Multifunctional crane, hydraulic system and control method

Abstract

The present invention discloses a multifunctional crane, a hydraulic system and a control method. The multifunctional crane includes a front frame assembly, a steering cylinder, a rear frame assembly, a front outrigger, a crane base, a rear outrigger, a slewing assembly, a counterweight, an outer column, an inner column, a column cylinder, an upper base, an erecting arm luffing cylinder, an erecting arm, a main arm, a winch mechanism, a first main arm luffing cylinder, a telescopic arm, a telescopic cylinder, a first leveling cylinder, a climbing platform and a hook. The front frame assembly and the rear frame assembly are deflected by the telescopic movement of the steering cylinder; the front outrigger and the rear outrigger are installed below the rear frame assembly, the crane base is installed above the rear frame assembly, the slewing assembly is installed on the crane base, and the counterweight is fixed on the slewing assembly; one end of the column cylinder is hinged to the outer column, and the other end of the column cylinder is hinged to the inner column. The present invention is convenient for transition and has various functions; it has many degrees of freedom, flexible movements and changeable control modes.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic system control devices, and in particular discloses a multifunctional crane, a hydraulic system and a control method. Background Art

[0002] At present, large-scale construction sites mostly use tower cranes for hoisting operations, such as Figure 1 As shown, the tower crane is mainly composed of a base 101, a column 102, a slewing mechanism 103, a counterweight 104, a power system 105, a boom 106, a horizontal sliding mechanism 107, a hoisting mechanism 108, and a hook 109. The tower crane is fixedly installed, with the base fixed to the ground. The slewing mechanism 103 drives the boom 106 to move as a whole, and the hoisting mechanism 108 drives the horizontal sliding mechanism 107 to move horizontally, while driving the hook 109 to perform hoisting operations.

[0003] Tower cranes have fewer degrees of freedom and poor flexibility, such as Figure 2 As shown, its hydraulic system mainly includes hydraulic oil tank 201, motor 202, hydraulic pump 203, overflow valve 204, check valve 205, multi-way valve 206, horizontal winch 207, horizontal winch hydraulic valve 208, hoisting winch hydraulic valve 209, hoisting winch 210, slewing mechanism 211, and return oil filter 212. Motor 202 drives hydraulic pump 203 to absorb oil from hydraulic oil tank 201, and pumps high-pressure hydraulic oil to multi-way valve 206 through check valve 205, and controls the movement of horizontal winch 207, hoisting winch 210, and slewing mechanism 211 through multi-way valve 206. Horizontal winch hydraulic valve 208 and hoisting winch hydraulic valve 209 are used for winch brake opening, and overflow valve 204 is used as a safety valve to prevent excessive system pressure.

[0004] The existing technology mainly has the following disadvantages:

[0005] 1) Fixed installation, inconvenient to move. The tower crane is fixed on the ground through the base. When it needs to be moved, it is usually necessary to disassemble the equipment as a whole and then tow it to the new site. The workload of the move is large, time-consuming and labor-intensive.

[0006] 2) Single function and low operating efficiency. When using a tower crane for lifting in large buildings such as nuclear power plants and indoor gymnasiums, it is often necessary to cooperate with a climbing platform at the same time. After manual disassembly using the climbing platform, the tower crane is used for lifting.

[0007] 3) There are few degrees of freedom in hoisting and poor flexibility. Existing tower cranes usually only have three actions: rotation, horizontal sliding, and winch hoisting. When working in a nuclear power plant or other large buildings with high partition walls, the tower crane cannot achieve cross-wall hoisting through its own actions.

[0008] Therefore, the existing lifting solutions are inconvenient to transfer, have single functions and poor flexibility, which are technical problems that need to be solved urgently. Summary of the invention

[0009] The present invention provides a multifunctional crane, a hydraulic system and a control method, aiming to solve the technical problems of inconvenient transfer, single function and poor flexibility of existing hoisting solutions.

[0010] According to one aspect of the present invention, a multifunctional crane is provided, comprising a front frame assembly, a steering cylinder, a rear frame assembly, a front outrigger, a crane base, a rear outrigger, a slewing assembly, a counterweight, an outer column, an inner column, a column cylinder, an upper base, an erecting arm luffing cylinder, an erecting arm, a main arm, a winch mechanism, a first main arm luffing cylinder, a telescopic arm, a telescopic cylinder, a first leveling cylinder, a climbing platform and a hook, wherein the front frame assembly and the rear frame assembly are hinged. The front frame assembly and the rear frame assembly are connected in a manner of, and the front frame assembly and the rear frame assembly are deflected by the extension and contraction of the steering cylinder; the front outrigger and the rear outrigger are installed below the rear frame assembly, the crane base is installed above the rear frame assembly, the slewing assembly is installed on the crane base, and the counterweight is fixed on the slewing assembly; one end of the column cylinder is hinged to the outer column, and the other end of the column cylinder is hinged to the inner column, and the outer column and the inner column form a sliding pair, which is extended and contracted by the column cylinder. The outer column and the inner column are driven to slide relative to each other; the upper base is installed on the upper end of the inner column, the erecting arm is connected to the upper base by a hinge, one end of the erecting arm luffing cylinder is hinged to the upper base, and the other end of the erecting arm luffing cylinder is hinged to the erecting arm, and the erecting arm is luffed by the extension and contraction of the erecting arm luffing cylinder; the erecting arm is connected to the main arm through a rotating pair, and the main arm is luffed by the extension and contraction of the first main arm luffing cylinder; the winch mechanism is installed at the end of the main arm, and the winch mechanism drives the wire rope to realize the up and down movement of the hook; one end of the telescopic cylinder is hinged to the telescopic arm, and the other end of the telescopic cylinder is hinged to the main arm, and the telescopic arm is extended and contracted by the extension and contraction of the telescopic cylinder to realize the telescopic movement; the climbing platform is hinged to the end of the telescopic arm, one end of the first leveling cylinder is hinged to the climbing platform, and the other end of the first leveling cylinder is hinged to the telescopic arm, and the climbing platform realizes the leveling movement by the extension and contraction of the first leveling cylinder.

[0011] According to another aspect of the present invention, a multifunctional crane hydraulic system is also provided, which is applied to the above-mentioned multifunctional crane. The multifunctional crane hydraulic system includes an upper hydraulic system and a lower hydraulic system. The lower hydraulic system includes a driving hydraulic system, a steering hydraulic system and an outrigger circuit. The outrigger circuit includes an operating pump, an engine, a hydraulic oil tank, an overflow valve, a first one-way valve, an outrigger multi-way valve, a first two-way hydraulic lock, a left rear vertical cylinder, a left rear horizontal cylinder, a second two-way hydraulic lock, a right rear vertical cylinder, a right rear horizontal cylinder, a third two-way hydraulic lock, a right front vertical cylinder, a right front horizontal cylinder, a fourth two-way hydraulic lock, a left front vertical cylinder and a left front horizontal cylinder. The A1 port of the outrigger multi-way valve is connected to the rodless chamber of the left front horizontal cylinder, and the B1 port of the outrigger multi-way valve is connected to the rodless chamber of the left front vertical cylinder through the fourth two-way hydraulic lock; the A2 port of the outrigger multi-way valve is connected to the rodless chamber of the right front horizontal cylinder, and the B2 port of the outrigger multi-way valve is connected to the rodless chamber of the left front vertical cylinder through the third two-way hydraulic lock. The lock is connected to the rodless chamber of the right front vertical cylinder; the A3 port of the outrigger multi-way valve is connected to the rodless chamber of the right rear horizontal cylinder, and the B3 port of the outrigger multi-way valve is connected to the rodless chamber of the right rear vertical cylinder through the second two-way hydraulic lock; the A4 port of the outrigger multi-way valve is connected to the rodless chamber of the left rear horizontal cylinder, and the B4 port of the outrigger multi-way valve is connected to the rodless chamber of the left rear vertical cylinder through the first two-way hydraulic lock; the H port of the outrigger multi-way valve is connected to the rod chamber of the left front horizontal cylinder and the right front horizontal cylinder respectively. The rod chamber of the oil cylinder, the rod chamber of the right front horizontal oil cylinder, the rod chamber of the right front vertical oil cylinder, the rod chamber of the right rear horizontal oil cylinder, the rod chamber of the right rear vertical oil cylinder, the rod chamber of the left rear horizontal oil cylinder and the rod chamber of the left rear vertical oil cylinder are connected; the P port of the outrigger multi-way valve is divided into two paths after passing through the first one-way valve, one path is connected to the hydraulic oil tank through the overflow valve; the other path is connected to the hydraulic oil tank through the working pump, and the engine is connected to the working pump; the T port of the outrigger multi-way valve is connected to the hydraulic oil tank.

