot actuator 101, intended to generate a pivot movement of the platform 9 relative to the downstream end 323, along a yaw rotation axis 101' which is parallel to the pivot axis 21' of the articulated boom 3, and
• at least one second pivot actuator 102, intended to generate a pivot movement of the platform 9 relative to the downstream end 323, along a pitch rotation axis 102' which is parallel to the upstream articulation axis 35' and to the downstream articulation axis 36'.

The yaw rotation axis 101' and the pitch rotation axis 102' advantageously extend in the same plane; the yaw rotation axis 101' and the pitch rotation axis 102' preferably converge at 90°.

• ledit au moins un premier actionneur en pivotement 101, destiné à générer un mouvement de pivotement de la plateforme 9 selon l'axe de rotation en lacet 101' qui perpendiculaire au plan de réception 91, et
• ledit au moins un second actionneur en pivotement 102, destiné à générer un mouvement de pivotement de la plateforme 9 selon l'axe de rotation en tangage 102' qui est parallèle au plan de réception 91.

In other words, said at least two actuators 101, 102 comprise:

• said at least one first pivot actuator 101, intended to generate a pivot movement of the platform 9 along the yaw rotation axis 101' which is perpendicular to the reception plane 91, and
• said at least one second pivot actuator 102, intended to generate a pivot movement of the platform 9 along the pitch rotation axis 102' which is parallel to the reception plane 91.

The actuators 101, 102 advantageously consist of rotary actuators, for example motors, preferably electric motors.

In this embodiment, the active compensation module 51 is advantageously designed to also control the actuators 101, 102 equipping the connection means 10, taking into account data coming from a movement acquisition module (advantageously equipping the platform 9), so as to actively stabilize the platform 9, advantageously in yaw and pitch.

The active compensation module 51 is thus structured to control the actuators 101, 102 of the connection means 10 so as to prevent the swings generated by the movements of the articulated boom 3, and in particular of the downstream end 323 of the terminal boom 32.

The active compensation module 51 thus provides active stabilization of the platform 9 with respect to the movements of the downstream end 323 of the terminal boom 32.

• les moyens de traitement 512, pour déterminer également des instructions de commande pour les actionneurs 101, 102 des moyens de raccordement 10 qui sont adaptées à stabiliser activement la plateforme 9, et
• les moyens de pilotage 513, pour piloter les actionneurs 101, 102 des moyens de raccordement 10 tenant compte desdites instructions de commande.

In this context, according to a preferred embodiment, the active compensation module 51 comprises:

• the processing means 512, for also determining control instructions for the actuators 101, 102 of the connection means 10 which are adapted to actively stabilize the platform 9, and
• the control means 513, for controlling the actuators 101, 102 of the connection means 10 taking into account said control instructions.

The active compensation module 51 thus advantageously constitutes a computer-controlled system which makes it possible to stabilize the platform 9 (preventing or compensating for the swings caused by the movement of the articulated boom 3), using the actuators 101, 102 of the connection means 10.

Thus, in practice, the actuators 101, 102 of the connection means 10 are controlled by the active compensation module 51 according to the invention so as to stabilize the platform 9, taking into account the information coming from the dedicated movement acquisition module.

According to a preferred embodiment, the connection means 10 comprise a connecting member 105 integrating the aforementioned actuators 101, 102.

• une première extrémité 1051, supérieure, solidarisée avec l'extrémité aval 323 de la flèche terminale 32, et
• une second extrémité 1052, inférieure, solidarisée avec la plateforme 9.

This connecting member 105, for example in the form of an arm, has two ends:

• a first end 1051, upper, secured to the downstream end 323 of the terminal arrow 32, and
• a second end 1052, lower, secured to the platform 9.

The assembly of the first end 1051 with the downstream end 323 of the terminal boom 32, on the one hand, and of the second end 1052 with the platform 9, is for example carried out by means of a bearing, for example a smooth bearing or a rolling bearing, equipped with the actuators 101, 102.

• la première extrémité 1051, supérieure, comporte ledit au moins un second actionneur en pivotement 102, en tangage, et
• la second extrémité 1052, inférieure, comporte ledit au moins un premier actionneur en pivotement 101, en lacet.

Preferably, the actuators 101, 102 are distributed at the ends 1051, 1052 of the connecting member 105:

• the first end 1051, upper, comprises said at least one second pivot actuator 102, in pitch, and
• the second end 1052, lower, comprises said at least one first pivot actuator 101, in yaw.

In this case, the connecting member 105 is advantageously secured laterally to the downstream end 323 of the terminal arrow 32.

