Marine Knuckle Boom Crane

Abstract

A marine knuckle boom crane includes a base and a crane housing that rotates relative to the base. A knuckle boom assembly is attached to the crane housing and includes a main boom and a spreader-type cantilever. A lifting system includes a first and a second offset pulley on the cantilever, and a third offset pulley mounted to the main boom or the crane housing. One or more winches drive first, second, and third cables, each connected to an object suspension device and transmitted via the first, second, and third offset pulleys to a respective winch. The first, second, and third cables together define an inverted pyramid shape that radiates upwards from the object suspension device during object handling.

Description

Technical Field

[0001] This invention relates to the field of marine articulated boom cranes. Background Technology

[0002] In commonly known embodiments of offshore knuckle boom cranes, the main boom of the knuckle boom assembly is pivotally attached to the crane housing for pitching motion of the main boom. The crane housing rotates relative to the base about a vertical axis of rotation, also known as slewing motion. Typically, the base is smoothly mounted (e.g., securely attached) to the hull of a vessel or another offshore structure, such as an oil / gas production platform. The knuckle boom assembly typically consists of a main boom and a cantilever (sometimes called a steering arm). The main boom is typically a rigid boom with an inner end and an outer end. The longitudinal axis of the main boom extends through the inner and outer ends. The cantilever has an inner end and a cantilever tip that forms the free end of the cantilever opposite the inner end of the cantilever. The inner end of the cantilever is pivotally connected to the outer end of the main boom about a horizontal pivot axis. The cantilever pivots between a folded position where the cantilever is folded back or inward and an extended position of the knuckle boom assembly. In known embodiments, the pitch of the main boom is driven by the controlled extension and retraction of one or more hydraulic cylinders between the main boom and the crane housing. The pivoting of the cantilever is driven by the controlled extension and retraction of one or more hydraulic cylinders arranged between the cantilever and the main boom. It is also known to utilize one or more cables driven by one or more associated winches to achieve the pitch of the main boom and / or the pivoting of the cantilever.

[0003] In commonly known embodiments, the lifting system of an offshore knuckle boom crane includes a deflector pulley mounted to the tip of the cantilever. The system further includes a lifting winch and a cable extending from the winch along the main boom and along the cantilever to reach an object suspension device via the deflector pulley, the object suspension device being configured to connect to an object to be moved by the crane. For example, the object suspension device has a hook.

[0004] The boom assembly is hinged at the "steering arm," allowing the cantilever to fold inwards, similar to fingers turning back towards the cantilever. In a common implementation, the cantilever extends along the underside of the main boom in the folded position. In another implementation, the cantilever folds into an extension space within the main boom. This folding achieves a key advantage of marine articulated boom cranes: a compact size when the crane is not in use. In many implementations, the main boom can pivot such that the folded articulated boom assembly extends horizontally, making it very compact when the crane is not in use. For example, for larger cranes, a boom support is provided on which the articulated boom assembly rests when not in use. When the crane is on a vessel, the folded, stowed position achieves, for example, a low center of gravity for the crane.

[0005] When using offshore knuckle boom cranes to move objects, such as when transferring objects between supply ships and drilling ships or offshore platforms, for example when the crane is mounted on a drilling rig or platform, wave-induced motion and / or wind forces from the supply ship and / or drilling ship may hinder the controlled handling of objects. For example, moving ISO containers or crates storing drilling pipes using existing knuckle boom cranes may be cumbersome. Summary of the Invention

[0006] The objective of this invention is to provide improved stability and controllability for objects lifted by a knuckle boom crane.

[0007] This objective is achieved by means of the marine articulated boom crane according to claim 1 according to the present invention.

[0008] This invention is based on the understanding that arranging a cantilevered boom structure and an associated three-point lifting system in this type of crane results in increased stability and controllability of the suspended object. When moving or positioning the object suspension device before connecting it to the object to be transported, the first, second, and third cables define an inverted pyramid shape, which reduces (e.g., substantially avoids) swaying and enables accurate spatial positioning. In this document, a third offset pulley is disposed on the main boom and / or the crane housing to follow the movement of the folding boom assembly about a vertical axis of rotation as the crane rotates. The third offset pulley and the third cable achieve the suspension in the inverted pyramid configuration.

[0009] Preferably, the third offset pulley is positioned closer to the inner end of the main boom than the outer end of the boom, or located on the crane housing. This allows for a relatively wide angle of enhanced stability between the three cables in an inverted pyramid configuration, for example, even when the main boom is oriented relatively steeply upwards and the cantilever is oriented relatively steeply downwards, such as when lifting and / or lowering is performed along a vertical line quite close to the base. If the third offset pulley were mounted, for example, at the outer end of the main boom or on the cantilever's extender structure, the same operation would be performed at a sharper angle between the three cables, thus reducing the stabilizing effect. This effect is evident, for example, when the crane is mounted on a drilling ship or offshore platform and the object to be transported will be picked up and lowered onto the deck of a supply ship, which in practice is often much lower than the crane's position. Thus, the stabilizing effect is particularly advantageous when the object suspension device is located in the lower part of its operating lifting range and is often relatively close to the base.

[0010] In the implementation scheme, when the articulated boom assembly is in its folded position, the third offset pulley is positioned closer to the inner end of the main boom than either the first or second offset pulley.

[0011] In one embodiment, the boom pitch mechanism includes one or more hydraulic cylinders arranged between the main boom and the crane housing. For example, a pair of boom pitch cylinders may be provided. For example, a third offset pulley may be located between the pair of boom pitch cylinders, thus being closer to the inner end of the boom than the point where the boom pitch cylinders engage with the main boom.

[0012] In one embodiment, the first, second, and third cables each extend from separate corresponding winches, thus the first, second, and third cables extend from the first, second, and third winches respectively. In another embodiment, there are two winches, with the first and second cables extending from a common first winch for both cables, and the third cable extending from a second winch. In yet another embodiment, there is only one winch for all three cables.

[0013] In one implementation, each winch includes a drum to which cable is wound, and the drum is driven by a motor, such as an electric motor, for example, an AHC winch. In another implementation, one motor drives multiple drums, for example, the drums are arranged side by side.

[0014] One or more winches of the lifting system may be placed on or housed within the crane housing, or placed elsewhere, such as in the base or below the deck. In one embodiment, the crane housing has a top plate, and one or more winches are mounted on or above the top plate.

[0015] One or more winches of the lifting system may also be placed on the main boom or cantilever, such as on the cantilever base or cantilever branch. For example, in a crane used to lift relatively small loads, an arrangement in which one or more winches are placed on the main boom or cantilever can be envisioned.

[0016] Preferably, the third offset pulley is located in or near the center vertical plane of the main boom, for example, at the bottom side of the main boom.

[0017] In this embodiment, the cantilever extender structure is rigid. This may result in a rigid extender structure cantilever crane occupying more space in the folded and parked positions than a conventionally known knuckle boom crane. However, this sacrifice of compactness is offset by the advantage of increased stability and controllability of the suspended object during crane use through the inverted pyramidal configuration of the cables. The rigid cantilever achieves a simple and robust embodiment of the crane according to the invention.

[0018] In one embodiment, the cantilever is a rigid fork-shaped cantilever. Herein, the expander structure has a cantilever base connected to a pivot structure forming a horizontal pivot axis and thereby connected to the main boom, and includes first and second cantilever branches radiating laterally outward from the cantilever base, with a fixed angle between the radiating first and second cantilever branches. In one embodiment, each branch is connected to the cantilever base at only one end, thus lacking further support between them. This is considered lightweight and structurally efficient. In another embodiment, one or more rigid support members are fixed between the cantilever branches. In the embodiment of the rigid fork-shaped cantilever, the cantilever branches each have a first cantilever tip and a second cantilever tip, for example, a first offset pulley mounted on the first cantilever branch near the first cantilever tip, and a second offset pulley mounted on the second cantilever branch near the second cantilever tip. These cantilever tips may be free ends, with only the inner ends of the branches further connected to the cantilever base. In another embodiment, support members are arranged between the ends of the cantilever branches to form a triangular rigid expander structure.

[0019] In another embodiment, the cantilever has a rigid T-shaped expander structure, wherein the central member of the expander structure is pivotally mounted to the main boom and extends along the longitudinal axis of the cantilever, and wherein first and second offset members are mounted on the cross member of the T-shaped expander structure.

[0020] In one embodiment, the expander structure of the cantilever can be stacked between a collapsed configuration and a deployed configuration, wherein the lateral extension of the expander structure is smaller in the collapsed configuration than in the deployed configuration. For example, the expander structure includes one or more actuators to move the expander structure between the collapsed and deployed configurations. Preferably, the expander structure cantilever is folded back relative to the main boom in the collapsed configuration to store or park the crane when it is not in use.

[0021] For example, the stackable expander structure can be moved into multiple unfolded configurations to enable setting different lateral spacing distances between the first and second offset pulleys. As will be explained herein, in an embodiment, this distance variation is achieved while performing the lifting or lowering of the object suspension device, for example, while transporting an object.

[0022] For example, in a collapsed configuration, the lateral extension of the expander structure is the same as or less than the lateral extension or width of the main boom. For instance, when folded under the main boom, the collapsed expander structure does not require the crane to have the extra space in the lateral direction that would otherwise be needed for the main boom.

[0023] For example, the main boom is provided with an extension space for receiving the cantilever in a folded position, wherein the cantilever's folded expander structure is in a folded configuration sized to fit into this extension space.

[0024] For example, in a stacked configuration, the expander structure is a slender, elongated shape.

[0025] In the implementation scheme, the cantilever is a collapsible fork-shaped cantilever, wherein the expander structure includes first and second cantilever branches, each of which is pivotally mounted such that the first and second cantilever branches pivot between an extended configuration and a collapsed configuration of the fork-shaped cantilever, wherein the cantilever branches diverge outward toward the ground in the extended configuration and the cantilever branches are closer to the central longitudinal axis in the collapsed configuration.

[0026] For example, in a stacked configuration, the cantilever branches extend generally parallel to the central longitudinal axis of the cantilever.

[0027] The stackable implementation of the fork-arm cantilever offers advantages over rigid fork-arm cantilevers by reducing or avoiding the sacrifice of reduced compactness caused by increasing the stability and control of object positioning. Therefore, the stackable implementation provides the compactness of known articulated boom cranes while additionally achieving stable and controlled lifting through the advantageous pyramidal suspension of the object.

[0028] For example, in a collapsible fork cantilever, a first offset pulley is mounted on a first cantilever branch near its first cantilever tip, and a second offset pulley is mounted on a second cantilever branch near its second cantilever tip.

[0029] In another embodiment, the collapsible cantilever has a collapsible T-shaped expander structure, wherein the central member of the expander structure is pivotally mounted to the main boom about a horizontal axis and extends along the longitudinal axis of the cantilever. Hereinafter, first and second offset pulleys are mounted on the cross member of the T-shaped expander structure, for example, at their opposite ends. Hereinafter, the cross member is implemented to be collapsible to reduce the lateral extension of the cantilever as needed (e.g., to accommodate the boom assembly). For example, the entire cross member rotates about a turning axis relative to the central member (e.g., at the outer end of the central member) between an operating position transverse to the central member and a collapsed position aligned with the central member. In another example, the cross member is implemented as two rotating cross member elements, each rotating about a turning axis relative to the central member (e.g., along the side of the central member) between an operating position transverse to the central member and a collapsed position aligned with the central member.

[0030] In one embodiment, the stackable fork-shaped cantilever includes a cantilever base pivotally connected to the main boom about a second horizontal pivot axis, for example at the outer end of the main boom, wherein the first and second cantilever branches are each pivotally mounted (e.g., each via a respective pivot axis) to the cantilever base to pivot between an extended configuration and a collapsed configuration. The pivot axes of the cantilever branches may be laterally offset from each other, for example, mounted on opposite sides of the central body of the cantilever base. In another embodiment, the branch pivot axes coincide with each other. In yet another embodiment, the first branch pivots to the cantilever base, and the second cantilever branch pivots to the first cantilever branch.

[0031] In one embodiment, the cantilever branches form the main portion of the length of the forked cantilever (as seen in the direction of the central axis of the cantilever branches), such that the forked cantilever is substantially V-shaped. In another embodiment, the forked cantilever base extends over a large portion of the length of the entire cantilever, such that the forked cantilever is Y-shaped.

[0032] In an embodiment of the collapsible fork-shaped cantilever, the first and second cantilever branches are each connected to the main boom at their bottom ends via a corresponding pivoting structure, so that both can move between a folded and extended position of the articulated boom assembly and between an unfolded and collapsed configuration of the collapsible fork-shaped cantilever. For example, in this embodiment, the cantilever pivoting mechanism is configured to pivot each cantilever branch independently between the folded and extended positions. This embodiment can, for example, enable the use of a crane that extends without unfolding one branch and holds the other branch in the folded position when moving relatively light objects using a single cable. For example, each cantilever pivoting structure includes two mutually perpendicular pivot axes, such as a horizontal pivot axis for folding and extending movements of the cantilever branch relative to the main boom, and another pivot axis (e.g., a vertical pivot axis). For example, in an embodiment, the vertical pivot axis is closest to the main boom.

[0033] In the implementation, the angle between the diverging first and second cantilever branches is between 20° and 80°, for example, between 20° and 60°, such as about 40°. For example, the first and second cantilever branches diverge from the physical or imaginary bifurcation at their respective cantilever branch angles between 10° and 40° (e.g., between 10° and 30°, such as about 20°) relative to the central longitudinal axis of the cantilever.

[0034] In the implementation, the first and second cantilever branches each pivot about the respective cantilever branch pivot axis relative to the central longitudinal axis of the fork cantilever, thereby enabling the collapsible fork cantilever to enter both a deployable and a collapsible configuration.

[0035] For example, the cantilever branch pivots between multiple deployed positions (where the divergence angle between the deployed positions is greater than 30°, for example, about 40°) and enters a folded configuration (for example, where the divergence angle is zero) to achieve the compactness of the crane, for example, when parked in the folded position of the articulated boom assembly.

