EP3842374A1 - Articulated boom crane for offshore application - Google Patents

Abstract

The present invention relates to an articulated boom crane, for offshore application, which crane comprises an articulated boom (3), carried by a support structure (2) and equipped with maneuvering means (5). The articulated boom (3) comprises a main boom (31) and an end boom (32). The maneuvering means (5) of said articulated boom (3) comprise at least one downstream linear actuator (52), arranged between said main boom (31) and said end boom (32), for the rotational maneuver of said end jib (32) around a downstream articulation axis (36 '). And said at least downstream linear actuator (52) is secured to one of the side faces ( 311) of said main boom (31) and with one of the side faces (321) of said end boom (32), so as to provide an improved lever arm between said main boom (31) and said end boom (32) ).

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 application.

State of the art

In the offshore field, it is common for the machines used to be equipped with an articulated boom crane (also called “skull knuckle boom” in English).

The use of such articulated jib cranes, in the offshore field, is particularly advantageous with regard to their spans and their maximum loads.

For this, such an articulated boom conventionally comprises two successive arrows: a support boom and a terminal boom.

The support boom (commonly called "hand boom" in English) is conventionally articulated on a support structure. The terminal boom (commonly called "jib" in English) is itself conventionally articulated on the support boom.

• des premiers vérins sont implantés entre la structure support et la flèche support, pour la manœuvre de cette dernière, et
• des seconds vérins sont implantés entre les parties de la flèche articulée, pour la manœuvre de la flèche terminale.

The operation of these two articulated boom parts is conventionally carried out using hydraulic jacks:

• the first jacks are installed between the support structure and the support boom, for the operation of the latter, and
• second jacks are installed between the parts of the articulated boom, for maneuvering the terminal boom.

By defining the stroke and attachment points of these cylinders, the reach and capacity of this system can be optimized.

In this case, the second jacks are conventionally located between the facing faces of the two parts of the articulated boom: the upstream end of the cylinder is secured to the main boom and the downstream end of the rod is secured to the articulated boom .

• l'angle d'articulation entre les parties de la flèche articulées, généralement de l'ordre de 120°, et
• la capacité de la flèche articulée à supporter une charge dans une position donnée, tout particulièrement lorsque le vérin est entièrement rétracté ou entièrement déployé.

However, the current structure of articulated booms has intrinsic limits on two levels:

• the angle of articulation between the parts of the articulated boom, generally of the order of 120 °, and
• the ability of the articulated boom to support a load in a given position, especially when the cylinder is fully retracted or fully extended.

Presentation of the invention

• une structure support,
• une flèche articulée, portée par ladite structure support et équipée de moyens de manœuvre,
• un tambour de treuil, associé à des moyens d'entraînement en rotation et destiné à recevoir un organe de levage allongé (par exemple un câble, avantageusement un câble métallique ou un câble synthétique).

In order to remedy the aforementioned drawback of the state of the art, the present invention proposes an articulated boom crane, for offshore application, which crane comprises:

• a support structure,
• an articulated boom, carried by said support structure and equipped with maneuvering means,
• a winch drum, associated with rotational drive means and intended to receive an elongated lifting member (for example a cable, advantageously a metal cable or a synthetic cable).

• deux faces latérales,
• une extrémité amont, située du côté de la structure support, et
• une extrémité aval, à distance de la structure support.

The articulated boom comprises a main boom and a terminal boom, in series, each comprising:

• two side faces,
• an upstream end, located on the side of the support structure, and
• a downstream end, at a distance from the support structure.

The support structure and the upstream end of the main boom cooperate by means of upstream articulation means defining an upstream articulation axis.

The downstream end of the main boom and the upstream end of the terminal boom cooperate by means of downstream articulation means defining a downstream articulation axis.

The upstream and downstream articulation axes advantageously extend parallel to one another.

• au moins un actionneur linéaire amont agencé entre ladite structure support et ladite flèche principale, pour la manœuvre en rotation de ladite flèche principale autour dudit axe d'articulation amont, et
• au moins un actionneur linéaire aval, agencé entre ladite flèche principale et ladite flèche terminale, pour la manœuvre en rotation de ladite flèche terminale autour dudit axe d'articulation aval.

The means of maneuvering said articulated boom include:

• at least one upstream linear actuator arranged between said support structure and said main boom, for the rotational maneuver of said main boom around said upstream articulation axis, and
• at least one downstream linear actuator, arranged between said main boom and said end boom, for the rotational maneuver of said end boom about said downstream articulation axis.

