Telescopic boom device and crane

Abstract

The telescopic boom device comprises a basic boom, at least one telescopic boom and at least one first driver, the telescopic boom is at least partially installed in the basic boom, a sliding part extending in the section direction of the basic boom is arranged in the basic boom, the first driver comprises a first connecting part and a second connecting part, and the first connecting part is connected with the second connecting part. The first connecting part is connected with the sliding part, the second connecting part is connected with the telescopic arm, and the first driver is configured to drive the telescopic arm to do telescopic movement relative to the basic arm; when the first driver drives the telescopic arm to stretch, the first connecting part moves along the sliding part. According to the telescopic arm device, bending deformation of the first driver can be reduced, and the problem that the first driver is passively deformed and damaged is solved.

Description

Technical Field

[0001] This invention relates to the field of boom technology, and particularly to a telescopic boom device and a crane. Background Technology

[0002] With social development, the demand for construction machinery at construction sites is increasing. For telescopic boom cranes, the performance of the telescopic boom directly affects the overall performance of the crane. Multiple telescopic booms of a telescopic boom crane are connected in sequence, and each boom contains at least one hydraulic cylinder that drives the extension and retraction of these booms. When the telescopic boom crane extends its boom for operation, the hydraulic cylinder inevitably bends passively due to the bending deformation of the boom and the gaps between the booms. Furthermore, the longer the boom extends, the more bent the entire boom becomes, thus reducing the bending stability of the cylinder's piston rod and making it prone to damage or even breakage. In addition, the deflection of the cylinder frequently leads to cylinder detachment or damage to the boom guide device, resulting in damage to both the cylinder and the boom. Summary of the Invention

[0003] In view of this, the present invention provides a telescopic arm device that can reduce the bending deformation of the first actuator and reduce the problem of passive deformation and damage to the first actuator.

[0004] A telescopic boom device includes a base boom, at least one telescopic boom, and at least one first actuator. The telescopic boom is at least partially mounted within the base boom. The base boom has a sliding portion extending along its cross-sectional direction. The first actuator includes a first connecting portion and a second connecting portion. The first connecting portion is connected to the sliding portion, and the second connecting portion is connected to the telescopic boom. The first actuator is configured to drive the telescopic boom to telescopically move relative to the base boom. When the first actuator drives the telescopic boom to extend, the first connecting portion moves along the sliding portion.

[0005] Optionally, the sliding part is a groove provided on the inner wall of the basic arm, and the first connecting part includes a pin provided in the groove, the pin being able to slide in the groove.

[0006] Optionally, the slide groove is straight and the movement trajectory of the pin is straight, or the slide groove is arc-shaped and the movement trajectory of the pin is curved.

[0007] Optionally, the sliding part includes a rack extending along the cross-sectional direction of the basic arm, and the first connecting part includes a connecting shaft and a gear connected to the connecting shaft and meshing with the rack.

[0008] Optionally, the telescopic arm device further includes at least one second driver, which is fixed inside the base arm. The output shaft of the second driver is connected to the first connecting portion, and the second driver is configured to drive the first connecting portion to reciprocate along the sliding portion.

[0009] Optionally, the telescopic arm device further includes a length sensor and a controller. The length sensor is configured to detect the extension length of the telescopic arm, and the controller is electrically connected to the second driver and the length sensor respectively. The controller controls the second driver to drive the first connecting part to move a distance according to the extension length of the telescopic arm.

[0010] Optionally, the moving distance of the first connecting part is proportional to the extension length of the telescopic arm.

[0011] Optionally, the telescopic arm device further includes an angle sensor configured to detect the bending arc of the base arm and the telescopic arm when the telescopic arm is extended. The controller is electrically connected to the angle sensor and controls the second driver to move the first connecting part a certain distance based on the bending arc.

[0012] Optionally, the moving distance of the first connecting portion is proportional to the curvature of the bending arc.

[0013] Optionally, the telescopic boom device further includes at least one guide frame, which is fixed inside the telescopic boom and has a guide groove, in which at least a portion of the first driver is disposed.

[0014] Optionally, the sliding part includes a guide rod and a sliding seat slidably connected to the guide rod. The sliding seat is provided with a ball head hole. The first connecting part includes a ball head, which is movably disposed in the ball head hole. When the first driver drives the telescopic arm to extend, the sliding seat slides on the guide rod.