[0036] In implementations of the expander-type cantilever, the lateral distance between the first and second offset pulleys is fixed, or can vary between 10 and 15 meters (e.g., about 12 meters) in one or more deployment configurations of the foldable expander structure cantilever.

[0037] For example, given the description of the transfer of objects between a supply ship and another vessel (e.g., a drilling ship, an offshore platform), a minimum lateral spacing of 10 meters between the first and second offset pulleys in the deployment configuration (whether rigid or foldable design) is advantageous.

[0038] In the embodiment seen in the side view, the distance or length of the cantilever between the pivot structure and the first / second offset pulley is at least 10 meters, for example, between 15 and 25 meters, such as about 20 meters.

[0039] In the implementation shown in the side view, each of the cantilever branches of the forked cantilever is between 15 and 25 meters long, for example, about 20 meters.

[0040] In the implementation, the cantilever can be telescopically extended to change the distance between the pivot structure seen in the side view and the main boom (on one hand) and the positions of the first and second offset pulleys (on the other hand).

[0041] In this implementation, the cantilever branch of the fork-shaped cantilever is configured to be telescopically extendable. For example, the lateral spacing between the first and second offset pulleys can be adjusted by extending and retracting the telescopic cantilever branch.

[0042] In an embodiment of the forked cantilever, the cantilever base is telescopic, for example, capable of changing the distance between the second horizontal pivot axis and the pivot axis of the cantilever branch in the collapsible forked cantilever.

[0043] In this implementation, the cantilever branch is designed as a telescopic cantilever branch, wherein a control unit is provided to control the extension and retraction of the cantilever branch during the lifting and / or lowering of the object. For example, this can enhance control over the angles of the three cables during this activity, for instance, by virtue of the desired stabilizing effect associated with the increased angle of the cables relative to the vertical line passing through the object's suspension device.

[0044] In the implementation of the forked cantilever, each cantilever branch is a rigid and fixed-length cantilever branch. This enables a simple and robust construction.

[0045] In the implementation plan, the following lifting is anticipated using a collapsible expander-type cantilever (e.g., a collapsible fork cantilever), in the collapsible configuration of the collapsible expander-type cantilever, for example, using an object suspension device suspended from only one of the first and second cables or from both the first and second cables, without involving the use of a third cable.

[0046] In embodiments of the collapsible forklift, for example, for lifting using the forklift in its collapsible configuration, the first and second branches are provided with cooperating securing members that mechanically secure the branches to each other when in the collapsible configuration, for example, to increase load-bearing capacity. For example, the branches are secured along their length at one or more locations to act as a single beam when subjected to load using one or both of the first and second cables in the collapsible configuration. For example, the securing members include motor-operated (e.g., hydraulically operated) moving securing members, such as hooks or pins, that push the branches into contact with the (bent) load.

[0047] In the implementation plan, it is envisioned that lifting operations of the crane will utilize an object suspension device, which suspends from only two of three cables, such as from the third cable and one of the first and second cables, or from the first and second cables but not from the third cable. It should be understood that providing two or more (e.g., three) dissimilar winches for the three cables facilitates this alternative operation of the crane. For example, such a "two-cable" lifting operation can be performed using a stackable fork-shaped boom in a stackable configuration.

[0048] For example, in a stacked configuration of a forked cantilever, the angle between the first and second cantilever branches is approximately or close to 0°.

[0049] For example, in a stacked configuration of a forked cantilever, the cantilever branches extend parallel to the central longitudinal axis of the cantilever.

[0050] In the deployed configuration of the forked cantilever, the angle between the first cantilever branch and the second cantilever branch is preferably at least 20°, for example between 20° and 60°, such as about 40°.

[0051] For example, in a forked cantilever deployment configuration, the first and second cantilever branches diverge at corresponding cantilever branch angles between 10° and 40° (e.g., between 10° and 30°, e.g., about 20°) relative to the central longitudinal axis of the cantilever, e.g., the cantilever branch angles are equal.

[0052] In the implementation, the first and second offset pulleys are spaced 1-3 meters apart in the cantilever's stacked configuration, for example, about 2 meters apart.

[0053] In one embodiment, the collapsible fork-shaped cantilever further includes a transverse bar configured to releasably connect the first and second cantilever branches to each other in an extended configuration, such that the first and second cantilever branches are fixed relative to each other at an angle between them. For example, the transverse bar is mounted to one or the second cantilever branch and can be releasably connected to another cantilever branch, for instance, pivotally mounted to one cantilever branch and pivotable to a position extending to another cantilever branch.

[0054] In one implementation, the expander structure is movable into multiple unfolded configurations to enable setting different lateral spacing distances between the first and second offset pulleys, the expander structure including one or more actuators to move the expander structure between a collapsed configuration and an unfolded configuration.

[0055] In the implementation scheme, one or more actuators are configured to change the lateral spacing between the first and second offset pulleys during the lifting and / or lowering of the object suspension device, for example, when the object is suspended from the object suspension device.

[0056] In one implementation, a control unit is provided for one or more actuators, the control unit controlling the lateral spacing between the first and second offset pulleys, the control unit being configured (e.g., programmed) to operate one or more actuators to decrease the distance between the first and second offset pulleys during lifting and increase the distance between the first and second offset pulleys during descent, for example, the decrease and the increase being related to the vertical movement and / or vertical height of the object suspension device.

[0057] In embodiments of the collapsible fork-shaped cantilever, in addition to providing the compactness of the crane, for example for parking the crane, the provision of pivoting cantilever branches, preferably in combination with one or more cantilever branch actuators, allows the angle of the suspension device and the cable of the object to be suspended to be manipulated or set by pivoting the cantilever branches between different deployment configurations with different divergence angles. In embodiments, this change in the divergence angle between the cantilever branches is achieved during the lifting and / or lowering of the object as part of a lifting routine, for example, automatically executed by the crane's control unit. For example, a larger angle between the cantilever branches achieves greater stability but reduces the range of heights the object can be lifted.

[0058] Providing a pivoting cantilever branch in a stackable fork cantilever, preferably in combination with one or more cantilever branch actuators, can increase the stability of the object during lifting and increase the maximum lifting height, so that these can be optimized depending on the individual lifting task being performed using the crane.

[0059] For example, the angle between branches can be reduced to increase the maximum lifting height of an object, such as by pivoting the branches from a maximum extended configuration where the object is at the lowest point of the lifting range toward a collapsed configuration where the object moves to the highest point of the lifting range. This allows for increased stability at lower lifting heights, such as when retrieving objects from a supply ship or positioning loads on a supply ship, where the lower range of suspended swaying motion of the object will have a maximum value, and the maximum lifting height can be the same as the maximum lifting height originally achieved without branches forming the cantilever.

[0060] In one implementation, the cantilever branch pivots relative to the central longitudinal axis of the cantilever to different angular positions, for example, each angular position having its own cantilever branch actuator to perform the pivoting. This, for example, makes it possible to adjust the lateral position of the object suspension device relative to the boom assembly.

[0061] To enable pivoting of the cantilever branches in a collapsible fork-shaped boom, for example, to manipulate the vertical angle of a cable and / or for lateral positioning, the crane preferably includes one or more cantilever branch actuators. For example, each cantilever branch actuator is implemented as a linear actuator, such as a hydraulic cylinder. In another example, the cantilever branch actuator includes a motor, such as an electric motor or a hydraulic motor, having a rotary output connected to the cantilever branch, for example via a transmission (e.g., a gear drive), to achieve its pivoting. Other designs are also possible.

[0062] In one implementation, one or more cantilever branch actuators are coupled to a control unit configured to drive pivoting, for example, to reduce the angle between the first and second cantilever branches during the lifting of the object suspension device and to increase the lateral angle between the first and second cantilever branches during the descent of the object suspension device. For example, the control unit controls the change in the divergence angle between the cantilever branches based on pre-programmed routines and / or measurements of the actual lifting height.

[0063] For example, the cantilever branch angles of two cantilever branches relative to the central longitudinal axis remain equal when the cantilever branches are pivoting and collapsible in a forked cantilever.

[0064] In the implementation scheme, the control of one or more cantilever branch actuators is based on measurements related to the actual height position of the object suspension device or the object itself and / or the angle of the cable.

[0065] In one embodiment, the crane includes one or more cantilever branch actuators configured to pivot both the first and second cantilever branches in a direction on one side of the central longitudinal axis of the cantilever, so as to laterally displace an object suspension device (e.g., with an object connected thereto) relative to the central longitudinal axis of the cantilever.

[0066] For example, one or more cantilever branch actuators include one or more actuation cylinders that independently or consequently drive the cantilever branch individually or together.

[0067] For example, the actuating cylinder is connected to two cantilever branches such that the extension of the actuating cylinder can drive the cantilever branches to pivot away from each other, for example, to their (other) extended configuration, and the shortening of the actuating cylinder can drive the cantilever branches to pivot toward each other, for example, to their (other) extended configuration or their collapsed configuration.

[0068] In one embodiment, the collapsible fork-shaped cantilever further includes first and second lateral bars. One longitudinal end of each of the first and second lateral bars is pivotally connected to one or more cantilever branch actuators, and the other longitudinal end is pivotally connected to the first and second branches, respectively, such that movement of the other longitudinal ends of the first and second lateral bars along or parallel to the central longitudinal cantilever axis changes the angle of the first and second lateral bars relative to the longitudinal axes of the first and second cantilever branches, thereby pivoting the cantilever branches about their first and second vertical pivot axes, thereby moving the cantilever to another extended configuration of the cantilever branch, or to a collapsed configuration of the cantilever branch (if provided).

[0069] Preferably, a longitudinal end of each transverse bar is connected to the same cantilever branch actuator, which moves them together along the central longitudinal cantilever axis, thereby causing the cantilever branches to pivot together about their respective vertical pivot axes. For example, in a stacked configuration of cantilever branches, the transverse bar is generally longitudinally aligned with the first or second cantilever branch, respectively.

[0070] In the implementation, one or more cantilever branch actuators are actuation cylinders, such as a single actuation cylinder. The cantilever branch actuators are mounted on the cantilever base along or parallel to the central longitudinal cantilever axis, for example, between cantilever branches. The longitudinal end of the transverse rod is moved by extending and shortening the actuation cylinder.

[0071] In one embodiment, the first and second lateral bars, along with one or more cantilever branch actuators, together form a locking mechanism that fixes the angles of the first and second lateral bars relative to the first and second cantilever branches, thereby fixing the cantilever branch angles. For example, the first and second lateral bars are pivoted to a locked position in which they extend at right angles relative to the first and second cantilever branches.

[0072] In one embodiment, one or more lifting winches (e.g., three different winches) are mounted on the crane housing, with cable guide pulleys for the first cable and the second cable mounted at the outer ends of the main boom, for example, around an axis coinciding with a second horizontal pivot axis. Furthermore, the guide pulleys for the first cable and the second cable are mounted to the cantilever, such as the cantilever base of a forked cantilever. In a collapsible forked cantilever, preferably, each of these guide pulleys is mounted around an axis coinciding with the pivot axis of the respective cantilever branch.

[0073] In one implementation, one or more winches are mounted on the crane housing, for example, on or above the top plate of the crane housing.

[0074] In the implementation, as seen in the top view, the first and second cables extend above the top side of the main boom to corresponding cable guide pulleys for the first cable and for the second cable, the cable guide pulleys being mounted on the main boom near a pivoting structure that pivotally connects the cantilever to the main boom, for example at the outer end of the main boom, around an axis coinciding with a second horizontal pivot axis.

[0075] In one implementation, the expander structure includes guide pulleys for a first cable and a second cable, both of which are mounted at their bottom ends, for example, to the cantilever base of a cantilever branch or a collapsible fork-shaped cantilever. For instance, in an implementation with a collapsible fork-shaped cantilever, each of these guide pulleys is rotatable about an axis coinciding with the pivot axis of the respective cantilever branch, for example, positioned on the underside of the cantilever branch.

[0076] In one embodiment, the cantilever base has a main body with laterally spaced bracket arms, for example, extensions perpendicular to the main body, each bracket arm pivotally connected at its outer end to a main boom. For example, each cantilever branch is pivotally connected to the main body of the cantilever base. In another embodiment, first and second cables are respectively transmitted from cable guide pulleys on the main boom between the bracket arms to guide pulleys arranged on the underside of the cantilever base, and from the guide pulleys along the underside of the respective cantilever branch to a corresponding offset pulley.

[0077] In the implementation, the lateral spacing between the bracket arms corresponds to the lateral spacing between the pivot axes of the cantilever branches, thus achieving a load path through the cantilever base.

[0078] In one implementation, the main body of the cantilever base is an elongated body extending along the longitudinal axis of the stackable forked cantilever, wherein the cantilever branches are pivotally mounted to the main body at opposite sides, such that in a stacked configuration, the elongated body is positioned between the cantilever branches. For example, each cantilever branch is thus supported against the main body of the cantilever base.

[0079] In the implementation scheme, the main body of the cantilever base is an elongated body extending along the longitudinal axis of the collapsible fork-shaped cantilever, wherein the actuation cylinders for operating the first and second transverse rods as discussed above are mounted in or on the elongated body.

[0080] In the implementation scheme, the cantilever pivoting mechanism includes one or more hydraulic cylinders arranged between the main boom and the cantilever. For example, a single hydraulic cylinder.

[0081] In one embodiment, a hydraulic cylinder for pivoting a cantilever is provided, having an actuation cylinder body pivotally connected to a main boom and a piston rod pivotally connected to the cantilever. For example, the actuation cylinder body is connected to the underside of the main boom on a gland side, and thus the piston rod extends from the actuation cylinder body on the gland side. In another embodiment, the main boom is provided with a groove near this actuation cylinder, thereby allowing the actuation cylinder body to move into the groove, for example, when the cantilever is folded to its maximum folded position.

[0082] In the implementation scheme, the crane housing is provided with an operator's cabin for accommodating the crane operator.

[0083] In one implementation, the base is provided with an access platform extending around the base, and the crane housing is provided with a ladder, thereby allowing the crane operator to access the operator's compartment via the access platform and then via the ladder. For example, the base is provided with steps to access the access platform.

