Dual-redundancy large unmanned aerial vehicle hydraulic brake device

Abstract

The invention belongs to the technical field of aviation, and relates to a dual-redundancy hydraulic brake device for a large unmanned aerial vehicle. Comprising a normal brake unit, an emergency brake unit and a shutdown brake unit. A mechanical-electrical-hydraulic combination mode is adopted, mechanical, hydraulic and electronic control technologies, sensing detection technologies and the like are applied, a dissimilar redundant hydraulic device is adopted, a normal brake unit adopts a hydraulic control mode, and an emergency brake unit adopts a current advanced electro-hydrostatic brake actuator as a hydraulic source. The two modes are composed, principles and control modes are completely different, the requirements of multiple functions, frequent use and good economical efficiency of a normal brake unit are met, the requirements of simple structure and low failure rate of an emergency brake unit are met, and the large unmanned aerial vehicle brake requirement can be well met; the output of the normal brake unit and the output of the emergency brake unit are completely independent, and the reliability and the safety capacity are improved.

Description

Technical Field

[0001] The invention belongs to the field of aviation technology and relates to a dual-redundancy large-scale unmanned aerial vehicle hydraulic brake device. Background Art

[0002] With the deep integration of new-generation information technology and manufacturing, far-reaching industrial changes are being triggered, especially the coordinated application of new technologies such as digitalization, intelligence, and unmanned operations, which have given rise to new industrial forms, business models, and economic growth points such as drones, unmanned vehicles, unmanned ships, and unmanned warehousing. In addition, unmanned military equipment is an important development direction for future war models. With its inherent advantages of vertical take-off and landing, hovering in the air, long endurance, and unmanned operation, drones will play an irreplaceable role on future battlefields.

[0003] In order to meet the development needs of the military and civilian markets such as express logistics, emergency rescue, aerial geophysical exploration and industrial operations, the research and development of large UAVs (take-off weight: 2 tons to 5.5 tons) has also been further developed.

[0004] The take-off and landing process of a drone is one of the most critical stages of the entire flight process of a drone. Frequent accidents such as runway runoff, rollover, and landing gear breakage during its ground taxiing process seriously affect the safety performance of the drone.

[0005] The UAV braking system is one of the key systems during the take-off and landing phases of a UAV. Its working condition not only affects whether the aircraft can accurately and timely decelerate and brake, but also affects the normal operation of the aircraft and may even directly endanger flight safety.

[0006] In order to meet the overall functional needs of the UAV, the UAV braking system must also have the characteristics of full autonomous control during take-off and landing, mature technology, high reliability, simple structure, and good economy.

[0007] Due to the heavy take-off weight, fast touchdown speed and many required functions of large UAVs, the electric brake system currently used in small UAVs is difficult to meet the use requirements. The brake system used in large passenger and cargo manned aircraft has a complex structure, high cost, difficult maintenance and low degree of automation, which cannot meet the needs of large UAVs. Therefore, it is necessary to design a brake device that meets the use requirements of large UAVs. Summary of the invention

[0008] Purpose of the Invention

[0009] (1) Meet the braking function requirements of large UAVs (takeoff weight: 2 tons to 5.5 tons), including takeoff line brake, abort takeoff, anti-skid brake (including ground protection and wheel protection), emergency brake, and parking brake;

[0010] (2) Meet the reliability requirements of brake devices for large UAVs (take-off weight: 2 tons to 5.5 tons);

[0011] (3) It has good economic efficiency.

[0012] Technical Solution

[0013] To achieve the above purpose, the present invention adopts a combination of electromechanical and hydraulic methods, applies mechanical, hydraulic, electronic control technology, sensor detection and other technologies, adopts a non-similar redundant hydraulic system and modular design, and the specific technical solutions are as follows:

[0014] A dual-redundancy large-scale unmanned aerial vehicle hydraulic brake device comprises a normal brake unit, wherein the normal brake unit comprises a hydraulic oil tank 1, a low oil level sensor 3, a hydraulic pump 8, a ground test refueling valve 9, a pressure oil filter 10, a safety valve 11, a first one-way valve 12, a hydraulic source pressure sensor 13, a normal brake pressure sensor 14, a brake pressure supply valve 15, a pressure relief solenoid valve 16, a right brake electronically controlled proportional valve 17, a left brake electronically controlled proportional valve 18, a left anti-skid brake solenoid valve 19, a left anti-skid brake throttle valve 20, a normal left pressure sensor 21, a right anti-skid brake solenoid valve 23, a normal right pressure sensor 24, a right anti-skid brake throttle valve 25, and an oil return filter 42; the hydraulic oil tank 1 is connected to the hydraulic pump 8, the first one-way valve 12, the pressure oil filter 10, the hydraulic source pressure sensor 13, the brake pressure supply valve 15, and the normal brake pressure sensor 14 in sequence; the ground test refueling valve 9 is arranged on the first one-way valve 1 2 and the pressure oil filter 10; one end of the safety valve 11 is arranged between the first one-way valve 12 and the pressure oil filter 10, and the other end is connected to the hydraulic oil tank 1; one end of the pressure relief solenoid valve 16 is arranged between the pressure oil filter 10 and the brake pressure supply valve 15, and the other end is connected to the hydraulic oil tank 1; the normal brake pressure sensor 14 is connected to the right brake electronically controlled proportional valve 17 and the left brake electronically controlled proportional valve 18; the left brake electronically controlled proportional valve 18 is connected to the left anti-skid brake solenoid valve 19, the left anti-skid brake throttle valve 20, the normal left pressure sensor 21, and the left manual parking brake valve 28 in sequence; the right brake electronically controlled proportional valve 17 is connected to the right anti-skid brake solenoid valve 23, the right anti-skid brake throttle valve 25, the normal right pressure sensor 24, and the right manual parking brake valve 27 in sequence; one end of the return oil filter 42 is connected to the brake pressure supply valve 15, the left anti-skid brake solenoid valve 19, and the return oil port a of the right anti-skid brake solenoid valve 23, and the other end is connected to the hydraulic oil tank 1;

[0015] Furthermore, it also includes an emergency brake unit, which includes a left electrostatic hydraulic brake actuator 40, a right electrostatic hydraulic brake actuator 41, an emergency left pressure sensor 22, and an emergency right pressure sensor 26, the oil outlet of the right electrostatic hydraulic brake actuator 41 is sequentially connected to the emergency right pressure sensor 26 and the right wheel brake device 39, and the oil outlet of the left electrostatic hydraulic brake actuator 40 is sequentially connected to the emergency left pressure sensor 22 and the left wheel brake device 38;

[0016] Furthermore, it also includes a parking brake unit; the parking brake unit 29 includes a right manual parking brake valve 27, a left manual parking brake valve 28, a manual pressure-charging valve 30, a pressure reducing valve 31, a second one-way valve 32, a parking brake pressure sensor 33, an air pressure sensor 34, an air charging port 35, an accumulator 36, and a manual pressure-releasing valve 37; the left manual parking brake valve 28 is connected to the normal left pressure sensor 21, the accumulator 36, and the left wheel brake device 38; the right manual parking brake valve 2 7 is connected to the normal right pressure sensor 24, the accumulator 36, and the right wheel brake device 39; one end of the manual charging valve 30 is set between the pressure oil filter 10 and the brake pressure supply valve 15, and the other end is connected to the pressure reducing valve 31; the pressure reducing valve 31 is connected to the second one-way valve 32, the parking brake pressure sensor 33, and the accumulator 36 in sequence; the air pressure sensor 34 is connected to the accumulator 36; the charging port 35 is connected to the accumulator 36; one end of the manual pressure releasing valve 37 is connected to the accumulator 36, and the other end is connected to the hydraulic oil tank 1.

[0017] Furthermore, it also includes a sampling valve 2, which is arranged on the hydraulic oil tank 1 and is used to take oil from the hydraulic oil tank 1; further, it also includes a low oil level sensor 3, which is arranged on the hydraulic oil tank 1 and is used to send out an alarm message when the oil level of the hydraulic oil tank 1 is low;

[0018] Furthermore, it also includes a refueling port 4, which is arranged on the hydraulic oil tank 1 and is used to refuel the hydraulic oil tank 1;

[0019] Furthermore, it also includes a temperature sensor 5, which is arranged on the hydraulic oil tank 1 and is used to detect the oil temperature in the hydraulic oil tank 1;

[0020] Furthermore, it also includes a liquid level meter 6, which is arranged on the hydraulic oil tank 1 and is used to observe the oil level position of the hydraulic oil tank 1;

[0021] Furthermore, it also includes an exhaust valve 7, which is arranged on the hydraulic oil tank 1 and is used to exhaust the hydraulic oil tank 1.