[0015] Optionally, the first actuator includes a cylinder and a piston rod, the piston rod being at least partially disposed in the cylinder, the end of the piston rod away from the cylinder forming the first connecting portion, and the second connecting portion forming in the cylinder, or the end of the cylinder away from the piston rod forming the first connecting portion, and the end of the piston rod away from the cylinder forming the second connecting portion.

[0016] This application also relates to a crane, including the telescopic boom device described above.

[0017] When the telescopic boom device of the present invention is extended, the first connecting part of the first driver can move along the sliding part, which can reduce the bending deformation of the first driver and reduce the problem of passive deformation and damage to the first driver. Since the passive bending degree of the first driver is reduced, the first driver can quickly drive the telescopic boom, which not only reduces the resistance during the extension and retraction of the telescopic boom and the energy consumption of the first driver, but also improves the working efficiency, safety and stability of the telescopic boom device. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the telescopic arm device in the retracted state according to the first embodiment of this application.

[0019] Figure 2 This is a schematic diagram of the telescopic arm device in the extended state according to the first embodiment of this application.

[0020] Figure 3 This is a partially enlarged schematic diagram of the basic arm of the first embodiment of this application.

[0021] Figure 4 This is a partially enlarged schematic diagram of the basic arm of the second embodiment of this application.

[0022] Figure 5 This is a partially enlarged schematic diagram of the basic arm of the third embodiment of this application.

[0023] Figure 6 This is a partially enlarged schematic diagram of the basic arm of the fourth embodiment of this application.

[0024] Figure 7 This is a partially enlarged schematic diagram of the basic arm of the fifth embodiment of this application.

[0025] Figure 8 This is a schematic diagram of the telescopic arm device in the retracted state according to the sixth embodiment of this application. Detailed Implementation

[0026] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification.

[0027] In the following description, reference is made to the accompanying drawings, which illustrate several embodiments of the present application. It should be understood that other embodiments may also be used, and changes in mechanical composition, structure, electrical and operational aspects may be made without departing from the spirit and scope of the present application. The following detailed description should not be considered limiting, and the terminology used herein is for describing particular embodiments only and is not intended to limit the present application.

[0028] Although the terms first, second, etc., are used in some instances to describe various elements herein, these elements should not be limited by these terms. These terms are only used to distinguish one element from another.

[0029] Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of a feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition arise only when combinations of elements, functions, steps, or operations are inherently mutually exclusive in some way.

[0030] First Embodiment

[0031] Figure 1 This is a schematic diagram of the telescopic arm device of the first embodiment of this application in the retracted state. Figure 2 This is a schematic diagram of the telescopic arm device of the first embodiment of this application in its extended state, as shown below. Figure 1 and Figure 2 As shown, the telescopic arm device includes a base arm 11, at least one telescopic arm 12, and at least one first actuator 13. The telescopic arm 12 is at least partially installed within the base arm 11. The base arm 11 has a sliding portion extending along its cross-sectional direction. The first actuator 13 includes a first connecting portion 131 and a second connecting portion 132. The first connecting portion 131 is connected to the sliding portion, and the second connecting portion 132 is connected to the telescopic arm 12. The first actuator 13 is configured to drive the telescopic arm 12 to telescopically move relative to the base arm 11. When the first actuator 13 drives the telescopic arm 12 to extend, the first connecting portion 131 moves along the sliding portion. In this embodiment, a portion of the first actuator 13 is disposed in the base arm 11 and connected to the sliding portion via the first connecting portion 131, while another portion of the first actuator 13 is disposed in the telescopic arm 12 and connected to the telescopic arm 12 via the second connecting portion 132.

[0032] When the telescopic arm device extends, the first actuator 13 drives the telescopic arm 12 to gradually extend from the base arm 11. Due to the combined effects of the bending deformation caused by the weight of the base arm 11 and the telescopic arm 12, as well as the gap between the base arm 11 and the telescopic arm 12, the first actuator 13 inevitably bends passively. The longer the telescopic arm 12 extends, the more bent the base arm 11 and the telescopic arm 12 become, and the worse the stability of the first actuator 13 becomes. In order to address this problem, during the process of the telescopic arm 12 extending from the base arm 11, the first connecting part 131 gradually moves along the sliding part, which can reduce the bending degree of the first actuator 13.

