Variable torque braking antiskid system

Abstract

The invention provides a variable torque braking anti-skid system which comprises a push rod type disc brake used for being close to a driving source and installed on a cart assembly so as to brake a brake disc on a coupling of the driving source; the electric-hydraulic push rod type brake is used for being installed on a wheel frame of the cart assembly so as to brake wheels; and the control system is used for sending instructions to the push rod type disc brake and the electric-hydraulic push rod type brake according to the real-time working condition of the quay crane, and the push rod type disc brake and the electric-hydraulic push rod type brake determine corresponding braking torque values based on the received instructions. According to the variable torque braking anti-skid system, the braking torque can be set according to different working conditions of the quay crane so as to achieve braking, and wheel slipping under the emergency stop working condition is prevented.

Description

Technical Field

[0001] The invention relates to the field of quay crane equipment, and in particular to a variable torque braking anti-skid system. Background Art

[0002] As sea-air transport becomes more and more common, more and more docks are troubled by height restrictions. In this case, a new type of horizontal sliding low-profile quay crane has emerged. Unlike conventional quay cranes, which use pitching motion to achieve ship-passing conditions, this new type of quay crane uses horizontal sliding motion to retract or extend to achieve ship-passing or ship loading and unloading operations, which effectively solves the problem of conventional quay cranes affecting aviation safety due to their super height.

[0003] The braking system is one of the most important subsystems in the quay crane and is the basic guarantee for the safety and reliability of the quay crane operation. The braking system of a conventional quay crane trolley consists of a high-speed brake and a low-speed brake, and adopts a constant torque braking system. Unlike conventional quay cranes, the wheel pressure of a horizontal sliding quay crane is affected by factors such as wind speed and direction, running direction, beam position, and trolley position. The wheel pressure varies greatly under different working conditions, resulting in a large difference in the maximum static friction that can be provided by each corner under different working conditions. If the conventional constant torque setting is used, the braking force of the brake will be much greater than the maximum static friction of the wheel, causing the wheel to slip when emergency braking is required in a dangerous situation, resulting in damage to the wheel tread and huge replacement costs. Summary of the invention

[0004] In view of this, the present invention provides a variable torque braking anti-skid system, which can set the braking torque according to different working conditions of the quay crane to achieve braking and prevent the wheels from slipping under tight stop conditions.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The variable torque braking anti-skid system according to an embodiment of the present invention comprises:

[0007] A push rod type disc brake, which is used to be installed on the trolley assembly close to the driving source to brake the brake disc on the coupling of the driving source;

[0008] An electro-hydraulic push rod brake, which is used to be installed on a wheel frame of a trolley assembly to brake the wheel;

[0009] A control system, wherein the control system is used to send instructions to the push rod type disc brake and the electro-hydraulic push rod type brake according to the real-time working condition of the quay crane, and the push rod type disc brake and the electro-hydraulic push rod type brake determine corresponding braking torque values ​​based on the received instructions.

[0010] Furthermore, the push rod type disc brake comprises:

[0011] A Z-shaped base, the Z-shaped base being used for mounting on a cart assembly;

[0012] A pair of main arm frames, the pair of main arm frames are arranged opposite to each other up and down, and one end of the pair of main arm frames is respectively hinged to the outer end of the upper surface of the Z-shaped base;

[0013] A pair of first brake pads, the pair of first brake pads are respectively connected to the pair of main body arm brackets in upper and lower correspondence;

[0014] A first power unit, wherein the first power unit is installed on the lower surface of the Z-shaped base, and an output end of the first power unit is connected to the other end of the main arm frame above;

[0015] An automatic wear compensator, one end of which is close to the other end of the upper main arm and connected to the output end of the first power unit, and the other end of which is pivotally connected to the other end of the lower main arm;

[0016] An elastic component is vertically arranged between the first power unit and the main arm, and its bottom end is connected to the lower surface of the Z-shaped base, and its top end is connected to the output end of the first power unit.

[0017] Furthermore, the first power unit comprises:

[0018] A propeller, the propeller being vertically arranged on the lower surface of the Z-shaped base,

[0019] A connecting rod, one end of which is pivotally connected to the top of the propeller, and the other end of which is pivotally connected to the other end of the main arm above, the upper end of the automatic wear compensator is connected to the other end of the connecting rod, and the top end of the elastic component is connected to the middle part of the connecting rod;

[0020] a proportional valve connected to the thruster,

[0021] The propeller is controlled to extend and retract up and down by the proportional valve to drive the connecting rod to swing, so as to control the opening / closing of a pair of main arm frames.