[0022] The beneficial effects of this application are:

[0023] (1) A non-similar redundant hydraulic device is used. The normal brake unit adopts hydraulic control, and the emergency brake unit adopts the currently advanced electrostatic hydraulic brake actuator as the hydraulic source. The two methods have completely different compositions, principles, and control methods. They meet the requirements of the normal brake unit for multiple functions, frequent use, and good economy, and the requirements of the emergency brake unit for simple structure and low failure rate, which can well match the braking requirements of large UAVs. The outputs of the normal brake unit and the emergency brake unit are completely independent, which improves reliability and safety capabilities.

[0024] (2) A hydraulic pump is used as the pressure source of the normal brake unit. Compared with the accumulator, the hydraulic pump can provide hydraulic energy stably and quickly, meeting the requirements of the normal brake system for large flow and fast response speed.

[0025] (3) An electric proportional valve is used as the pressure control element of the normal brake unit. Compared with the pressure servo valve, the electric proportional valve has good economy and meets the cost control requirements of the UAV. In addition, the anti-pollution ability of the electric proportional valve is much higher than that of the pressure servo valve, which can meet the requirements of large UAVs to operate under the condition that the system oil contamination degree is not worse than NAS1638 level 9.

[0026] (4) An electrostatic hydraulic brake actuator is used as the hydraulic source of the emergency device. The power required is far less than that of the traditional hydraulic system. Its control only requires electrical output. The power can be transmitted in the form of electrical energy using cables, eliminating the hydraulic pipelines of the traditional hydraulic system, greatly reducing the hydraulic pipelines and hydraulic joints of the traditional hydraulic system, greatly reducing the weight, and further solving the problems of oil leakage and pollution. The electrostatic hydraulic actuator is easy to disassemble, which improves the maintainability of the system. The electrostatic hydraulic actuator can work independently, making the electrostatic hydraulic actuator have a higher degree of safety and meet the use requirements of the emergency system.

[0027] (5) The hydraulic energy of the parking brake unit comes from the accumulator, which can complete the parking brake function when the drone is not powered on and the engine is not started. In addition, a manual parking brake valve is used to physically isolate the parking brake unit and the emergency brake unit, which improves the safety of the device. The manual parking brake valve adopts the form of a cone valve, which reduces the leakage of the parking brake unit and increases the pressure holding time of the parking brake.

[0028] (6) The parking brake unit is equipped with a manual pressure release valve, which can not only complete the brake release function of the parking brake unit, but also reduce the operating force during the conversion process of the manual parking brake valve. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the device of the present invention;

[0030] Among them: hydraulic oil tank 1, sampling valve 2, low oil level sensor 3, refueling port 4, temperature sensor 5, liquid level gauge 6, exhaust valve 7, hydraulic pump 8, ground test refueling valve 9, pressure oil filter 10, safety valve 11, first check valve 12, hydraulic source pressure sensor 13, normal brake pressure sensor 14, brake pressure supply valve 15, pressure relief solenoid valve 16, right brake electronic proportional valve 17, left brake electronic proportional valve 18, left anti-skid brake solenoid valve 19, left anti-skid brake throttle valve 20, normal left pressure sensor 21, emergency left pressure sensor 22, right anti Slip brake solenoid valve 23, normal right pressure sensor 24, right anti-skid brake throttle valve 25, emergency right pressure sensor 26, right manual parking brake valve 27, left manual parking brake valve 28, parking brake unit 29, manual charging valve 30, pressure reducing valve 31, second one-way valve 32, parking brake pressure sensor 33, air pressure sensor 34, charging port 35, accumulator 36, manual pressure release valve 37, left wheel brake device 38, right wheel brake device 39, left electro-static hydraulic brake actuator 40, right electro-static hydraulic brake actuator 41, return oil filter 42;

[0031] Figure 2 Schematic diagram of the electrostatic hydraulic brake actuator. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the implementation of the present invention clearer, the technical scheme in the embodiment of the present invention will be described in more detail in combination with the embodiment of the present invention. In the example, the same or similar reference numerals throughout represent the same or similar originals or elements with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of them. The embodiments described below by reference are exemplary and intended to be used to explain the present invention, and should not be construed as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present invention. The following is a detailed description in combination with the embodiments of the present invention.