[0033] When the telescopic boom device of this application is extended, the first connecting portion 131 of the first driver 13 can move along the sliding portion, which can reduce the bending deformation of the first driver 13 and reduce the problem of passive deformation damage to the first driver 13. Since the passive bending degree of the first driver 13 is reduced, the first driver 13 can quickly drive the telescopic boom 12, which not only reduces the resistance during the extension and retraction of the telescopic boom 12 and the energy consumption of the first driver 13, but also improves the working efficiency, safety and stability of the telescopic boom device.

[0034] Optionally, Figure 3 This is a partially enlarged schematic diagram of the basic arm of the first embodiment of this application, as shown below. Figure 1 and Figure 3 As shown, the sliding part is a groove 101 provided on the inner wall of the basic arm 11. The first connecting part 131 includes a pin 1311 provided in the groove 101, and the pin 1311 can slide in the groove 101. When the first driver 13 drives the telescopic arm 12 to gradually extend from the basic arm 11, the first driver 13 will bend due to the influence of the basic arm 11 and the telescopic arm 12. At this time, the pin 1311 slides in the groove 101, reducing the bending deformation of the first driver 13. When the first driver 13 drives the telescopic arm 12 to gradually retract into the basic arm 11, the influence of the basic arm 11 and the telescopic arm 12 on the first driver 13 will decrease. At this time, the pin 1311 slides back to its original position in the groove 101.

[0035] Optionally, such as Figure 3 As shown, the slide groove 101 is straight, and the movement trajectory of the pin 1311 is also straight. In this embodiment, the length direction of the slide groove 101 is perpendicular to the central axis of the first driver 13; the central axis of the pin 1311 is perpendicular to the length direction of the slide groove 101.

[0036] Optionally, such as Figure 1 and Figure 2As shown, the first actuator 13 includes a cylinder 133 and a piston rod 134. The piston rod 134 is at least partially disposed in the cylinder 133. The end of the piston rod 134 away from the cylinder 133 forms a first connecting portion 131, and a second connecting portion 132 is formed in the cylinder 133. When hydraulic oil is injected into a region of the cylinder 133, the hydraulic pressure pushes the cylinder 133 and the telescopic arm 12 to move synchronously away from the base arm 11, causing the telescopic arm 12 to gradually extend out of the base arm 11. When hydraulic oil is injected into another region of the cylinder 133, the hydraulic pressure pushes the cylinder 133 and the telescopic arm 12 to move synchronously towards the base arm 11, causing the telescopic arm 12 to gradually retract into the base arm 11.

[0037] Since the first connecting part 131 of the first actuator 13 can move along the sliding part when it drives the telescopic arm 12 to extend, the bending stability of the piston rod 134 of the first actuator 13 is enhanced, and it is not easy for the piston rod 134 to be strained or even broken. Moreover, the first actuator 13 is less affected by deflection, and it is not easy for the first actuator 13 to detach or be damaged, thereby causing damage to the boom (base plate arm 11 and telescopic arm 12).

[0038] Optionally, the second connecting part 132 is located at one end of the cylinder barrel 133 near the piston rod 134.

[0039] Optionally, such as Figure 1 and Figure 2 As shown, the telescopic boom device also includes at least one guide frame 14, which is fixed inside the telescopic boom 12. The guide frame 14 is provided with a guide groove, and at least a portion of the first driver 13 is disposed in the guide groove. Since the cylinder barrel 133 is fixed inside the telescopic boom 12 by the second connecting part 132, and the second connecting part 132 is located at the end of the cylinder barrel 133 near the piston rod 134, if the cylinder barrel 133 is not limited and guided by the guide groove of the guide frame 14, when the first driver 13 drives the telescopic boom 12 to extend, the cylinder barrel 133 will interfere with the inner wall of the telescopic boom 12 due to the bending of the telescopic boom 12, causing the first driver 13 to malfunction. This application uses the guide frame 14 to limit the cylinder barrel 133 to the middle of the telescopic boom 12, avoiding interference between the cylinder barrel 133 and the inner wall of the telescopic boom 12, and ensuring that the first driver 13 can work normally.