[0012] Furthermore, the steering hydraulic system includes a return oil filter, a steering pump, a second one-way valve, a first steering cylinder, a second steering cylinder and a steering gear; the R port of the steering gear is respectively connected to the rodless chamber of the first steering cylinder and the rod chamber of the second steering cylinder; the L port of the steering gear is respectively connected to the rodless chamber of the second steering cylinder and the rod chamber of the first steering cylinder; the P port of the steering gear is connected to the hydraulic oil tank through the second one-way valve and the steering pump connected in series; the T port of the steering gear is connected to the hydraulic oil tank through the return oil filter.

[0013] Furthermore, the travel hydraulic system includes an oil suction filter, a servo valve, a brake opening valve, a travel pump assembly, a travel motor, a first brake cylinder and a second brake cylinder. The P port of the brake opening valve is connected to the travel pump assembly and the servo valve, the A port of the brake opening valve is connected to the first brake cylinder and the second brake cylinder respectively, the travel motor is connected to the travel pump assembly, the S port of the travel pump assembly is connected to the hydraulic oil tank through the oil suction filter, and the T port of the brake opening valve is connected to the hydraulic oil tank.

[0014] Furthermore, the upper hydraulic system includes a center rotary assembly, a first load-sensitive multi-way valve, an accumulator, a balancing valve, a left vertical lifting and luffing cylinder, a right vertical lifting and luffing cylinder, a hydraulic valve, a winch assembly, a first two-way balancing valve, a main arm telescopic cylinder, a second main arm luffing cylinder, a first one-way balancing valve, a second leveling cylinder, a second two-way balancing valve, a rotary motor, a second one-way balancing valve, a column lifting cylinder and a second load-sensitive multi-way valve. The center rotary assembly is respectively connected to the P port and the T port of the first load-sensitive multi-way valve, the A1 port and the B1 port of the first load-sensitive multi-way valve are connected to the rod chamber and the rodless chamber of the second leveling cylinder through the second two-way balancing valve, and the A2 port and the B2 port of the first load-sensitive multi-way valve are connected to the rod chamber and the rodless chamber of the second leveling cylinder through the first one-way balancing valve. The balancing valve is connected with the rod chamber and the rodless chamber of the second leveling cylinder, the A3 port and the B3 port of the first load-sensitive multi-way valve are connected with the rod chamber and the rodless chamber of the main arm telescopic cylinder through the first two-way balancing valve, the A4 port and the B4 port of the first load-sensitive multi-way valve are connected with the hydraulic valve through the winch assembly, the A5 port and the B5 port of the first load-sensitive multi-way valve are connected with the left vertical boom cylinder and the right vertical boom cylinder through the balancing valve; the accumulator is connected with the first load-sensitive multi-way valve and the hydraulic valve respectively; the A port and the B port of the second load-sensitive multi-way valve are connected with the rod chamber and the rodless chamber of the column lifting cylinder through the second one-way balancing valve; the rotary motor is connected with the A port and the B port of the second load-sensitive multi-way valve respectively.

[0015] According to another aspect of the present invention, a multifunctional crane control method is also provided, which is applied to the multifunctional crane hydraulic system mentioned above, and the multifunctional crane control method comprises the following steps:

[0016] The control steps of the multi-function crane in single action mode are to transfer the multi-function crane to the designated location through the travel hydraulic system and the steering hydraulic system; control the upper hydraulic system to act in single action mode, and control the main boom luffing, arm erection, rotation, column lifting, arm extension and retraction, and winch extension and retraction;

[0017] The control steps of the multifunctional crane linkage mode are to transfer the multifunctional crane to the designated location through the driving hydraulic system and the steering hydraulic system; control the upper hydraulic system to move in linkage mode, control the linkage of the main boom luffing and the erecting arm luffing, the linkage of slewing and column lifting, the linkage of slewing and arm extension and extension, and the linkage of slewing and winch extension and extension.

[0018] Furthermore, the multifunctional crane single action mode control steps include:

[0019] Control the proportional solenoid of the second load-sensitive multi-way valve to be energized, driving the multi-functional crane to rotate to the specified azimuth angle;

[0020] The proportional solenoid of the second load-sensitive multi-way valve is energized to drive the column lifting cylinder to extend or retract to a specified height;

[0021] The proportional solenoid of the second load-sensitive multi-way valve is controlled to be energized, and the luffing angle of the folding arm is adjusted by adjusting the left and right luffing cylinders;

[0022] The proportional solenoid of the second load-sensitive multi-way valve is controlled to be energized, and the luffing angle of the main arm is adjusted by adjusting the second luffing cylinder of the main arm;

[0023] The proportional solenoid controlling the second load-sensitive multi-way valve is energized, and the main arm length is adjusted by adjusting the main arm telescopic cylinder.

[0024] Furthermore, the multifunctional crane linkage mode control step also includes:

[0025] Determine whether the working position is adjusted in place;

[0026] If yes, the lifting operation is carried out, the proportional solenoid of the second load-sensitive multi-way valve is controlled to be energized, and the lifting operation is carried out through the rotation of the winch assembly; if no, the lifting operation is carried out manually on the platform;

[0027] Determine whether the operation at the specified position is completed. If not, switch to linkage mode; if so, execute the linkage program.

[0028] Furthermore, the multifunctional crane linkage mode control steps include:

[0029] Determine whether the linkage between the main arm luffing and the erecting arm luffing is started. If so, the proportional solenoid of the second load-sensitive multi-way valve is controlled to be energized, and the slewing and column are linked to slew and lift to the specified position;

[0030] Determine whether to start the linkage between rotation and column lifting. If so, control the proportional solenoid of the second load-sensitive multi-way valve to be energized, so that the rotation and column are linked to rotate and lift to the specified position;

[0031] Determine whether to start the linkage between slewing and arm extension and retraction. If so, control the proportional solenoid of the second load-sensitive multi-way valve to be energized, so that the slewing and arm extension and retraction are linked to slewing and lifting to the specified position;

[0032] Determine whether to start the linkage between slewing and winch extension and retraction. If so, control the proportional solenoid of the second load-sensitive multi-way valve to be energized, slewing and winch are linked, and the slewing hook moves to the specified position;

[0033] Furthermore, the multifunctional crane linkage mode control step also includes:

[0034] Determine whether the working position is adjusted in place;

[0035] If yes, the lifting operation is carried out, the proportional solenoid of the second load-sensitive multi-way valve is controlled to be energized, and the lifting operation is carried out through the rotation of the winch assembly; if no, the lifting operation is carried out manually on the platform;

[0036] Determine whether the operation at the specified position is completed. If not, switch to single action control mode; if yes, execute the linkage program.