• un tronçon supérieur 1055, rectiligne et parallèle à l'axe de rotation en lacet 101', destiné à s'étendre avantageusement verticalement, de sorte que l'axe de rotation en tangage 102' traverse l'extrémité aval 323 de la flèche terminale 32,
• un tronçon inférieur 1056, recourbé (ou coudé), de sorte que l'axe de rotation en lacet 101' traverse cette même extrémité aval 323 de la flèche terminale 32.

In this case, the connecting member 105 preferably comprises two sections:

• an upper section 1055, rectilinear and parallel to the yaw rotation axis 101', intended to advantageously extend vertically, so that the pitch rotation axis 102' crosses the downstream end 323 of the terminal boom 32,
• a lower section 1056, curved (or bent), so that the yaw rotation axis 101' crosses this same downstream end 323 of the terminal arrow 32.

In other words, the point of intersection between the yaw rotation axis 101' and the pitch rotation axis 102' is advantageously located at the downstream end 323 of the terminal boom 32.

This embodiment has the advantage of keeping the position of the yaw rotation axis 101' and the pitch rotation axis 102' at the downstream end 323 of the terminal boom 32.

According to another distinctive characteristic, the connection means 10 comprise damping means 106, advantageously passive, conferring a degree of freedom in translation of the platform 9 relative to the downstream end 323 of the terminal boom 32.

In other words, the damping means 106 allow clearance between the ends 1051, 1052 of the connecting member 105.

The damping means 106 thus define a translation axis 106' which is parallel to the yaw rotation axis 101'.

The shock absorbing means 106 are advantageously placed between the upper section 1055 and the lower section 1056.

The damping means 106 consist, for example, of a spring and a visco-hydraulic suspension, to prevent jerky movements of the platform 9.

According to the illustrated embodiment, the platform 9 consists for example of a cabin adapted to receive at least one individual.

The reception plan 91 corresponds advantageously to the floor of this cabin.

• entouré par des parois latérales 92 comportant au moins une porte d'accès 93, et
• surmonté par un plafond 95 qui est avantageusement surmonté par les moyens de raccordement 10.

The floor is advantageously:

• surrounded by side walls 92 comprising at least one access door 93, and
• surmounted by a ceiling 95 which is advantageously surmounted by the connection means 10.

The platform 9 advantageously comprises at least one passive shock-absorbing member 95 (for example elastomer blocks), adapted to absorb contact with the environment.

The damping member 95 is for example adapted to cooperate with a receiving surface R consisting of a platform carried by the mast of a wind turbine, as illustrated in the figure 6 .

In this case, said at least one shock-absorbing member 95 is advantageously located at the level of the receiving plane 91, for example on at least one side and/or below (for example at the level of an access door 93).

Generally speaking, the platform 9 is advantageously equipped with manual control means (not shown), for the manual control of the actuators 101, 102 of the connection means 10.

Again in general, the downstream end 323 of the terminal arrow 32 and the connection means 10 cooperate by means of removable connection means, integrating electrical and mechanical connection means (in particular for the power supply of the actuators 101, 102 of the connection means 10).

The removable connecting means are advantageously provided between the downstream end 323 of the terminal arrow 32 and the first end 1051 (upper) of the connecting member 105.

The connecting member 105 is thus carried by the platform 9, after separation from the downstream end 323 of the terminal boom 32.

These removable connecting means are useful for quickly equipping the downstream end 323 of the terminal boom 32 with the platform 9, or for quickly removing this platform 9, depending on the needs and operations.

Generally speaking, the platform 9, with its connection means 10, could possibly be adapted to an articulated boom crane other than that according to the invention.

Of course, various other modifications may be made to the invention within the scope of the appended claims.

Claims (15)