And, according to the invention, said at least downstream linear actuator is secured to, on the one hand, one of the side faces of the support arm and, on the other hand, one of the side faces of said end boom.

Such a configuration has the particular advantage of providing an improved lever arm between the main boom and the end boom.

This new design also makes it possible to increase the angle of articulation between the parts of the articulated boom.

And this arrangement of the downstream linear actuator also improves the ability of the articulated boom to support a load in a given position, particularly when the downstream linear actuator is fully retracted or fully extended.

• ledit au moins un actionneur linéaire aval s'inscrit dans un encombrement cylindrique, et lesdites flèches principale et terminale s'inscrivent chacune s'inscrivent dans un encombrement latéral défini par des plans verticaux passant par lesdites faces latérales, et ledit encombrement cylindrique dudit au moins un actionneur linéaire aval s'étend en dehors de l'encombrement latéral desdites flèches principale et terminale ;
• les moyens de manœuvre comprennent deux actionneurs linéaires aval, identiques et coplanaires, implantés de part et d'autre de ladite flèche principale et de ladite flèche terminale ;
• ledit au moins actionneur linéaire aval est solidarisé avec l'une des faces latérales de ladite flèche principale par le biais de moyens d'assemblage amont en forme de joint de cardan, et l'une des faces latérales de ladite flèche terminale par le biais de moyens d'assemblage aval en forme de rotule (la fonction « rotule » du joint de cardan libère les rotations et élimine les moments parasites, notamment les moments de flexion parasites) ; de préférence, les moyens d'assemblage amont comprennent un croisillon portant ledit au moins un actionneur linéaire aval, et au moins une fourchette, portant ledit croisillon et assemblée avec la face latérale de ladite flèche principale ;
• ledit au moins un actionneur linéaire comprend un cylindre et une tige, lequel cylindre comporte une extrémité amont, à distance de la tige, et une extrémité aval, du côté de la tige, et les moyens d'assemblage amont sont solidarisés avec ledit cylindre, à distance de ladite extrémité amont, avantageusement au niveau de ladite extrémité aval, et les moyens d'assemblage aval sont solidarisés avec l'extrémité libre de ladite tige, de préférence encore avec la bague de fermeture du cylindre de l'actionneur linéaire aval ; ce montage de l'actionneur linéaire aval optimise la longueur de flambage qui se limite uniquement à la longueur de tige déployée (et non plus à la longueur totale de cet actionneur linéaire aval) ; le cylindre de l'actionneur linéaire aval s'étend, partiellement ou intégralement, en saillie par rapport aux moyens d'assemblage amont ;
• ledit au moins un actionneur linéaire consiste en un vérin hydraulique ou en un vérin électrique.

Other non-limiting and advantageous characteristics of the product in accordance with the invention, taken individually or in any technically possible combination, are as follows:

• said at least one downstream linear actuator is part of a cylindrical size, and said main and end arrows are each part of a side size defined by vertical planes passing through said side faces, and said cylindrical size of said at least a downstream linear actuator extends outside the lateral dimensions of said main and end booms;
• the maneuvering means comprise two downstream linear actuators, identical and coplanar, located on either side of said main boom and of said terminal boom;
• said at least downstream linear actuator is secured to one of the side faces of said main boom by means of upstream assembly means in the form of a cardan joint, and one of the side faces of said end boom through downstream assembly means in the form of a ball joint (the "ball joint" function of the universal joint releases rotations and eliminates parasitic moments, in particular parasitic bending moments); preferably, the upstream assembly means comprise a cross bearing said at least one downstream linear actuator, and at least one fork, carrying said cross member and assembled with the lateral face of said main boom;
• said at least one linear actuator comprises a cylinder and a rod, which cylinder has an upstream end, at a distance from the rod, and a downstream end, on the side of the rod, and the upstream assembly means are secured to said cylinder, at a distance from said upstream end, advantageously at said downstream end, and the downstream assembly means are made integral with the free end of said rod, more preferably with the closing ring of the cylinder of the downstream linear actuator; this mounting of the downstream linear actuator optimizes the buckling length which is limited only to the length of the deployed rod (and no longer to the total length of this downstream linear actuator); the cylinder of the downstream linear actuator extends, partially or fully, projecting from the upstream assembly means;
• said at least one linear actuator consists of a hydraulic cylinder or an electric cylinder.