[0037] The beneficial effects achieved by the present invention are:

[0038] The present invention provides a multifunctional crane, a hydraulic system and a control method. The multifunctional crane adopts a front frame assembly, a steering cylinder, a rear frame assembly, a front outrigger, a crane base, a rear outrigger, a slewing assembly, a counterweight, an outer column, an inner column, a column cylinder, an upper base, an erecting arm luffing cylinder, an erecting arm, a main arm, a winch mechanism, a first main arm luffing cylinder, a telescopic arm, a telescopic cylinder, a first leveling cylinder, a climbing platform and a hook. The front frame assembly and the rear frame assembly The components are connected in an articulated manner, and the front frame assembly and the rear frame assembly are deflected by the extension and contraction of the steering cylinder; the front outrigger and the rear outrigger are installed below the rear frame assembly, the crane base is installed above the rear frame assembly, the slewing assembly is installed on the crane base, and the counterweight is fixed on the slewing assembly; one end of the column cylinder is hinged to the outer column, and the other end of the column cylinder is hinged to the inner column, and the outer column and the inner column form a sliding pair, which is controlled by the column cylinder. The telescopic movement drives the outer column and the inner column to slide relative to each other; the upper base is installed on the upper end of the inner column, the erecting arm is connected to the upper base by a hinge, one end of the erecting arm luffing cylinder is hinged to the upper base, and the other end of the erecting arm luffing cylinder is hinged to the erecting arm, and the erecting arm is changed by the telescopic movement of the erecting arm luffing cylinder; the erecting arm is connected to the main arm through a rotating pair, and the main arm is changed by the telescopic movement of the first main arm luffing cylinder; the winch mechanism is installed at the end of the main arm, and the winch mechanism drives the wire rope to realize the up and down movement of the hook; one end of the telescopic cylinder is hinged to the telescopic arm, and the other end of the telescopic cylinder is hinged to the main arm, and the telescopic arm is realized by the telescopic movement of the telescopic cylinder; the climbing platform is hinged to the end of the telescopic arm, one end of the first leveling cylinder is hinged to the climbing platform, and the other end of the first leveling cylinder is hinged to the telescopic arm, and the climbing platform realizes leveling movement by the telescopic movement of the first leveling cylinder. The invention is convenient for transfer. The multifunctional crane has a steering and driving system. By driving the frame to move, the operating device installed on the frame can be quickly realized. The transfer workload is small, which saves time and effort. It has various functions and can not only perform lifting operations but also manned climbing operations. One machine has multiple uses, is convenient and fast, and has low use cost. It has multiple degrees of freedom, flexible movements, and changeable control modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of an existing tower crane embodiment;

[0040] Figure 2 It is a structural schematic diagram of an embodiment of an existing tower crane hydraulic system;

[0041] Figure 3 A schematic diagram of the overall structure of an embodiment of a multifunctional crane provided by the present invention;

[0042] Figure 4 A general schematic diagram of an embodiment of a multifunctional crane hydraulic system provided by the present invention;

[0043] Figure 5 A schematic diagram of the principle of the lower loading hydraulic system in the multifunctional crane hydraulic system provided by the present invention;

[0044] Figure 6 A schematic diagram of the principle of the upper hydraulic system in the multifunctional crane hydraulic system provided by the present invention;

[0045] Figure 7 A schematic diagram of a flow chart of an embodiment of a single-action control process of a multifunctional crane in a multifunctional crane control method provided by the present invention;

[0046] Figure 8 A flow chart of an embodiment of a multifunctional crane linkage control process in a multifunctional crane control method provided by the present invention.

[0047] Description of Figure Numbers:

[0048] 301, front frame assembly; 302, steering cylinder; 303, rear frame assembly; 304, front outrigger; 305, crane base; 306, rear outrigger; 307, slewing assembly; 308, counterweight; 309, outer column; 310, inner column; 311, column cylinder; 312, upper base; 313, vertical arm luffing cylinder; 314, vertical arm; 315, main arm; 316, winch mechanism; 317, first main arm luffing cylinder; 318, telescopic arm; 319, telescopic cylinder; 320, first leveling Cylinder; 321, climbing platform; 322, hook; 401, oil suction filter; 402, oil return filter; 403, steering pump; 404, working pump; 405, engine; 406, hydraulic oil tank; 407, overflow valve; 408, first one-way valve; 409, second one-way valve; 410, outrigger multi-way valve; 411, first two-way hydraulic lock; 412, left rear vertical cylinder; 413, left rear horizontal cylinder; 414, second two-way hydraulic lock; 415, right rear vertical cylinder; 416, right rear horizontal cylinder; 417, third two-way hydraulic lock; 418, right front vertical cylinder; 419, right front horizontal cylinder; 420, fourth two-way hydraulic lock; 421, left front vertical cylinder; 422, left front horizontal cylinder; 423, center rotation assembly; 424, first load-sensitive multi-way valve; 425, accumulator; 426, balance valve; 427, left vertical boom cylinder; 428, right vertical boom cylinder; 429, hydraulic valve; 430, winch assembly; 431, first two-way balance valve; 432, main boom telescopic cylinder; 433, The second main arm luffing cylinder; 434, the first one-way balancing valve; 435, the second leveling cylinder; 436, the second two-way balancing valve; 437, the rotary motor; 438, the second one-way balancing valve; 439, the column lifting cylinder; 440, the second load-sensitive multi-way valve; 441, the first steering cylinder; 442, the second steering cylinder; 443, the steering gear; 444, the servo valve; 445, the brake opening valve; 446, the travel pump assembly; 447, the travel motor; 448, the first brake cylinder; 449, the second brake cylinder. DETAILED DESCRIPTION

[0049] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0050] like Figure 3 As shown, Figure 3The present invention provides a schematic diagram of the overall structure of a multifunctional crane embodiment. In this embodiment, the multifunctional crane includes a front frame assembly 301, a steering cylinder 302, a rear frame assembly 303, a front leg 304, a crane base 305, a rear leg 306, a slewing assembly 307, a counterweight 308, an outer column 309, an inner column 310, a column cylinder 311, an upper base 312, an erecting arm luffing cylinder 313, an erecting arm 314, a main arm 315, a winch mechanism 316, a first main arm luffing cylinder 317, a telescopic arm 318, a telescopic cylinder 319, a first leveling cylinder 320, a climbing platform 321 and The hook 322, the front frame assembly 301 and the rear frame assembly 303 are connected in an articulated manner, and the front frame assembly 301 and the rear frame assembly 303 are deflected by the extension and contraction of the steering cylinder 302; the front support leg 304 and the rear support leg 306 are installed below the rear frame assembly 303, the crane base 305 is installed above the rear frame assembly 303, the slewing assembly 307 is installed on the crane base 305, and the counterweight 308 is fixed on the slewing assembly 307; one end of the column cylinder 311 is hinged to the outer column 309, and the other end of the column cylinder 311 is hinged to the inner column 310, and the outer column 309 and the inner column 310 forms a sliding pair, and the outer column 309 and the inner column 310 are driven to slide relative to each other through the extension and contraction of the column cylinder 311; the upper base 312 is installed on the upper end of the inner column 310, and the erecting arm 314 is connected to the upper base 312 by a hinged manner, one end of the erecting arm luffing cylinder 313 is hinged to the upper base 312, and the other end of the erecting arm luffing cylinder 313 is hinged to the erecting arm 314, and the erecting arm 314 is luffed by the extension and contraction of the erecting arm luffing cylinder 313; the erecting arm 314 is connected to the main arm 315 through a rotating pair, and the main arm 315 is luffed by the extension and contraction of the first main arm luffing cylinder 317 width; the hoisting mechanism 316 is installed at the end of the main arm 315, and the hoisting mechanism 316 drives the wire rope to realize the up and down movement of the hook 322; one end of the telescopic cylinder 319 is hinged to the telescopic arm 318, and the other end of the telescopic cylinder 319 is hinged to the main arm 315, and the telescopic arm 318 realizes telescopic movement through the extension and contraction of the telescopic cylinder 319; the climbing platform 321 is hinged to the end of the telescopic arm 318, one end of the first leveling cylinder 320 is hinged to the climbing platform 321, and the other end of the first leveling cylinder 320 is hinged to the telescopic arm 318, and the climbing platform 321 realizes leveling movement through the extension and contraction of the first leveling cylinder 320.

