WO2024087626A1

WO2024087626A1 - Crane hydraulic control system and crane

Info

Publication number: WO2024087626A1
Application number: PCT/CN2023/097224
Authority: WO
Inventors: 邹砚湖; 邹兴龙; 周丽云
Original assignee: 湖南三一中型起重机械有限公司
Priority date: 2022-10-27
Filing date: 2023-05-30
Publication date: 2024-05-02
Also published as: CN115744632A; AU2023285987A1

Abstract

A crane hydraulic control system and a crane, relating to the technical field of hydraulic systems. The crane hydraulic control system comprises: a rotation control subsystem (11), the rotation control subsystem (11) being suitable for being transmittingly connected to a rotation mechanism (22); a lifting control subsystem (12), the lifting control subsystem (12) being suitable for being transmittingly connected to a lifting mechanism (20); and a main control assembly (13), connected to the rotation control subsystem (11) and the lifting control subsystem (12) by means of a main control oil path (14), wherein the main control assembly (13) is capable of controlling the oil supply state of the main control oil path (14) to control the rotation control subsystem (11) and the lifting control subsystem (12) to perform state adjustment between a normal working state and a free floating state. According to the technical solution, a cargo boom can enter the free floating state by means of the rotation control subsystem (11) and the lifting control subsystem (12), the operation process is simple and convenient, a one-key operation effect can be realized, an operator can be effectively prevented from omitting operation steps, and potential safety hazards can be effectively reduced when the cargo boom is borne by an externally hung trailer to run.

Description

Crane hydraulic control system and crane

This application claims priority to the Chinese patent application filed with the China Patent Office on October 27, 2022, with application number 202211329157.X and invention name “Crane Hydraulic Control System and Crane”, the entire contents of which are incorporated by reference in this application.

Technical Field

The present application belongs to the technical field of hydraulic systems, and in particular relates to a crane hydraulic control system and a crane.

Background technique

In the field of cranes, as the bridge load of cranes increases, some cranes adopt the method of hanging a trailer behind the body to carry the boom during driving, so as to reduce the bridge load during the driving of the crane. Among them, the trailer is flexibly connected to the body of the crane, and the slewing mechanism and lifting mechanism of the boom need to be in a free floating state, so that when the road is ups and downs or turns, the boom moves accordingly with the trailer.

In the existing crane hydraulic system, due to the complex connection relationship and control strategy, and the slewing mechanism and the lifting mechanism are usually independent of each other, if the slewing mechanism and the lifting mechanism are to be free-floating at the same time, the slewing mechanism and the lifting mechanism need to be controlled accordingly, resulting in the need to perform different control operations on multiple different components before the crane is driven. The operation process is complicated and prone to omissions. Once a control operation step is omitted, the slewing mechanism and the lifting mechanism cannot completely enter the free-floating state. When the crane is driven in this state, it is very easy to cause damage to the boom and related mechanisms. At the same time, there are certain safety hazards, which are easy to cause safety accidents during driving.

Summary of the invention

In view of this, in order to solve at least one of the above problems existing in the prior art, the present application provides a crane hydraulic control system and a crane.

The first aspect of the present application provides a crane hydraulic control system for a crane having a lifting mechanism, a slewing mechanism and a boom. The crane hydraulic control system includes: a slewing control subsystem, which is suitable for being connected to the slewing mechanism to drive the boom to rotate; a lifting control subsystem, which is suitable for being connected to the boom to drive the boom to rise or fall; a main control component, which is connected to the slewing control subsystem and the lifting control subsystem through a main control oil circuit, and the main control component can control the oil supply state of the main control oil circuit to control the slewing control subsystem and the lifting control subsystem to adjust their states between a normal working state and a free floating state.

The beneficial effects of the above technical solution of this application are embodied in:

The overall connection relationship and control logic of the system have been improved and optimized. The state of the slewing control subsystem and the lifting control subsystem can be adjusted through the main control component, and the slewing control subsystem and the lifting control subsystem can be put into a free floating state at the same time, so that when the crane is traveling with the boom carried by an external trailer, the boom can move accordingly with the trailer; at the same time, only a one-time control operation of the main control component is required. The operation process is simple and convenient, and a one-button operation effect can be achieved, which can effectively prevent the operator from missing the operation steps, thereby greatly reducing the possibility that the boom does not completely enter the free floating state during the driving of the crane. It not only reduces the possibility of accident prevention, but also reduces the potential safety hazards during driving.

In a feasible implementation, the main control component includes: a main control valve, one end of the main control valve is connected to the input end of the main control oil circuit through a pipeline, and the other end of the main control valve is connected to the oil tank. The main control valve can control the main control oil to flow into the main control oil circuit or into the oil tank.

In a feasible implementation, the main control component also includes: a detector, arranged in the main control oil circuit, the detector is suitable for detecting the oil pressure in the main control oil circuit; an accumulator, connected to the main control oil circuit through a pipeline, the accumulator is suitable for performing oil replenishment or overflow operations on the main control oil circuit; wherein the main control valve is a manual valve or a hydraulic valve.

In a feasible implementation, the slewing control subsystem includes: a slewing drive mechanism, which is transmission-connected to the slewing mechanism; a slewing brake, which is arranged corresponding to the slewing drive mechanism, and the slewing brake can perform a braking operation on the slewing drive mechanism; a shuttle valve, wherein one input oil port of the shuttle valve is connected to the main control oil circuit through a pipeline, and the output oil port of the shuttle valve is connected to the slewing brake; a slewing first control valve, which is connected to another input oil port of the shuttle valve through a pipeline, and the slewing brake can adjust the working state under the action of the oil of the slewing first control valve or the main control oil in the main control oil circuit; a slewing second control valve, wherein one end of the slewing second control valve is connected to the oil tank, and the other end is connected to the oil inlet pipeline and the oil return pipeline of the slewing drive mechanism, and the control end of the slewing second control valve is connected to the main control oil circuit, and can be conducted under the action of the main control oil to connect the oil inlet pipeline and the oil return pipeline of the slewing drive mechanism.

