FR3117099A1 - Articulated jib crane, for offshore application - Google Patents

Abstract

The present invention relates to an articulated jib crane, for offshore application, which articulated jib crane (1) comprises a support structure (2), an articulated jib (3), carried by said support structure (2), maneuvering means (4) of said support structure (2) and of said articulated boom (3), and control means (5), for controlling said maneuvering means (4). The 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 a downstream end (323) of the terminal boom (32), advantageously in a horizontal plane and/or a vertical position, more preferably in all directions. Figure for abstract: 1

Description

Articulated jib crane, for offshore application

Technical field of the invention

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

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 offshore wind turbines (or offshore wind turbines) which are located off the sides on a platform attached to a foundation.

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

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

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

This constraint implies compensation for the movement of the ship in all directions at the level of the crane.

For this, one approach has been to design a crane whose jib is modified with a terminal jib mounted movable in translation on a main jib.

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

These solutions of the prior art not being entirely satisfactory, there is a need for a new solution offering compensation for the movement of the ship in all directions.

Presentation of the invention

In order to remedy the aforementioned drawback of the state of the art, the present invention proposes an articulated jib crane, for offshore application.

The knuckle boom crane includes:

- a support structure (crane house),

- an articulated boom (knuckle boom), carried by said support structure,

- means for maneuvering said support structure and said articulated jib, and

- Control means, for controlling said maneuvering means.

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

The support structure comprises articulation means (slewing mechanism) to define a pivoting movement of the articulated jib along a pivot axis (slewing).

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

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

The maneuvering means include:

- at least one pivoting actuator, to generate the pivoting movement of said articulated boom,

- at least a first linear actuator (luffing cylinder), to generate said oscillating movement of said main boom, and

- At least one second linear actuator (folding cylinder), to generate said folding movement of said terminal arrow.

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 to stabilize the downstream end of the terminal arrow, 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 oscillating 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 movement. main boom oscillation. This approach is attractive because the oscillating movement of the main boom (lift) consumes most of the energy in trim mode.

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

- 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 has 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 least two oscillating arms, each interposed between said longitudinal arm and the main boom; preferably, the transmission means further comprise a junction member, inserted 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.

Other non-limiting and advantageous characteristics of the product in accordance with the invention, taken individually or in all technically possible combinations, are the following:

- 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 arrow, for example facing a lower front wall and an upper front wall respectively;

- said articulated jib 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 jack or an electric jack;

- the compensation module comprises means for collecting data from the movement acquisition module (MRU - Motion Reference Unit), processing means, for determining control instructions for the maneuvering means which are suitable for stabilizing the downstream end of the terminal jib, or even also control instructions for the winch drum, and control means, for controlling said maneuvering means, or even also said winch drum, taking into account said control instructions;

- said articulated jib crane includes a motion acquisition module (MRU - Motion Reference Unit).

The present invention also relates to a machine for offshore application, equipped with an articulated jib crane according to the invention, for example a ship for wind farm service operation vessels (SOVs).

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 exclusive of each other.

Detailed description of the invention

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

is a general and perspective view of an articulated jib crane according to the invention;

is a general and side view of a knuckle boom crane according to the invention;

is a partial, enlarged view of the knuckle boom crane, showing the main boom in more detail.

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" or "knuckle boom crane" 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 adapted to be embarked on the “offshore” machine, for example a ship for operation service (also called “Service Operation Vessel”).

The term “vessel” encompasses in particular marine vehicles, in particular ships, for example a ship for wind farm operation service (also called “wind farm Service Operation Vessel” or “wind farm SOV” in English).

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

As illustrated schematically in Figures 1 and 2, the knuckle boom crane 1 comprises:

- a support structure 2 (also called "crane house"), forming the interface of the crane 1 with the machine,

- an articulated boom 3 (also called a "knuckle boom"), carried by the support structure 2,

- maneuvering means 4, for maneuvering the articulated boom 3 and in particular its downstream end described later, and

- control means 5, for controlling these operating means 4.

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

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

This pivot axis 21' thus confers a degree of freedom in rotation on the articulated jib 3.

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

- a main arrow 31 (also called "main boom"), upstream or proximal, and

- A terminal arrow 32 (also called "jib"), downstream or distal.

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.