[0084] For the purpose of enhancing the functionality of the first and second offset pulleys, such as to reduce friction of the cables extending thereon, the circumferential surfaces of the first and second offset pulleys on which the cables extend are preferably kept in line with the first and second cables during the lifting and lowering of the object suspension device, regardless of whether the vertical offset angle of these cables changes. Changes in the vertical offset angle of the cables may also occur due to moving the offset pulleys along the cantilever branch to move the object horizontally (where this is achieved) or due to moving the cantilever branch relative to the cantilever base, as will be discussed below. Most preferably, this alignment of the offset pulleys can be achieved throughout the entire lifting range of the crane and / or the entire movable range of the offset pulleys or cantilever branches (if provided).

[0085] In the implementation, the first and second offset pulleys are pivotally mounted to the cantilever, for example, at the tips of the respective cantilever branches, to allow alignment with the first and second cables, for example, during the lifting and lowering of the object suspension device as their respective vertical angles change.

[0086] The first and second offset pulleys can pivot about the longitudinal axes of the first and second cantilever branches, respectively.

[0087] In one embodiment, the first and second offset pulleys pivot at least about an axis passing through or parallel to the cable portion extending along the first and second cantilever branches to the pulleys. In this way, the offset pulleys can be mounted to the respective cantilever branches, for example via a pivot joint, thereby providing rotational freedom.

[0088] For example, the third offset pulley is located in or near the vertical center plane of the boom assembly.

[0089] In one implementation, a third offset pulley is attached to the main boom or crane housing via a protruding element, such as an arm extending from the main boom or crane housing to which the third offset pulley is attached. For example, the protruding element pivots about a horizontal axis between a retracted position, for example, near the bottom side of the boom, and one or more extended positions, away from the boom, driven, for example by an actuator. The protruding element can also be displaced relative to another arrangement of the main boom. The protruding element can be implemented as a pivotally connected and / or telescopic boom.

[0090] In one implementation, a third offset pulley is attached to the main boom so that it can be moved, for example by means of one or more actuators, along the longitudinal axis of the main boom, such as along a track or guide cable.

[0091] In one implementation, the first and second offset pulleys are each mounted to a corresponding cantilever branch so that they can be moved along the longitudinal axis of the corresponding cantilever branch, for example, along a track or guide cable.

[0092] By shifting or adjusting the position of the third offset pulley and / or two other offset pulleys relative to the main boom and / or cantilever, the position of the object suspension device and the object connected thereto, as well as the vertical angle of the cable, can be adjusted independently of the operation of the winch.

[0093] In implementations, the forked cantilever can be configured to laterally move the object suspension device relative to the central longitudinal axis of the cantilever, for example, by the lateral mobility of the cantilever branches relative to the cantilever base (e.g., discussed below) or the offset pulleys relative to the cantilever base. In these implementations, to facilitate the functionality of the third offset pulley similar to the first and second offset pulleys, its pivotability, for example, about the vertical axis and / or longitudinal direction of the main boom or about multiple axes, can be provided to maintain alignment (e.g., lateral alignment) with the third cable.

[0094] The third offset pulley can be positioned between the cantilever branches in the folded position of the articulated boom assembly, for example, longitudinally close to the first and second offset pulleys when the boom is fully folded.

[0095] In one embodiment, the lifting system further includes a fourth offset pulley and a fifth offset pulley. The fourth offset pulley is mounted in the plane of the first offset pulley, wherein the first cable extends between the first and fourth offset pulleys to achieve a folded position of the cantilever, in which the first cable extends on the fourth offset pulley, and in a forward or extended position of the cantilever, the first cable extends on the first offset pulley. Correspondingly, the fifth offset pulley is mounted in the plane of the second offset pulley, wherein the second cable extends between the second and fifth offset pulleys, such that in the folded position of the cantilever, the second cable extends on the fifth offset pulley, and in the forward or extended position of the cantilever, the second cable extends on the second offset pulley. In one embodiment, each of the fourth and fifth pulleys may be movable relative to the first and second pulleys between an active and inactive position, for example, by means of arranging the cable between these grouped pulleys.

[0096] A folding boom crane with third and fifth offset pulleys allows the crane to lift objects with the boom folded only at a small angle relative to or parallel to the main boom, while maintaining the inverted pyramid configuration of the three cables, thus preserving their benefits even in this folded position of the boom.

[0097] Preferably, when provided, the third and fifth offset pulleys are pivotally mounted to maintain alignment with the offset lifting cable, as discussed herein with respect to the first and second offset pulleys.

[0098] In the implementation, one or more winches driving the first, second, and third cables are active heave compensating winches (AHC winches) configured to compensate for heave motion. The heave compensation action of said one or more winches can be controlled by a control unit, which operates said one or more winches, for example, based on signals from one or more sensors measuring the motion to be compensated. For example, a crane is mounted on a vessel undergoing heave motion, with its base fixed to the vessel's hull. In another example, a crane is mounted on a stable platform or other structure (e.g., a jack-up vessel) at sea, so that the crane does not undergo heave motion. Heave compensation can then be employed as an object is transferred from a supply ship to the platform, where the supply ship undergoes heave motion.

[0099] As an alternative to or in combination with one or more active heave-compensating winches, the lifting system may include one or more (preferably all) other heave-compensating mechanisms acting on the first, second, and third cables. For example, one or more of the first, second, and third cables pass along pulleys of the heave compensator (e.g., a heave-compensating actuator). For example, the heave-compensating actuator is part of a passive and / or active heave-compensating system.

[0100] In one embodiment, one or more (e.g., each) of the first, second, and third cables are in a multiple rope arrangement (e.g., a double rope arrangement) between the suspension device (on one hand) and the cantilever branch or main boom / crane housing (on the other hand). For example, each of the three cables is in a double rope arrangement. In another embodiment, the three cables are in a triple rope arrangement, wherein each cable has a terminal on the suspension device.

[0101] For example, the first and second cables are each in a double-reel arrangement, wherein the end of each cable is connected to a corresponding cantilever branch. For example, each cantilever branch is provided with a cable guide pulley that guides the cable from the end to a return pulley on the object suspension device. Preferably, this guide pulley is arranged side-by-side with a corresponding first or second offset pulley, such that each pulley in this pair can rotate or oscillate about an axis parallel to the extension of the cantilever branch.

[0102] For example, the third cable is in a double-spool arrangement, with the terminal connected to the main boom or crane housing. As will be explained in this article, another double-spool configuration of the third cable is also possible.

[0103] In one embodiment, the lifting system includes corresponding first and / or second return pulleys for the first and / or second cables (if arranged in a multi-rope arrangement), the first and / or second lifting cables extending on the corresponding first and / or second return pulleys between the corresponding first and / or second offset pulleys and the object suspension device. The lifting system may further include first and / or multiple second guide pulleys for the first and / or second lifting cables (if arranged in a multi-rope arrangement), which, for example near the tips of the first and / or second cantilever arms, respectively guide the pulleys of the first and / or second cables returning from the object suspension device to the terminals (e.g., tips) on the branches of the first and / or second cantilever arms.

[0104] In various pulley arrangements of the third cable, the lifting system further includes a third return pulley, on which the third lifting cable extends between a third offset pulley and an object suspension device, and the lifting system may further include a third guide pulley for guiding the return pulley of the third cable to a terminal on the main boom or on the crane housing.

[0105] In the implementation scheme, all three lifting cables are arranged in a double-spool configuration, and the lifting system further includes, for example, first, second, and third return pulleys paired with corresponding first, second, and third offset pulleys for the first, second, and third cables, as well as optional first, second, and third guide pulleys.

[0106] In embodiments where all three cables are in a multi-rope arrangement (e.g., at least a double-rope arrangement), the crane may further include an active suspension adjustment mechanism as described herein. This active suspension adjustment mechanism enables primary horizontal control movement of the object suspension device and the object to which it is attached (if present). This horizontal movement is used, for example, to adjust the horizontal position of the object or the suspension device to be attached to the object to be transported.

[0107] The active suspension adjustment mechanism can divide tasks between the mechanism (on one hand) and the one or more lifting winches (on the other hand). The one or more winches can be primarily used for the vertical movement of the object suspension device, thus for the actual lifting and lowering of the object, while the mechanism can be primarily used for controlling the horizontal movement or positioning of the object suspension device. This, for example, produces an embodiment of a crane in which three cables are all driven by the same winch. Or multiple winches can operate synchronously. One or more winches can also be combined with the mechanism to provide heave compensation for the object suspension device, thus primarily compensating for vertical movement; for example, the one or more winches are implemented as AHC winches.

[0108] The mechanism described above can be used to provide active motion compensation for objects or suspension devices in a horizontal plane, for example, to compensate for horizontal ship motion, such as to compensate for deviations in the position-keeping process of a ship's dynamic positioning system, for example, a ship with a crane mounted on it, or a ship on which an object is unloaded from and / or loaded onto by a crane mounted on another ship or offshore structure. For example, the mechanism is used for the transfer of objects between a supply ship and another ship or offshore structure, wherein the supply ship typically exhibits very significant motion in both the vertical and horizontal directions relative to another (larger) ship or stable structure.

[0109] The active suspension adjustment mechanism can be configured with one, two, or three actuations, wherein the active suspension system includes one, two, or three adjustment actuators and one, two, or three pulley pairs, each moving under the control of its respective adjustment actuator. In this paper, each pulley pair has a primary pulley and a secondary pulley. One of the three lifting cables of the lifting system runs on the primary pulley, and the other of the three lifting cables runs in the opposite direction on the secondary pulley. Due to the opposing loads induced by the two cables on the pulley pairs, the associated adjustment actuators are primarily used to move the pulley pairs and thus the object suspension device, without being subjected to the actual load of the object being transported.

[0110] Two pulleys in a pair are connected to each other, for example, mounted in a common frame. Preferably, the pulleys are arranged in parallel, and more preferably in the same (vertical) plane. Each pulley pair can be moved as a unit along the axis of motion of the pulley pair by an associated adjusting actuator (e.g., a linear drive actuator, such as a hydraulic cylinder), the axis of motion extending parallel to the direction in which the cable extends along the pulleys of the pair.

[0111] In a single-actuated implementation, the active suspension adjustment mechanism has a pulley pair and an associated actuator. A first cable of the first, second, or third type passes through the associated winch (e.g., the first of the winches) via the primary pulley of the pulley pair, the associated first, second, or third offset pulley, and the associated first, second, or third return pulley, returning to the main boom near the associated first cantilever tip, second cantilever tip, or third offset pulley. The end of this cable is secured to the crane or (if present) guided to different locations on the crane via the first, second, or third guide pulley, where it is secured to the crane. A second cable of the first, second, or third type passes through the associated winch (e.g., the second of the winches) via the secondary pulley of the pulley pair, the associated first, second, or third offset pulley, and the associated first, second, or third return pulley, returning to the main boom near the associated first, second, or third cantilever tip, or third offset pulley. The cable's termination is secured to the crane or (if present) guided to different locations on the crane via first, second, or third guide pulleys, where it is secured to the crane. A third portion of the first, second, or third cable passes through the associated winch (e.g., the third in the winch) via the associated first, second, or third offset pulley and associated first, second, or third return pulley, returning to the main boom near the first cantilever tip, or the second cantilever tip, or the third offset pulley. The cable's termination is secured to the crane or (if present) guided to different locations on the crane via first, second, or third guide pulleys, where it is secured to the crane.

[0112] The effect is that when an adjusting actuator moves one pulley pair while the one or more winches are stationary, there is a change in the length of the two cables extending along the pulleys of the pulley pair. Due to this movement of the pulley pair, the object suspension device moves along a trajectory that extends primarily in the horizontal plane, the trajectory being determined by the spatial position of the offset pulley and the cable length between the suspension device and the offset pulley. This trajectory is slightly curved due to the inverted pyramidal arrangement.

[0113] In the double-actuated configuration (a preferred embodiment combined with the expander-type cantilever design of the present invention), the active suspension adjustment mechanism includes a first pulley pair and a second pulley pair. Each of the pulley pairs includes a primary pulley and a secondary pulley, which are interconnected to allow two of the first, second, and third cables to extend on the pulleys of the pair, the cables extending in opposite directions. Furthermore, there are a first adjustment actuator and a second adjustment actuator, each configured to move the first and second pulley pairs respectively along the direction of the pair of cables extending on the pulleys.

[0114] The first cable originates from the corresponding winch (e.g., the first winch) via:

[0115] -The primary pulley of the first pulley pair

[0116] -First deviating pulley

[0117] -First return pulley,

[0118] The first cable is threaded onto the crane (e.g., on the boom, such as on the first boom branch) and fixed at the end.

[0119] The second cable passes from the corresponding winch (e.g., the second winch) via:

[0120] -The primary pulley of the second pulley pair

[0121] -Second offset pulley,

[0122] -Second return pulley,

[0123] The second cable is threaded onto the crane (e.g., on the boom, such as on the second boom branch) and fixed at the end.

[0124] The third cable passes from the corresponding winch (e.g., the third winch) via:

[0125] - The secondary pulley of the second pulley pair

[0126] -Third offset pulley,

[0127] -Third return pulley,

[0128] - The third guide pulley, which is paired with the third return pulley on the main boom or crane housing.

[0129] - The secondary pulley of the first pulley pair

[0130] The terminal of the third cable is fixed at the point where it is threaded onto the crane (e.g., the main boom or the crane housing).

[0131] In this document, the first adjustment actuator is configured to move the first pulley pair to selectively increase or decrease the length of the first cable between the corresponding winch and the first offset pulley, while simultaneously decreasing or increasing the length of the third cable between the third guide pulley and the end of the third cable.

[0132] The second adjustment actuator is configured to move the second pulley pair to selectively increase or decrease the length of the second cable between the corresponding winch and the second offset pulley, while simultaneously decreasing or increasing the length of the third cable between the winch and the third offset pulley.

[0133] In the implementation, the first and second adjusting actuators are implemented as first and second linear actuators, such as adjusting actuator cylinders (e.g., hydraulic cylinders), each of the first and second linear actuators fixing one of the actuator cylinder and piston rod to the crane (e.g., to the main boom), and the other of the actuator cylinder and piston rod fixing to an associated pulley pair, such that shortening or lengthening of the first and / or second actuator cylinders causes the first and / or second pulley pair to move respectively in the direction along which the cable extends on its pulleys.