In a feasible implementation, the rotary drive mechanism includes: a closed rotary oil pump; a rotary motor, wherein the two working oil ports of the rotary motor are respectively connected to the two oil ports of the closed rotary oil pump through pipelines, and of the two pipelines connecting the two working oil ports of the rotary motor, one forms an oil inlet pipeline and the other forms an oil return pipeline, and the output end of the rotary motor is transmission-connected to the rotary mechanism.

In a feasible implementation, two internal oil circuits arranged in parallel are formed in the second rotary control valve, one end of the two internal oil circuits are connected to the oil tank, and the other ends of the two internal oil circuits are respectively connected to the oil inlet pipeline and the oil return pipeline of the rotary motor; wherein the second rotary control valve is a hydraulically controlled one-way valve group or a hydraulically controlled valve group.

In a feasible implementation, the lifting mechanism includes: a lifting drive mechanism, which is connected to the lifting arm in a transmission manner; a lifting control subsystem includes: a lifting control component, which is connected to the lifting drive mechanism through a pipeline, and the lifting control component is suitable for controlling the operation of the lifting drive mechanism; a lifting second control valve, the two ends of the lifting second control valve are respectively connected to the oil inlet pipeline and the oil return pipeline of the lifting drive mechanism through pipelines, the control end of the lifting second control valve is connected to the main control oil circuit through the pipeline, and the lifting second control valve can be turned on under the action of the main control oil in the main control oil circuit, so that the oil inlet pipeline and the oil return pipeline of the lifting drive mechanism are connected.

In a feasible implementation, the lifting drive mechanism includes: a lifting cylinder, which is transmission-connected to the lifting arm, the rod chamber and the rodless chamber of the lifting cylinder are respectively connected to the lifting control component through pipelines, and the pipeline connecting the rod chamber of the lifting cylinder and the pipeline connecting the rodless chamber of the lifting cylinder, one of which forms an oil inlet pipeline, and the other forms an oil return pipeline; one end of the lifting second control valve is connected to the pipeline connecting the rod chamber of the lifting cylinder through a pipeline, and the other end of the lifting second control valve is connected to the pipeline connecting the rodless chamber of the lifting cylinder through a pipeline, and the control end of the lifting second control valve is connected to the main control oil circuit through a pipeline; wherein the lifting second control valve is a hydraulically controlled one-way valve or a hydraulically controlled valve.

In a feasible embodiment, the lifting control assembly includes: a variable amplitude balance valve, which is arranged in a pipeline connected to the rodless chamber of the lifting cylinder, and the oil return port of the variable amplitude balance valve is connected to the oil tank through a pipeline; a lifting first control Valve, the lifting first control valve is connected with the oil inlet of the variable amplitude balancing valve and the rod chamber of the lifting cylinder through pipelines respectively. The lifting first control valve is suitable for connecting the oil supply equipment and can control the oil supply status of the lifting cylinder; the lowering control valve is connected to the interior of the variable amplitude balancing valve through a pipeline. The lowering control valve is suitable for controlling the valve core switching of the variable amplitude balancing valve.

The second aspect of the present application also provides a crane, comprising: a car body; a slewing mechanism rotatably disposed on the car body; a boom rotatably connected to the slewing mechanism, part of the boom extending outward from the car body and suitable for being carried on an auxiliary carrying device; a lifting mechanism disposed on the car body, the lifting mechanism being transmission-connected to the boom and suitable for driving the boom to lift or lower; the hydraulic control system of the crane in any one of the above-mentioned first aspects, disposed on the car body; wherein the slewing control subsystem is transmission-connected to the slewing mechanism, and the lifting control subsystem is transmission-connected to the lifting mechanism.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of a crane hydraulic control system provided in one embodiment of the present application.

FIG. 2 is a schematic diagram of a crane hydraulic control system provided in one embodiment of the present application.

FIG3 is a schematic diagram of a crane provided in accordance with an embodiment of the present application.

FIG. 4 is a schematic diagram of a crane hydraulic control system provided in accordance with an embodiment of the present application.

FIG5 is a schematic block diagram of a crane provided in accordance with an embodiment of the present application.

Detailed ways

In the description of the application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically limited. In the embodiment of the present application, all directional indications (such as up, down, left, right, front, back, top, bottom ...) are only used to explain the relative position relationship, motion conditions, etc. between the components under a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any deformation thereof are intended to cover non-exclusive inclusions. For example, the process, method, system, product or equipment comprising a series of steps or units are not limited to the steps or units listed, but optionally also include the steps or units not listed, or optionally also include other steps or units inherent to these processes, methods, products or equipment.

In addition, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

Some embodiments of the crane hydraulic control system and the crane in the technical solution of the present application are provided below.

In an embodiment of the first aspect of the present application, a crane hydraulic control system 1 is provided. As shown in FIG. 1 and FIG. 2 , the crane hydraulic control system 1 includes a slewing control subsystem 11 and a lifting control subsystem 12. 12 and the main control assembly 13 and the main control oil circuit 14, the crane hydraulic control system 1 can be applied to a crane with a lifting mechanism 20, a slewing mechanism and a crane arm.

As shown in Figures 1 and 2, the main control component 13 is connected to the slewing control subsystem 11 and the lifting control subsystem 12 through the main control oil circuit 14, and the main control component 13 can control the oil supply state in the main control oil circuit 14. When assembled on a crane, as shown in the example in Figure 3, the slewing control subsystem 11 is connected to the slewing mechanism of the crane in a transmission manner to drive the slewing mechanism to perform a slewing operation relative to the crane body, thereby driving the boom to rotate relative to the crane body; the lifting control subsystem 12 is connected to the lifting mechanism 20 of the crane in a transmission manner to drive the boom to perform a lifting or lowering operation relative to the crane body through the lifting mechanism 20. Among them, the main control component 13 controls the oil supply state of the main control oil circuit 14, that is, controls whether the main control oil flows into the main control oil circuit, so as to adjust the state of the slewing control subsystem 11 and the lifting control subsystem 12, so that the slewing control subsystem 11 and the lifting control subsystem 12 are adjusted between the normal working state and the free floating state, and then the corresponding slewing mechanism and lifting mechanism 20 are adjusted between the normal working state and the free floating state, and then the lifting arm is adjusted between the normal working state and the free floating state.