[0040] Optionally, the telescopic boom device includes two guide frames 14, one of which is located in the middle of the cylinder 133 and the other is located at the tail of the cylinder 133, and the second connecting part 132 is located at the head of the cylinder 133.

[0041] Optionally, the central axis of the guide groove coincides with the central axis of the telescopic arm 12, or the central axis of the guide groove is parallel to the central axis of the telescopic arm 12.

[0042] Optionally, the telescopic arm device includes at least two telescopic arms 12 and at least two first drivers 13. The number of first drivers 13 matches the number of telescopic arms 12. Multiple telescopic arms 12 are sequentially nested together, and the outer diameter of the sequentially nested telescopic arms 12 gradually decreases, with the outermost basic arm 11 having the largest outer diameter. A first driver 13 is connected between every two adjacent telescopic arms 12, and every two adjacent telescopic arms 12 form a telescopic unit, that is, a first driver 13 is connected in each telescopic unit. In each telescopic unit, the telescopic arm 12 with the larger outer diameter is provided with a sliding part (this telescopic arm 12 serves as the basic arm 11). The first connecting part 131 of the first driver 13 is connected to the sliding part of the telescopic arm 12, and the second connecting part 132 of the first driver 13 is connected to the telescopic arm 12 with the smaller outer diameter. In this embodiment, in each telescopic unit, the telescopic arm 12 with a larger outer diameter serves as the basic arm 11 described above, and the telescopic arm 12 with a smaller outer diameter serves as the telescopic arm 12 described above. For the relevant structure and function of the sliding part, the first connecting part 131 and the second connecting part 132, please refer to the above description, which will not be repeated here.

[0043] Optionally, the number of telescopic arms 12 and first actuators 13 can be freely increased or decreased according to actual needs. For example, when the number of telescopic arms 12 and first actuators 13 is 4, four telescopic arms 12 form three telescopic units; when the number of telescopic arms 12 and first actuators 13 is 5, five telescopic arms 12 form four telescopic units; when the number of telescopic arms 12 and first actuators 13 is 6, six telescopic arms 12 form five telescopic units; when the number of telescopic arms 12 and first actuators 13 is 7, seven telescopic arms 12 form six telescopic units, and so on.

[0044] Second Embodiment

[0045] Figure 4 This is a partially enlarged schematic diagram of the basic arm of the second embodiment of this application, as shown below. Figure 4 As shown, the telescopic arm device of this embodiment has a similar structure and function to the telescopic arm device of the first embodiment, the difference being the shape of the sliding part. In this embodiment, the slide groove 101 is arc-shaped, and the movement trajectory of the pin 1311 is an arc.

[0046] Optionally, the center of the arc-shaped groove 101 is located at the second connecting part 132. This design helps to reduce the friction between the pin 1311 and the groove wall of the groove 101, making it easier for the pin 1311 to slide in the groove 101.

[0047] Third Embodiment

[0048] Figure 5 This is a partially enlarged schematic diagram of the basic arm of the third embodiment of this application, as shown below. Figure 5As shown, the telescopic arm device in this embodiment has a structure and function that are largely the same as those in the above embodiments, with the difference being in the structure of the sliding part and the first connecting part 131. In this embodiment, the sliding part includes a rack 111, which extends along the cross-sectional direction of the basic arm 11. The first connecting part 131 includes a connecting shaft 1312 and a gear 1313, which is connected to the connecting shaft 1312 and meshes with the rack 111. When the first driver 13 drives the telescopic arm 12 to gradually extend from the basic arm 11, the first driver 13 will bend due to the influence of the basic arm 11 and the telescopic arm 12, at which time the gear 1313 rolls along the rack 111.

[0049] Optionally, the first connecting part 131 may further include a pin 1311, which is coaxially arranged with the connecting shaft 1312 and is disposed in the slide groove 101.

[0050] In other embodiments, the sliding part includes a track, and the first connecting part 131 includes a connecting shaft 1312 and a roller. The roller is rotatably connected to the connecting shaft 1312 and is disposed on the track. When the first driver 13 drives the telescopic arm 12 to gradually extend from the basic arm 11, the first driver 13 will bend due to the influence of the basic arm 11 and the telescopic arm 12, and the roller rolls on the track.