The present invention also relates to a machine for offshore application, equipped with an articulated jib crane according to the invention.

Of course, the different characteristics, variants and embodiments of the invention can be associated with each other in various combinations insofar as they are not incompatible or mutually exclusive.

Detailed description of the invention

• [Fig. 1] est une vue générale et en perspective de la grue à flèche articulée selon l'invention, dont ladite flèche articulée est dans une configuration repliée ;
• [Fig. 2] est une vue générale, et en perspective, de la grue à flèche articulée selon la figure 1 ;
• [Fig. 3] est une vue générale, de côté, de la grue à flèche articulée selon la figure 1 ;
• [Fig. 4] est une vue générale, et en perspective, de la grue à flèche articulée selon la figure 1, dont ladite flèche articulée est maintenant manœuvrée dans une configuration partiellement déployée ;
• [Fig. 5] est une vue générale, de côté, de la grue à flèche articulée selon la figure 4 ;
• [Fig. 6] est une vue générale, en perspective, de la grue à flèche articulée, dont ladite flèche articulée est ici manœuvrée dans une configuration entièrement déployée ;
• [Fig. 7] est une vue partielle et agrandie du détail VII sur la figure 6, montrant les moyens d'assemblage de l'actionneur linéaire aval dans une configuration éclatée ;
• [Fig. 8] est une vue générale, par-dessus, de la grue à flèche articulée en configuration entièrement déployée selon la figure 6.

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 in which:

• [ Fig. 1 ] is a general and perspective view of the articulated boom crane according to the invention, of which said articulated boom is in a folded configuration;
• [ Fig. 2 ] is a general view, and in perspective, of the knuckle boom crane according to the figure 1 ;
• [ Fig. 3 ] is a general side view of the knuckle boom crane according to figure 1 ;
• [ Fig. 4 ] is a general view, and in perspective, of the knuckle boom crane according to the figure 1 , of which said articulated boom is now maneuvered in a partially deployed configuration;
• [ Fig. 5 ] is a general side view of the knuckle boom crane according to figure 4 ;
• [ Fig. 6 ] is a general perspective view of the articulated boom crane, of which said articulated boom is here maneuvered in a fully deployed configuration;
• [ Fig. 7 ] is a partial and enlarged view of detail VII on the figure 6 , showing the assembly means of the downstream linear actuator in an exploded configuration;
• [ Fig. 8 ] is a general view, from above, of the knuckle boom crane in the fully deployed configuration according to figure 6 .

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 jib crane 1 according to the invention (also called “crane 1”, or “skull knuckle boom” in English) is suitable for offshore applications.

Such an articulated jib 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 on board the “offshore” machine.

The term “gear” includes in particular marine gear, in particular ships, pontoons, cranes, barges and offshore platforms.

This crane 1 is thus useful, without being restrictive, for the installation or dismantling of transport infrastructures, repairs or operations on board.

• une structure support 2, formant l'interface de la grue 1 avec l'engin,
• une flèche articulée 3, portée par la structure support 2 et équipée de moyens de manœuvre 5, et
• un tambour de treuil 7, associé à des moyens d'entraînement en rotation 8 et destiné à recevoir un organe de levage allongé L (représentés schématiquement sur la figure 1).

As shown in particular on the figure 1 , crane 1 mainly consists of three components:

• a support structure 2, forming the interface of the crane 1 with the machine,
• an articulated boom 3, carried by the support structure 2 and equipped with operating means 5, and
• a winch drum 7, associated with rotational drive means 8 and intended to receive an elongated lifting member L (shown schematically in FIG. figure 1 ).

The support structure 2 advantageously consists of a barrel or mat, intended to be rotated about a vertical longitudinal axis 2 'by means of maneuvering means (not shown, advantageously hydraulic or electric).

The winch drum 7 and the rotational drive means 8 together form a winch, advantageously conventional in itself.

The rotational drive means 8 are in particular chosen from electric or hydraulic motor means.

The articulated boom 3 is advantageously equipped with pulleys 9, which are dimensioned, distributed and arranged in order, to guide the elongated lifting member L between the winch drum 7 and the load to be lifted (not shown).

• une flèche principale 31 (dite encore « main boom » en anglais), et
• une flèche terminale 32 (appelée encore « jib » en anglais).