It should be noted that the free floating state specifically refers to a state in which the slewing mechanism can freely rotate around the slewing center and the lifting mechanism 20 drives the boom to freely rise or fall around the rotation center.

Among them, when the main control component 13 allows the main control oil to flow into the main control oil circuit 14, the main control oil can flow to the slewing control subsystem 11 and the lifting control subsystem 12 through the main control oil circuit 14, so as to act on the slewing control subsystem 11 and the lifting control subsystem 12, thereby making the slewing mechanism and the lifting mechanism 20 enter a free floating state; when the main control component 13 prevents the main control oil from flowing into the main control oil circuit 14 or allows the main control oil to flow back to the oil tank 10, the oil supply to the main control oil circuit 14 is stopped. At this time, the slewing control subsystem 11 and the lifting control subsystem 12 are in a normal working state, and perform normal slewing operations and lifting or lowering operations.

It is understandable that in order to reduce the bridge load of the crane during driving, in actual applications, a trailer is usually mounted behind the crane body to assist in carrying the boom, wherein the trailer is flexibly connected to the crane body, and accordingly, the slewing mechanism and lifting mechanism of the boom need to be in a free floating state, so that when the road is ups and downs or turns, the boom can move accordingly with the trailer. However, the existing crane hydraulic system has many control operation steps for state adjustment, and the operation process is relatively complicated, and operators are prone to miss operation steps when operating at the construction site.

The crane hydraulic control system 1 in this embodiment, through the improvement and optimization of the control method, uses the main control component 13 to uniformly control the slewing control subsystem 11 and the lifting control subsystem 12, so that the slewing mechanism and the lifting mechanism 20 of the crane can drive the boom into a free floating state, and can achieve a one-key operation effect, which greatly simplifies the process and steps of the control operation, improves the efficiency of the control operation, and can effectively prevent the operator from missing individual operation steps when performing adjustment operations, thereby avoiding the phenomenon that the crane starts to travel before the slewing mechanism and the lifting mechanism 20 have completely entered the free floating state, which is beneficial to reducing the possibility of damage to the boom and related mechanisms during driving, and is also beneficial to reducing safety hazards.

In a further embodiment of the present application, as shown in FIG. 1 and FIG. 2 , the main control component 13 of the crane hydraulic control system 1 includes a main control valve 131. One end of the main control valve 131 is connected to the input end of the main control oil circuit 14 through a pipeline, and the other end of the main control valve 131 is connected to the oil tank 10; when the main control valve 131 is turned on, as shown in FIG. 2 , the main control oil directly flows back to the oil tank 10 through the main control valve 131. At this time, the main control oil is not supplied to the slewing control subsystem 11 and the lifting control subsystem 12, and the slewing control subsystem 11 and the lifting control subsystem 12 are in normal working state; when the main control valve 131 is closed, as in the state of FIG. 1, the main control oil enters the main control oil circuit 14, and then flows to the slewing control subsystem 11 and the lifting control subsystem 12, and acts on the slewing control subsystem 11 and the lifting control subsystem 12 respectively, so that the slewing control subsystem 11 and the lifting control subsystem 12 enter a free floating state, so that the slewing mechanism and the lifting mechanism 20 of the crane drive the lifting arm to enter a free floating state accordingly.

It should be noted that the main control valve 131 can also be directly set at the input end of the main control oil circuit 14, and the main control oil can be controlled to flow into the main control oil circuit 14 or prevented from flowing into the main control oil circuit 14 by opening and closing the main control valve 131.

Further, as shown in FIG. 1 and FIG. 2 , the main control component 13 also includes a detector 132 and an accumulator 133. The detector 132 is arranged in the main control oil circuit 14 to detect the oil pressure of the main control oil in the main control oil circuit 14. It can be understood that the control oil pressure in the main control oil circuit 14 needs to reach a certain oil pressure to be able to control the slewing control subsystem 11 and the lifting control subsystem 12. By detecting the oil pressure in the main control oil circuit 14 by the detector 132, the operator can know whether the control oil pressure enters the main control oil circuit 14, and can also accurately know whether the oil pressure in the main control oil circuit 14 meets the requirements, so that corresponding countermeasures can be taken in time when the oil pressure is abnormal. Among them, the detector 132 can specifically adopt an oil pressure sensor or other sensor device that can detect oil pressure; the detector 132 can be directly connected to the pipeline of the main control oil circuit 14, or it can be connected to the main control oil circuit 14 through a pipeline.

The accumulator 133 is connected to the main control oil circuit 14 through a pipeline, and the accumulator 133 can perform oil replenishment or overflow operation on the main control oil circuit 14 to balance the oil pressure in the main control oil circuit 14. Specifically, when the oil pressure in the main control oil circuit 14 is too high, a part of the main control oil in the main control oil circuit 14 can flow into the accumulator 133 for storage, and realize overflow operation to reduce the oil pressure in the main control oil circuit 14; when the main control oil circuit 14 is too low, the control oil pressure stored in the accumulator 133 can flow into the main control oil circuit 14, and realize oil replenishment operation to increase the oil pressure in the main control oil circuit 14.