[0033] The oil suction port of the hydraulic pump 8 is connected to the oil supply port of the hydraulic oil tank 1. The hydraulic oil tank 1 is equipped with a level gauge 6 for observing the oil level position, an exhaust valve 7 for exhausting the hydraulic oil tank 1, a low oil level sensor 3 for issuing an alarm message when the oil level in the hydraulic oil tank 1 is low, a temperature sensor 5 for detecting the oil temperature in the hydraulic oil tank 1, a sampling valve 2 for taking the oil in the hydraulic oil tank 1, and a refueling port 4 for refueling the hydraulic oil tank 1. The other end of the refueling port 4 is self-sealing and is used to connect to the ground tester. The pressure supply port of the hydraulic pump 8 is connected to the oil inlet of the first non-return valve 12, and the oil outlet of the first non-return valve 12 is respectively connected to the oil inlet of the ground test refueling valve 9, the safety valve 11, and the oil inlet of the pressure oil filter 10. The other end of the ground test refueling valve 9 adopts a self-sealing form for connecting to the ground tester. The oil outlet of the pressure oil filter 10 is respectively connected to the oil inlet of the pressure relief solenoid valve 16 and the port b of the brake pressure supply valve 15. The oil return port of the pressure relief solenoid valve 16 is connected to the hydraulic oil tank 1, and the brake pressure supply valve 15 The a port of the brake pressure supply valve 15 is connected to the oil inlet of the left brake electronically controlled proportional valve 18 and the oil inlet of the right brake electronically controlled proportional valve 17, respectively. The oil outlet of the left brake electronically controlled proportional valve 18 is connected to the b port of the left anti-skid brake solenoid valve 19. The a port of the left anti-skid brake solenoid valve 19 is connected to the oil inlet of the return oil filter 42. The c port of the left anti-skid brake solenoid valve 19 is connected to the left anti-skid brake throttle valve 20. The oil inlet of the left anti-skid brake throttle valve 20 is connected, the oil outlet of the left anti-skid brake throttle valve 20 is connected to the a port of the left manual parking brake valve 28, the b port of the left manual parking brake valve 28 is connected to the normal brake pressure oil port of the left wheel brake device 38, the c port of the left manual parking brake valve 28 is connected to the hydraulic interface of the accumulator 36 in the parking brake unit 29, the oil outlet of the right brake electronically controlled proportional valve 17 is connected to the b port of the right anti-skid brake solenoid valve 23, and the a port of the right anti-skid brake solenoid valve 23 is connected to the oil inlet of the return oil filter 42,The c port of the right anti-skid brake solenoid valve 23 is connected to the oil inlet of the right anti-skid brake throttle valve 25, the oil outlet of the right anti-skid brake throttle valve 25 is connected to the a port of the right manual parking brake valve 27, the b port of the right manual parking brake valve 27 is connected to the normal brake pressure oil port of the right wheel brake device 38, the c port of the right manual parking brake valve 27 is connected to the hydraulic interface of the accumulator 36 in the parking brake unit 29, and the hydraulic interface of the accumulator 36 is also connected to the parking brake unit 29. The oil outlet of the second one-way valve 32 in the brake unit 29 is connected to the oil inlet of the manual pressure relief valve 37 in the parking brake unit 29, the pressure relief port of the manual pressure relief valve 37 is connected to the oil return port of the hydraulic oil tank 1, the oil inlet of the second one-way valve 32 is connected to the oil outlet of the pressure reducing valve 31, the oil inlet of the pressure reducing valve 31 is connected to the oil outlet of the manual pressure charging valve 30, the oil inlet of the manual pressure charging valve 30 is connected to the oil outlet of the pressure oil filter 10, the left electric static hydraulic The brake actuator 40 is connected to the emergency brake pressure oil port of the left wheel brake device 38, the right electrostatic brake actuator 41 is connected to the emergency brake pressure oil port of the right wheel brake device 39, the hydraulic source pressure sensor 13 is connected to the outlet of the pressure oil filter 10, the normal left pressure sensor 21 is connected to the oil outlet of the left anti-skid brake throttle valve 20, the normal right pressure sensor 24 is connected to the oil outlet of the right anti-skid brake throttle valve 25, the emergency left pressure sensor 22 is connected to the oil outlet of the left electrostatic brake actuator 40, the emergency right pressure sensor 26 is connected to the oil outlet of the right electrostatic brake actuator 41, the parking brake pressure sensor 33 is connected to the hydraulic interface of the accumulator 36 in the parking brake unit 29, the air pressure sensor 34 is connected to the air pressure interface of the accumulator 36 in the parking brake unit 29, and the charging port 35 is connected to the air pressure interface of the accumulator 36 in the parking brake unit 29.