[0134] Similar to the single-pulley mechanism, in the double-pulley mechanism, the movement of either pulley pair by either of the two adjusting actuators primarily causes the object suspension device to move horizontally along a curved trajectory in space determined by the spatial position of the pulley and the length of the cable to the suspension device. For example, if the cable length is adjusted simultaneously by properly controlling one or more winches, the movement can occur solely in the horizontal plane.

[0135] The doubling mechanism makes it possible to combine the movement components along the trajectory by simultaneously moving the two pulley pairs of the mechanism. For example, moving the two pulley pairs by the same amount to equally combine the movement components along two curved trajectories results in a generally straight movement trajectory, primarily in the horizontal plane.

[0136] In one implementation, all the cables in the mechanism may be driven by the same winch. For example, in another implementation, there are two winches; one for both the first and second cables, and the other for the third cable. In another implementation, each of the three cables is driven by a different winch.

[0137] In the triple-actuated implementation, the active suspension adjustment mechanism includes first, second, and third pulley pairs and three associated adjustment actuators. Herein, each adjustment actuator is configured to move the associated pulley pair in the direction through which the cable travels in the opposite direction.

[0138] The first cable originates from the corresponding winch (e.g., the first winch) via:

[0139] -The primary pulley of the first pulley pair

[0140] -First deviating pulley

[0141] -First return pulley,

[0142] -The first guide pulley on the first cantilever branch

[0143] - The secondary pulley of the third pulley pair

[0144] The cable is wound back to the end of the crane (e.g., fixed to the cantilever or main boom).

[0145] The second cable passes from the corresponding winch (e.g., the second winch) via:

[0146] -The primary pulley of the third pulley pair

[0147] -Second offset pulley,

[0148] -Second return pulley,

[0149] -The second guide pulley on the second cantilever branch

[0150] - The secondary pulley of the second pulley pair

[0151] The cable is wound back to the end of the crane (e.g., fixed to the cantilever or main boom).

[0152] The third cable passes from the corresponding winch (e.g., the third winch) via:

[0153] -The primary pulley of the second pulley pair

[0154] -Third offset pulley,

[0155] -Third return pulley,

[0156] -The third guide pulley near the third offset pulley

[0157] - The secondary pulley of the first pulley pair

[0158] The cable is threaded through the end of the cable and fixed to the crane (e.g., fixed to the main boom).

[0159] Similar to the double-pulley mechanism, in the triple-pulley mechanism, movement of a selected pulley pair causes the object suspension device to move primarily horizontally along a corresponding curved trajectory in space determined by the spatial position of the pulleys and the length of the object suspension device from its suspended cable. Similar to the double-pulley mechanism, the triple-pulley mechanism also makes it possible to combine movement components by, for example, moving two pulley pairs simultaneously. For instance, moving two pulley pairs simultaneously by the same amount to equally combine the movement components along two curved trajectories results in a generally straight movement trajectory primarily in the horizontal plane.

[0160] Of the three configurations of the active adjustment suspension mechanism, the double-type is preferably combined with the articulated boom crane of the present invention because it achieves the required horizontal motion control with a minimal number of (moving) parts. That is, it allows for three-dimensional control of the movement of an object or object suspension device by using one or more winches primarily for vertical movement and a mechanism with only two adjustment actuators and two pulley pairs for primary horizontal motion control.

[0161] For example, horizontal movement is primarily achieved through active adjustment of the suspension mechanism, while vertical movement is mainly achieved by the operation of one or more winches, for instance, while the rest of the crane remains stationary. Triple actuation has three actuators and pulley pairs, but compared to double actuation, it does not add another dimension to the controlled motion of the object or its suspension. Single actuation has one actuator and pulley pair, but only allows for one movement trajectory in the horizontal plane.

[0162] Starting with the triple actuation implementation, two, rather than three, curved trajectories in the horizontal plane are sufficient for the required movement of the object suspension device.

[0163] In the implementation scheme, the adjustment actuator of the active suspension adjustment mechanism takes the form of one or more hydraulic adjustment actuator cylinders. For example, the first, second, and third adjustment actuators (if present) are or include the first, second, and third adjustment actuator cylinders. The one or more adjustment actuator cylinders are preferably arranged between one of the crane housing and the main boom (on one hand) and the pulley pair (on the other hand), for example, wherein the longitudinal axis of the actuator cylinder is parallel to the range of motion of the pulley pair, such that shortening or lengthening of the actuator cylinder moves the pulley pair in the direction through which the cable passes. For example, the piston rod of the adjustment actuator cylinder is connected to the pulley pair, and the cylinder body is connected to the crane (e.g., the main boom).

[0164] The action of one or more adjustment actuators can be controlled by a control unit, for example, by operating the adjustment actuators based on signals from one or more sensors that measure the motion to be compensated and / or the position of the suspended object relative to a reference. For instance, a reference position beacon may be temporarily located on a supply ship, and a crane may be mounted on another vessel (e.g., a drilling ship) or another offshore structure. The control unit can then be configured to determine the actual position of the beacon relative to the suspended object and control the adjustment actuators to bring the suspended object to the desired position.

[0165] In one embodiment, a control unit operating one or more adjustment actuators is coupled to a camera system having one or more cameras that provide visual information about the position of the object suspension device relative to a reference and / or relative to an object to be connected to the object suspension device. One or more cameras may be mounted on the crane of the present invention, for example, on the crane housing, main boom, cantilever, and / or on the object suspension device.

[0166] In one implementation, a control unit that operates one or more adjustment actuators is coupled, for example, to an inertial motion sensing system disposed on the object suspension device for the purpose of controlling the motion of the object suspension device.

[0167] The mechanism enables precise control of the horizontal movement and position of the object suspension device, for example, to maintain the horizontal position of the object suspension device during object connection or disconnection. Compared to controlling the horizontal position solely through a combination of rotary motion and articulated arm component motion, this control is more efficient and / or more responsive and / or more accurate and / or more energy efficient.

[0168] The present invention also relates to a marine articulated boom crane, comprising:

[0169] -Base,

[0170] - The crane housing, which rotates relative to the base about a vertical axis of rotation.

[0171] - A folding boom assembly attached to the crane housing, the folding boom assembly comprising:

[0172] - The main boom, having an outer end, a top side, a bottom side, opposing sides, and an inner end pivotally connected to the crane housing about a first horizontal pivot axis.

[0173] - A cantilever, for example, at its outer end, is pivotally connected to the main boom via a pivoting structure, the cantilever having a central longitudinal axis.

[0174] - Main boom pitch mechanism, configured to allow the main boom to pivot up and down relative to the crane housing.

[0175] - A cantilever pivoting mechanism configured to pivot the forked cantilever relative to the main boom between a folded position and an extended position of the articulated boom assembly, in which the cantilever folds back relative to the main boom.

[0176] - A lifting system, comprising at least one offset pulley mounted on a cantilever.

[0177] The cantilever is a collapsible fork-shaped cantilever, comprising first and second cantilever branches, each pivotally mounted such that it pivots between a deployed configuration and a collapsed configuration. In the deployed configuration, the cantilever branches radiate outwards and towards the ground, while in the collapsed configuration, the cantilever branches are closer to the central longitudinal axis. For example, the cantilever branches each have a first cantilever tip and a second cantilever tip. A first offset pulley of the lifting system is mounted on the first cantilever branch, for example, near the first cantilever tip, and a second offset pulley of the lifting system is mounted on the second cantilever branch, for example, near the second cantilever tip, such that in the deployed configuration, the first and second offset pulleys are laterally spaced apart from each other on opposite sides of the central longitudinal axis of the fork-shaped cantilever.

[0178] The lifting system further includes:

[0179] - The third offset pulley, which is mounted to the main boom and / or crane housing.

[0180] - One or more winches, such as the first, second, and third winches, for example, one or more winches are mounted on the crane housing.

[0181] - The first cable, driven by one of the one or more winches.

[0182] - A second cable, which is driven by one of the one or more winches.

[0183] - A third cable, driven by one of the one or more winches.

[0184] - An object suspension device configured to be attached to an object to be moved by a crane.

[0185] The first, second, and third cables are each connected to the object suspension device and are respectively transmitted to the corresponding winches of the one or more winches via the first, second, and third offset pulleys. The first, second, and third cables together define an inverted pyramid shape that radiates upward from the object suspension device when the object is being moved.

[0186] The present invention also relates to a collapsible fork-shaped cantilever configured for mounting to the main boom of an offshore articulated boom crane. The fork-shaped cantilever includes first and second cantilever branches, each pivotally mounted such that the first and second cantilever branches pivot between a deployed configuration and a collapsed configuration of the fork-shaped cantilever. In the deployed configuration, the cantilever branches radiate outwards and towards the ground. In the collapsed configuration, the cantilever branches are closer to the central longitudinal axis, for example, the cantilever branches each having a first cantilever tip and a second cantilever tip. A first offset pulley is mounted on the first cantilever branch, for example, near the first cantilever tip, and a second offset pulley is mounted on the second cantilever branch, for example, near the second cantilever tip, such that in the deployed configuration, the first and second offset pulleys are laterally spaced apart from each other at opposite sides of the central longitudinal axis of the fork-shaped cantilever.

[0187] The present invention also relates to an active suspension adjustment mechanism as described herein, wherein the active suspension adjustment mechanism is in the form of one-fold, two-fold, or three-fold actuation.

[0188] The present invention also relates to a crane having a lifting system, the lifting system comprising:

[0189] -First deviating pulley

[0190] -Second offset pulley,

[0191] -Third offset pulley,

[0192] - One or more winches

[0193] - The first cable, which is driven by one or more winches,

[0194] - A second cable, which is driven by one or more winches,

[0195] - A third cable, which is driven by one or more winches.

[0196] - An object suspension device configured to be connected to an object to be moved by a crane, wherein the object suspension device is provided with first, second, and third return pulleys.

[0197] The first, second, and third cables are each connected to the object suspension device in a multi-rope (preferably double-rope) arrangement, and are transmitted from the corresponding winch to the corresponding first, second, and third return pulleys via the first, second, and third offset pulleys, reaching the cable terminals. The first, second, and third cables together define an inverted pyramid shape, which radiates upwards from the object suspension device during object handling.

[0198] The crane described herein is equipped with an active suspension adjustment mechanism as described herein.

[0199] The present invention also relates to a method for moving an object using a crane, wherein the active suspension adjustment mechanism is used to position the object suspension device primarily horizontally when the object is connected to the object suspension device, and wherein the one or more winches are primarily used for the vertical movement of the object suspension device.

[0200] For example, cranes are used to move objects from and to floating vessels, such as during ship-to-ship transfers, for example, between supply ships and drilling ships.

[0201] The present invention also relates to a vessel equipped with a crane as described herein, such as a drilling vessel.

[0202] The crane and / or vessel may also be configured for handling very large offshore structures, such as elongated and / or heavy structures, such as offshore wind turbines and / or their bases (e.g., piles, such as monopiles). For example, the vessel may be a wind turbine installation vessel.

[0203] The present invention also relates to a boom type cantilever for an offshore articulated boom crane as described herein, configured, for example, as a retrofit of an existing articulated boom crane to the boom of the articulated boom crane.

[0204] The present invention also relates to a method for retrofitting a marine articulated boom crane, wherein the method includes removing the boom and mounting a marine articulated boom expander type boom and a third offset pulley as described herein on the main boom or the crane housing, and providing a three-cable lifting system as described herein.

[0205] The present invention also relates to the ship-to-ship transfer of objects, wherein a crane, as described herein, is used to transfer objects, for example, between a supply ship and a drilling ship. Attached Figure Description

[0206] The invention will now be described with reference to the accompanying drawings. In the drawings:

[0207] Figure 1a A first embodiment of the crane according to the present invention is shown in perspective.

[0208] Figure 1b The first implementation scheme is shown in another 3D view and three enlarged detail views.

[0209] Figure 1c The first implementation scheme is shown in another 3D view and another enlarged detail view.

[0210] Figure 2a The previous view shows the first implementation scheme.

[0211] Figure 2b The first implementation scheme is shown in a side view.

[0212] Figure 2c The first implementation scheme is shown in top view.

[0213] Figure 2d The forked cantilever of the first implementation scheme is shown.

[0214] Figures 3a-3c The cantilever of a second embodiment of the crane according to the invention is shown in a side view and two top views.

[0215] Figure 4a , Figure 4b A second embodiment of the crane according to the invention is shown in side and top views.

[0216] Figure 4c The second implementation scheme is shown in three locations using side views.

[0217] Figure 5a Display of floating drilling vessels Figure 4a , Figure 4b The cranes are used to transfer objects between the drilling ship and the supply ship.

[0218] Figure 5b , Figure 5cThe exhibition showcases cranes on drilling ships in multiple locations.

[0219] Figures 6a-6c The lifting system and active suspension adjustment system according to the present invention are schematically shown in a two-dimensional visual display.

[0220] Figure 6d Schematic display using 3D visuals Figures 6a-6c The lifting system and active suspension adjustment system,

[0221] Figures 6e-6f The lifting system and another active suspension adjustment system according to the present invention are schematically shown in a two-dimensional visual display.

[0222] Figure 6g Schematic display using 3D visuals Figures 6e-6f The lifting system and active suspension adjustment system,

[0223] Figures 7a-7b The cantilever of a third embodiment of the crane according to the invention is schematically shown in side and top views.

[0224] Figure 7c The suspension device is schematically shown in a three-dimensional view from the lifting cable of the third embodiment.

[0225] Figure 8a , Figure 8b The cantilever of a fourth embodiment of the crane according to the present invention is schematically shown in side and top views.

[0226] Figure 9 A schematic comparison of the spatial arrangement of the off-pulley in three inverted pyramid configurations of cables is shown.

[0227] Figure 10 A fifth embodiment of the crane according to the invention is shown.