[0051] Please see Figure 3The multifunctional crane provided in this embodiment has a front frame assembly 301 and a rear frame assembly 303 connected in a hinged manner, and the two are deflected by the extension and contraction of the steering cylinder 302, thereby achieving the purpose of steering. The front legs 304 and the rear legs 306 are installed on the rear frame assembly 303. The legs are equipped with horizontal and vertical extension cylinders, which can achieve horizontal and vertical movements to improve stability during lifting. The crane base 305 is fixedly mounted on the rear frame assembly 303. The slewing assembly 307 is installed on the crane base 305. When rotating, the overall driving upper part rotates. The counterweight 308 is fixed on the slewing assembly 307 to prevent tipping. One end of the column cylinder 311 is hinged to the outer column 309, and the other end is hinged to the inner column 310. The outer column 309 and the inner column 310 form a sliding pair, and the outer column 309 and the inner column 310 are driven to slide relative to each other through the extension and contraction of the column cylinder 311. The upper base 312 is installed on the upper end of the inner column 310, and the erection arm 314 is connected to the upper base 312 through a hinge. One end of the erection arm variable-length cylinder 313 is hinged to the upper base 312, and the other end is hinged to the erection arm 314. The erection arm 314 is variable in length through the extension and contraction of the erection arm variable-length cylinder 313. The erection arm 314 is connected to the main arm 315 through a swivel pair. One end of the first main arm variable-length cylinder 317 is hinged to the main arm 315, and the other end is hinged to the erection arm 314. The main arm 315 is variable in length through the extension and contraction of the first main arm variable-length cylinder 317. The hoisting mechanism 316 is installed at the end of the main arm 315, and the hoisting mechanism drives the wire rope to realize the up and down movement of the hook 322. One end of the telescopic cylinder 319 is hinged to the telescopic arm 318, and the other end is hinged to the main arm 315. The telescopic arm 318 realizes telescopic movement by the extension and contraction of the telescopic cylinder 319. The climbing platform 321 is hinged to the end of the telescopic arm 318, and one end of the first leveling cylinder 320 is hinged to the climbing platform 321, and the other end is hinged to the telescopic arm 318. The climbing platform 321 realizes leveling movement by the extension and contraction of the first leveling cylinder 320.

[0052] The multifunctional crane provided in this embodiment provides a multifunctional crane structural solution, which realizes rapid transfer through the driving and steering hydraulic systems. At the same time, the structure has the advantages of high degree of freedom, flexible operating movements, and wide working coverage.

[0053] Please see Figures 4 to 6 , Figure 4The schematic diagram of an embodiment of a hydraulic system for a multifunctional crane provided by the present invention is shown in FIG. 1 . In the embodiment, the hydraulic system for a multifunctional crane is applied to the multifunctional crane described above, and includes an upper hydraulic system and a lower hydraulic system. The lower hydraulic system includes a travel hydraulic system, a steering hydraulic system and an outrigger circuit. The outrigger circuit includes an operating pump 404, an engine 405, a hydraulic oil tank 406, a relief valve 407, a first non-return valve 408, an outrigger multi-way valve 410, a first two-way hydraulic lock 411, a left rear vertical cylinder 412, a left rear horizontal cylinder 413, a second two-way hydraulic lock 414, and a right rear vertical cylinder 415. 415, the right rear horizontal cylinder 416, the third two-way hydraulic lock 417, the right front vertical cylinder 418, the right front horizontal cylinder 419, the fourth four-way hydraulic lock 420, the left front vertical cylinder 421 and the left front horizontal cylinder 422, the A1 port of the outrigger multi-way valve 410 is connected with the rodless cavity of the left front horizontal cylinder 422, and the B1 port of the outrigger multi-way valve 410 is connected with the rodless cavity of the left front vertical cylinder 421 through the fourth four-way hydraulic lock 420; the A2 port of the outrigger multi-way valve 410 is connected with the rodless cavity of the right front horizontal cylinder 419, and the B2 port of the outrigger multi-way valve 410 is connected with the rodless cavity of the right front horizontal cylinder 419 through the third four-way hydraulic lock. The hydraulic lock 417 is connected to the rodless chamber of the right front vertical cylinder 418; the A3 port of the outrigger multi-way valve 410 is connected to the rodless chamber of the right rear horizontal cylinder 416, and the B3 port of the outrigger multi-way valve 410 is connected to the rodless chamber of the right rear vertical cylinder 415 through the second two-way hydraulic lock 414; the A4 port of the outrigger multi-way valve 410 is connected to the rodless chamber of the left rear horizontal cylinder 413, and the B4 port of the outrigger multi-way valve 410 is connected to the rodless chamber of the left rear vertical cylinder 412 through the first two-way hydraulic lock 411; the H port of the outrigger multi-way valve 410 is connected to the rod chambers of the left front horizontal cylinder 422 and the right front horizontal cylinder 41 9, the rod chamber of the right front horizontal cylinder 419, the rod chamber of the right front vertical cylinder 418, the rod chamber of the right rear horizontal cylinder 416, the rod chamber of the right rear vertical cylinder 415, the rod chamber of the left rear horizontal cylinder 413 and the rod chamber of the left rear vertical cylinder 412 are connected; the P port of the outrigger multi-way valve 410 is divided into two paths after passing through the first one-way valve 408, one path is connected to the hydraulic oil tank 406 through the overflow valve 407; the other path is connected to the hydraulic oil tank 406 through the working pump 404, and the engine 405 is connected to the working pump 404; the T port of the outrigger multi-way valve 410 is connected to the hydraulic oil tank 406.

[0054] The steering hydraulic system includes a return oil filter 402, a steering pump 403, a second one-way valve 409, a first steering cylinder 441, a second steering cylinder 442 and a steering gear 443; the R port of the steering gear 443 is respectively connected to the rodless chamber of the first steering cylinder 441 and the rod chamber of the second steering cylinder 442; the L port of the steering gear 443 is respectively connected to the rodless chamber of the second steering cylinder 442 and the rod chamber of the first steering cylinder 441; the P port of the steering gear 443 is connected to the hydraulic oil tank 406 through the second one-way valve 409 and the steering pump 403 connected in series; the T port of the steering gear 443 is connected to the hydraulic oil tank 406 through the return oil filter 402.

[0055] The travel hydraulic system includes an oil suction filter 401, a servo valve 444, a brake opening valve 445, a travel pump assembly 446, a travel motor 447, a first brake cylinder 448 and a second brake cylinder 449. The P port of the brake opening valve 445 is connected to the travel pump assembly 446 and the servo valve 444, the A port of the brake opening valve 445 is connected to the first brake cylinder 448 and the second brake cylinder 449 respectively, the travel motor 447 is connected to the travel pump assembly 446, the S port of the travel pump assembly 446 is connected to the hydraulic oil tank 406 through the oil suction filter 401, and the T port of the brake opening valve 445 is connected to the hydraulic oil tank 406.