[0022] Furthermore, the push rod type disc brake also includes a wear limiting device,

[0023] The wear limiting device is installed on the main arm frame close to the first brake pad, and the wear limiting device is used to detect the wear amount of the first brake pad.

[0024] Furthermore, the push rod type disc brake also includes a release limit device,

[0025] The release and limit device is arranged on the connecting rod, and the release and limit device is used to detect the action state of the connecting rod.

[0026] Furthermore, the top end of the elastic component is connected to the middle part of the connecting rod through an adjusting bolt.

[0027] Furthermore, the electro-hydraulic push rod brake comprises:

[0028] a second power unit, the second power unit being used to be mounted on a wheel frame of the cart assembly;

[0029] A wheel clamp, the wheel clamp is used to be installed on the wheel;

[0030] A main hydraulic pipe is used to connect the second power unit and the wheel clamp.

[0031] Furthermore, the wheel clamp includes one or two.

[0032] Furthermore, the wheel clamp comprises:

[0033] A clamping seat, the clamping seat is in a "J" shape and is used to be installed on the wheel;

[0034] A pair of hydraulic push rods, the pair of hydraulic push rods are relatively mounted on both side ends of the clamping seat;

[0035] A pair of second brake pads, wherein the pair of second brake pads are respectively connected to the end portions of a pair of hydraulic push rods extending into the inner side of the clamp seat;

[0036] A pair of branch hydraulic pipes, one end of the branch hydraulic pipes is respectively connected to a pair of hydraulic push rods, and the other end is respectively connected to hydraulic joints, and the hydraulic joints are connected to the main hydraulic pipe.

[0037] Furthermore, the wheel clamp also includes a cleaning device, which is installed at the bottom of both side ends of the clamping seat.

[0038] The above technical solution of the present invention has at least one of the following beneficial effects:

[0039] The variable torque braking anti-skid system according to the embodiment of the present invention collects real-time data of various parameters (such as wind speed and direction, beam position, trolley position, trolley running direction speed, etc.) through the control system, and judges the specific braking conditions of the crane in real time. When an emergency stop failure or operation occurs, the control system sends instructions to the push rod disc brake and the electro-hydraulic push rod brake on the trolley assembly according to the current working conditions, and sets the corresponding braking torque value to match the braking force with the maximum static friction force of the crane's wheels, thereby avoiding the problem of wheel slipping during emergency braking, which leads to damage to the wheel tread. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the arrangement of the variable torque braking anti-skid system on a vehicle assembly according to an embodiment of the present invention;

[0041] Figure 2 A three-dimensional structural diagram of a push rod type disc brake in a variable torque braking anti-skid system according to an embodiment of the present invention;

[0042] Figure 3 It is a front view of a push rod type disc brake in a variable torque braking anti-skid system according to an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of the structure of an electro-hydraulic push rod brake in a variable torque braking anti-skid system according to an embodiment of the present invention;

[0044] Figure 5 A schematic structural diagram of an electro-hydraulic push rod brake in a variable torque braking anti-skid system according to another embodiment of the present invention;

[0045] Figure 6 A three-dimensional structural diagram of a wheel clamp in a variable torque braking anti-skid system according to an embodiment of the present invention;

[0046] Figure 7 A front view of a wheel clamp in a variable torque braking anti-skid system according to an embodiment of the present invention;

[0047] Figure 8 A circuit diagram of an uninterruptible power supply in a variable torque braking anti-skid system according to an embodiment of the present invention;

[0048] Fig. 9 1 is a corresponding relationship diagram between the current of the proportional valve and the brake torque in the variable torque anti-skid braking system of an embodiment of the present invention.

[0049] Reference numerals: 100. push rod type disc brake; 110. Z-type base; 120. main arm; 130 first brake pad; 140. first power unit; 141. thruster; 142. connecting rod; 143. proportional valve; 150. automatic wear compensator; 160. elastic component; 161. adjusting bolt; 170. wear limit device; 180. release limit device;

[0050] 200. Electro-hydraulic push rod brake; 210. Second power unit; 220. Wheel clamp; 221. Clamp seat; 222. Hydraulic push rod; 223. Second brake pad; 224. Branch hydraulic pipe; 225. Cleaning device; 226. Brake pad guide pin; 227. Hydraulic joint; 230. Main hydraulic pipe;

[0051] 300. Carriage assembly; 310. Wheels; 320. Driving motor; 330. Coupling; 340. Reducer. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0053] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0054] Firstly, the variable torque braking anti-skid system according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0055] According to the variable torque braking anti-skid system of the embodiment of the present invention, Figure 1 As shown, it may include: a push rod type disc brake 100, an electro-hydraulic push rod type brake 200 and a control system (not shown).