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 arrow 31 (also called “main boom” in English), and
• a terminal arrow 32 (also called “jib” in English).

• deux faces latérales 311, 321,
• une extrémité amont 312, 322, située du côté de la structure support 2, et
• une extrémité aval 313, 323, à distance de la structure support 2.

The main boom 31 and the terminal boom 32 each include:

• two side faces 311, 321,
• an upstream end 312, 322, located on the side of the support structure 2, and
• a downstream end 313, 323, at a distance from the support structure 2.

The main 31 and end 32 arrows thus advantageously have a general parallelepipedal shape.

Within each of these boom parts 31, 32, the side faces 311, 321 advantageously extend parallel (or approximately parallel) with respect to each other, preferably vertically.

• la flèche principale 31 s'inscrit dans un encombrement latéral E31 (dit encore largeur horizontale maximale) qui est défini par des plans verticaux P311 passant par ses faces latérales 311, et
• la flèche terminale 32 s'inscrit dans un encombrement latéral E32 (dit encore largeur horizontale maximale) qui est défini par des plans verticaux P321 passant par ses faces latérales 321.

As shown on the figure 8 , the main 31 and terminal 32 arrows are each part of a lateral dimension:

• the main boom 31 is part of a lateral space E31 (also called maximum horizontal width) which is defined by vertical planes P311 passing through its side faces 311, and
• the terminal boom 32 is part of a lateral space E32 (also called maximum horizontal width) which is defined by vertical planes P321 passing through its lateral faces 321.

As developed below, the upstream end 312 of the main boom 31 is assembled with the support structure 2. The downstream end 313 of the main boom 31 and the upstream end 322 of the terminal boom 32 are for their part assembled together. And the downstream end 323 of the terminal boom 32 is free.

The support structure 2 and the upstream end 312 of the main boom 31 cooperate by means of upstream articulation means 35 defining an upstream articulation axis 35 ', advantageously horizontal.

Thus, the main jib 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 for their part cooperate by means of downstream articulation means 36 defining a downstream articulation axis 36 ', advantageously horizontal.

Thus, the end jib 32 is intended to be maneuvered in rotation relative to the main jib 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 formed between the assembled ends (for example of the bearing / journal type).

The upstream 35 ′ and downstream 36 ′ articulation axes extend parallel to one another, advantageously horizontally.

The various rotational movements of the boom parts 31, 32 are performed by the maneuvering means 5, advantageously associated with control means (not shown).

• au moins un actionneur linéaire amont 51 agencé entre la structure support 2 et la flèche principale 31, pour la manœuvre en rotation de cette flèche principale 31 autour de son axe d'articulation amont 35', et
• au moins un actionneur linéaire aval 52, agencé entre la flèche principale 31 et la flèche terminale 32, pour la manœuvre en rotation de cette flèche terminale 32 autour de son axe d'articulation aval 36'.

The maneuvering means 5 of the articulated boom 3 in particular comprise linear actuators 51, 52, namely:

• at least one upstream linear actuator 51 arranged between the support structure 2 and the main jib 31, for the rotational maneuver of this main jib 31 about its upstream articulation axis 35 ', and
• at least one downstream linear actuator 52, arranged between the main jib 31 and the end jib 32, for the rotational maneuver of this end jib 32 about its downstream articulation axis 36 '.

In general, the linear actuators 51, 52 advantageously consist of hydraulic jacks, preferably associated with a hydraulic unit (not shown). Linear actuators 51, 52 can also consist of electric jacks.

Each linear actuator 51, 52 advantageously comprises a cylinder 511, 521 and a rod 512, 522.

• une extrémité amont 511a, 521a, à distance de la tige 512, 522, et
• une extrémité aval 511b, 521b, du côté de la tige 512, 522.

Each cylinder 511, 521 has two ends:

• an upstream end 511 a , 521 a , at a distance from the rod 512, 522, and
• a downstream end 511 b , 521 b , on the side of the rod 512, 522.

The rod 512, 522 for its part has a free downstream end 512 b , 522 b .

As shown schematically on the figure 8 , said at least one downstream linear actuator 52 fits into a cylindrical space E52 (also called maximum horizontal width).

By “cylindrical size” is meant in particular the external volume defined by said at least one downstream linear actuator 52, in particular by its cylinder 521.

• d'un côté amont, avec l'une des faces latérales 311 de la flèche principale 31, et
• d'un côté aval, avec l'une des faces latérales 321 de la flèche terminale 32.