[0034] Working principle:

[0035] The schematic diagram of the working scheme of the dual-redundancy large UAV hydraulic brake device is as follows Figure 1 The dual-redundant large UAV hydraulic brake device consists of three parts: normal brake unit, emergency brake unit and parking brake unit.

[0036] The normal brake unit and the emergency brake unit are completely independent and are connected to the normal interface and emergency interface of the brake device respectively. Figure 2 As shown in the figure, the emergency brake function will not be affected when the normal brake unit fails.

[0037] The hydraulic power source of the normal brake unit in the dual-redundancy large-scale UAV hydraulic brake device comes from the engine-driven hydraulic pump 8. When the UAV starts the normal braking function, the pressure relief solenoid valve 16 is powered off and closed, and the normal brake unit builds up pressure and is in a braking preparation state. When the prerequisite for braking is met, the brake pressure supply valve 15 is powered on and switched, and the pressure oil provided by the normal brake unit is respectively input by the left brake electronically controlled proportional valve 18 and the right brake electronically controlled proportional valve 17 to the normal pressure supply interface of the left wheel brake device 38 and the normal pressure supply interface of the right wheel brake device 39. The normal brake unit uses the left brake electronically controlled proportional valve 18 and the right brake electronically controlled proportional valve 17 to control the normal braking pressure of the left and right wheels. The left brake electronically controlled proportional valve 18 and the right brake electronically controlled proportional valve 17 can automatically adjust the output pressure according to the information provided by the control system. Meet the braking demand; when the normal brake unit receives the anti-skid brake function demand proposed by the drone, the left anti-skid brake solenoid valve 19 and the right anti-skid brake solenoid valve 20 are powered on and switched, so that the brake pressure is directly unloaded from the left anti-skid brake solenoid valve 19 and the right anti-skid brake solenoid valve 20 to the hydraulic oil tank 1, the locked state of the tire is released, and the anti-skid function is realized. The left anti-skid brake throttle valve 20 and the right anti-skid brake throttle valve 25 adjust the pressure oil entering the normal pressure supply interface of the left wheel brake device 38 and the normal pressure supply interface of the right wheel brake device 39 to reduce pressure shock; when the drone starts the normal brake release function, the pressure relief solenoid valve 16 is powered on and opened, the system is depressurized, the brake pressure supply valve 15 is powered off and switched, and the pressure oil in the left wheel brake device 38 and the right wheel brake device 39 is unloaded after the brake pressure supply valve 15 to realize the brake release function. When the UAV starts the abort takeoff function, the pressure relief solenoid valve 16 is powered off and closed, the brake pressure supply valve 15 is powered on and switched, the left brake electronically controlled proportional valve 18 and the right brake electronically controlled proportional valve 17 are both opened to the maximum, and the maximum pressure is output respectively, so as to quickly complete the abort takeoff function.

[0038] When the normal brake unit fails, the emergency brake unit will be activated and the emergency brake function will be used.

[0039] The hydraulic power source of the emergency brake unit adopts a left electrostatic brake actuator 40 (such as Figure 2As shown in the figure), the right electrostatic hydraulic brake actuator 41, the left electrostatic hydraulic brake actuator 40, and the right electrostatic hydraulic brake actuator 41 respectively control the emergency brake pressure of the left and right wheels. When the emergency brake function is activated, the left electrostatic hydraulic brake actuator 40 and the right electrostatic hydraulic brake actuator 41 are activated at the same time. The left electrostatic hydraulic brake actuator 40 and the right electrostatic hydraulic brake actuator 41 have the same composition principle. The electrostatic hydraulic brake actuator 40 is composed of a motor 101, a ball screw 102, a piston chamber 103, an oil replenishing chamber 105, a piston closed chamber 104, and a piston 106. When the emergency brake function is activated, the motor 101 is powered on and turned on. The motor 101 is rigidly connected to the ball screw 102. When the motor 101 is powered on and starts rotating, it pushes the ball screw 102 to move linearly. The ball screw 102 is rigidly connected to the piston 106, pushing the piston 106 to move in the direction of the closed chamber 104. The volume of the closed chamber 104 is reduced, and the corresponding output Braking pressure, the braking pressure generated by the left electro-hydrostatic brake actuator 40 enters the emergency brake pressure oil port of the left wheel brake device 38, and the braking pressure generated by the right electro-hydrostatic brake actuator 41 enters the emergency brake pressure oil port of the right wheel brake device 39, realizing the emergency braking function. During the braking process, the oil replenishing chamber 105 replenishes oil to the piston chamber 103; when the emergency brake function is started, the motor 101 reverses, pulling the ball screw 102 to move in a straight line, the ball screw 102 is rigidly connected to the piston 106, pulling the piston 106 to move in the direction of the piston chamber 103, the volume of the closed chamber 104 changes, the output brake pressure decreases, and the emergency brake release function is realized.