Articulated boom crane, for offshore application, which articulated boom crane (1) comprises: - a support structure (2), - an articulated arrow (3), carried by said support structure (2), - operating means (4) of said support structure (2) and said articulated boom (3), and - control means (5), for piloting said operating means (4), which articulated boom (3) comprises a main boom (31) and a terminal boom (32), in series, which main boom (31) and which terminal boom (32) each comprise an upstream end (312, 322) and a downstream end (313, 323), which support structure (2) comprises articulation means (21) for defining a pivoting movement of the articulated boom (3) along a pivot axis (21'), which support structure (2) and which upstream end (312) of the main boom (31) cooperate by means of upstream articulation means (35) to define an oscillation movement of said main boom (31) along an upstream articulation axis (35'), which downstream end (313) of the main boom (31) and which upstream end (322) of the terminal boom (32) cooperate by means of downstream articulation means (36) to define a folding movement of said terminal boom (32) along a downstream articulation axis (36'), which operating means (4) comprise: - at least one pivot actuator (41), for generating the pivoting movement of said articulated boom (3), - at least one first linear actuator (42), for generating said oscillating movement of said main boom (31), and - at least one second linear actuator (43), for generating said folding movement of said terminal boom (32), and which control means (5) comprise an active compensation module (51) which is designed to control said maneuvering means (4), taking into account data coming from a movement acquisition module (7), so as to stabilize the downstream end (323) of the terminal boom (32), advantageously in a horizontal plane and/or a vertical position, more preferably in all directions, and which articulated boom crane (1) further comprises a platform (9) which is secured to the downstream end (323) of the terminal boom (32) by means of connection means (10), which connection means (10) comprise a combination of at least two actuators (101, 102): - at least one first pivot actuator (101), intended to generate a pivot movement of said platform (9) relative to said downstream end (323), along a yaw rotation axis (101') which is parallel to said pivot axis (21') of the articulated boom (3), and - at least one second pivoting actuator (102), intended to generate a pivoting movement of said platform (9) relative to said downstream end (323), along a pitch rotation axis (102') which is parallel to the upstream articulation axis (35') and to the downstream articulation axis (36'), and which active compensation module (51) is designed to control said at least two actuators (101, 102) of said connection means (10), taking into account data coming from a movement acquisition module, so as to actively stabilize said platform (9), advantageously in yaw and pitch. Articulated boom crane, according to claim 1, characterized in that said at least one second linear actuator (43) is connected to said support structure (2) and to said terminal boom (32). Articulated boom crane, according to claim 2, characterized in that said at least one second linear actuator (43) is connected to said terminal boom (32) by means of mechanical transmission means (45). Articulated boom crane, according to claim 3, characterized in that said at least one second linear actuator (43) has two ends: - an upstream end (431) assembled directly with the support structure (2), and - a downstream end (432) assembled with the terminal boom (32) by means of the mechanical transmission means (45). Articulated boom crane, according to any one of claims 3 or 4, characterized in that the mechanical transmission means (45) comprise a deformable parallelogram structure which comprises: - at least one longitudinal arm (461), interposed between said at least one second linear actuator (43) and said terminal boom (32), advantageously extending opposite and along the main boom (31), and - at least two swing arms (462), each interposed between said longitudinal arm (461) and the main boom (31). Articulated boom crane according to claim 5, characterized in that the mechanical transmission means (45) further comprise a connecting member (47), interposed between a downstream end (4612) of said at least one longitudinal arm (461) and the upstream end (322) of the terminal boom (32), which junction member (47) extends said terminal arrow (32) on the side of its upstream end (322), and which downstream end (4612) of said at least one longitudinal arm (461) cooperates with said joining member (47) by means of articulation means (475). Articulated boom crane, according to any one of claims 1 to 6, characterized in that said at least one first linear actuator (42) is arranged between the support structure (2) and the main boom (31). Articulated boom crane, according to claims 7 and 2, in combination, characterized in that said at least one first linear actuator (42) and said at least one second linear actuator (43) are located on either side of the main boom (31), for example respectively facing a lower front wall (314) and an upper front wall (315). Articulated boom crane according to any one of claims 1 to 8, characterized in that said articulated boom crane (1) comprises a winch drum (8) associated with rotational drive means and intended to receive an elongated lifting member (81),
and in that , preferably, said active compensation module (51) is designed to also control said winch drum (8), taking into account data coming from said movement acquisition module (7), so as to control the winding movement of said winch drum (8). Articulated boom crane, according to any one of claims 1 to 9, characterized in that said at least one first linear actuator (42) and/or said at least one second linear actuator (43) consists of a hydraulic cylinder or an electric cylinder. Articulated boom crane according to any one of claims 1 to 10, characterized in that the active compensation module (51) comprises: - means for collecting data (511) from the movement acquisition module (7), - processing means (512), for determining control instructions for the maneuvering means (4) which are adapted to stabilize the downstream end (323) of the terminal boom (32), or also control instructions for the winch drum (8), and - control means (513), for controlling said operating means (4), or even said winch drum, taking into account said control instructions. Articulated boom crane according to any one of claims 1 to 11, characterized in that said articulated boom crane (1) comprises a movement acquisition module (7). Articulated boom crane according to any one of claims 1 to 12, characterized in that the connection means (10) comprise a connecting member (105) integrating said at least two actuators (101, 102), which connecting member (105) comprises two ends: - a first end (1051), upper, secured to said downstream end (323) of the terminal arrow (32) and - a second end (1052), lower, secured to said platform (9). Articulated boom crane according to any one of claims 1 to 13, characterized in that the connection means (10) comprise damping means (106), advantageously passive, conferring a degree of freedom in translation of said platform (9) relative to the downstream end (323) of the terminal boom (32), along a translation axis parallel to the yaw rotation axis (101'). Offshore application craft, equipped with an articulated boom crane (1) according to any one of claims 1 to 14, for example a wind farm Service Operation Vessels (SOVs).

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