[0228] Figure 11 A sixth embodiment of the crane according to the present invention is shown. Detailed Implementation

[0229] Figures 1, 2, and 3 illustrate a first embodiment of a marine folding boom crane 1 according to the present invention. For example, the crane 1 is implemented for handling ISO shipping containers, such as 40-foot containers, and other objects. For example, crates used for transporting drill pipes, such as drill casings, etc., will be handled by the crane. For example, the objects to be handled may have a maximum weight of 50 tons. As illustrated herein, the inventive concept can be applied to cranes larger and smaller than those shown in the figures.

[0230] The marine articulated boom crane 1 includes a base 2a, a crane housing 2b that rotates relative to the base 2a about a vertical rotation axis 3v, and an articulated boom assembly 3 attached to the crane housing 2b. A slewing bearing 2f is present between the base 2a and the crane housing.

[0231] The base 2a can be a closed-profile hollow box-shaped base, for example, having a four-sided horizontal cross-section as shown. For example, it is also possible as a cylindrical hollow base or other embodiments as an open frame structure.

[0232] In this example, the crane housing 2b is provided with an operator's cabin 2c for accommodating human crane operators.

[0233] The base 2a is provided with an access platform 2a1 extending around the base 2a, and the crane housing 2b is provided with a ladder 2d, thereby allowing the crane operator to access the operator's compartment 2c via the access platform and the ladder. For example, as here, the base is provided with a stepped arrangement 2e to access the raised access platform 2a1.

[0234] The articulated boom assembly 3 consists of a main boom 4 and a spreader-type cantilever 5 (here, a collapsible fork-shaped cantilever).

[0235] The main boom 4 has an inner end 41 pivotally connected to the crane housing 2b about a first horizontal pivot axis 3h1, and an outer end 43. The main boom 4 is a rigid integral structure, for example, made of steel.

[0236] The main boom has a top side 4a, a bottom side 4b, and opposite sides. The cross-section of the main boom may be rectangular for most of its length (as shown), but other cross-sections such as cylindrical, triangular, elliptical, octagonal, etc., are also possible.

[0237] The main boom pitching mechanism, comprising a pair of parallel hydraulic cylinders 31, is mounted between the housing 2b and the main boom 4 and configured to achieve pitching motion of the main boom 4 relative to the crane housing 2a.

[0238] In another embodiment of the pitch mechanism, the crane housing 2a extends in the direction of the pitch pivot axis, and the cable-type pitch mechanism extends between the raised position of the housing (e.g., the top of the housing) and the main boom.

[0239] The articulated boom assembly 3, attached to the crane housing 2b, can rotate relative to the base 2a about a vertical axis of rotation 3v. This is generally referred to as the slewing motion of the crane 1. Preferably, the housing 2b can rotate approximately 360 degrees, but a more limited range of rotation is also possible. A slewing drive is provided to achieve the slewing motion about the axis 3v.

[0240] The fork-shaped cantilever 5 includes:

[0241] -Cantilever base 52, which is pivotally connected to the main boom 4 about a second horizontal pivot axis 3h2, preferably connected to the outer end 43 of the main boom 4.

[0242] - A first cantilever branch 56 and a second cantilever branch 57, each having a first cantilever tip 53 and a second cantilever tip 54. In this document, the first and second cantilever branches radiate laterally outward from the cantilever base 52 relative to the central longitudinal axis 5g of the forked cantilever 5, such that the first cantilever tip 53 is arranged to be spaced laterally from the second cantilever tip 54 relative to the central longitudinal axis 5g.

[0243] A fork-shaped cantilever pivoting mechanism 32 with a single hydraulic cylinder 32 is mounted between the main boom 4 and the cantilever base 52 and configured to pivot the fork-shaped cantilever 5 relative to the main boom 4 to fold and extend the cantilever 5.

[0244] The actuator cylinder body of actuator cylinder 32 is connected to the bottom side of main boom 4 on the cap side, so that the piston rod extends from the actuator cylinder body on the cap side. Main boom 4 is provided with a slot 14 near this actuator cylinder 32, thereby allowing the actuator cylinder body to move into the slot, for example, when the cantilever is folded to its maximum folded position. Preferably, the slot 14 extends from the bottom side to the top side of main boom 4, thereby allowing the actuator cylinder to protrude above the main boom during folding.

[0245] As illustrated herein, in alternative designs, the pivoting of the main boom and / or cantilever can be achieved via a mechanism including a winch and cables. For example, cantilever 5 can be implemented with a lever structure opposite to the extender-type structure, pivoting relative to axis 3h2. A cable mechanism can then be used to extend the cantilever. If necessary, pull-in cables and winches can be provided to pull the cantilever into complex folded positions.

[0246] Crane 1 further includes a lifting system 6, the lifting system comprising:

[0247] - The first offset pulley 61a on the first cantilever branch 56 is mounted near the tip 53 of the first cantilever.

[0248] - The second offset pulley 62a on the second cantilever branch 57, which is mounted near the tip 54 of the second cantilever.

[0249] - The third offset pulley 68 is installed on the main boom 4.

[0250] - One or more winches, here designated as the first, second, and third winches 671, 67b, and 67c, said one or more winches being mounted on the crane housing 2b.

[0251] - First cable 63, which is driven by first winch 67a

[0252] - The second cable 64, which is driven by the second winch 67b.

[0253] - The third cable 65, which is driven by the third winch 67c.

[0254] - An object suspension device 66 is configured to be connected to an object 102 to be moved by a crane 1.

[0255] As can be seen, the first, second, and third cables 63, 64, and 65 are each connected to the object suspension device 66, and are transmitted to the corresponding winches via the first, second, and third offset pulleys 61a, 62a, and 68, respectively. The first, second, and third cables 63, 64, and 65 together define an inverted pyramid shape, which radiates upward from the object suspension device 66 when the object 102 is being transported.

[0256] In Figures 1, 2, and 3, the object suspension device 66 is suspended in a double-rope arrangement via each of the first, second, and third cables 63, 64, and 65. The lifting system 6 further includes corresponding first, second, and third return pulleys 71, 72, and 73 connected to the object suspension device 66 for the first, second, and third lifting cables, which extend over their respective return pulleys 71, 72, and 73.

[0257] The forked cantilever 5 here is a stackable forked cantilever, wherein the first and second cantilever branches 56 and 57 are each pivotally mounted to the cantilever base 52 about their respective cantilever branch pivot axes 56v and 57v, such that the first and second cantilever branches 56 and 57 are in a stacked configuration of the forked cantilever 5. Figure 3b Pivot between ) and unfolded configuration.

[0258] Each of the first and second cantilever branches 56 and 57 pivots between the following positions:

[0259] -Collapse position, where the branch extends parallel to the central longitudinal axis of the forked cantilever ( Figure 3b ),

[0260] - One or more unfolded positions, wherein the angle 55α between the diverging first cantilever branch 56 and the second cantilever branch 57 is between 20° and 80°, for example, 40° as shown, and for example, the corresponding cantilever branch angles 56α, 57α both have an angle of 20° relative to the central longitudinal axis 5g of the fork cantilever.

[0261] Figure 5aCrane 1 is shown here, and there are two cranes 1 installed next to the deck box of the semi-submersible vessel 101 (here, the drilling vessel 101) to facilitate the transfer of objects between the vessel 101 and the supply vessel 105.

[0262] Figure 5a As can be seen, when the entire cantilever is to be positioned within the outline of the ship's deck, a rigid fork-shaped cantilever requires a considerable amount of space when folded. Positioning the entire cantilever within the outline of the ship's deck is a common requirement. The foldable cantilever configuration allows the folding articulated boom assembly to have dimensions similar to existing articulated boom cranes. This allows the folded boom to be positioned parallel to the side of the ship.

[0263] In this embodiment of Figure 1, the first and second cantilever branches 56 and 57 are symmetrically pivoted to an extended configuration of the fork cantilever via a common cantilever branch actuator 59, such that the corresponding cantilever branch angles 56α and 57α relative to the central longitudinal axis 5g of the fork cantilever are equal to each other.

[0264] In this example, a cantilever branch actuator 59 is configured to drive the pivoting of the first and second cantilever branches 56, 57 to change the divergence angle 55α between them. Here, the cantilever branch actuator 59 is arranged between the cantilever base 52 and the two cantilever branches 56, 57. In an alternative embodiment, the actuator 59 is arranged between the cantilever branches 56, 57.

[0265] More specifically, Figures 1, 2, and 3 illustrate that the collapsible fork cantilever 5 includes a cantilever branch actuator, such as a linear cantilever branch actuator, like an actuation cylinder 59, which is mounted to the cantilever base 52 and configured to extend and retract along a central longitudinal axis 5g to move a movable segment (e.g., a piston rod) of the collapsible fork cantilever 5. The collapsible fork cantilever 5 further includes first and second transverse rods 58, each having a longitudinal end pivotally connected to the movable segment and a other longitudinal end pivotally connected to first and second branches 56, 57, respectively, such that the extension and retraction of the cantilever branch actuator 59 pivots each of the cantilever branches 56, 57 about a corresponding pivot axis 56v, 57v via the transverse rods 58 and moves the cantilever branch between the collapsible and extended configurations.

[0266] As shown, the transverse bar 58 and the cantilever branch actuator 59 form a locking mechanism configured to secure the cantilever branches 56 and 57 in the extended configuration, for example, to withstand collapse caused by objects being moved by a crane and by cables 63 and 64 pushing the cantilever branches 56 and 57 into the collapsed configuration. An additional locking mechanism may also be provided to prevent uncontrolled collapse of the cantilever branches.

[0267] For example, as shown here, the first and second lateral levers 58 are pivoted to a locked position (e.g., above the center position), in which the inner ends of levers 58 have moved beyond the dotted line passing through the outer ends of levers 58, such that the collapse of the cantilever branch can only be achieved by actuation movement through the inner end of actuator 59. This is an example in... Figure 3c It is displayed in the middle.

[0268] Winches 67a, 67b, and 67c are distinct and independently operable winches. In an embodiment, one or more of winches 67a, 67b, and 67c are implemented as AHC winches.

[0269] The winches 67a, 67b, and 67c are preferably mounted on the crane housing 2b.

[0270] Cable guide pulley 85 for the first cable 63 and cable guide pulley 86 for the second cable 64 are mounted at the outer end 34 of the main boom 4, which is preferably rotatable about an axis that coincides with the second horizontal pivot axis 3h2.

[0271] Another guide pulley 87 for the first cable 63 and a guide pulley 88 for the second cable 64 are mounted to the cantilever base 51, for example, each rotating about an axis that coincides with the pivot axis 56v, 57v of the corresponding cantilever branch.

[0272] A cable guide pulley 89 for the third cable 65 is mounted at the outer end of the main boom 4, wherein the cable 65 is passed from the corresponding winch 67c to the pulley along the top side of the main boom. Here, the cable 65 is guided to the bottom side of the main boom 4 to extend to the third offset pulley.

[0273] Figures 1, 2, and 3 show that the cantilever base 52 has a main body 52a, which is provided with laterally spaced bracket arms 52b at its inner end, each of which is pivotally connected to the main boom 4 at its outer end 43. Cantilever branches 56 and 57 are each pivotally connected to the main body 52a of the cantilever base.

[0274] As shown, the third offset pulley 68 is attached to the main boom 4. Alternatively, the pulley may be attached to the crane housing 2b, or to a structure extending between the main boom 4 and the crane housing 2b, such as to a pivot mechanism for the main boom.

[0275] The third offset pulley 68 is located between the pair of boom pivot actuator cylinders 31, and is therefore closer to the inner end of the main boom 4 than the point where the boom pivot actuator cylinder 31 engages with the main boom.

[0276] When the articulated arm component 3 is in its folded position ( Figure 4aWhen the third offset pulley 68 is positioned closer to the inner end 41 of the main boom 4 than either of the offset pulleys 61a or 62a on the cantilever branches 56 and 57, this allows for enhanced stability of the object suspension device 66, regardless of the angular orientation of the main boom 4 and the cantilever 5. Thus, as shown in Figure 1, a relatively wide and stable angle is achieved between the cables 63, 64, and 65, even when lifting is performed at a relatively close range from the base 2a.

[0277] For example, the base 2 is configured to be stably and securely (e.g., welded) to a vessel or another offshore structure. For example, as shown, vessel 101 is a floating drilling vessel, such as a semi-submersible vessel used for drilling seabed boreholes. For example, the base is welded to the vessel's deck box structure on one side.

[0278] For example, as shown, base 2 is secured to the outside of the deck box structure of a semi-submersible vessel or the outside of the hull of another type of vessel.

[0279] For example, crane 1 will be used to transfer object 102 between the deck of supply ship 105 and the deck of another vessel 101, said crane being mounted on said vessel.

[0280] For example, crane 1 is mounted on a vessel with a deck positioned above the deck of supply ship 105, where the object to be lifted is located. It should be understood that a similar object transfer exists between supply ship 105 and a stable offshore platform. Typically, in the case of supply ship 105, crane 1 would be positioned on another vessel or offshore platform with a higher deck.

[0281] The object to be transported 102 is, for example, a drill pipe, such as a crate containing drill pipes such as drill strings or casings. Or the object is a shipping container, or any other object.

[0282] The main boom 4 has a longitudinal main boom axis 4g, an inner end 41 and an outer end 43.

[0283] The inner end 51 of the cantilever 5 is pivotally connected to the outer end 43 of the main boom 4 about the second horizontal pivot axis 3h2 so that the cantilever angle 5γ of the cantilever 5 can be adjusted.

[0284] As shown in the figure, the cantilever 5 pivots about a second horizontal pivot axis 3h2 at least between the extended position 3e of the articulated boom assembly 3 and the folded position 3f of the articulated boom assembly 3, in which the cantilever 5 is folded back below the main boom 4, for example, in view of the compact parking of the crane when it is not in use.

[0285] For example, in the folded position, the central longitudinal axis 5g can extend substantially parallel to the bottom side of the main boom 4. Correspondingly, in the folded position 3f, the cantilever angle 5γ can approach zero.

[0286] With or without the boom support, the articulated boom assembly can be parked in a folded position, wherein the main boom 4 is generally horizontal, as is known in the art.