In a further embodiment of the present application, as shown in FIG. 1 and FIG. 2 , in the crane hydraulic control system 1, the slewing control subsystem 11 includes a slewing drive mechanism 111, a slewing brake 112, a shuttle valve 113, a slewing first control valve 114 and a slewing second control valve 115. The slewing drive mechanism 111 is connected to the slewing mechanism of the crane by transmission; the slewing brake 112 is arranged corresponding to the slewing drive mechanism 111 to perform a braking operation on the slewing drive mechanism 111. When the slewing drive mechanism 111 is in a braking state, the slewing mechanism is locked and cannot perform a slewing operation. One input oil port of the shuttle valve 113 is connected to the main control oil circuit 14 through a pipeline, and the other input oil port of the shuttle valve 113 is connected to the slewing first control valve 114 through a pipeline. The output oil port of the shuttle valve 113 is connected to the slewing brake 112, so that the shuttle valve 113 is used to switch the main control oil circuit 14 or the slewing first control valve 114 to control the slewing brake 112. When the main control oil circuit 14 inputs the main control oil to the swing brake 112 through the shuttle valve 113, the swing brake 112 stops the braking operation, and the swing mechanism is in a non-locking state; when the main control oil circuit 14 does not input the main control oil to the swing brake 112 through the shuttle valve 113, the swing motor 1112 is in a normal working state, and the swing brake 112 works under the control of the first swing control valve 114. In addition, one end of the second swing control valve 115 is connected to the oil tank 10, and the other end is connected to the swing drive The oil inlet pipeline and the oil return pipeline of the slewing drive mechanism 111 are connected, and the control end of the slewing second control valve 115 is connected to the main control oil circuit 14; when the main control oil in the main control oil circuit 14 flows into the slewing second control valve 115, the slewing second control valve 115 is turned on, and the oil inlet pipeline and the oil return pipeline of the slewing drive mechanism 111 are connected, so that the pressure in the oil inlet pipeline and the oil return pipeline of the slewing drive mechanism 111 is balanced. When the slewing brake 112 is in the non-braking state and the slewing second control valve 115 is in the conducting state, the slewing drive mechanism 111 enters a free floating state, and the slewing mechanism of the crane also enters a free floating state accordingly.

Further, as shown in FIG. 1 and FIG. 2 , the slewing drive mechanism 111 specifically includes a closed slewing oil pump 1111 and a slewing motor 1112. The two working oil ports of the slewing motor 1112 are respectively connected to the two oil ports of the closed slewing oil pump 1111 through pipelines to form a closed loop, wherein, in the pipelines connecting the two working oil ports of the slewing motor 1112, one pipeline forms an oil inlet pipeline and the other forms an oil return pipeline. It can be understood that the functions of the oil inlet pipeline and the oil return pipeline can be interchanged according to different oil flow directions. The output end of the slewing motor 1112 is transmission-connected to the slewing mechanism of the crane, so that under normal working conditions, the slewing motor 1112 outputs torque under the drive of the closed slewing oil pump 1111 to drive the slewing mechanism to perform a slewing operation.

Further, as shown in Fig. 1 and Fig. 2, two internal oil circuits arranged in parallel are formed inside the valve body of the second rotary control valve 115, one end of the two internal oil circuits are connected to the oil tank 10, and the other ends of the two internal oil circuits, one internal oil circuit is connected to the oil inlet pipeline of the rotary motor 1112, and the other internal oil circuit is connected to the oil return pipeline of the rotary motor 1112. When the second rotary control valve 115 is turned on under the action of the main control oil, the oil inlet pipeline and the oil return pipeline of the rotary motor 1112 are connected through the second rotary control valve 115, and the rotary motor 1112 is in a sliding state at this time. When the rotary brake 112 is in a non-braking state, the rotary mechanism can slide freely under the drive of the rotary motor 1112, that is, the rotary mechanism enters a free floating state.

Specifically, the rotary second control valve 115 can adopt a hydraulically controlled one-way valve group, as shown in the examples in Figures 1 and 2. One-way valves are provided in the two internal oil circuits of the hydraulically controlled one-way valve group, and the main control oil circuit 14 is connected to the control end of the one-way valve, so that the two internal oil circuits can be one-way conducted by the pressure of the main control oil. Of course, the rotary second control valve 115 can also adopt a hydraulically controlled valve group, as shown in the example in Figure 4, the control end of the valve core of the hydraulically controlled valve group is connected to the main control oil circuit 14, and can conduct the two internal oil circuits under the oil pressure of the main control oil.

In a further embodiment of the present application, as shown in FIG. 1 and FIG. 2 , the lifting mechanism 20 includes a lifting drive mechanism 121, and the lifting control subsystem 12 includes a lifting control component 122 and a lifting second control valve 123. The lifting drive mechanism 121 is connected to the boom of the crane by transmission. The lifting control component 122 is connected to the lifting drive mechanism 121 through a pipeline to control the lifting drive mechanism 121 to work through hydraulic oil to drive the boom to perform normal lifting or lowering operations. The two ends of the lifting second control valve 123 are respectively connected to the oil inlet pipeline and the oil return pipeline of the lifting drive mechanism 121, and the control end of the lifting second control valve 123 is connected to the main control oil circuit 14 through a pipeline; the lifting second control valve 123 can be conducted under the action of the main control oil of the main control oil circuit 14, so that the oil inlet pipeline of the lifting drive mechanism 121 is connected to the oil return pipeline, so that the lifting drive mechanism 121 and the boom enter a free floating state.

Further, as shown in FIGS. 1 and 2 , the lifting drive mechanism 121 specifically includes a lifting cylinder 1211, a piston rod of the lifting cylinder 1211 is connected to the boom in a transmission manner, a rod chamber and a rodless chamber of the lifting cylinder 1211 are connected to a lifting control component 122 via pipelines, and the pipeline connected to the rod chamber is also connected to the oil tank 10; the lifting control component 122 can control the flow direction of the oil supplied to the lifting cylinder 1211 to control the lifting cylinder The piston rod of 1211 extends or retracts; the lifting cylinder 1211 drives the boom to rise or fall under the control of the lifting control component 122. Among them, the pipeline connected to the rod chamber of the lifting cylinder 1211 and the pipeline connected to the rodless chamber of the lifting cylinder 1211, one of which forms an oil inlet pipeline, and the other forms an oil return pipeline; according to the different directions of the telescopic movement of the piston rod, the functions of the oil inlet pipeline and the oil return pipeline can be interchanged, that is, when the piston rod is extended, the pipeline connected to the rod chamber is the oil return pipeline, and the pipeline connected to the rodless chamber is the oil inlet pipeline; when the piston rod is retracted, the pipeline connected to the rod chamber is the oil inlet pipeline, and the pipeline connected to the rodless chamber is the oil return pipeline.