[0051] Fourth embodiment

[0052] Figure 6 This is a partially enlarged schematic diagram of the basic arm of the fourth embodiment of this application, as shown below. Figure 6 As shown, the telescopic arm device of this embodiment has a structure and function that are largely the same as those of the telescopic arm device of the first embodiment. The difference is that the telescopic arm device further includes at least one second driver 15. The second driver 15 is fixed inside the base arm 11, and the output shaft of the second driver 15 is connected to the first connecting part 131. The second driver 15 is configured to drive the first connecting part 131 to reciprocate along the sliding part. When the first driver 13 drives the telescopic arm 12 to gradually extend from the base arm 11, the first driver 13 will bend due to the influence of the base arm 11 and the telescopic arm 12. At this time, the second driver 15 drives the first connecting part 131 to move upward along the sliding part. When the first driver 13 drives the telescopic arm 12 to gradually retract into the base arm 11, the influence of the base arm 11 and the telescopic arm 12 on the first driver 13 will decrease. At this time, the second driver 15 drives the first connecting part 131 to move downward along the sliding part.

[0053] Optionally, the second drive 15 may be, for example, a hydraulic cylinder or a motor module, but is not limited thereto.

[0054] Optionally, such as Figure 6As shown, the telescopic boom device also includes a length sensor 16 and a controller 17. The length sensor 16 is configured to detect the extension length of the telescopic boom 12. The controller 17 is electrically connected to the second actuator 15 and the length sensor 16, respectively. The controller 17 controls the second actuator 15 to move the first connecting part 131 according to the extension length of the telescopic boom 12. The telescopic boom device of this embodiment can actively regulate the movement distance of the first connecting part 131 by the extension length of the telescopic boom 12, which can improve the service life of the first actuator 13 and further improve the safety of the telescopic boom device.

[0055] Optionally, the moving distance of the first connecting part 131 is proportional to the extension length of the telescopic arm 12. That is, the greater the extension length of the telescopic arm 12, the greater the moving distance of the first connecting part 131 driven by the second driver 15; the smaller the extension length of the telescopic arm 12, the smaller the moving distance of the first connecting part 131 driven by the second driver 15.

[0056] Optionally, such as Figure 6 As shown, the telescopic boom device also includes an angle sensor 18, which is configured to detect the bending arc of the base arm 11 and the telescopic arm 12 when the telescopic arm 12 is extended. A controller 17 is electrically connected to the angle sensor 18, and the controller 17 controls the second actuator 15 to move the first connecting part 131 according to the bending arc. The telescopic boom device of this embodiment can actively regulate the moving distance of the first connecting part 131 by the extended length of the telescopic arm 12 and the bending arc of the base arm 11 and the telescopic arm 12, making the moving distance of the first connecting part 131 more precise and further improving the service life of the first actuator 13 and the safety of the telescopic boom device.

[0057] Optionally, the moving distance of the first connecting part 131 is proportional to the curvature, that is, the greater the curvature, the greater the moving distance of the first connecting part 131 driven by the second driver 15, and the smaller the curvature, the smaller the moving distance of the first connecting part 131 driven by the second driver 15.

[0058] Fifth embodiment

[0059] Figure 7 This is a partially enlarged schematic diagram of the basic arm of the fifth embodiment of this application, as shown below. Figure 7 As shown, the telescopic arm device of this embodiment has a similar structure and function to the telescopic arm device of the above embodiments, the difference being in the structure of the sliding part and the first connecting part 131. In this embodiment, the sliding part includes a guide rod 112 and a sliding seat 113 slidably connected to the guide rod 112. The sliding seat 113 is provided with a ball head hole 102. The first connecting part 131 includes a ball head 1314, which is movably disposed in the ball head hole 102. When the first driver 13 drives the telescopic arm 12 to extend, the sliding seat 113 slides on the guide rod 112.

[0060] In this embodiment, the first connecting part 131 engages with the ball head hole 102 of the sliding seat 113 via the ball head 1314. When the first driver 13 drives the sliding seat 113 to slide on the guide rod 112, the ball head 1314 can move in multiple directions in the ball head hole 102, which helps to avoid stress concentration and improves the service life of the first driver 13.

[0061] Optionally, such as Figure 7 As shown, the two ends of the guide rod 112 are fixed on the inner wall of the basic arm 11, and the sliding seat 113 is provided with a guide hole 103 that matches the guide rod 112. The guide rod 112 passes through the guide hole 103.