[0287] It is also possible to park the articulated boom assembly in an extended position, such as with the cantilever branch resting on a support, for example on the deck of a vessel, or with the cantilever branch extended in the parking position to provide an additional stable parking position.

[0288] For example, as here, the object suspension device 66 is implemented with a hook.

[0289] For example, the hook is an adjustable hook that can rotate about a vertical axis in device 66. For example, the rotating motion is controlled by the rotating drive of device 66.

[0290] In one embodiment, the object suspension device 66 includes a lifting frame suspended from a hook, wherein the lifting frame can be connected to the object to be transported, such as an elongated crate or a shipping container.

[0291] In the implementation, the object suspension device 66 and / or any lifting frame from which to be suspended to be connected to the object to be transported is provided with a gyroscope stabilizer.

[0292] As shown, the third offset pulley 68 is located relatively close to the inner end 41 of the main boom 4 along the longitudinal axis 4g of the main boom 4. This creates a relatively large vertical angle for the cables 63, 64, and 65, thereby promoting the stability and controllability of the object suspension device 66 and the connected object 102.

[0293] When the articulated boom assembly 3 is in the fully folded position 3f, the third offset pulley 68 is positioned closer to the inner end 41 along the longitudinal axis 4g of the main boom 4 than to the cantilever tips 53, 54 and / or pulleys 61a, 62a. This ensures stability of the object suspension device during crane operation. It also allows the third cable 65 to extend along the longitudinal direction 4g of the main boom 4 on one side of the object suspension device 66 at the inner end 41 of the main boom 4, while the first and second cables 63, 64 extend longitudinally on the other side of the object suspension device 66. This reduces the risk of cable tangling and facilitates cable travel along the offset pulleys 61a, 62a, 68.

[0294] The pivoting of the cantilever 5 about the second horizontal pivot axis 3h2 is driven by the controlled extension and retraction of the hydraulic cylinder 32, which can operate between the main boom 4 and the cantilever 5, thereby pivotally mounting the cantilever to the main boom and the cantilever base 52.

[0295] Figures 1, 2 and 3 show that the cantilever branches 56 and 57 constitute the main part of the cantilever length, and the cantilever base 52 constitutes only a small part, so that the fork-shaped cantilever 5 has a substantially V shape when in the deployed configuration.

[0296] As shown, the first and second cantilever branches 56 and 57 are each pivotally mounted to the cantilever base 52, such that the first and second cantilever branches pivot about and away from the central longitudinal axis 5g of the cantilever 5 about the respective cantilever branch pivot axes 56v and 57v. The pivotability of the cantilever branches 56 and 57 enables variability in the lateral distances from the pulleys 61a and 62a.

[0297] In this embodiment, cantilever branches 56 and 57 pivot together, and the cantilever branch angles 56α and 57α relative to the central longitudinal axis 5g of cantilever 5 remain equal to each other.

[0298] Figure 1a The first offset pulley 61a and the first guide pulley 69 are shown mounted laterally adjacent to each other near the tip 53 of the first cantilever. The first cable 63 is shown to pass through the first offset pulley 61a, wrap around the first return pulley 71, return to the guide pulley 69, and terminate at a fixed position 63c, where it is secured to the cantilever branch 56.

[0299] Similarly, the second cable 64 extends via the second deflector pulley 62a mounted near the tip 54 of the second cantilever to the second return pulley 72, and returns to the second guide pulley 69 mounted laterally adjacent to the second deflector pulley 62a and the terminal fixing position 64c, where the second cable 64 is fixed to the cantilever branch 57.

[0300] The adjacent arrangement of the offset pulleys 61a, 62a and the first and second guide pulleys 69 and the fixed positions 63c, 64c are shown in detail.

[0301] It is also shown that the third offset pulley 68 and the third guide pulley 69 (the third lifting cable 65 extends on the third offset pulley 68 and the third guide pulley 69) are mounted adjacent to each other on the boom 4.

[0302] See details Figure 1b The offset pulleys 61a and 62a and the first and second guide pulleys 69 each pivot about the longitudinal axes 56g and 57g parallel to the first and second cantilever branches 56 and 57, respectively.

[0303] Figures 1 and 2 show in detail the arrangement of the first, second, and third winches 67a, 67b, and 67c on the crane housing 2, and the implementation schemes in which the first, second, and third lifting cables 63, 64, and 65 extend from the first, second, and third winches 67a, 67b, and 67c, respectively.

[0304] Furthermore, Figures 1 and 2 also illustrate in detail an embodiment in which the offset pulley and its associated guide pulley, mounted adjacent to the offset pulley, are pivotally mounted near the tip of the cantilever. They are mounted pivotally around an indicated pivot axis, such as parallel to the longitudinal axis of the cantilever branch, which also indicates the pivot direction.

[0305] As best seen, the third offset pulley 68 and the adjacent third guide pulley 69 can also be mounted to the boom 4 in the same manner for pivoting. The pivoting installation allows these pulleys to remain aligned with the lifting cable at their different vertical lifting cable offset angles 63γ, 64γ, and 65γ.

[0306] Figure 1b The details show the pivoting mounting of return pulleys 71, 72, and 73 to the object suspension device 66. The return pulleys pivot in two perpendicular directions, a first direction indicating the first return pulley 71 and a second direction indicating the second return pulley 72. This pivotability facilitates the operation of offset pulleys 61a, 62a, and 68, as it allows them to align with the cable at different vertical offset angles 63γ, 64γ, and 65γ, which can be changed, for example, during the lifting and lowering of the object and during the pivoting of cantilever branches 56 and 57.

[0307] Figures 2a-2d Indicates the longitudinal axes 4g, 5g, 56g, and 57g of each main boom 4, cantilever 5, and first and second cantilever branches 56 and 57, the first and second horizontal pivot axes 3h1 and 3h2, and the main boom angles 4γ and 5γ resulting from pivoting the main boom 4 and cantilever 5 around them.

[0308] To facilitate the operation of the offset pulleys 61a, 62a, and 68, the crane 1 is capable of aligning the offset pulleys 61a, 62a, and 68 with the cables 63, 64, and 65 as the corresponding vertical angles 63γ, 64γ, and 65γ change. The offset pulleys 61a and 62a are thus pivotally mounted to the tips 53 and 54 of the first and second cantilever arms, respectively, to allow alignment of the offset pulleys 61a and 62a with the first and second cables 63 and 64 as the vertical angles 63γ and 64γ change, including during the lifting and lowering of the object suspension device 66 and during the pivoting of the boom 4 and / or cantilever 5 about the horizontal pivot axes 3h1 and 3h2. The third offset pulley 68 is also pivotally mounted to the main boom 4 in a similar manner to enable alignment with the third lifting cable 65.

[0309] Figures 1, 2, and 3 also show the configuration of the double-actuated active suspension adjustment mechanism 7. (Reference) Figures 6a-6d This organization will be explained in more detail.

[0310] In the implementation, one or two cantilever branches are also configured to secure a tool to its cantilever tip, such as a linear gripping tool, for example, for anchor handling operations.

[0311] Figures 3a-3c , Figures 4a-4c A second embodiment of the crane 1 according to the invention is shown. The crane 1 largely corresponds to the crane according to the first embodiment, such that the above description associated with it also applies to this second embodiment.

[0312] According to the second embodiment, the lifting system 6 of the crane 1 includes a fourth offset pulley 61b in addition to the first offset pulley 61a, which is also mounted to the tip 53 of the first cantilever. The lifting system 6 also includes a fifth offset pulley 62b mounted to the tip 54 of the second cantilever, in addition to the second offset pulley 62a. In the second embodiment, whether the first cable 63 extends from the first offset pulley 61a or the fourth offset pulley 61b, and whether the second cable 64 extends from the second offset pulley 62a or the fifth offset pulley 62b, depends on the position of the cantilever 5.

[0313] The first and fourth offset pulleys 61a and 61b are mounted to the tip 53 of the first cantilever to extend in the same plane, wherein the first cable 63 extends between the first offset pulley 61a and the fourth offset pulley 61b, such that in more folded positions of the cantilever 5, the first cable 63 extends on the fourth offset pulley 61b, see Figure 4a .exist Figure 5b In the multiple extension positions of the cantilever 5 shown in the diagram, the first cable 63 extends on the first offset pulley 61a.

[0314] Accordingly, the second and fifth offset pulleys 62a and 62b are mounted to the tip 54 of the second cantilever to extend in the same plane, wherein the second cable 64 extends between the second offset pulley 62a and the fifth offset pulley 62b, such that in a slightly folded position of the cantilever 5, the second cable 64 extends on the fifth offset pulley 62b, and in a more extended position of the cantilever 5, the second cable 64 extends on the second offset pulley 62a.

[0315] It is possible that, in the implementation scheme, with the cantilever 5 in a compact folded position, the crane 1 can use the cantilever 5 to lift the object 102 at only a small angle to the main boom 4, such that the cantilever tips 53 and 54 are close to the main boom 4, as... Figure 4aAs shown, maintaining the upwardly radiating inverted pyramid configuration of cables 63, 64, and 65 ensures that the cantilever 5 retains its advantages in this position. Furthermore, the inverted pyramid configuration is maintained when the cantilever is moved from this folded position to a more extended or forward position, such as during lifting.

[0316] Figure 3b The cantilever branches 56 and 57 are shown in a stacked configuration, and Figure 3c The cantilever branches 56 and 57 are shown in an extended configuration. As described relative to the first embodiment, the cantilever branches 56 and 57 pivot about their respective cantilever branch pivot axes 56v and 57v relative to the central longitudinal axis 5g of the cantilever 5 via the operation of the actuating cylinder 59. The lateral rod 58 is... Figure 3c It is displayed in the locked position.

[0317] The object suspension device 66 is suspended via cables 63, 64, and 65 in a double-rope arrangement. Figure 4a As can be seen, Figure 4a The first and third return pulleys 71 and 73 are shown. The double-rope arrangement has been discussed for the first implementation scheme and is also applicable to this implementation scheme.

[0318] Crane 1 preferably includes an active suspension adjustment mechanism 7. A preferred embodiment of the active suspension adjustment mechanism 7, together with the lifting system 6, Figures 6a-6d The diagram is shown schematically. Components of mechanism 7 are also visible in other illustrations of crane 1, but can be referenced elsewhere. Figures 6a-6d To best understand the structure and operation.

[0319] Figures 6a-6d Demonstrates a twice-actuated active suspension adjustment mechanism 7.

[0320] In general terms, mechanism 7 allows the suspension device 66 to move substantially horizontally while the articulated boom assembly 3 is held in a constant position, thus maintaining the cantilever angle 5γ and boom angle 4γ when the winches 67a-67c are stable. Of course, the operation of the mechanism can be combined with the movement of the articulated boom assembly 3 and / or with (as needed) variations in the length of one or more of the cables 63, 64, 65.

[0321] To understand mechanism 7, it is easy to consider the scenario where the articulated arm assembly 3 remains in a constant position and the winches 67a-67c are stable. Figure 5b The operation of mechanism 7 is shown. As shown, mechanism 7 is used to position the object suspension device 66 in a horizontal plane.

[0322] More in detail, Figure 5bThe illustrated mechanism 7 is used in the process of positioning a device 66, which may have an object 102, relative to the supply ship 105 (here, its deck 106). Typically, the supply ship 105 has a housing superstructure 107 containing a bridge at the bow of the supply ship 105 and a deck 106 at the stern of the supply ship 105.

[0323] This positioning is performed, for example, as part of the transfer of object 102 between supply ship 105 and another vessel 101 (e.g., a drilling ship). Figure 5a As shown, supply ship 105 has an object 102 loaded on its deck 106, which is to be lifted by crane 1, located on another vessel 101, to a higher deck of that other vessel 101. For example, as in Figure 5a In the middle, object 102 is a crate filled with pipe fittings such as drilling pipes and casings.

[0324] To attach device 66 to the selected object 102 on the deck, device 66 needs to be positioned appropriately above the object 102 to be lifted from the deck. This is difficult to achieve by rotating crane 1 and / or folding / extending boom assembly 3 and / or moving cantilever branches 56, 67 (where possible) due to, for example, the inertia of these rather heavy components. Mechanism 7 allows for a more precise positioning of device 66.

[0325] Figure 5b The operation of mechanism 7 is shown in the diagram. Preferably, in the embodiment, the crane 1 and mechanism 7 enable the device 66 to be moved horizontally and positioned at various locations distributed on the deck 106 of the supply ship solely by the operation of mechanism 7. Figure 5c As shown, in the absence of mechanism 7 or without its use, significant movement of the boom assembly 3 is required to achieve the same horizontal displacement of device 66. As mentioned, it is also possible to combine the operation of mechanism 7 with the movement of the crane (e.g., folding / extending the boom assembly).

[0326] Figure 6a The diagrammatically presented in a two-dimensional view shows how the components of the lifting system 6 and the active suspension adjustment mechanism 7 on the crane 1 interact with each other, without considering the physical structure and position of the components, in order to provide an understanding of the working principle of the active adjustment mechanism 7.

[0327] The effect of operating this adjustment mechanism 7 is presented in a simplified manner. Figure 6b and Figure 6c It is displayed in the middle. Figure 6d The arrangement of the components of the lifting system 6 and the adjusting mechanism 7 is shown in a 3D view.

[0328] The double-actuated active suspension adjustment mechanism 7 includes a first pulley pair 74 and a second pulley pair 75. Each of the pulley pairs 74 and 75 includes a primary pulley and a secondary pulley, which are interconnected to allow a pair of first cables 63, a pair of second cables 64, and a pair of third cables 65 to travel in opposite directions on one pulley of the pair of cables.

[0329] Mechanism 7 further includes a first adjusting actuator 77 and a second adjusting actuator 78, each configured to move a first pulley pair 74 and a second pulley pair 75, respectively, along the direction in which the paired cables extend on the pulleys. Actuators 77 and 78 are not shown in Figure 1. Because the cables extend in opposite directions, the pulley pairs are loaded with the weight of the object in opposite directions, and therefore this load is not placed on actuators 77 and 78. This is advantageous given the requirements for dynamic control of these actuators, the connection from the actuators to the main boom (if present), and these pulley pairs 74 and 75.