[0056] The upper hydraulic system includes a center slewing assembly 423, a first load-sensitive multi-way valve 424, an accumulator 425, a balancing valve 426, a left vertical luffing cylinder 427, a right vertical luffing cylinder 428, a hydraulic valve 429, a winch assembly 430, a first two-way balancing valve 431, a main arm telescopic cylinder 432, a second main arm luffing cylinder 433, a first one-way balancing valve 434, a second leveling cylinder 435, a second two-way balancing valve 436, and a slewing motor. 437, the second one-way balancing valve 438, the column lifting cylinder 439 and the second load-sensitive multi-way valve 440, the center rotary assembly 423 is respectively connected with the P port and the T port of the first load-sensitive multi-way valve 424, the A1 port and the B1 port of the first load-sensitive multi-way valve 424 are connected with the rod chamber and the rodless chamber of the second leveling cylinder 435 through the second two-way balancing valve 436, and the A2 port and the B2 port of the first load-sensitive multi-way valve 424 are connected with the rod chamber and the rodless chamber of the second leveling cylinder 435 through the second two-way balancing valve 436. A one-way balancing valve 434 is connected to the rod chamber and rodless chamber of the second leveling cylinder 435, and the A3 port and B3 port of the first load-sensitive multi-way valve 424 are connected to the rod chamber and rodless chamber of the main arm telescopic cylinder 432 through the first two-way balancing valve 431. The A4 port and B4 port of the first load-sensitive multi-way valve 424 are connected to the hydraulic valve 429 through the winch assembly 430. The A5 port and B5 port of the first load-sensitive multi-way valve 424 are connected to the hydraulic valve 429 through the winch assembly 430. The balancing valve 426 is connected to the left vertical boom cylinder 427 and the right vertical boom cylinder 428 respectively; the accumulator 425 is connected to the first load-sensitive multi-way valve 424 and the hydraulic valve 429 respectively; the A port and the B port of the second load-sensitive multi-way valve 440 are connected to the rod chamber and the rodless chamber of the column lifting cylinder 439 respectively through the second one-way balancing valve 438; the rotary motor 437 is connected to the A port and the B port of the second load-sensitive multi-way valve 440 respectively.

[0057] The multifunctional crane hydraulic system provided by the present invention is used to flexibly drive the crane to achieve various actions, such as Figures 4 to 6As shown, the hydraulic system of the multifunctional crane is mainly composed of the upper hydraulic system and the lower hydraulic system. The lower hydraulic system is composed of the travel hydraulic system, the steering hydraulic system, and the outrigger circuit. Its main components are: oil suction filter 401, oil return filter 402, steering pump 403, working pump 404, engine 405, hydraulic oil tank 406, overflow valve 407, first check valve 408, second check valve 409, outrigger multi-way valve 410, first two-way hydraulic lock 411, left rear vertical cylinder 412, left rear horizontal cylinder 413, second two-way hydraulic lock 414, right rear vertical cylinder 415, right rear horizontal cylinder 416, third two-way hydraulic lock 417, right front vertical cylinder 418, right front horizontal cylinder 419, fourth two-way hydraulic lock 420, left front vertical cylinder 421, left front horizontal cylinder 422, center rotation assembly 423, first load-sensitive multi-way valve 424 , accumulator 425, balancing valve 426, left vertical luffing cylinder 427, right vertical luffing cylinder 428, hydraulic valve 429, winch assembly 430, first two-way balancing valve 431, main arm telescopic cylinder 432, second main arm luffing cylinder 433, first one-way balancing valve 434, second leveling cylinder 435, second two-way balancing valve 436, rotary motor 437, second one-way balancing valve 438, column lifting cylinder 439, second load-sensitive multi-way valve 440, first steering cylinder 441, second steering cylinder 442, steering gear 443, servo valve 444, brake opening valve 445, travel pump assembly 446, travel motor 447, first brake cylinder 448 and second brake cylinder 449.

[0058] The hydraulic system is as follows: Figure 5 As shown, the outrigger circuit consists of a working pump 404, an engine 405, a hydraulic oil tank 406, a relief valve 407, a first one-way valve 408, an outrigger multi-way valve 410, a first two-way hydraulic lock 411, a left rear vertical cylinder 412, a left rear horizontal cylinder 413, a second two-way hydraulic lock 414, a right rear vertical cylinder 415, a right rear horizontal cylinder 416, a third two-way hydraulic lock 417, a right front vertical cylinder 418, a right front horizontal cylinder 419, a fourth two-way hydraulic lock 420, a left front vertical cylinder 421 and a left front horizontal cylinder 422. After being pressurized by the working pump 404, the hydraulic oil flows through the first one-way valve 408 and the outrigger multi-way valve 410, and by controlling the opening and closing of the outrigger multi-way valve 410, it flows through the first two-way hydraulic lock 411, the second two-way hydraulic lock 414, the third two-way hydraulic lock 417, and the fourth two-way hydraulic lock 420, and then drives the left rear vertical cylinder 412, the left rear horizontal cylinder 413, the right rear vertical cylinder 415, the right rear horizontal cylinder 416, the right front vertical cylinder 418, the right front horizontal cylinder 419, the left front vertical cylinder 421, and the left front horizontal cylinder 422 to operate.

[0059] See also Figures 4 to 6The multifunctional crane hydraulic system provided in this embodiment mainly comprises a return oil filter 402, a steering pump 403, a second one-way valve 409, a first steering oil cylinder 441, a second steering oil cylinder 442, and a steering gear 443. After the hydraulic oil is pressurized by the steering pump 403, it flows through the second one-way valve 409 and the steering gear 443, driving the second steering oil cylinder 442 and the steering gear 443 to move. The return oil returns to the oil tank through the return oil filter 402, and the hydraulic oil is adjusted through the steering gear 443 to make the first steering oil cylinder 441 and the second steering oil cylinder 442 form asymmetric expansion and contraction, thereby forming an angle between the front frame and the rear frame, thereby achieving the purpose of steering.

[0060] Please see Figures 4 to 6 The multifunctional crane hydraulic system provided in this embodiment has a closed hydraulic system for traveling hydraulic system, which is mainly composed of an oil suction filter 401, a servo valve 444, a brake opening valve 445, a traveling pump assembly 446, a traveling motor 447, a first brake cylinder 448, and a second brake cylinder 449. After the hydraulic oil is pressurized by the traveling pump assembly 446, it directly drives the traveling motor 447 to operate. The servo valve 444 is used to control the driving direction and the displacement of the main pump of the traveling pump assembly 446, and the traveling speed is controlled by controlling the displacement. The brake opening valve 445 is used to control the opening and closing of the first brake cylinder 448 and the second brake cylinder 449, thereby controlling the start and stop of the brake. The hydraulic oil passes through the oil suction filter 401, and is pressurized by the oil replenishing pump of the traveling pump assembly 446 to replenish the traveling hydraulic system.

[0061] like Figure 6 As shown, the multifunctional crane hydraulic system provided in this embodiment, the upper hydraulic principle diagram is mainly composed of a center rotary assembly 423, a first load-sensitive multi-way valve 424, an accumulator 425, a balancing valve 426, a left vertical boom cylinder 427, a right vertical boom cylinder 428, a hydraulic valve 429, a winch assembly 430, a first two-way balancing valve 431, a main arm telescopic cylinder 432, a second main arm boom cylinder 433, a first one-way balancing valve 434, a second leveling cylinder 435, a second two-way balancing valve 436, a rotary motor 437, a second one-way balancing valve 438, a column lifting cylinder 439, a second load-sensitive multi-way valve 440, etc.