Among them, one end of the lifting second control valve 123 is connected to the pipeline connected to the rod chamber of the lifting cylinder 1211 through a pipeline, and the other end of the lifting second control valve 123 is connected to the pipeline connected to the rodless chamber of the lifting cylinder 1211 through a pipeline. When the lifting second control valve 123 is turned on under the action of the main control oil in the main control oil circuit 14, the rod chamber of the lifting cylinder 1211 is connected to the rodless chamber, and at this time, the lifting cylinder 1211 and the boom enter a free floating state.

Specifically, the lifting second control valve 123 can adopt a hydraulically controlled one-way valve, as shown in the examples in Figures 1 and 2, the hydraulically controlled one-way valve can be unidirectionally conducted under the oil pressure of the main control oil to connect the rod chamber and the rodless chamber of the lifting cylinder; or, the lifting second control valve 123 can also adopt a hydraulically controlled valve, as shown in the example in Figure 4, the valve core of the hydraulically controlled valve can be conducted under the oil pressure of the main control oil to connect the rod chamber and the rodless chamber of the lifting cylinder 1211.

Further, as shown in FIG. 1 and FIG. 2 , the lifting control assembly 122 specifically includes a variable amplitude balance valve 1221, a lifting first control valve 1222 and a falling amplitude control valve 1223. The variable amplitude balance valve 1221 is arranged in a pipeline connecting the rodless chamber of the lifting cylinder 1211, and the oil return port of the variable amplitude balance valve 1221 is connected to the oil tank 10 through a pipeline. The first lifting control valve 1222 is connected to the oil inlet of the variable amplitude balance valve 1221 and the rod chamber of the lifting cylinder 1211 through a pipeline; the first lifting control valve 1222 is suitable for connecting to an oil supply device, and can control the oil supply state of the oil supply device to the lifting cylinder 1211, thereby controlling the extension or retraction of the piston rod of the lifting cylinder 1211. The falling amplitude control valve 1223 is connected to the interior of the variable amplitude balancing valve 1221 through a pipeline. When the lifting cylinder 1211 is in normal working condition, the valve core switching of the variable amplitude balancing valve 1221 is controlled by the falling amplitude control valve 1223 to match the valve core position of the variable amplitude balancing valve 1221 with the control operation of the lifting first control valve 1222.

Specifically, when the first lifting control valve 1222 controls the oil supply to the rodless chamber of the boom raising cylinder 1211, the valve core of the boom adjusting balance valve 1221 is switched to the oil inlet and connected to the rodless chamber of the boom raising cylinder 1211 under the control of the boom lowering control valve 1223, so that the oil can enter the rodless chamber to drive the piston rod to extend, thereby driving the boom to perform a lifting operation; when the boom needs to be lowered, the valve core of the boom adjusting balance valve 1221 is switched to the oil return port and connected to the rodless chamber of the boom raising cylinder 1211 under the control of the boom lowering control valve 1223. At this time, the piston rod of the boom raising cylinder 1211 can be retracted under the gravity of the boom, or the first lifting control valve 1222 controls the oil supply to the rod chamber of the boom raising cylinder 1211, and the piston rod of the boom raising cylinder 1211 is retracted under the gravity of the boom and the oil pressure of the rod chamber.

The following is a specific embodiment of the crane hydraulic control system 1 of the present application:

As shown in Figures 1 and 2, the crane hydraulic control system 1 includes a slewing control subsystem 11, a lifting control subsystem 12, a main control component 13 and a main control oil circuit 14. The crane hydraulic control system 1 can be applied to a crane 2 having a lifting mechanism 20, a slewing mechanism 22 and a crane arm 23 as shown in Figure 3.

As shown in FIG. 1 and FIG. 2 , the main control component 13 of the crane hydraulic control system 1 includes a main control valve 131, detector 132 and accumulator 133. One end of the main control valve 131 is connected to the input end of the main control oil circuit 14 through a pipeline, and the other end of the main control valve 131 is connected to the oil tank 10; when the main control valve 131 is turned on, as shown in the state in FIG2, the main control oil directly flows back to the oil tank 10 through the main control valve 131, and the slewing control subsystem 11 and the lifting control subsystem 12 are in normal working state; when the main control valve 131 is closed, as shown in the state in FIG1, the main control oil enters the main control oil circuit 14, and then flows to the slewing control subsystem 11 and the lifting control subsystem 12, and acts on the slewing control subsystem 11 and the lifting control subsystem 12 respectively, so that the slewing control subsystem 11 and the lifting control subsystem 12 enter a free floating state, so that the slewing mechanism 22 and the lifting mechanism 20 of the crane 2 drive the lifting arm 23 to enter a free floating state accordingly. Among them, the main control valve 131 is a manual valve, and a manual ball valve can be used specifically.

As shown in FIG. 1 and FIG. 2 , the detector 132 is provided in the main control oil circuit 14 to detect the oil pressure of the main control oil in the main control oil circuit 14, so that the operator can know whether the control oil pressure enters the main control oil circuit 14, and can also accurately know whether the oil pressure in the main control oil circuit 14 meets the requirements, so that corresponding countermeasures can be taken in time when the oil pressure is abnormal. Specifically, the detector 132 can be an oil pressure sensor; the detector 132 can be directly connected to the pipeline of the main control oil circuit 14, or connected to the main control oil circuit 14 through a pipeline.

As shown in FIG. 1 and FIG. 2 , the slewing control subsystem 11 includes a slewing drive mechanism 111, a slewing brake 112, a shuttle valve 113, a first slewing control valve 114 and a second slewing control valve 115. The slewing drive mechanism 111 specifically includes a closed slewing oil pump 1111 and a slewing motor 1112. The two working oil ports of the slewing motor 1112 are respectively connected to the two oil ports of the closed slewing oil pump 1111 through pipelines to form a closed loop, wherein one pipeline forms an oil inlet pipeline and the other forms an oil return pipeline in the pipeline connecting the two working oil ports of the slewing motor 1112; the functions of the oil inlet pipeline and the oil return pipeline can be interchanged according to different oil flow directions. The output end of the slewing motor 1112 is transmission-connected to the slewing mechanism 22 of the crane 2, so that under normal working conditions, the slewing motor 1112 outputs torque under the drive of the closed slewing oil pump 1111 to drive the slewing mechanism 22 to perform a slewing operation. The slewing brake 112 is provided corresponding to the slewing motor 1112 to perform a braking operation on the slewing motor 1112. When the slewing brake 112 brakes the slewing motor 1112, the slewing mechanism 22 is locked and cannot perform a slewing operation.