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

- a lower face 314, 324, also called "lower front wall", intended to be oriented downwards / the ground, and

- an upper face 315, 325, also called "upper front wall", intended to be oriented upwards/the sky.

The support structure 2 and the upstream end 312 of the main boom 31 cooperate via upstream articulation means 35 to define an oscillating 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 jib 31 is intended to be maneuvered in rotation with respect to the support structure 2, around this upstream hinge pin 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 via downstream articulation means 36 to define a folding movement of said terminal boom 32 along a downstream articulation axis 36' (known as “folding” ink), 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 hinge pin 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 provided between the assembled ends (for example of the bearing/trunnion type).

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

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

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 (forward/backward) of the y axis, or ordinate, horizontal, and

- the height (top/bottom) of the z axis, or dimension, vertical.

To this end, the operating means 4 comprise:

- at least one pivoting actuator 41, to generate the pivoting movement of said articulated boom 3,

- at least a first linear actuator 42 (also called "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 hinge axis 35 ' (lift), and

- at least one second linear actuator 43 (also called a "folding cylinder"), for example a linear actuator or two parallel linear actuators, to generate the folding movement of the terminal jib 32 around its downstream hinge axis 36'.

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

- an upstream end 421, 431, side of the support structure 2, and

- a downstream end 422, 432, opposite to the support structure 2.

The upstream 421, 431 and downstream 422, 432 ends 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).

In general, said at least one pivoting 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.

“Horizontal plane” advantageously means stabilization in the plane defined by the width (x axis or abscissa, horizontal) and the depth (y axis or ordinate).

By “vertical position”, is advantageously meant a stabilization in height (axis z or dimension, vertical).

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

For this, the control means 5 include an active compensation module 51 (also called "Active 3D Compensation") which is designed to control the maneuvering means 4, taking into account data 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 jib 32, caused by the waves.

Such an active compensation module 51 thus offers 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.

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

- means for collecting data 511 from the movement acquisition module 7,

- processing means 512, to determine control instructions for the maneuvering means 4 which are suitable for stabilizing the downstream end 323 of the terminal boom 32, and

- Control means 513, for controlling said maneuvering 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 run 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 the movements caused by the waves), by using the maneuvering means 4.

According to a particular embodiment, the operator can control the knuckle 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 suitable for stabilizing the downstream end 323 of the terminal boom 32 as a function of the data coming from the control module. acquisition of movements 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 jib 32, advantageously along the three axes, taking account of 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.

For example, the downstream end 323 of the terminal jib 32 is in particular maneuverable along the following axes:

- in width by coordinated control of the pivoting 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 piloting of the first linear actuator 42 and second linear actuator 43.

In general, 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 machine 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 jib crane 1 may include this movement acquisition module 7; alternatively, this movement acquisition module 7 can be fitted to the machine.

In practice, as illustrated in the , the articulated boom 3 has two radiuses of action:

- a maximum range R1, and

- a nominal maximum range R2, in a compensation mode (here less than the maximum range R1).

The articulated jib 3, illustrated in Figures 1 to 3, is particularly suitable for equipping an articulated jib crane 1 whose control means 5 comprise such an active compensation module 51.

In general, such an articulated jib 3 according to the invention is intrinsically interesting, possibly to equip an articulated jib crane 1 whose control means 5 do not have 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 previously, 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 swinging movement of the boom main 31. This approach is interesting because the oscillating movement of the main boom 31 (raising) consumes most of the energy in compensation mode.

To this end, said at least one second linear actuator 43 is advantageously connected to the terminal boom 32 via mechanical transmission means 45 (see in particular the ).

In this context, as described below in connection with the , 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 via the mechanical transmission means 45.

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

- 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 arrow 32 with respect to the main arrow 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 boom 32, and

- at least two oscillating arms 462, each interposed between the longitudinal arm 461 and the main boom 31.

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

Said at least one longitudinal arm 461 also has 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 boom 32, here by a pivot connection.

Said at least two oscillating arms 462 (here in the shape of a ladder or of 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.

A 4621 upstream swingarm is assembled:

- on a 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.

A downstream swingarm 4622 is assembled:

- on the first side, with the main boom 31 (towards its downstream end 313), and

- on a second side, with the couple made up 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 in particular, the mechanical transmission means 45 further comprise a junction member 47, inserted 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 junction member 47 by means of articulation means 475 (pivot).