[0062] like Figures 4 to 6As shown, in the multifunctional crane hydraulic system provided by this embodiment, high-pressure hydraulic oil flows to the first load-sensitive multi-way valve 424 and the second load-sensitive multi-way valve 440 through the central rotary assembly 423. By controlling the opening and working position of each linked sub-valve of the first load-sensitive multi-way valve 424 and the second load-sensitive multi-way valve 440, the movement of the left vertical boom cylinder 427, the right vertical boom cylinder 428, the winch assembly 430, the main arm telescopic cylinder 432, the second main arm boom cylinder 433, the second leveling cylinder 435, the rotary motor 437, and the column lifting cylinder 439 can be controlled. The accumulator 425 is used to improve the response speed of the control circuit, the balance valve 426, the first two-way balance valve 431, the first one-way balance valve 434, the second two-way balance valve 436, and the second one-way balance valve 438 are used to improve the stability of each valve and the corresponding action, and the hydraulic valve 429 is used to open and close the brake valve of the winch assembly 430.

[0063] The multifunctional crane hydraulic system provided in this embodiment is mainly composed of an upper hydraulic system and a lower hydraulic system, and the lower hydraulic system is composed of a travel hydraulic system, a steering hydraulic system, and an outrigger circuit. The main valve of the hydraulic system adopts a load-sensitive multi-way valve, so that the hydraulic system has low energy consumption.

[0064] Please see Figure 7 and Figure 8 This embodiment also provides a multifunctional crane control method, which is applied to the multifunctional crane hydraulic system. The multifunctional crane control method includes the following steps:

[0065] Step S100, the multifunctional crane single action mode control step, transfers the multifunctional crane to the designated location through the travel hydraulic system and the steering hydraulic system; controls the upper hydraulic system to operate in the single action mode, controls the main boom luffing, arm erection, rotation, column lifting, arm extension and retraction, and winch extension and retraction.

[0066] Please see Figure 7 , step S100 specifically includes:

[0067] S101. Check whether the device status is normal.

[0068] S102: The equipment is started and transferred to the designated location through the driving hydraulic system and the steering hydraulic system.

[0069] S103: After the hydraulic system is inspected, the operating pump starts pumping oil.

[0070] S104, first operate the outrigger multi-way valve handle S to make the joint valve work in the upper position; then operate S1, S2, S3, S4 to make each sub-joint valve work in the upper position, and each outrigger horizontal cylinder extends.

[0071] S105. Keep the outrigger multi-way valve handle S in the current position, operate S1, S2, S3, and S4 to make the corresponding sub-valve work in the lower position, and extend the vertical cylinders of each outrigger.

[0072] S106. Operate the outrigger multi-way valve handle back to the center position, and the working pump moves the hydraulic system upward to start pumping oil.

[0073] S107, the proportional solenoid Y9 or Y10 of the first load-sensitive multi-way valve is energized, and the second leveling cylinder is extended and retracted to achieve horizontal adjustment of the climbing platform.

[0074] S108. The proportional solenoid Y11 or Y12 of the second load-sensitive multi-way valve is energized and rotates to the specified azimuth angle.

[0075] S109, the proportional solenoid Y13 or Y14 of the second load-sensitive multi-way valve is energized, and the column lifting cylinder is extended and retracted to the specified height.

[0076] S110, the proportional solenoid Y1 or Y2 of the first load-sensitive multi-way valve is energized, and the luffing angle of the folding arm is adjusted by adjusting the left and right luffing cylinders.

[0077] S111, the proportional solenoid Y7 or Y8 of the first load-sensitive multi-way valve is energized, and the main arm luffing angle is adjusted by adjusting the second main arm luffing cylinder.

[0078] S112. The proportional solenoid Y5 or Y6 of the first load-sensitive multi-way valve is energized, and the main arm length is adjusted by adjusting the main arm telescopic cylinder.

[0079] S113, judging whether the operation position is adjusted in place.

[0080] S114: If yes, further determine whether to implement the lifting operation.

[0081] S115. If a lifting operation is to be carried out, the proportional solenoid Y3 or Y4 of the first load-sensitive multi-way valve is energized, and the lifting operation is carried out through the rotational movement of the winch assembly.

[0082] S116. If lifting operations are not being carried out, manual work must be performed on a high platform.

[0083] S117, judging whether the operation at the designated location is completed.

[0084] S118: If the operation at the designated position is not completed, further determine whether to switch to the linkage mode.

[0085] S119: If the mode is switched to linkage mode, the linkage program is executed.

[0086] S120: If the operation at the designated location is completed, the operation ends.

[0087] Step S200, the multifunctional crane linkage mode control step, transfers the multifunctional crane to the designated location through the travel hydraulic system and the steering hydraulic system; controls the upper hydraulic system to operate in linkage mode, controls the linkage of the main boom luffing and the erecting arm luffing, the linkage of the slewing and the column lifting, the linkage of the slewing and the arm telescopic linkage, and the linkage of the slewing and the winch telescopic linkage.

[0088] Please see Figure 8 , step S200 specifically includes:

[0089] S201. Check whether the device status is normal.

[0090] S202: The equipment is started and transferred to the designated location through the driving hydraulic system and the steering hydraulic system.

[0091] S203: After the hydraulic system is inspected, the operating pump starts pumping oil.

[0092] S204, first operate the outrigger multi-way valve handle S to make the joint valve work in the upper position; then operate S1, S2, S3, S4 to make each sub-joint valve work in the upper position, and each outrigger horizontal cylinder extends.

[0093] S205. Keep the outrigger multi-way valve handle S in the current position, operate S1, S2, S3, and S4 to make the corresponding sub-valve work in the lower position, and extend the vertical cylinders of each outrigger.

[0094] S206. Operate the outrigger multi-way valve handle back to the center position, and the working pump moves the hydraulic system upward to start pumping oil.

[0095] S207, the proportional solenoid Y9 or Y10 of the first load-sensitive multi-way valve is energized, and the second leveling cylinder is extended and retracted to achieve horizontal adjustment of the climbing platform.

[0096] S208, determining whether the main boom luffing and the erecting boom luffing are linked.

[0097] S209, if yes, then the proportional solenoid Y11 or Y12 of the second load-sensitive multi-way valve is energized, Y13 or Y14 is energized, and the rotation and column are linked to rotate and lift to the specified position.

[0098] S210, determining whether the rotation and column lifting are linked.

[0099] S211, if yes, then the proportional solenoid Y11 or Y12 of the second load-sensitive multi-way valve is energized, Y13 or Y14 is energized, and the rotation and column are linked to rotate and lift to the specified position.

[0100] S212, determining whether the rotation and arm extension are linked.

[0101] S213, if yes, the proportional solenoid Y5 or Y6 of the first load-sensitive multi-way valve is energized, and the proportional solenoid Y13 or Y14 of the second load-sensitive multi-way valve is energized, and the rotation and arm extension are linked to rotate and lift to the specified position.

[0102] S214, determining whether the rotation and winch extension are linked.

[0103] S215. If yes, the proportional solenoid Y5 or Y6 of the first load-sensitive multi-way valve is energized, and the proportional solenoid Y13 or Y14 of the second load-sensitive multi-way valve is energized, the slewing and hoisting are linked, and the slewing hook moves to the specified position.

[0104] S216, judging whether the operation position is adjusted in place.

[0105] S217: If the working position is adjusted to the correct position, it is further determined whether to implement the lifting operation.

[0106] S218. If the working position is not adjusted properly, manual work must be performed on a high platform.

[0107] S219: If yes, the proportional solenoid Y3 or Y4 of the first load-sensitive multi-way valve is energized, and the hoisting operation is carried out through the rotational movement of the winch assembly.

[0108] S220: Determine whether the operation at the designated location is completed.

[0109] S221: If the operation at the designated position is not completed, further determine whether to switch to the single action control mode.

[0110] S222: If the single action control mode is switched, the single action control program is executed.

[0111] S223. If the operation at the designated location is not completed, the operation ends.

[0112] The multifunctional crane control method provided in this embodiment adopts two control modes: a single action control mode and a linkage control mode. The modes can be switched with each other, and the control method is flexible and efficient.