[0062] Optionally, such as Figure 7 As shown, a support platform 114 is fixed on the guide rod 112; when the telescopic arm device is in the retracted state, the sliding seat 113 is set on the support platform 114, at which time the central axis of the first driver 13 coincides with the central axis of the basic arm 11.

[0063] Sixth Embodiment

[0064] Figure 8 This is a schematic diagram of the telescopic arm device in the retracted state according to the sixth embodiment of this application, as shown below. Figure 8 As shown, the telescopic boom device in this embodiment has a similar structure and function to the telescopic boom device in the above embodiments, the difference being the different orientation of the first driver 13. In this embodiment, the end of the cylinder 133 away from the piston rod 134 forms a first connecting portion 131, and the end of the piston rod 134 away from the cylinder 133 forms a second connecting portion 132.

[0065] Seventh Embodiment

[0066] This application also relates to a crane, including the telescopic boom device described above.

[0067] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A telescopic boom device, characterized in that, The device includes a base arm, at least one telescopic arm, and at least one first actuator. The telescopic arm is at least partially mounted within the base arm, which has a sliding portion extending along its cross-sectional direction. The first actuator includes a first connecting portion and a second connecting portion. The first connecting portion is connected to the sliding portion, and the second connecting portion is connected to the telescopic arm. The first actuator is configured to drive the telescopic arm to telescopically move relative to the base arm. When the first actuator drives the telescopic arm to extend, the first connecting portion moves along the sliding portion.

2. The telescopic boom device as described in claim 1, characterized in that, The sliding part is a groove provided on the inner wall of the basic arm, and the first connecting part includes a pin provided in the groove, which can slide in the groove.

3. The telescopic arm device as described in claim 2, characterized in that, The slide is straight and the movement trajectory of the pin is straight, or the slide is arc-shaped and the movement trajectory of the pin is curved.

4. The telescopic boom device as described in claim 1, characterized in that, The sliding part includes a rack that extends along the cross-sectional direction of the basic arm, and the first connecting part includes a connecting shaft and a gear that is connected to the connecting shaft and meshes with the rack.

5. The telescopic boom device as described in claim 1, characterized in that, The telescopic boom device further includes at least one second driver, which is fixed inside the base boom. The output shaft of the second driver is connected to the first connecting portion, and the second driver is configured to drive the first connecting portion to reciprocate along the sliding portion.

6. The telescopic boom device as described in claim 5, characterized in that, Includes at least one of the following: The telescopic arm device further includes a length sensor and a controller. The length sensor is configured to detect the extension length of the telescopic arm. The controller is electrically connected to the second driver and the length sensor respectively. The controller controls the second driver to drive the first connecting part to move a distance according to the extension length of the telescopic arm. The moving distance of the first connecting part is proportional to the extension length of the telescopic arm; The telescopic arm device further includes an angle sensor configured to detect the bending arc of the base arm and the telescopic arm when the telescopic arm is extended. The controller is electrically connected to the angle sensor and controls the second driver to move the first connecting part a certain distance based on the bending arc. The distance the first connecting part moves is proportional to the curvature of the bend.

7. The telescopic boom device as described in claim 1, characterized in that, The telescopic boom device further includes at least one guide frame, which is fixed inside the telescopic boom. The guide frame is provided with a guide groove, and at least a portion of the first driver is disposed in the guide groove.

8. The telescopic boom device as described in claim 1, characterized in that, The sliding part includes a guide rod and a sliding seat slidably connected to the guide rod. The sliding seat is provided with a ball head hole. The first connecting part includes a ball head, which is movably disposed in the ball head hole. When the first driver drives the telescopic arm to extend, the sliding seat slides on the guide rod.

9. The telescopic boom device according to any one of claims 1 to 8, characterized in that, The first actuator includes a cylinder and a piston rod, the piston rod being at least partially disposed in the cylinder, the end of the piston rod away from the cylinder forming a first connecting portion, and the second connecting portion forming in the cylinder, or the end of the cylinder away from the piston rod forming the first connecting portion, and the end of the piston rod away from the cylinder forming the second connecting portion.

10. A crane, characterized in that, Includes the telescopic boom device according to any one of claims 1 to 9.

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