The invention relates to the technical field of heavy machines, in particular to an auxiliary arm assembly and a crane. The auxiliary arm assembly comprises an auxiliary arm and an arm lifting guide wheel for making contact with the ground. The auxiliary arm is provided with a first connecting end. The arm lifting guide wheel is installed at the first connecting end. The first connecting end is used for being connected with a main arm. In order to solve the problems that when an existing crane conducts arm lifting, a trolley needs to be operated to conduct active traction and operation is complicated, the auxiliary arm assembly and the crane are provided.