[0113] Compared with the prior art, the multifunctional crane, hydraulic system and control method provided in this embodiment adopt a front frame assembly, a steering cylinder, a rear frame assembly, a front outrigger, a crane base, a rear outrigger, a slewing assembly, a counterweight, an outer column, an inner column, a column cylinder, an upper base, an erecting arm luffing cylinder, an erecting arm, a main arm, a winch mechanism, a first main arm luffing cylinder, a telescopic arm, a telescopic cylinder, a first leveling cylinder, a climbing platform and a hook. The front frame assembly and the rear frame assembly are connected in an articulated manner, and the front frame assembly and the rear frame assembly are deflected by the extension and contraction of the steering cylinder; the front outrigger and the rear outrigger are installed below the rear frame assembly, the crane base is installed above the rear frame assembly, the slewing assembly is installed on the crane base, and the counterweight is fixed on the slewing assembly; one end of the column cylinder is hinged to the outer column, and the other end of the column cylinder is hinged to the inner column, and the outer column and the inner column form a sliding pair, which is controlled by the column cylinder. The extension and retraction of the column cylinder drives the outer column and the inner column to slide relative to each other; the upper base is installed at the upper end of the inner column, the erecting arm is connected to the upper base by a hinge, one end of the erecting arm luffing cylinder is hinged to the upper base, and the other end of the erecting arm luffing cylinder is hinged to the erecting arm, and the erecting arm is luffed by the extension and retraction of the erecting arm luffing cylinder; the erecting arm is connected to the main arm through a rotating pair, and the main arm is luffed by the extension and retraction of the first main arm luffing cylinder; the winch mechanism is installed at the end of the main arm, and the winch mechanism drives the wire rope to realize the up and down movement of the hook; one end of the telescopic cylinder is hinged to the telescopic arm, and the other end of the telescopic cylinder is hinged to the main arm, and the telescopic arm is telescopic through the extension and retraction of the telescopic cylinder; the climbing platform is hinged to the end of the telescopic arm, one end of the first leveling cylinder is hinged to the climbing platform, and the other end of the first leveling cylinder is hinged to the telescopic arm, and the climbing platform is leveled by the extension and retraction of the first leveling cylinder. This embodiment is convenient for transfer. The multifunctional crane has a steering and driving system. By driving the frame to move, the operating device installed on the frame can be quickly realized, and the transfer workload is small, which saves time and effort; it has various functions and can not only perform lifting operations but also manned climbing operations. One machine has multiple uses, which is convenient and fast with low cost of use; it has many degrees of freedom, flexible movements and changeable control modes.

[0114] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A multifunctional crane hydraulic system, used in multifunctional cranes, It is characterized in that The multifunctional crane comprises a front frame assembly (301), a steering cylinder (302), a rear frame assembly (303), a front support leg (304), a crane base (305), a rear support leg (306), a slewing assembly (307), a counterweight (308), an outer column (309), an inner column (310), a column cylinder (311), an upper base (312), an erecting arm luffing cylinder (313), an erecting arm (314), a main arm (315), a winch mechanism (316), a first main arm luffing cylinder (317), a telescopic arm (318), a telescopic cylinder (319), a first leveling cylinder (320), a climbing platform (321) and a hook (322). The front frame assembly (301) The front frame assembly (301) and the rear frame assembly (303) are connected in an articulated manner, and the front frame assembly (301) and the rear frame assembly (303) are deflected by the extension and contraction of the steering cylinder (302); the front legs (304) and the rear legs (306) are installed below the rear frame assembly (303), the crane base (305) is installed above the rear frame assembly (303), the slewing assembly (307) is installed on the crane base (305), and the counterweight (308) is fixed on the slewing assembly (307); one end of the column cylinder (311) is hinged to the outer column (309), and the column cylinder (31 1) is hinged to the inner column (310), the outer column (309) and the inner column (310) form a sliding pair, and the outer column (309) and the inner column (310) are driven to slide relative to each other by the extension and contraction of the column cylinder (311); the upper base (312) is installed on the upper end of the inner column (310), the erecting arm (314) is connected to the upper base (312) by a hinged manner, one end of the erecting arm variable amplitude cylinder (313) is hinged to the upper base (312), the other end of the erecting arm variable amplitude cylinder (313) is hinged to the erecting arm (314), and the erecting arm (314) is hinged to the upper base (312). The boom luffing oil cylinder (313) is extended and retracted to achieve luffing; the erecting arm (314) is connected to the main arm (315) through a rotating pair, and the main arm (315) is luffed by the extension and retraction of the first main arm luffing oil cylinder (317); the hoisting mechanism (316) is installed at the end of the main arm (315), and the hoisting mechanism (316) drives the wire rope to achieve the up and down movement of the hook (322); one end of the telescopic oil cylinder (319) is hinged to the telescopic arm (318), and the other end of the telescopic oil cylinder (319) is hinged to the main arm (315), and the telescopic arm (318) achieves telescopic movement by the extension and retraction of the telescopic oil cylinder (319);The climbing platform (321) is hinged to the end of the telescopic arm (318), one end of the first leveling cylinder (320) is hinged to the climbing platform (321), and the other end of the first leveling cylinder (320) is hinged to the telescopic arm (318), and the climbing platform (321) realizes leveling movement through the extension and retraction of the first leveling cylinder (320); The multifunctional crane hydraulic system comprises an upper hydraulic system and a lower hydraulic system, wherein the lower hydraulic system comprises a travel hydraulic system, a steering hydraulic system and an outrigger circuit, wherein the outrigger circuit comprises an operating pump (404), an engine (405), a hydraulic oil tank (406), an overflow valve (407), a first non-return valve (408), an outrigger multi-way valve (410), a first two-way hydraulic lock (411), a left rear vertical cylinder (412), a left rear horizontal cylinder (413), a second two-way hydraulic lock (414), a right rear vertical cylinder (415), a right rear horizontal cylinder (416), a third two-way hydraulic lock (417), a right front vertical cylinder (418), a right front horizontal cylinder (419), a fourth ... The outrigger multi-way valve (410) is connected to the rodless chamber of the left front horizontal cylinder (422), and the B1 port of the outrigger multi-way valve (410) is connected to the rodless chamber of the left front vertical cylinder (421) through the fourth two-way hydraulic lock (420); the A2 port of the outrigger multi-way valve (410) is connected to the rodless chamber of the right front horizontal cylinder (419), and the B2 port of the outrigger multi-way valve (410) is connected to the rodless chamber of the right front vertical cylinder (418) through the third two-way hydraulic lock (417); the A3 port of the outrigger multi-way valve (410) is connected to the rodless chamber of the right rear hydraulic cylinder (419). The rodless chamber of the horizontal oil cylinder (416) is connected, and the B3 port of the outrigger multi-way valve (410) is connected with the rodless chamber of the right rear vertical oil cylinder (415) through the second two-way hydraulic lock (414); the A4 port of the outrigger multi-way valve (410) is connected with the rodless chamber of the left rear horizontal oil cylinder (413), and the B4 port of the outrigger multi-way valve (410) is connected with the rodless chamber of the left rear vertical oil cylinder (412) through the first two-way hydraulic lock (411); the H port of the outrigger multi-way valve (410) is respectively connected with the rod chamber of the left front horizontal oil cylinder (422), the rod chamber of the right front horizontal oil cylinder (419), the rod chamber of the right front horizontal oil cylinder (419), and the rod chamber of the right front vertical oil cylinder (412). The rod chamber of the straight oil cylinder (418), the rod chamber of the right rear horizontal oil cylinder (416), the rod chamber of the right rear vertical oil cylinder (415), the rod chamber of the left rear horizontal oil cylinder (413) and the rod chamber of the left rear vertical oil cylinder (412) are connected; the P port of the outrigger multi-way valve (410) is divided into two paths after passing through the first one-way valve (408), one path is connected to the hydraulic oil tank (406) through the overflow valve (407); the other path is connected to the hydraulic oil tank (406) through the working pump (404), and the engine (405) is connected to the working pump (404); the T port of the outrigger multi-way valve (410) is connected to the hydraulic oil tank (406).