[0330] Preferably, pulley pairs 74, 75 and adjusting actuators 77, 78 are mounted on the main boom 4, for example, one or more winches 67a-67c are mounted on the crane housing 2b. Preferably, pulley pairs 74, 75 and adjusting actuators 77, 78 are mounted on the top side of the main boom 4. In another embodiment, each pulley pair is mounted along one side of the main boom 4. In another more complex embodiment, mechanism 7 is placed on or within the crane housing, or even in the base or below the deck.

[0331] Preferably, the pulley pairs 74 and 75 are movable in the longitudinal direction of the main boom 4 within the range of motion, and the motion is controlled by the corresponding adjusting actuators 77 and 78.

[0332] The first cable 63 passes from the corresponding winch 67a via:

[0333] -The first pulley pair is the primary pulley of 74.

[0334] -First offset pulley 61a,

[0335] -First return pulley 71,

[0336] The terminal 63c of the first cable 63, which is wound around the first cantilever branch 56, is fixed at a certain position.

[0337] The second cable 64 passes from the corresponding winch 67b via:

[0338] -The second pulley is paired with the primary pulley at 75 degrees.

[0339] -Second offset pulley 62a,

[0340] -Second return pulley 72

[0341] The terminal 64c of the second cable 64, which is wound around the second cantilever branch 57, is fixed at a position.

[0342] The third cable 65 passes from the corresponding winch 67c via:

[0343] -The second pulley is paired with the secondary pulley at 75°.

[0344] -Third offset pulley 68

[0345] - Third return pulley 73

[0346] - The third guide pulley 69 is paired with the third return pulley 68 on the main boom or on the crane housing.

[0347] -The first pulley is paired with the secondary pulley of 74.

[0348] The terminal 65c of the third cable 65, which is threaded onto the main boom or the outer casing of the crane, is fixed in place.

[0349] The first adjustment actuator 77 is configured to move the first pulley pair 74 to selectively increase or decrease the length of the first cable 63 between the corresponding winch 67a and the first offset pulley 61a, while simultaneously decreasing or increasing the length of the third cable 65 between the third guide pulley 69 and the terminal 65c of the third cable.

[0350] The second adjustment actuator 78 is configured to move the second pulley pair 75 to selectively increase or decrease the length of the second cable 64 between the corresponding winch 67b and the second offset pulley 62a, while simultaneously decreasing or increasing the length of the third cable 65 between the winch 67c and the third offset pulley 68.

[0351] As shown here, preferably, the first and second adjustment actuators 77, 78 are each implemented as first and second adjustment actuator cylinders, such as hydraulic cylinders, with the longitudinal end of each of the first and second adjustment actuators 77, 78 fixed to the main boom 4, and the other longitudinal end fixed to the associated pulley pair 74, 75, respectively, such that shortening or lengthening of the first and / or second adjustment actuator cylinders 77, 78 causes the first and / or second pulley pair 74, 75 to move respectively in the direction along which the cable extends on its pulley.

[0352] The effect of this mechanism is Figures 6b-6c The diagram shows, in a simplified manner, the triangular interconnections of cables 63, 64, and 65, indicating... Figure 6a The imaginary dashed triangle is used for confirmation.

[0353] The object suspension device 66 is composed of and Figure 6aThe same circle indicates that the object suspension device 66 is connected to three cables 63, 64, and 65.

[0354] exist Figure 6b In the simplified top view, curved trajectory 66.1 shows the movement of device 66 when only pulley pair 74 is moved by the corresponding adjusting actuator 77. Curved trajectory 66.2 shows the movement of device 66 when only pulley pair 75 is moved by the corresponding adjusting actuator 78. The curved trajectories 66.1 and 66.2 of device 66 moving in the horizontal plane are determined by the positions of the offset pulleys 61a, 62a, and 68 and the length of the cable between device 66 and the offset pulleys. This trajectory is curved due to the inverted pyramid arrangement of the cable suspension.

[0355] By intentionally combining the movements of pulley pairs 74 and 75, for example by shortening and / or lengthening actuating cylinders 77 and 78, the components of the two trajectories 66.1 and 66.2 are combined, thereby enabling the object suspension device 66 to move along other trajectories in the horizontal plane. For example, shortening the two actuating cylinders 77 and 78 by the same amount causes the object suspension device 66 to move along a straight trajectory. Figures 6b-6c Move upwards, while Figure 5b The crane moves to the left, thus moving crane 1 in the forward direction and along the central longitudinal cantilever axis 5g. Correspondingly, the two actuating cylinders 77 and 78 extend by the same amount, causing the object suspension device 66 to move along a straight trajectory. Figures 6b-6c The crane moves downwards, thus causing crane 1 to move in the rearward direction, while... Figure 5b Move to the right from the center.

[0356] Figure 6c As shown, the object suspension device 66 has been moved substantially horizontally by shifting the pulley pair 74.

[0357] In another embodiment, a suspension adjustment mechanism 7 with triple actuation is provided instead. Figures 6a-6d 7. Twice the actuation of the suspension adjustment mechanism.

[0358] exist Figures 6e-6g China and Israel Figures 6a-6d The same manner is shown for such a triple-actuated mechanism 7. The rest of the components of the crane 1 may be identical, for example, to those in the first and second embodiments of the crane 1.

[0359] Compared to the double-actuated mechanism 7, the triple-actuated mechanism additionally includes a third pulley pair 76 and an associated third adjustment actuator (e.g., an actuation cylinder 79).

[0360] The third adjustment actuator 79 is configured to move the third pulley pair 76 in the direction through which the cables 63 and 64 extend in opposite directions.

[0361] The first cable 63 passes through the first winch 67a via:

[0362] -The first pulley pair is the primary pulley of 74.

[0363] -First offset pulley 61a,

[0364] -First return pulley 71,

[0365] -The first guide pulley 69 on the first cantilever branch 56

[0366] - The third pulley is paired with the secondary pulley of 76.

[0367] The cable is wound back to the terminal 63c of the crane (e.g., to the cantilever or main boom).

[0368] The second cable 64 passes from the second winch 67b via:

[0369] -The third pulley is the primary pulley of 76.

[0370] -Second offset pulley 62a,

[0371] -Second return pulley 72

[0372] -The second guide pulley 69 on the second cantilever branch 57

[0373] -The second pulley is paired with the secondary pulley at 75°.

[0374] The cable is wound back to the terminal 64c of the crane (e.g., to the cantilever or main boom).

[0375] The third cable 65 passes from the third winch 67c via:

[0376] -The second pulley is paired with the primary pulley at 75 degrees.

[0377] -Third offset pulley 68

[0378] - Third return pulley 73

[0379] -The third guide pulley 69 is located near the third offset pulley 68.

[0380] -The first pulley is paired with the secondary pulley of 74.

[0381] The cable is secured to the crane (e.g., to the main boom 4) at the terminal 65c.

[0382] Similar to Figure 6b , Figure 6fThree corresponding curved trajectories 66.1, 66.2, and 66.3 are shown, in which the object suspension device 66 moves in the horizontal plane on each curved trajectory with only one of the three pulley pairs 74, 75, and 76 being moved by the corresponding adjusting actuators 77, 78, and 79.

[0383] By intentionally combining the operations of the three actuators, such as shortening and / or lengthening actuator cylinders 77, 78, and 79, the components of the three movement trajectories 66.1 and 66.2 are combined to move the object suspension device 66 along other trajectories in the horizontal plane. Specifically, only two of the actuator cylinders 77, 78, and 79, by the same amount of contraction and extension, move the object suspension device 66 along a straight trajectory.

[0384] The first actuating cylinder 77 extends and the second actuating cylinder 78 retracts by the same amount, causing the object suspension device 66 to... Figure 6f It moves upward, for example, along the central longitudinal cantilever axis 5g in the forward direction of crane 1.

[0385] For example, linear horizontal movement toward the side of the crane can be achieved by combining the components of trajectory 66.1 and 66.3.

[0386] The third embodiment of the crane 1 according to the present invention is in Figures 7a-7c As shown in the diagram. In this embodiment, the fork-shaped cantilever 5 is a stackable fork-shaped cantilever 5.

[0387] The third embodiment differs from the first and second embodiments in that each of the cantilever branches 56 and 57 is driven by corresponding first and second cantilever branch actuators 56c and 57c to pivot independently relative to the cantilever base 52 about a corresponding pivot axis. For example, each branch actuator includes or is implemented as a linear drive actuator, such as a hydraulic cylinder, or includes or is implemented as a motor with a rotary output that performs controlled pivoting of an associated cantilever branch. For example, the motor with the rotary output is a hydraulic motor or an electric motor. For example, a transmission device such as a gear, belt, or chain drive is connected to the motor with the rotary output to achieve pivoting.

[0388] Cantilever branches 56 and 57 pivot to achieve a stacked configuration and multiple unfolded configurations of the fork-shaped cantilever.

[0389] In the deployed configuration, the angle 55α between the first and second cantilever branches is greater than 20°. Figure 7a In the unfolded configuration shown, the divergence angle 55α between the first cantilever branch 56 and the second cantilever branch 57 is approximately 40°.

[0390] In the stacked configuration, the angle between branches 56 and 57 is small, for example, as small as possible, such as the branches stacking together to touch each other.

[0391] In the cascaded configuration, branches 56 and 57 extend roughly parallel to each other, see... Figure 7b .

[0392] By operating the cantilever branch actuators 56c and 57c, the cantilever branches 56 and 57 pivot independently. In the embodiment, the cantilever branches 56 and 57 pivot asymmetrically or symmetrically relative to the central longitudinal axis 5g.

[0393] In the implementation, the independent cantilever branch actuators 56c and 57c are operable to cause the object suspension device 66 and the connected object 102 to move laterally relative to the forked cantilever 5. For example, the actuators are operable to drive the pivoting of both the first and second cantilever branches 56 and 57 in a direction on one side of the central longitudinal axis 5g of the cantilever 5, so as to laterally displace the object suspension device 66 and the connected object 102.

[0394] In implementations, for example, for the control of the stability of the object suspension device 66 and the connected object 102, separate cantilever branch actuators 56c, 57c are operable to manipulate the vertical angles 63γ, 64γ of the first and second lifting cables 63, 64 and the vertical angle 65γ of the third cable 65, as illustrated herein. For instance, the separate cantilever branch actuators are operable to drive pivoting to reduce the angle 55α between the first and second cantilever branches 56, 57 during the lifting of the object 102 and increase the angle 55α during the descent of the object.

[0395] Figures 7a-7c An alternative locking mechanism for the extended position of the cantilever branch is also shown. In this embodiment, the collapsible fork-shaped cantilever 5 includes a transverse bar 58, which is pivotally mounted to the first cantilever branch 56 and releasably connected to the second cantilever branch 57. Figure 7a In the middle, the transverse bar 58 is connected to the second cantilever branch 57, thereby maintaining the first and second cantilever branches 56 and 57 in their deployed configuration. Figure 7b In the stacked configuration shown, the transverse bar 58 is pivoted to a position longitudinally aligned with the first cantilever branch 56.

[0396] Figure 7c The inverted pyramidal configuration of the lifting cables 63, 64, and 65 in this second embodiment, resulting from the spatial positions of the pulleys 61a, 62a, and 68, is schematically shown. It can be seen that here, the object suspension device 66 is suspended from cables 63, 64, and 65 in a single-roller rope arrangement.

[0397] Figure 8a , Figure 8bThe cantilever of a crane according to a fourth embodiment of the present invention is shown, wherein, in contrast to the first, second and third embodiments, the fork-shaped cantilever 5 is a rigid fork-shaped cantilever.

[0398] In the rigid fork-shaped cantilever 5, the first and second cantilever branches 56 and 57 are fixed relative to the cantilever base 52 and together with the cantilever base 52 form a rigid unit. Therefore, the angle 55α between the first and second cantilever branches and the cantilever branch angles 56α and 57α are fixed.

[0399] The rigid fork-shaped cantilever 5 includes a cantilever base 52, and at a bifurcation 55 away from the inner end of the cantilever base, a first cantilever branch 56 and a second cantilever branch are fixed to the base 52. Branches 56 and 57 diverge from each other. The first cantilever branch 56 extends to a first cantilever tip 53, and the second cantilever branch 57 extends to a second cantilever tip 54, such that the second cantilever tip 54 is arranged to be spaced apart from the first cantilever tip 53 in the lateral direction relative to the central longitudinal axis 5g of the rigid fork-shaped cantilever 5.

[0400] For example, the angle 55α between the first cantilever branch 56 and the second cantilever branch 57 is 40°. The longitudinal axes 56g and 57g of the first and second cantilever branches 56 and 57 are offset from the bifurcation 55 by equal cantilever branch angles 56α and 57α of approximately 20° relative to the central longitudinal axis 5g of the cantilever.

[0401] As shown, the offset pulleys 61a and 62a each pivot about an axis parallel to the longitudinal axes 56g and 57g of the corresponding cantilever branches.

[0402] Figure 9 This invention is used to demonstrate the advantages of the crane with a cantilever-type boom.

[0403] Figure 9 The diagram schematically shows two spatial configurations of three cables in a top view, with an object suspension device 66 suspending the cables in an inverted pyramid configuration, wherein the base of the pyramid's triangle is defined by three offset pulleys.

[0404] Figure 9 The diagram also identifies the crane housing 2b, with all other components omitted for clarity. The right-hand side illustration shows a crane with a cantilever according to the invention, wherein the third offset pulley 68 is closest to the crane housing 2b, and wherein the offset pulleys 61a and 62a on the cantilever are further away.

[0405] For comparison, the left-hand side diagram shows the object suspension device 66 at an equidistant distance from the crane housing 2b. However, in this arrangement, the two offset pulleys 80, 81 are closest to the crane housing, each crane housing oriented laterally toward the central vertical plane of the crane boom assembly, and one offset pulley 83 is furthest from the crane housing. With the base of the triangle equal to that in the right-hand side diagram, it is readily apparent that pulley 83 is further from the crane housing 2b in the direction of the main boom than the cantilever of the present invention. This illustrates that the expander-type cantilever folding boom crane of the present invention requires relatively less space for its operation, thereby avoiding, for example, conflict between the crane and a receiving area adjacent to the deck (from which objects are to be picked up) (typically at the stern of a supply ship), such as at the bow of the supply ship. It is also understood that this is advantageous in terms of control and stability and / or stress in the crane generated by the handling of objects.