One input oil port of the shuttle valve 113 is connected to the main control oil circuit 14 through a pipeline, and the other input oil port of the shuttle valve 113 is connected to the first swing control valve 114 through a pipeline, and the output oil port of the shuttle valve 113 is connected to the swing brake 112, so that the shuttle valve 113 is used to switch the main control oil circuit 14 or the first swing control valve 114 to control the swing brake 112. When the main control oil circuit 14 inputs the main control oil to the swing brake 112 through the shuttle valve 113, the swing brake 112 stops the braking operation, and the swing mechanism 22 is in a non-locking state; when the main control oil circuit 14 does not input the main control oil to the swing brake 112 through the shuttle valve 113, the swing motor 1112 is in a normal working state, and the swing brake 112 is under the control of the first swing control valve 114. Work.

As shown in FIG. 1 and FIG. 2 , the second rotary control valve 115 specifically adopts a hydraulically controlled one-way valve group. Two internal oil circuits arranged in parallel are formed inside the valve body of the second rotary control valve 115, and one-way valves are provided in both internal oil circuits. One end of the two internal oil circuits is connected to the oil tank 10, and the control ends of the two one-way valves are connected to the main control oil circuit 14; at the other end of the two internal oil circuits, one internal oil circuit is connected to the oil inlet pipeline of the rotary motor 1112, and the other internal oil circuit is connected to the oil return pipeline of the rotary motor 1112. When the second rotary control valve 115 is turned on under the action of the main control oil, the oil inlet pipeline and the oil return pipeline of the rotary motor 1112 are connected through the second rotary control valve 115, and the rotary motor 1112 is in a sliding state at this time. When the rotary brake 112 is in a non-braking state, the rotary mechanism 22 can slide freely under the drive of the rotary motor 1112, that is, the rotary mechanism 22 enters a free floating state.

As shown in Figures 1 and 2, the lifting mechanism 20 includes a lifting drive mechanism 121, and the lifting control subsystem 12 includes a lifting control component 122 and a lifting second control valve 123; wherein, the lifting drive mechanism 121 specifically includes a lifting cylinder 1211; the lifting control component 122 specifically includes a variable amplitude balancing valve 1221, a lifting first control valve 1222 and a lowering control valve 1223.

The piston rod of the boom oil cylinder 1211 is connected to the boom 23 of the crane 2 by transmission; the rod chamber of the boom oil cylinder 1211 is connected to the oil tank 10 through a pipeline. The boom balance valve 1221 is arranged in the pipeline connecting the rodless chamber of the boom oil cylinder 1211, and the oil return port of the boom balance valve 1221 is connected to the oil tank 10 through a pipeline. The first lifting control valve 1222 is connected to the oil inlet of the boom balance valve 1221 and the pipeline connecting the rod chamber of the boom oil cylinder 1211 through a pipeline; the first lifting control valve 1222 is suitable for connecting to the oil supply equipment and can control the oil supply state of the oil supply equipment to the boom oil cylinder 1211, that is, the first lifting control valve 1222 can control the oil supply to the rod chamber of the boom oil cylinder 1211 or the rodless chamber of the boom oil cylinder 1211, thereby controlling the extension or retraction of the piston rod of the boom oil cylinder 1211. The falling amplitude control valve 1223 is connected to the interior of the variable amplitude balancing valve 1221 through a pipeline. When the lifting cylinder 1211 is in normal working condition, the valve core switching of the variable amplitude balancing valve 1221 is controlled by the falling amplitude control valve 1223 to match the valve core position of the variable amplitude balancing valve 1221 with the control operation of the lifting first control valve 1222.

Among them, the pipeline connected to the rod chamber of the lifting cylinder 1211 and the pipeline connected to the rodless chamber of the lifting cylinder 1211, one forms an oil inlet pipeline, and the other forms an oil return pipeline; according to the different telescopic movement directions of the piston rod, the functions of the oil inlet pipeline and the oil return pipeline can be interchangeable.

As shown in Fig. 1 and Fig. 2, the second lifting control valve 123 specifically adopts a hydraulically controlled one-way valve; the two ends of the second lifting control valve 123 are respectively connected to the oil inlet pipeline and the oil return pipeline of the lifting drive mechanism 121, and the control end of the second lifting control valve 123 is connected to the main control oil circuit 14 through a pipeline. The second lifting control valve 123 can be conducted under the action of the main control oil of the main control oil circuit 14, so that the rod chamber and the rodless chamber of the lifting cylinder 1211 are connected, so that the lifting drive mechanism 121 and the lifting arm 23 enter a free floating state.

When the main control oil circuit 14 does not input the main control oil to the second lifting control valve 123, the second lifting control valve 123 is in a closed state, and at this time, the lifting cylinder 1211 is in a normal working state. When the first lifting control valve 1222 controls the oil supply to the rodless chamber of the lifting cylinder 1211, the valve core of the variable amplitude balance valve 1221 is switched to the oil inlet and connected to the rodless chamber of the lifting cylinder 1211 under the control of the falling amplitude control valve 1223, so that the oil can enter the rodless chamber to drive the piston rod to extend, thereby driving the lifting arm 23 to lift; when the lifting arm 23 needs to be lowered, the variable amplitude balance valve 1221 is switched to the oil inlet and connected to the rodless chamber of the lifting cylinder 1211 under the control of the falling amplitude control valve 1223. The valve core of the width balance valve 1221 is switched to the oil return port and connected to the rodless chamber of the width raising cylinder 1211 under the control of the width falling control valve 1223, and the piston rod of the width raising cylinder 1211 contracts under the gravity of the boom 23. Alternatively, the first lifting control valve 1222 controls the oil supply to the rod chamber of the width raising cylinder 1211, and the piston rod of the width raising cylinder 1211 contracts under the gravity of the boom 23 and the oil pressure in the rod chamber.