2. The multifunctional crane hydraulic system according to claim 1, It is characterized in that The steering hydraulic system comprises an oil return filter (402), a steering pump (403), a second one-way valve (409), a first steering cylinder (441), a second steering cylinder (442) and a steering gear (443); the R port of the steering gear (443) is respectively connected to the rodless chamber of the first steering cylinder (441) and the rod chamber of the second steering cylinder (442); the L port of the steering gear (443) is respectively connected to the rodless chamber of the second steering cylinder (442) and the rod chamber of the first steering cylinder (441); the P port of the steering gear (443) is connected to the hydraulic oil tank (406) through the second one-way valve (409) and the steering pump (403) connected in series; the T port of the steering gear (443) is connected to the hydraulic oil tank (406) through the oil return filter (402).

3. The multifunctional crane hydraulic system according to claim 1, It is characterized in that The travel hydraulic system comprises an oil suction filter (401), a servo valve (444), a brake opening valve (445), a travel pump assembly (446), a travel motor (447), a first brake cylinder (448) and a second brake cylinder (449); a P port of the brake opening valve (445) is connected to the travel pump assembly (446) and the servo valve (444); an A port of the brake opening valve (445) is connected to the first brake cylinder (448) and the second brake cylinder (449) respectively; the travel motor (447) is connected to the travel pump assembly (446); an S port of the travel pump assembly (446) is connected to the hydraulic oil tank (406) through the oil suction filter (401); and a T port of the brake opening valve (445) is connected to the hydraulic oil tank (406).

4. The multifunctional crane hydraulic system according to claim 1, It is characterized in that The upper hydraulic system comprises a central rotation assembly (423), a first load-sensitive multi-way valve (424), an accumulator (425), a balancing valve (426), a left vertical luffing cylinder (427), a right vertical luffing cylinder (428), a hydraulic valve (429), a winch assembly (430), a first two-way balancing valve (431), a main arm telescopic cylinder (432), a second main arm luffing cylinder (433), a first one-way balancing valve (434), a second leveling cylinder (435), a second two-way balancing valve (436), and a rotation motor (437). , a second one-way balancing valve (438), a column lifting cylinder (439) and a second load-sensitive multi-way valve (440), the central rotary assembly (423) is respectively connected to the P port and the T port of the first load-sensitive multi-way valve (424), the A1 port and the B1 port of the first load-sensitive multi-way valve (424) are connected to the rod chamber and the rodless chamber of the second leveling cylinder (435) through the second two-way balancing valve (436), the A2 port and the B2 port of the first load-sensitive multi-way valve (424) are connected to the rod chamber and the rodless chamber of the second leveling cylinder (435) through the first one-way balancing valve ( The first load-sensing multi-way valve (424) is connected to the rod chamber and the rodless chamber of the second leveling oil cylinder (435), the A3 port and the B3 port of the first load-sensing multi-way valve (424) are connected to the rod chamber and the rodless chamber of the main arm telescopic oil cylinder (432) through the first two-way balancing valve (431), the A4 port and the B4 port of the first load-sensing multi-way valve (424) are connected to the hydraulic valve (429) through the hoisting assembly (430), and the A5 port and the B5 port of the first load-sensing multi-way valve (424) are connected to the hydraulic valve (429) through the balancing valve (426). ) are connected to the left vertical boom cylinder (427) and the right vertical boom cylinder (428) respectively; the accumulator (425) is connected to the first load-sensitive multi-way valve (424) and the hydraulic valve (429) respectively; the A port and the B port of the second load-sensitive multi-way valve (440) are connected to the rod chamber and the rodless chamber of the column lifting cylinder (439) respectively through the second one-way balancing valve (438); the rotary motor (437) is connected to the A port and the B port of the second load-sensitive multi-way valve (440) respectively.

5. A multifunctional crane control method, applied to the multifunctional crane hydraulic system as claimed in any one of claims 1 to 4, It is characterized in that The multifunctional crane control method comprises the following steps: The control steps of the multi-function crane in single action mode are to transfer the multi-function crane to the designated location through the travel hydraulic system and the steering hydraulic system; control the upper hydraulic system to act in single action mode, and control the main boom luffing, arm erection, rotation, column lifting, arm extension and retraction, and winch extension and retraction; The control steps of the multifunctional crane linkage mode are to transfer the multifunctional crane to the designated location through the driving hydraulic system and the steering hydraulic system; control the upper hydraulic system to move in linkage mode, control the linkage of the main boom luffing and the erecting arm luffing, the linkage of slewing and column lifting, the linkage of slewing and arm extension and extension, and the linkage of slewing and winch extension and extension.

6. The multifunctional crane control method according to claim 5, It is characterized in that The multifunctional crane single action mode control steps include: Control the proportional solenoid of the second load-sensitive multi-way valve to be energized, driving the multi-functional crane to rotate to the specified azimuth angle; The proportional solenoid of the second load-sensitive multi-way valve is energized to drive the column lifting cylinder to extend or retract to a specified height; The proportional solenoid of the first load-sensitive multi-way valve is controlled to be energized, and the luffing angle of the folding arm is adjusted by adjusting the left and right luffing cylinders; The proportional solenoid of the first load-sensitive multi-way valve is controlled to be energized, and the luffing angle of the main arm is adjusted by adjusting the second luffing cylinder of the main arm; The proportional solenoid controlling the first load-sensitive multi-way valve is energized, and the main arm length is adjusted by adjusting the main arm telescopic cylinder.

7. The multifunctional crane control method according to claim 6, It is characterized in that The multifunctional crane linkage mode control step also includes: Determine whether the working position is adjusted in place; If yes, the lifting operation is carried out, the proportional solenoid of the first load-sensitive multi-way valve is controlled to be energized, and the lifting operation is carried out through the rotation of the winch assembly; if no, the lifting operation is carried out manually on the platform; Determine whether the operation at the specified position is completed. If not, switch to linkage mode; if so, execute the linkage program.

8. The multifunctional crane control method according to claim 5, It is characterized in that The multifunctional crane linkage mode control steps include: Determine whether the linkage between the main arm luffing and the erecting arm luffing is started. If so, the proportional solenoid of the second load-sensitive multi-way valve is controlled to be energized, and the slewing and column are linked to slew and lift to the specified position; Determine whether to start the linkage between rotation and column lifting. If so, control the proportional solenoid of the second load-sensitive multi-way valve to be energized, so that the rotation and column are linked to rotate and lift to the specified position; Determine whether to start the linkage between slewing and arm extension and retraction, if so, control the proportional solenoids of the first load-sensitive multi-way valve and the second load-sensitive multi-way valve to be energized, slewing and arm extension and retraction are linked, and slewing and lifting to the specified position; Determine whether to start the linkage between slewing and winch extension and retraction. If so, the proportional solenoid of the first load-sensitive multi-way valve is controlled to be energized, the slewing and winch are linked, and the slewing hook moves to the specified position.

9. The multifunctional crane control method according to claim 8, It is characterized in that The multifunctional crane linkage mode control step also includes: Determine whether the working position is adjusted in place; If yes, the lifting operation is carried out, the proportional solenoid of the first load-sensitive multi-way valve is controlled to be energized, and the lifting operation is carried out through the rotation of the winch assembly; if no, the lifting operation is carried out manually on the platform; Determine whether the operation at the specified position is completed. If not, switch to single action control mode; if yes, execute the linkage program.

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