[0056] The push rod type disc brake 100 is used to be installed on the trolley assembly 300 close to the driving source to brake the brake disc on the coupling 330 of the driving source. The push rod type disc brake 100 is used as a high-speed brake in the crane trolley assembly 300.

[0057] The electro-hydraulic push rod brake 200 is used to be installed on the wheel frame of the trolley assembly 300 to brake the wheel 310. The electro-hydraulic push rod brake 200 is used as a low-speed brake in the crane trolley assembly 300.

[0058] The control system is used to send instructions to the push rod disc brake 100 and the electro-hydraulic push rod brake 200 according to the real-time working conditions of the quay crane, and the push rod disc brake 100 and the electro-hydraulic push rod brake 200 determine the corresponding braking torque value based on the received instructions.

[0059] Specifically, the variable torque braking anti-skid system according to an embodiment of the present invention is used to be installed on the trolley assembly 300 to perform real-time braking on the trolley assembly 300, wherein the trolley assembly 300 includes wheels 310, a drive motor 320, a coupling 330 and a reduction gearbox 340, wherein the drive motor 320 is connected to the reduction gearbox 340 via the coupling 330, and the output end of the reduction gearbox 340 is connected to the wheels 310, thereby driving the wheels 310 of the trolley assembly 300 to move.

[0060] The variable torque braking anti-skid system of the embodiment of the present invention comprises a push rod type disc brake 100, an electro-hydraulic push rod type brake 200 and a control system. The push rod type disc brake 100 is installed on the trolley assembly 300, and the push rod type disc brake 100 is used to clamp the brake disc on the coupling 330 for braking. The electro-hydraulic push rod type brake 200 is installed on the wheel frame of the trolley assembly 300 to brake the wheel 310, and the control system can set the braking torque of the push rod type disc brake 100 and the electro-hydraulic push rod type brake 200 according to the actual working conditions to ensure the reliability and stability of the braking of the trolley assembly 300.

[0061] Specifically, the actual working condition can be based on the information of the beam position, trolley position, load size, trolley running speed, wind speed and direction of the horizontal sliding quay crane. In other words, by judging in real time which specific working condition the braking of the trolley assembly 300 belongs to, when an emergency stop fault or operation occurs, the control system will immediately make a judgment to send instructions to the push rod disc brake 100 and the electro-hydraulic push rod brake 200 on the trolley assembly 300 according to the current working condition, set the corresponding braking torque value, so that the braking force matches the maximum static friction of the wheel 310, thereby avoiding the problem of wheel slippage during emergency braking, resulting in damage to the wheel tread, and thus reducing the replacement and maintenance costs of the quay crane.

[0062] In some embodiments, Figure 2 and Figure 3 As shown, the push rod type disc brake 100 may include: a Z-shaped base 110 , a pair of main body arms 120 , a pair of first brake pads 130 , a first power unit 140 , an automatic wear compensator 150 and an elastic component 160 .

[0063] The Z-shaped base 110 is used to be installed on the cart assembly 300 .

[0064] A pair of main arm frames 120 are disposed opposite to each other up and down, and one end of the pair of main arm frames 120 is hinged to the outer end of the upper surface of the Z-shaped base 110 respectively.

[0065] A pair of first brake pads 130 are respectively connected to a pair of main body arms 120 in upper and lower correspondence.

[0066] The first power unit 140 is installed on the lower surface of the Z-shaped base 110 , and the output end of the first power unit 140 is connected to the other end of the main arm 120 above.

[0067] One end of the automatic wear compensator 150 is close to the other end of the upper main arm 120 and connected to the output end of the first power unit 140 , and the other end is pivotally connected to the other end of the lower main arm 120 .

[0068] The elastic component 160 is vertically disposed between the first power unit 140 and the main arm 120 , and its bottom end is connected to the lower surface of the Z-shaped base 110 , and its top end is connected to the output end of the first power unit 140 .