It should be noted that in another specific implementation of the present embodiment, as shown in FIG4 , the main control valve 131 and the second lifting control valve 123 may also be hydraulically controlled valves, and the second swing control valve 115 may also be hydraulically controlled valve groups. It is also possible to achieve one-key control of the oil supply state in the main control oil circuit 14 through the main control valve 131, and then the lifting second control valve 123 using the hydraulically controlled valve and the swing second control valve 115 using the hydraulically controlled valve group are turned on under the action of the main control oil, so that the swing mechanism 22 and the lifting mechanism drive the boom 23 into a free floating state.

When the crane 2 applies the crane hydraulic control system 1 in this embodiment, when the crane 2 is traveling and the boom 23 is assisted by the external trailer 24, the main control valve 131 can be used to control the slewing mechanism 22 and the lifting mechanism 20 of the crane 2 to enter a free floating state, so that the boom 23 can move synchronously with the trailer 24 during traveling, especially when the road surface is up and down or when turning, so as to match the driving trajectory of the body 21 of the crane 2 and the trailer 24.

The crane hydraulic control system 1 in this embodiment, through the improvement and optimization of the control mode, uses the main control component 13 to uniformly control the slewing control subsystem 11 and the lifting control subsystem 12, so that the slewing mechanism 22 and the lifting mechanism 20 of the crane 2 can drive the boom 23 to enter a free floating state, and can achieve a one-key operation effect, which greatly simplifies the process and steps of the control operation, improves the efficiency of the control operation, and can effectively prevent the operator from missing individual operation steps when performing adjustment operations, thereby avoiding the phenomenon that the crane 2 starts to travel before the slewing mechanism 22 and the lifting mechanism 20 have completely entered the free floating state, which is beneficial to reducing the possibility of damage to the boom 23 and related mechanisms during driving, and is also beneficial to reducing safety hazards.

In the embodiment of the second aspect of the present application, a crane 2 is also provided. As shown in FIG1, FIG3 and FIG5, the crane 2 includes a car body 21, a slewing mechanism 22, a boom 23, a lifting mechanism 20 and a crane hydraulic control system 1 in any embodiment of the first aspect. The slewing mechanism 22, the lifting mechanism 20 and the boom 23 are all arranged on the car body 21 to achieve movement with the car. The slewing mechanism 22 is rotatably connected to the car body 21, and the slewing mechanism 22 can perform horizontal slewing operation relative to the car body 21; the boom 23 is arranged on the slewing mechanism 22 and is rotatably connected to the slewing mechanism 22; the boom 23 can perform slewing operation relative to the car body 21 together with the slewing mechanism 22. The lifting mechanism 20 is transmission-connected to the boom 23, and the lifting mechanism 20 can drive the boom 23 to perform lifting or lowering operation in the vertical direction relative to the slewing mechanism 22. The slewing control subsystem 11 of the crane hydraulic control system 1 is connected to the slewing mechanism 22 to drive the slewing mechanism 22 to perform horizontal slewing motion; the lifting control subsystem 12 of the crane hydraulic control system 1 is connected to the lifting mechanism 20 to drive the boom 23 to perform lifting or lowering operations.

When the crane 2 is traveling with the aid of the external trailer 24 to carry the boom 23, the main control component 13 of the crane hydraulic control system 1 can be controlled by one key to make the slewing mechanism 22 and the lifting mechanism 20 of the crane 2 drive the boom 23 into a free floating state, so that the boom 23 can move synchronously with the trailer 24 during traveling, especially when the road surface is up and down or when turning, so that the boom 23 can move synchronously with the body 21 of the crane 2. And the driving trajectory of the trailer 24 matches.

Furthermore, the boom 23 in this embodiment may be a telescopic boom; and the slewing mechanism 22 may specifically be a turntable.

Furthermore, in this embodiment, the crane 2 may also include a trailer 24, as shown in FIG3 , the trailer 24 is flexibly connected to the rear of the body 21 of the crane 2, and can travel with the body 21 under the traction of the body 21; the rear of the boom 23 extends from the rear of the body 21 and is carried on the trailer 24 to reduce the bridge load of the crane 2. The body 21 and the trailer 24 can rotate relative to each other in the horizontal direction and the vertical direction to adapt to the undulating road surface and the turning operation of the body 21. During the driving process, the boom 23, the slewing mechanism 22, and the lifting mechanism 20 are all in a free floating state to move synchronously with the trailer 24.

In addition, the crane 2 in this embodiment also has all the beneficial effects of the crane hydraulic control system 1 in any embodiment of the first aspect mentioned above, which will not be repeated here.

The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and/or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them. It should also be noted that in the apparatus and equipment of the present application, each component can be decomposed and/or recombined. These decompositions and/or recombinations should be regarded as equivalent schemes of the present application.

The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features of the present application.

The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

A crane hydraulic control system, used for a crane having a lifting mechanism (20), a slewing mechanism (22) and a lifting arm (23), characterized in that the crane hydraulic control system comprises:

A slewing control subsystem (11), the slewing control subsystem (11) being adapted to be in transmission connection with the slewing mechanism (22) so as to drive the boom (23) to rotate;

A lifting control subsystem (12), wherein the lifting control subsystem (12) is adapted to be in transmission connection with the lifting mechanism (20) so as to drive the lifting arm (23) to be lifted or lowered;

A main control component (13) is connected to the slewing control subsystem (11) and the lifting control subsystem (12) via a main control oil circuit (14). The main control component (13) is capable of controlling the oil supply state of the main control oil circuit (14) to control the slewing control subsystem (11) and the lifting control subsystem (12) to adjust their states between a normal working state and a free floating state.
The crane hydraulic control system according to claim 1, characterized in that the main control component (13) comprises:

A main control valve (131), one end of the main control valve (131) is connected to the input end of the main control oil circuit (14) through a pipeline, and the other end of the main control valve (131) is connected to the oil tank. The main control valve (131) can control the main control oil to flow into the main control oil circuit (14) or into the oil tank.
The crane hydraulic control system according to claim 2 is characterized in that:

The main control component (13) further comprises:

A detector (132) is disposed in the main control oil circuit (14), and the detector (132) is suitable for detecting the oil pressure in the main control oil circuit (14);

An accumulator (133) is connected to the main control oil circuit (14) through a pipeline, and the accumulator (133) is suitable for performing oil replenishment or overflow operations on the main control oil circuit (14);

Wherein, the main control valve (131) is a manual control valve or a hydraulic control valve.
The crane hydraulic control system according to any one of claims 1 to 3, characterized in that the slewing control subsystem (11) comprises:

A rotary drive mechanism (111) is drivingly connected to the rotary mechanism (22);

A slewing brake (112) is arranged corresponding to the slewing drive mechanism (111), and the slewing brake (112) can perform a braking operation on the slewing drive mechanism (111);

A shuttle valve (113), wherein an oil input port of the shuttle valve (113) is connected to the main control oil circuit (14) through a pipeline, and an oil output port of the shuttle valve (113) is connected to the swing brake (112);

A first swing control valve (114) is connected to another oil input port of the shuttle valve (113) through a pipeline, and the swing brake (112) can adjust the working state under the action of the oil of the first swing control valve (114) or the main control oil in the main control oil circuit (14);

A second rotary control valve (115), one end of the second rotary control valve (115) is connected to the oil tank, and the other end is connected to the oil inlet pipeline and the oil return pipeline of the rotary drive mechanism (111); the control end of the second rotary control valve (115) is connected to the main control oil circuit (14), and can be conducted under the action of the main control oil, so that the oil inlet pipeline and the oil return pipeline of the rotary drive mechanism (111) are connected.
The crane hydraulic control system according to claim 4, characterized in that the slewing drive mechanism (111) comprises:

Closed rotary oil pump (1111);

A rotary motor (1112), wherein two working oil ports of the rotary motor (1112) are respectively connected to two oil ports of the closed rotary oil pump (1111) through pipelines, and one of the two pipelines connecting the two working oil ports of the rotary motor (1112) forms an oil inlet pipeline and the other forms an oil return pipeline, and the output end of the rotary motor (1112) is transmission-connected to the rotary mechanism (22).
The crane hydraulic control system according to claim 5 is characterized in that:

Two internal oil circuits arranged in parallel are formed in the second rotary control valve (115), one end of the two internal oil circuits are connected to the oil tank, and the other ends of the two internal oil circuits are respectively connected to the oil inlet pipeline and the oil return pipeline of the rotary motor (1112);

Wherein, the rotary second control valve (115) is a hydraulically controlled one-way valve group or a hydraulically controlled valve group.
The crane hydraulic control system according to any one of claims 1 to 3, characterized in that:

The lifting mechanism (20) comprises:

A lifting drive mechanism (121) is transmission-connected to the lifting arm (23);

The lifting control subsystem (12) comprises:

A lifting control component (122) is connected to the lifting drive mechanism (121) via a pipeline, and the lifting control component (122) is suitable for controlling the operation of the lifting drive mechanism (121);

A second lifting control valve (123), wherein both ends of the second lifting control valve (123) are respectively connected to the oil inlet pipeline and the oil return pipeline of the lifting drive mechanism (121) through pipelines, and the control end of the second lifting control valve (123) is connected to the main control oil circuit (14) through a pipeline, and the second lifting control valve (123) can be conducted under the action of the main control oil of the main control oil circuit (14), so that the oil inlet pipeline and the oil return pipeline of the lifting drive mechanism (121) are connected.
The crane hydraulic control system according to claim 7 is characterized in that:

The lifting drive mechanism (121) comprises:

A lifting cylinder (1211) is transmission-connected to the lifting arm (23); a rod chamber and a rodless chamber of the lifting cylinder (1211) are respectively connected to the lifting control assembly (122) via pipelines; and the pipeline connecting the rod chamber of the lifting cylinder (1211) and the pipeline connecting the rodless chamber of the lifting cylinder (1211), one of which forms an oil inlet pipeline, and the other forms an oil return pipeline;

One end of the second lifting control valve (123) is connected to a pipeline connected to a rod chamber of the lifting oil cylinder (1211) through a pipeline, and the other end of the second lifting control valve (123) is connected to a pipeline connected to a rodless chamber of the lifting oil cylinder (1211) through a pipeline, and the control end of the second lifting control valve (123) is connected to the main control oil circuit (14) through a pipeline;

Wherein, the second lifting control valve (123) is a hydraulically controlled one-way valve or a hydraulically controlled valve.
The crane hydraulic control system according to claim 8, characterized in that the lifting control component (122) comprises:

A variable amplitude balancing valve (1221) is arranged in a pipeline connected to the rodless chamber of the amplitude lifting oil cylinder (1211), and an oil return port of the variable amplitude balancing valve (1221) is connected to an oil tank through a pipeline;

A first lifting control valve (1222) is connected to the oil inlet of the variable amplitude balance valve (1221) and the rod chamber of the lifting cylinder (1211) through pipelines. The first lifting control valve (1222) is suitable for connecting to the oil supply equipment and can control the oil supply state of the lifting oil cylinder (1211);

The amplitude drop control valve (1223) is connected to the interior of the variable amplitude balancing valve (1221) through a pipeline, and the amplitude drop control valve (1223) is suitable for controlling the valve core switching of the variable amplitude balancing valve (1221).
A crane, characterized by comprising:

Vehicle body (21);

A slewing mechanism (22) rotatably disposed on the vehicle body (21);

A lifting arm (23) is rotatably connected to the slewing mechanism (22), and a portion of the lifting arm (23) extends outward from the vehicle body (21) and is suitable for being carried on an auxiliary carrying device;

A lifting mechanism (20) is arranged on the vehicle body (21), the lifting mechanism (20) is in transmission connection with the lifting arm (23), and is suitable for driving the lifting arm (23) to be lifted or lowered;

The crane hydraulic control system according to any one of claims 1 to 9, arranged on the vehicle body (21);

The slewing control subsystem (11) is connected in transmission with the slewing mechanism (22), and the lifting control subsystem (12) is connected in transmission with the lifting mechanism (20).