And according to the invention, said at least downstream linear actuator 52 is secured here at two particular points on the boom parts 51, 52, namely:

• on an upstream side, with one of the lateral faces 311 of the main boom 31, and
• on a downstream side, with one of the lateral faces 321 of the terminal boom 32.

Such an arrangement of said at least downstream linear actuator 52, according to the invention, then provides an improved lever arm between the main boom 31 and the end boom 32.

In this sense, as illustrated figure 8 , the cylindrical size E52 of said at least one downstream linear actuator 52 advantageously extends outside the lateral space E31 , E32 of the main 31 and end arrows 32 (and more particularly outside the lateral space E31 , E32 of the part of the main 31 and end 32 arrows facing said at least downstream linear actuator 52).

In other words, said at least one downstream linear actuator 52 is offset laterally with respect to the boom parts 31, 32, so as to extend opposite the lateral faces 311, 321 of the latter.

Said at least one downstream linear actuator 52 is thus located outside the intermediate space delimited, on the one hand, between the vertical planes P311 of the main boom 31 and, on the other hand, between the vertical planes P321 of the boom terminal 32.

Still according to the invention, the maneuvering means 5 comprise two downstream linear actuators 52, identical and coplanar, located on either side of the main boom 31 and of the terminal boom 32.

Each downstream linear actuator 52 is thus secured to a pair of side faces 311, 321 located on the same side of the articulated boom 3: a side face 311 of the main boom 31 and a side face 321 of the end boom 32, located on the same side of the articulated boom 3.

• des moyens d'assemblage amont 10, au niveau de l'une des faces latérales 311 de la flèche principale 31, définissant avantageusement au moins un degré de liberté en rotation parallèle aux axes d'articulation amont 35' et aval 36', et
• des moyens d'assemblage aval 11, au niveau de l'une des faces latérales 321 de la flèche terminale 32, définissant avantageusement au moins un degré de liberté en rotation parallèle aux axes d'articulation amont 35' et aval 36'.

Said at least downstream linear actuator 52 is secured, by means of assembly means 10, 11, at the level of the two lateral faces 311, 321, namely:

• upstream assembly means 10, at the level of one of the lateral faces 311 of the main boom 31, advantageously defining at least one degree of freedom in rotation parallel to the upstream 35 'and downstream 36' articulation axes, and
• downstream assembly means 11, at the level of one of the lateral faces 321 of the terminal boom 32, advantageously defining at least one degree of freedom in rotation parallel to the upstream 35 'and downstream 36' articulation axes.

More precisely still, the upstream assembly means 10 are here secured to the cylinder 521 of the downstream linear actuator 52, at a distance from its upstream end 521 a , advantageously at its downstream end 521 b .

Preferably, the upstream assembly means 10 are here secured to the closing ring 521 b of the cylinder 521 of the downstream linear actuator 52.

Said downstream linear actuator 52 then extends on either side of the upstream assembly means 10.

The cylinder 521 of the downstream linear actuator 52 is thus intended to pivot around its downstream end 521 b , at the level of the upstream assembly means 10.

This cylinder 521 of the downstream linear actuator 52 extends, partially or fully, projecting (or cantilever) with respect to the upstream assembly means 10 (upstream side).

Compared to the upstream assembly means 10, the cylinder 521 then extends on the side of the support structure 2 and the rod 522 extends on the side of the terminal boom 32.

In other words, the cylinder 521 extends opposite one of the side faces 311 of the main boom 31; and the rod 522 extends opposite one of the side faces 321 of the terminal boom 32 and one of the side faces 311 of the main boom 31.

• les moyens d'assemblage amont 10 sont en forme de joint de cardan, au niveau de l'une des faces latérales 311 de la flèche principale 31, et
• les moyens d'assemblage aval 11 sont en forme de rotule, au niveau de l'une des faces latérales 321 de la flèche terminale 32.

As shown on the figure 7 , said at least downstream linear actuator 52 is advantageously secured, by means of different assembly means 10, 11, at the level of the two lateral faces 311, 321:

• the upstream assembly means 10 are in the form of a cardan joint, at the level of one of the side faces 311 of the main boom 31, and
• the downstream assembly means 11 are in the form of a ball joint, at the level of one of the side faces 321 of the terminal boom 32.