[0069] That is to say, the push rod type disc brake 100 of the embodiment of the present invention is normally closed in a normal state, that is, the first power unit 140 drives the pair of main arm frames 120 to maintain a clamped state through the automatic wear compensator 150, at which time the pair of first brake pads 130 clamp the brake disc of the coupling 330 up and down to maintain a braking state, wherein the elastic component 160 plays a pre-tightening role on the opening and closing ends of the pair of main arm frames 120. Therefore, the brake of the brake disc of the coupling 330 is achieved by the push rod type disc brake 100, which is stable and reliable.

[0070] In some embodiments, Figure 2 As shown, the first power unit 140 may include a propeller 141 , a connecting rod 142 and a proportional valve 143 .

[0071] The propeller 141 is vertically disposed on the lower surface of the Z-shaped base 110 .

[0072] One end of the connecting rod 142 is pivotally connected to the top of the propeller 141, and the other end is pivotally connected to the other end of the main arm 120 above. The upper end of the automatic wear compensator 150 is connected to the other end of the connecting rod 142, and the top end of the elastic component 160 is connected to the middle part of the connecting rod 142.

[0073] The proportional valve 143 is connected to the thruster 141 .

[0074] The propeller 141 is controlled to extend and retract up and down by the proportional valve 143 to drive the connecting rod 142 to swing, so as to control the opening / closing of a pair of main arm frames 120 .

[0075] That is to say, the first power unit 140 of the embodiment of the present invention drives the propeller 141 to extend and retract through the proportional valve 143, and then adjusts the swing amplitude of the connecting rod 142 in an adjustable manner, and finally realizes the setting of the braking torque when a pair of main arms 120 are clamped up and down to adapt to different working conditions, thereby avoiding the situation where the braking force is much greater than the maximum static friction of the wheel and the wheel slips.

[0076] In some embodiments, Figure 2 and Figure 3 As shown, the push rod type disc brake 100 may further include a wear limiting device 170 .

[0077] The wear limiting device 170 is installed on the main arm frame 120 close to the first brake pad 130 , and the wear limiting device 170 is used to detect the wear amount of the first brake pad 130 .

[0078] That is to say, a wear limiting device 170 is installed on the main arm 120 near the first brake pad 130 to monitor the wear of the first brake pad 130 in real time, so as to facilitate timely replacement and maintenance to ensure stable and reliable braking.

[0079] In some embodiments, Figure 2 and Figure 3 As shown, the push rod type disc brake 100 may further include a release stop device 180 .

[0080] The release limiter 180 is disposed on the connecting rod 142 , and is used to detect the action state of the connecting rod 142 .

[0081] That is to say, a release limit device 180 is installed on the connecting rod 142 connected to the top of the thruster 141 to monitor the movement amplitude of the thruster 141 driving the connecting rod 142, thereby realizing real-time monitoring of the opening or closing state of a pair of main arm frames 120, thereby ensuring the safety and reliability of the push rod type disc brake 100.

[0082] In some embodiments, Figure 3 As shown, the top end of the elastic component 160 is connected to the middle portion of the connecting rod 142 via an adjusting bolt 161 .

[0083] That is to say, adjusting the preload force of the connection between the top end of the elastic component 160 and the middle portion of the connecting rod 142 by adjusting the bolt 161 is helpful to meet the torque adjustment requirements of different working conditions.

[0084] In some embodiments, Figure 4 and Figure 5 As shown, the electro-hydraulic push rod brake 200 may include: a second power unit 210 , a wheel clamp 220 and a main hydraulic pipe 230 .

[0085] The second power unit 210 is used to be installed on the wheel frame of the vehicle assembly 300 .

[0086] The wheel clamp 220 is used to be installed on the wheel 310, wherein the wheel clamp may include one or two.

[0087] The main hydraulic pipe 230 connects the second power unit 210 and the wheel clamp 220 .

[0088] That is to say, the second power unit 210 applies hydraulic pressure to the wheel clamp 220 through the main hydraulic pipe 230, and thus can adjust the corresponding braking torque of the wheel clamp 220 according to the actual working conditions. Among them, the second power unit 210 can be, for example, a hydraulic pump, which contains a proportional valve inside. By adjusting the proportional valve in the hydraulic pump, the adjustment of the braking torque value of the electro-hydraulic push rod type brake 200 by the second power unit 210 is realized. Here, the second power unit 210 is not specifically limited.

[0089] In some embodiments, as Figure 6 and Figure 7 shown, the wheel clamp 220 may include: a clamp seat 221, a pair of hydraulic push rods 222, a pair of second brake pads 223, and a pair of sub-hydraulic pipes 224.