[0406] Figure 9 It is also shown that the crane 1 is advantageously mounted next to an offshore vessel or structure, such as the hull or deck box structure of an offshore vessel (e.g., a drilling ship), for example, Figures 5a-5c As shown in the illustration, for example, crane 1 is used to transfer objects between the supply ship and the vessel.

[0407] The features of the different embodiments shown can be easily combined. For example, the lifting system 6 and adjusting mechanism 7 of the third embodiment can be easily applied to the first, second, and fourth embodiments, or other embodiments with other types of fork-shaped booms, articulated boom assemblies, or other crane components. Furthermore, the cantilever embodiments can be interchanged between different embodiments of the articulated boom assemblies or other crane components.

[0408] Figure 10 A fifth embodiment of the crane according to the invention is shown. Components corresponding to the cranes described earlier are indicated herein by the same reference numerals.

[0409] As in the crane of Figure 1, the cantilever 5 is a collapsible fork-shaped cantilever 5. However, instead of the cantilever branches 56, 57 being mounted to a common cantilever base for pivoting relative to the base, in this fifth embodiment, the cantilever branches 56, 57 are independently mounted to the main boom 4 (here, the outer end of the main boom 4).

[0410] As shown, each branch 56, 57 is connected to the main boom 4 at its bottom end (and thus adjacent to the end of the main boom 4) via a corresponding pivot structure 90, 91, so as to be movable between the folded and extended positions of the articulated boom assembly, and between the unfolded and collapsed configurations of the collapsible fork boom 5.

[0411] As shown, in order to fold and extend each branch 56, 57, there are associated actuators (here, actuator cylinders 32a, 32b) that are capable of independently controlling the pivoting of branches 56, 57 relative to the main boom 4 about the horizontal pivot axis 3h2.

[0412] To enable each branch 56, 57 to pivot about its respective axis 56v, 57v (which is perpendicular to axis 3h2) between a collapsed configuration and a deployed configuration, there are independently operable first and second cantilever pivot actuators 56c, 57c. For example, each actuator 56f, 57f is an actuation cylinder or motor, as illustrated herein.

[0413] For example, Figure 10 The cantilever 5 described herein is capable of extending only one cantilever branch when moving smaller or lighter objects.

[0414] For example, Figure 10 The cantilever described, for example, is able to bring cantilever branches 56 and 57 to different extension positions when transporting objects with constraints on the spatial position of the cantilever branches.

[0415] For example, the described cantilever can also pivot two cantilever branches in the same direction (e.g., Figure 10 (Both cantilever branches in the structure point to the left), thereby enabling, for example, the object suspension device 66 to be horizontally displaced relative to the central vertical plane of the articulated arm assembly.

[0416] For example, the cantilever described can also change the lateral distance between the first and second offset pulleys 61a and 62a by appropriately pivoting the cantilever branches 56 and 57.

[0417] Figure 11 A sixth embodiment of the crane according to the invention is shown. Components corresponding to the cranes described earlier are indicated herein by the same reference numerals.

[0418] Figure 11 In this embodiment, the collapsible cantilever 5 has a collapsible T-shaped expander structure 150. The central member 151 of the expander structure is pivotally mounted to the main boom 4 about a horizontal axis 3h2 and extends along the longitudinal axis of the cantilever. Herein, first and second offset pulleys 61a and 62a are mounted on the cross member 152 of the T-shaped expander structure, for example at their opposite ends.

[0419] As shown, the cross member 152 is configured to be stackable to reduce the lateral extension of the cantilever 5 as needed (e.g., for accommodating the boom assembly). The depicted cross member is implemented as two pivoting cross member elements 152a and 152b, each of which is in an lateral operating position relative to the central member about pivot axes 152c and 152d (see [link to diagram]). Figure 11 The position is reversed, for example, along the side of the central member, between the overlapping position aligned with the central member.

[0420] Combined with the collapsible T-shaped expander structure, the first and second cables can be wound around guide pulleys 85 and 86 at the outer end of the main boom 4, and then passed to offset pulleys 61a and 62a. For example, cables 63 and 64 are first passed to other guide pulleys on the central member 151, and then diagonally passed to the corresponding first and second offset pulleys 61a and 62a.

Claims

1. A marine folding boom crane, comprising: -Base, - The crane housing, which rotates relative to the base about a vertical axis of rotation. - A folding boom assembly, attached to the crane housing, comprising: - The main boom, having an outer end, a top side, a bottom side, opposing sides, and an inner end pivotally connected to the crane housing about a first horizontal pivot axis. - A cantilever, which is pivotally connected to the main boom via a pivoting structure, has a central longitudinal axis. - Main boom pitch mechanism, configured to allow the main boom to pivot up and down relative to the crane housing. - A cantilever pivoting mechanism configured to pivot the cantilever relative to the main boom between a folded position and an extended position of the articulated boom assembly, in which the cantilever folds back relative to the main boom. - A lifting system, comprising at least one offset pulley mounted on a cantilever. The cantilever is a cantilever structure with a load-bearing expander structure. The bottom end of the expander structure is connected to a pivot structure. The expander structure supports a first and a second offset pulley of the lifting system at a location away from the bottom end. The first and second offset pulleys are laterally spaced apart from each other on opposite sides of the central longitudinal axis. The lifting system further includes: - The third offset pulley, which is mounted to the main boom and / or crane housing. - One or more winches - The first cable, driven by one of the one or more winches. - A second cable, which is driven by one of the one or more winches. - A third cable, driven by one of the one or more winches. - An object suspension device configured to be attached to an object to be moved by a crane. The first cable, the second cable, and the third cable are each connected to the object suspension device and are transmitted to the corresponding winches of the one or more winches via the first deflector pulley, the second deflector pulley, and the third deflector pulley, respectively. The first cable, the second cable, and the third cable together define an inverted pyramid shape that radiates upward from the object suspension device when the object is being transported.

2. The crane according to claim 1, wherein, When the articulated boom assembly is in its folded position, the third offset pulley is positioned closer to the inner end of the main boom than either the first or second offset pulley.

3. The crane according to claim 1, wherein, The cantilever expander structure is rigid.

4. The crane according to claim 1, wherein, The cantilever expander structure can be stacked between a collapsed configuration and a deployed configuration, wherein the lateral extension of the expander structure is smaller in the collapsed configuration than in the deployed configuration.

5. The crane according to claim 3, wherein, The cantilever is a rigid fork-shaped cantilever, and the expander structure has a cantilever base, which is connected to a pivot structure and includes a first cantilever branch and a second cantilever branch that radiate laterally outward from the cantilever base, with a fixed angle between the radiating first cantilever branch and the second cantilever branch.

6. The crane according to claim 4, wherein, The cantilever is a collapsible fork-shaped cantilever. The expander structure includes a first cantilever branch and a second cantilever branch. The first and second cantilever branches are each pivotally mounted, so that the first and second cantilever branches pivot around their respective pivot axes between the unfolded and collapsed configurations of the fork-shaped cantilever. In the unfolded configuration, the cantilever branches radiate outward toward the ground, while in the collapsed configuration, the cantilever branches are closer to the central longitudinal axis.

7. The crane according to claim 6, wherein, The collapsible fork-shaped cantilever includes a cantilever base pivotally connected to the main boom about a second horizontal pivot axis, wherein a first cantilever branch and a second cantilever branch are each pivotally mounted to the cantilever base to pivot between an extended configuration and a collapsed configuration.

8. The crane according to claim 6, wherein, The first and second cantilever branches are each connected to the main boom at their bottom ends via corresponding pivot structures, so as to allow movement between the folded and extended positions of the articulated boom assembly, and between the extended and collapsed configurations of the collapsible fork-shaped cantilever.

9. The crane according to claim 6, wherein, The first cantilever branch and the second cantilever branch each pivot between a collapsed position and one or more deployed positions, with the angle between the first cantilever branch and the second cantilever branch diverging in the deployed positions between 20º and 80º.

10. The crane according to claim 6, wherein, The first and second cantilever branches each pivot independently into multiple deployment configurations of the cantilever, thereby enabling the respective cantilever branch angles to differ from each other relative to the central longitudinal axis of the forked cantilever.

11. The crane according to claim 6, wherein, The first and second cantilever branches are symmetrically pivoted into one or more deployment configurations of the forked cantilever, such that the corresponding cantilever branch angles are equal to each other relative to the central longitudinal axis of the forked cantilever.

12. The crane of claim 6, further comprising one or more cantilever branch actuators configured to drive pivoting of a first and / or second cantilever branch, the cantilever branch actuators altering the divergence angle between the first and second cantilever branches.

13. The crane according to claim 4, wherein, The expander structure is movable into multiple unfolded configurations to set different lateral spacing distances between the first and second offset pulleys. The expander structure includes one or more actuators to move the expander structure between a collapsed configuration and an unfolded configuration. One or more actuators are configured to change the lateral spacing between the first and second offset pulleys during the lifting and / or lowering of the object suspension device.

14. The crane of claim 6, comprising one or more cantilever branch actuators configured to drive pivoting of a first cantilever branch and / or a second cantilever branch, the cantilever branch actuators altering the divergence angle between the first and second cantilever branches, wherein the expander structure is movable into multiple deployed configurations to enable setting different lateral spacing distances between a first and a second offset pulley, the expander structure comprising one or more actuators to move the expander structure between a collapsed configuration and a deployed configuration, one or more actuators configured to alter the lateral spacing between the first and second offset pulleys during lifting and / or lowering of the object suspension device, and one or more cantilever branch actuators configured to drive pivoting of the cantilever branches during lifting and / or lowering of the object suspension device.

15. The crane according to claim 6, wherein, The collapsible fork cantilever includes a cantilever branch actuator configured to extend and retract to move a movable segment of the collapsible fork cantilever along a central longitudinal axis. The collapsible fork cantilever includes a first lateral bar and a second lateral bar, each having a longitudinal end pivotally connected to the movable segment, and the other longitudinal end pivotally connected to a first cantilever branch and a second cantilever branch, respectively. The extension and retraction of the cantilever branch actuator pivots each cantilever branch about a corresponding cantilever branch pivot axis via the lateral bars, and moves the cantilever branch between a collapsible configuration and at least one extended configuration.

16. The crane according to claim 1, wherein, One or more winches are mounted on the crane housing, and wherein a first cable and a second cable extend above the top side of the main boom to corresponding cable guide pulleys for the first cable and for the second cable, the cable guide pulleys being mounted on the main boom near a pivoting structure that pivotally connects the cantilever to the main boom, and wherein a spreader structure is provided with guide pulleys for the first cable and for the second cable, the guide pulleys for the first cable and for the second cable being mounted at the bottom end of the spreader structure.

17. The crane according to claim 1, wherein, The object suspension device is arranged in a multi-rope manner, with each suspension via a first cable, a second cable, and a third cable. The lifting system further includes corresponding first return pulleys, second return pulleys, and third return pulleys for the first, second, and third lifting cables connected to the object suspension device. The first, second, and third lifting cables extend on the first, second, and third return pulleys, respectively.

18. The crane according to claim 1, wherein, The lifting system further includes a fourth offset pulley and a fifth offset pulley. The fourth offset pulley is mounted to the expander structure in the plane of the first offset pulley. The first cable extends between the first and fourth offset pulleys, such that in the folded position of the articulated arm assembly, the first cable extends on the fourth offset pulley, and in the extended position of the articulated arm assembly, the first cable extends on the first offset pulley. The fifth offset pulley is mounted to the expander structure in the plane of the second offset pulley, and the second cable extends between the second offset pulley and the fifth offset pulley, such that the second cable extends on the fifth offset pulley in the folded position of the articulated arm assembly, and extends on the second offset pulley in the extended position of the cantilever.

19. The crane of claim 17, further comprising a double-actuated active suspension adjustment mechanism, the double-actuated active suspension adjustment mechanism comprising: - A first pulley pair and a second pulley pair, each of the pulley pairs including a primary pulley and a secondary pulley, the primary pulley and the secondary pulley are connected to each other so that the first cable, the second cable and the third cable can travel in opposite directions on the pulleys of the pulley pair. - A first adjusting actuator and a second adjusting actuator, each configured to move the first pulley pair and the second pulley pair respectively along the direction of the two cables extending on the pulleys of the respective pulley pairs. The first cable passes through the corresponding winch via: -The primary pulley of the first pulley pair -First deviating pulley -First return pulley, The end of the first cable, which is threaded onto the crane, is fixed at a specific location. The second cable passes through the corresponding winch via: -The primary pulley of the second pulley pair -Second offset pulley, -Second return pulley, The end of the second cable, which is threaded onto the crane, is fixed at a specific location. The third cable passes through the corresponding winch via: - The secondary pulley of the second pulley pair -Third offset pulley -Third return pulley, - A third guide pulley, which is paired with a third offset pulley on the main boom and / or the crane housing. - The secondary pulley of the first pulley pair The terminal of the third cable, which is threaded through the main boom or the crane housing, is fixed at the following location. The first adjusting actuator is configured to move the first pulley pair to selectively increase or decrease the length of the first cable between the corresponding winch and the first offset pulley, and simultaneously decrease or increase the length of the third cable between the third guide pulley and the end of the third cable. The second adjustment actuator is configured to move the second pulley pair to selectively increase or decrease the length of the second cable between the corresponding winch and the second offset pulley, and simultaneously decrease or increase the length of the third cable between the corresponding winch and the third offset pulley.

20. A marine vessel or offshore structure equipped with a crane according to claim 1.

21. A method for lifting an object, wherein, The crane according to claim 1 or the ship or marine structure according to claim 20 is used.

22. A method for lifting an object, wherein, Using the crane of claim 19, wherein a double-actuated active suspension adjustment mechanism is operated to provide horizontal control movement of the object suspension device, wherein one or more winches are operated to provide vertical movement of the object suspension device.

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