In this case, this junction member 47 here consists 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 connecting means 472 (pivot).

In other words, the mechanical transmission means 45 comprise a connecting rod-crank assembly, with the spacer arm 471 forming the connecting rod and the extension section 325 forming the 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 here extends opposite the lower front wall 314 of the main boom 31.

In this case, said at least one first linear actuator 42 advantageously has 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 its lower front wall 314.

In general, 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 facing its lower front wall 314 and its front wall respectively. upper 315.

In general, as illustrated in particular in the , the knuckle-boom crane 1 may further comprise a winch drum 8 associated with rotational 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 metallic cable or a synthetic cable).

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

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

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

In this embodiment, the winch drum 8 can be used to smooth the vertical trim, to maintain the vertical position of the free end of the elongated hoist 81.

This approach offers the advantage of allowing a second-order, vertical (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 jib 32 (by controlling the maneuvering means 4) is coordinated with the winding movement of the winch drum 8.

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

- the processing means 512, to determine control instructions for the maneuvering means 4 which are adapted to stabilize the downstream end 323 of the terminal jib 32, and if necessary to determine 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, to control 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 by using the maneuvering means 4, or even also 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 suitable for stabilizing the downstream end 323 of the terminal boom 32 (even also the control instructions for the drum winch 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) according to the data coming from the movement acquisition module 7.

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

Claims (13)

Knuckle boom crane, for offshore application, which knuckle boom crane (1) comprises:
- a support structure (2),
- an articulated jib (3), carried by said support structure (2),
- maneuvering means (4) of said support structure (2) and of said articulated jib (3), and
- control means (5), for controlling said operating means (4),
which articulated boom (3) comprises a main boom (31) and an end boom (32), in series, which main boom (31) and which end boom (32) each comprise an upstream end (312, 322) and an downstream (313, 323),
which support structure (2) comprises articulation means (21) for defining a pivoting movement of the articulated jib (3) along a pivot axis (21'),
which support structure (2) and which upstream end (312) of the main boom (31) cooperate via upstream articulation means (35) to define an oscillating movement of said main boom (31) along an axis upstream articulation (35'),
which downstream end (313) of the main boom (31) and which upstream end (322) of the terminal boom (32) cooperate via downstream articulation means (36) to define a folding movement of said terminal boom (32) along a downstream hinge axis (36'),
which operating means (4) comprise:
- at least one pivoting actuator (41), to generate the pivoting movement of said articulated boom (3),
- at least a first linear actuator (42), to generate said oscillating movement of said main boom (31), and
- at least one second linear actuator (43), to generate 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 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. Articulated jib 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 jib crane, according to claim 2, characterized in that said at least one second linear actuator (43) is connected to said terminal jib (32) via mechanical transmission means (45). Articulated jib 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) via the mechanical transmission means (45). Articulated jib 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 oscillating arms (462), each interposed between said longitudinal arm (461) and the main boom (31). Articulated jib crane, according to claim 5, characterized in that the mechanical transmission means (45) further comprise a junction member (47), inserted between a downstream end (4612) of said at least one longitudinal arm (461) and the upstream end (322) of the terminal arrow (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 junction member (47) by means of articulation means (475). Articulated jib crane, according to any one of Claims 1 to 6, characterized in that the said at least one first linear actuator (42) is arranged between the support structure (2) and the main jib (31). Articulated jib 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 arrow (31), for example respectively looking at a lower front wall (314) and an upper front wall (315). Articulated jib crane, according to any one of Claims 1 to 8, characterized in that the said articulated jib crane (1) comprises a winch drum (8) associated with rotation drive means and intended to receive a elongated lifting device (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 jib crane, according to any one of Claims 1 to 9, characterized in that the said at least one first linear actuator (42) and/or the said at least one second linear actuator (43) consists of a hydraulic cylinder or an electric cylinder. Articulated jib 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 suitable for stabilizing the downstream end (323) of the terminal boom (32), or even also control instructions for the winch drum (8), and
- control means (513), for controlling said maneuvering means (4), or also said winch drum, taking into account said control instructions. Articulated jib crane, according to any one of Claims 1 to 11, characterized in that the said articulated jib crane (1) comprises a movement acquisition module (7). Machine for offshore application, equipped with a knuckle-boom crane (1) according to any one of claims 1 to 12, for example a ship for wind farm service operation vessels (SOVs).