[0090] Among them, the clamp seat 221 is in a "ji" shape, and the clamp seat 221 is used to be installed on the wheel 310.

[0091] A pair of hydraulic push rods 222 are oppositely installed at both end parts of the clamp seat 221.

[0092] A pair of second brake pads 223 are respectively connected to the end parts of a pair of hydraulic push rods 222 extending into the inner side of the clamp seat 221.

[0093] One ends of a pair of sub-hydraulic pipes 224 are respectively connected to a pair of hydraulic push rods 222, and the other ends are respectively connected to a hydraulic joint 227, and the hydraulic joint 227 is connected to the main hydraulic pipe 230.

[0094] That is to say, the main hydraulic pipe 230 is respectively communicated with two sub-hydraulic pipes 224 through the hydraulic joint 227, and then drives a pair of hydraulic push rods 222 on the clamp seat 221 to act. And the end parts of the hydraulic push rods 222 extending into the inside of the clamp seat 221 are connected to the second brake pads 223, so as to realize the control setting of the braking torque of the second brake pads 223. The structure is simple and reliable, and is easy to disassemble and maintain.

[0095] In some embodiments, as Figure 6 and Figure 7 shown, the wheel clamp 220 may further include a cleaning device 225, and the cleaning device 225 is installed at the bottom of both end parts of the clamp seat 221.

[0096] That is to say, a pair of cleaning devices 225 are further installed at the bottom of both end parts of the clamp seat 221. The soft cleaning blocks on the cleaning device 225 are pressed against the braking surface to scrape off some dirt on the braking surface of the wheel, so as to protect the second brake pads 223 from being worn and ensure reliable braking.

[0097] In addition, guide holes are respectively provided on both side ends of the clamp seat 221, wherein the guide holes are used to penetrate the brake pad guide pins 226 for guiding when installing the brake pad to ensure installation accuracy.

[0098] The control system in the variable torque brake anti-skid system of the embodiment of the present invention is composed of the crane main control system, the anti-skid system PLC, etc., wherein the crane main control system controls the opening and closing by switching the power supply of the push rod disc brake and the electro-hydraulic push rod brake. The push rod disc brake and the electro-hydraulic push rod brake can be quickly cut off in emergency stop and other conditions. The switch valve and the external proportional valve are connected to the anti-skid system PLC. The switch valve and the proportional valve use a 24V control power supply. To prevent long-distance voltage drop, the valve control power supply needs to use a battery cell with a cross-section of 6mm 2 The above cable connections.

[0099] The crane main control system and anti-skid system PLC of the embodiment of the present invention communicate through the Profinet (automation bus standard) interface. For this purpose, a PN-PN coupler is installed in the panel of the anti-skid system PLC, and the push rod disc brake and electro-hydraulic push rod brake of each part of the crane are allowed to be controlled separately.

[0100] The anti-skid system PLC of the embodiment of the present invention distributes the braking torque of each brake in detail by controlling the switch valve and proportional valve on the push rod type disc brake and the electro-hydraulic push rod type brake. In order to ensure that the anti-skid system can also function in the emergency power failure state of the crane, the system has an integrated uninterruptible power supply for providing valve and PLC power supply in the event of power failure. The uninterruptible power supply is installed in the control cabinet, see the attached Figure 8 .

[0101] The variable torque anti-skid braking system of the embodiment of the present invention can set the torque of the push rod type disc brake and the electro-hydraulic push rod type brake by controlling the proportional valve in the power unit of each push rod type disc brake and the electro-hydraulic push rod type brake. The corresponding relationship between the current of the proportional valve and the brake torque is as follows: Fig. 9 shown.

[0102] The variable torque braking anti-skid system of the embodiment of the present invention also has an emergency stop function setting. When the crane stops in an emergency, the anti-skid system PLC will use the torque calculation value used last time and close all brakes through the analog control of the proportional valve to achieve dynamic braking. For safety reasons, after 5 seconds, all brakes will use full torque braking.

[0103] The logic settings of the variable torque braking anti-skid system of the embodiment of the present invention are shown in Table 1.