Such a combination of upstream assembly means 10 and downstream assembly means 11, in particular the "ball joint" function of the upstream assembly means 10, confers an optimized length in buckling on said at least downstream linear actuator 52, frees them. rotations and eliminates parasitic moments, in particular parasitic bending moments.

• un croisillon 101, portant ledit au moins un actionneur linéaire aval 52 avec un premier degré de liberté en rotation R1, et
• au moins une fourchette 102, solidarisée avec l'une des faces latérales 311 de la flèche principale 31 et portant le croisillon 101 avec un second degré de liberté en rotation R2.

The upstream assembly means 10 here include:

• a spider 101, carrying said at least one downstream linear actuator 52 with a first degree of freedom in rotation R1, and
• at least one fork 102, secured to one of the side faces 311 of the main boom 31 and carrying the spider 101 with a second degree of freedom in rotation R2.

The spider 101 thus defines two degrees of freedom in rotation R1 , R2 , perpendicular to each other (advantageously a vertical axis of rotation R1 and a horizontal axis of rotation R2 ).

These axes of rotation R1 , R2 advantageously intersect at the level of the longitudinal axis 52 'of the downstream linear actuator 52.

To this end, the spider 101 here consists of a ring within which the downstream end 521b of the cylinder 521 of the downstream linear actuator 52 is inserted.

The ring 101 has two pairs of concentric orifices 1011, 1012 each defining one of the two degrees of freedom in rotation R1 , R2.

Two first concentric orifices 1011 receive journals 1013 cooperating with complementary blind orifices 1014, concentric, carried by the downstream end 521 b of the cylinder 521 of the downstream linear actuator 52 (advantageously provided on the closing ring 521 b on the rod side, designated by the same reference 521 b for simplicity), here to define the vertical axis of rotation R1 .

Two second concentric orifices 1012 receive journals 1015 carried by the fork 102 (one attached and the other fixed), here to define the horizontal axis of rotation R2.

The downstream connection means 11 are in turn made integral with the free end 522 b of the shaft 522.

Still generally, said at least downstream linear actuator 52 is advantageously secured to one of the side faces 321 of the terminal boom 32, at a distance from the downstream articulation means 36.

Furthermore, said at least upstream linear actuator 51 is for its part secured to, on the one hand, the support structure 2 and, on the other hand, the main boom 31.

• avec la structure support 2, par le biais de moyens d'assemblage amont 15 en forme d'articulation, et
• avec la flèche principale 31, par le biais de moyens d'assemblage aval 16 en forme d'articulation.

Said at least upstream linear actuator 51 is secured at two points:

• with the support structure 2, by means of upstream assembly means 15 in the form of an articulation, and
• with the main boom 31, by means of downstream assembly means 16 in the form of an articulation.

In this case, the upstream linear actuator 51 is secured to, on the one hand, the upstream assembly means 15 at the level of the upstream end 511a of its cylinder 51 and, on the other hand, the means of downstream assembly 16 at the free end 512b of its rod 512.

The upstream linear actuators 51 are also two in number, identical and coplanar, located on either side of the main boom 31.

• la manœuvre en rotation de sa flèche principale 31 autour de son axe d'articulation amont 35', par le pilotage dudit au moins un actionneur linéaire amont 51, et
• la manœuvre en rotation de sa flèche terminale 32 autour de son axe d'articulation aval 36', par le pilotage dudit au moins un actionneur linéaire aval 52.

In practice, the articulated jib 3 can be maneuvered by the maneuvering means 5 according to two movements:

• the maneuver in rotation of its main jib 31 around its upstream articulation axis 35 ', by controlling said at least one upstream linear actuator 51, and
• the maneuvering in rotation of its terminal boom 32 about its downstream articulation axis 36 ', by controlling said at least one downstream linear actuator 52.

In particular, said at least downstream linear actuator 52, according to the invention, provides an improved lever arm between the main boom 31 and the end boom 32.

When opening the terminal boom 32, the downstream linear actuator 52 is intended to oscillate around the first degree of freedom in rotation R1 (horizontal) defined by the upstream assembly means 10.

The mounting of the cylinder 521 of the downstream linear actuator 52 at its downstream end 521 b , by means of the upstream assembly means 10, further optimizes the buckling length which is limited only to the length of rod 522 deployed. (and no longer to the total length of this downstream linear actuator 52).

In the event of a buckling phenomenon, the downstream linear actuator 52 also has a rotational play according to the first degree of rotational freedom R1 (horizontal) and the second rotational degree of freedom R2 (vertical), also defined by the means d upstream assembly 10.

The “ball joint” functions of the assembly means 10, 11 release the rotations and eliminate the parasitic moments, in particular the parasitic bending moments.

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

Claims (12)

Knuckle boom crane, for offshore application, which crane comprises: - a support structure (2), - an articulated boom (3), carried by said support structure (2) and equipped with maneuvering means (5), - a winch drum (7), associated with rotational drive means (8) and intended to receive an elongated lifting member (L), which articulated boom (3) comprises a main boom (31) and an end boom (32), in series, each comprising: - two side faces (311, 321), - an upstream end (312, 322), located on the side of the support structure (2), and - a downstream end (313, 323), at a distance from the support structure (2), which support structure (2) and which upstream end (312) of the main boom (31) cooperate by means of upstream articulation means (35) defining 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) defining a downstream articulation axis (36 ' ),
which maneuvering means (5) of said articulated boom (3) comprise: - at least one upstream linear actuator (51) arranged between said support structure (2) and said main boom (31), for the rotational maneuver of said main boom (31) around said upstream articulation axis (35 '), and - at least one downstream linear actuator (52), arranged between said main boom (31) and said end boom (32), for the rotational maneuver of said end boom (32) around said downstream articulation axis (36 ') , characterized in that said at least downstream linear actuator (52) is integral with one of the side faces (311) of said main boom (31) and with one of the side faces (321) of said end boom (32) . Articulated jib crane, according to claim 1, characterized in that said at least one downstream linear actuator (52) fits into a cylindrical space (E52),
in that said main (31) and terminal (32) arrows each fit into a lateral dimension (E31, E32) defined by vertical planes (P311, P321) passing through said lateral faces (311, 321),
and in that said cylindrical space (E52) of said at least one downstream linear actuator (52) extends outside the lateral space (E31, E32) of said main (31) and end (32) arrows. Articulated jib crane, according to any one of claims 1 or 2, characterized in that the maneuvering means (5) comprise two downstream linear actuators (52), identical and coplanar, located on either side of said jib main (31) and said terminal boom (32). Articulated jib crane, according to any one of claims 1 to 3, characterized in that said at least downstream linear actuator (52) is secured to: - one of the side faces (311) of said main boom (31) by means of upstream assembly means (10) in the form of a cardan joint, and - One of the side faces (321) of said end arrow (32) by means of downstream assembly means (11) in the form of a ball joint. Articulated jib crane, according to claim 4, characterized in that the upstream assembly means (10) comprise: - a spider (101) carrying said at least one downstream linear actuator (52), and - at least one fork (102), carrying said spider (101) and assembled with the lateral face (311) of said main boom (31). Articulated boom crane, according to any one of claims 1 to 5, characterized in that said at least one linear actuator (51, 52) comprises a cylinder (511, 521) and a rod (512, 522),
which cylinder (511, 521) has an upstream end (511a, 521a), at a distance from the rod (512, 522), and a downstream end (511b, 521b), on the side of the rod (512, 522),
in that said at least downstream linear actuator (52) is secured to: - one of the side faces (311) of said main boom (31) by means of upstream assembly means (10), and - one of the side faces (321) of said end arrow (32) by means of downstream assembly means (11), in that the upstream assembly means (10) are secured to said cylinder (521), at a distance from said upstream end (521a),
and in that the downstream assembly means (11) are integral with the free end (522b) of said rod (522). Articulated jib crane, according to claim 6, characterized in that the upstream assembly means (10) are secured to said cylinder (521), at a distance from said upstream end (521a), at the level of said downstream end (521b ). Articulated jib crane according to Claim 7, characterized in that the upstream assembly means (10) are secured to the closing ring (521b) of the cylinder (521) of the downstream linear actuator (52). Articulated jib crane, according to any one of claims 7 or 8, characterized in that the cylinder (521) of the downstream linear actuator (52) extends, entirely, projecting from the upstream assembly means (10). Articulated jib crane, according to claim 6, characterized in that the cylinder (521) of the downstream linear actuator (52) extends, partially, projecting from the upstream assembly means (10). Articulated boom crane, according to any one of claims 1 to 10, characterized in that said at least one linear actuator (51, 52) consists of a hydraulic cylinder or an electric cylinder. Machine for offshore application, equipped with an articulated jib crane (1) according to any one of claims 1 to 11.

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