[0104] Table 1 Logic setting table of variable torque brake anti-skid system

[0105]

[0106]

[0107] That is to say, the variable torque braking anti-skid system of the embodiment of the present invention performs sensitivity analysis on various parameters that affect wheel pressure, selects the parameters with the greatest influence (such as wind speed and direction, beam position, trolley position, trolley running direction speed, etc.), formulates load combination tables for different working conditions, and thus obtains the braking torque setting values ​​under different loads. The real-time data of various parameters are transmitted to the anti-skid system PLC through the crane control system, and the anti-skid system PLC determines the working condition according to the provided data, so as to achieve the purpose of setting different torques according to different working conditions.

[0108] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A variable torque braking anti-skid system, characterized in that: Comprising: A push-rod disc brake, which is used to be installed on the trolley assembly close to the drive source to brake the brake disc on the coupling of the drive source; An electro-hydraulic push-rod brake, which is used to be installed on the wheel bracket of the trolley assembly to brake the wheels; A control system, which is used to send instructions to the push-rod disc brake and the electro-hydraulic push-rod brake according to the real-time working conditions of the quay crane, and the push-rod disc brake and the electro-hydraulic push-rod brake determine the corresponding braking torque values based on the received instructions.

2. The variable torque braking anti-skid system according to claim 1, characterized in that: The push-rod disc brake includes: A Z-shaped base, which is used to be installed on the trolley assembly; A pair of main boom arms, which are arranged up and down oppositely, and one ends of the pair of main boom arms are respectively hinged to the outer ends of the upper surface of the Z-shaped base; A pair of first brake pads, which are correspondingly connected to the pair of main boom arms up and down respectively; A first power unit, which is installed on the lower surface of the Z-shaped base, and the output end of the first power unit is connected to the other end of the upper main boom arm above; An automatic wear compensator, one end of which is close to the other end of the upper main boom arm and connected to the output end of the first power unit, and the other end is pivotally connected to the other end of the lower main boom arm; An elastic component, which is vertically arranged between the first power unit and the main boom arm, and its bottom end is connected to the lower surface of the Z-shaped base, and its top end is connected to the output end of the first power unit.

3. The variable torque braking anti-skid system according to claim 2, characterized in that: The first power unit includes: A thruster, which is vertically arranged on the lower surface of the Z-shaped base, A connecting rod, one end of which is pivotally connected to the top of the thruster, and the other end is pivotally connected to the other end of the upper main boom arm above. The upper end of the automatic wear compensator is connected to the other end of the connecting rod, and the top end of the elastic component is connected to the middle part of the connecting rod; A proportional valve, which is connected to the thruster, Wherein, the proportional valve is used to control the up and down telescoping of the thruster to drive the connecting rod to swing, so as to control the opening / closing of the pair of main boom arms.

4. The variable torque braking anti-skid system according to claim 2, characterized in that: The push-rod disc brake further includes a wear limit device, The wear limit device is installed on the main boom arm close to the first brake pad, and the wear limit device is used to detect the wear amount of the first brake pad.

5. The variable torque braking anti-skid system according to claim 3, characterized in that: The push-rod disc brake further includes a release limit device, The release limit device is arranged on the connecting rod, and the release limit device is used to detect the action state of the connecting rod.

6. The variable torque braking anti-skid system according to claim 3, characterized in that: The top end of the elastic component is connected to the middle part of the connecting rod through an adjusting bolt.

7. The variable torque braking anti-skid system according to claim 1, characterized in that: The electro-hydraulic push-rod brake includes: A second power unit, which is used to be installed on the wheel bracket of the trolley assembly; A wheel gripper, which is used to be installed on the wheel; A main hydraulic pipe, which connects the second power unit and the wheel gripper.

8. The variable torque braking anti-skid system according to claim 7, characterized in that: The wheel gripper includes one or two.

9. The variable torque braking anti-skid system according to claim 7, characterized in that: The wheel gripper includes: A clamp seat, which is in a "ji" shape, and the clamp seat is used to be installed on the wheel; A pair of hydraulic push rods, the pair of hydraulic push rods are relatively mounted on both side ends of the clamping seat; A pair of second brake pads, wherein the pair of second brake pads are respectively connected to the end portions of a pair of hydraulic push rods extending into the inner side of the clamp seat; A pair of branch hydraulic pipes, one end of the pair of branch hydraulic pipes is respectively connected to the pair of hydraulic push rods, and the other end is respectively connected to hydraulic joints, and the hydraulic joints are connected to the main hydraulic pipe.

10. The variable torque braking anti-skid system according to claim 9, characterized in that: The wheel clamp also includes a cleaning device, which is installed at the bottom of both side ends of the clamp seat.

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