[0040] The hydraulic power source of the parking brake unit comes from the accumulator 36. When the parking brake function is used, it is switched to the parking brake position through the left manual parking brake valve 28 and the right manual parking brake valve 27 respectively. At this time, the a port and the b port of the left manual parking brake valve 28 and the right manual parking brake valve 27 are in a disconnected state, and the b port and the c port are in a connected state. The pressure of the accumulator 36 enters the normal brake pressure oil port of the left wheel brake device 38 and the normal brake pressure oil port of the right wheel brake device 39 respectively to realize the parking brake function; when the parking brake is released, the manual pressure release valve 37 is pressed to release the pressure to the hydraulic oil tank 1 to realize the brake release function; when the hydraulic pressure of the accumulator 36 is insufficient, the manual charging valve 30 can be manually switched to charge the accumulator 36 through the hydraulic pump 8.

[0041] It is understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of ordinary technicians in the field to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and unless defined as here, will not be interpreted with idealized or overly formal meanings. The specific implementation methods described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Within the spirit and principle of the present invention, any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment of equivalent changes for application in other fields, but any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the technical solution content of the present invention, any modification, equivalent replacement, improvement, etc., made according to the technical essence of the present invention, should be included in the protection scope of the present invention.

Claims

1. A dual-redundancy large-scale UAV hydraulic brake device, characterized in that: It includes a normal brake unit, which includes a hydraulic oil tank, a low oil level sensor, a hydraulic pump, a ground test refueling valve, a pressure oil filter, a safety valve, a first one-way valve, a hydraulic source pressure sensor, a normal brake pressure sensor, a brake pressure supply valve, a pressure relief solenoid valve, a right brake electronically controlled proportional valve, a left brake electronically controlled proportional valve, a left anti-skid brake solenoid valve, a left anti-skid brake throttle valve, a normal left pressure sensor, a right anti-skid brake solenoid valve, a normal right pressure sensor, a right anti-skid brake throttle valve, and an oil return filter; the hydraulic oil tank is connected in sequence to the hydraulic pump, the first one-way valve, the pressure oil filter, Hydraulic source pressure sensor, brake pressure supply valve, normal brake pressure sensor; ground test refueling valve is set between the first one-way valve and the pressure oil filter; one end of the safety valve is set between the first one-way valve and the pressure oil filter, and the other end is connected to the hydraulic oil tank; one end of the pressure relief solenoid valve is set between the pressure oil filter and the brake pressure supply valve, and the other end is connected to the hydraulic oil tank; the normal brake pressure sensor is connected to the right brake electronically controlled proportional valve and the left brake electronically controlled proportional valve; the left brake electronically controlled proportional valve is connected to the left anti-skid brake solenoid valve, the left anti-skid brake throttle valve, the normal left pressure sensor, and the left manual parking brake valve in sequence; The right brake electronically controlled proportional valve is connected to the right anti-skid brake solenoid valve, the right anti-skid brake throttle valve, the normal right pressure sensor, and the right manual parking brake valve in sequence; one end of the return oil filter is connected to the brake pressure supply valve, the left anti-skid brake solenoid valve, and the return oil port a of the right anti-skid brake solenoid valve, and the other end is connected to the hydraulic oil tank.

2. The device according to claim 1, characterized in that It also includes an emergency brake unit, which includes a left electro-static hydraulic brake actuator, a right electro-static hydraulic brake actuator, an emergency left pressure sensor, and an emergency right pressure sensor. The oil outlet of the right electro-static hydraulic brake actuator is connected to the emergency right pressure sensor and the right wheel brake device in sequence, and the oil outlet of the left electro-static hydraulic brake actuator is connected to the emergency left pressure sensor and the left wheel brake device in sequence.

3. The device according to claim 2, characterized in that It also includes a parking brake unit; the parking brake unit includes a right manual parking brake valve, a left manual parking brake valve, a manual charging valve, a pressure reducing valve, a second one-way valve, a parking brake pressure sensor, an air pressure sensor, a charging port, an accumulator, and a manual pressure release valve; the left manual parking brake valve is connected to the normal left pressure sensor, the accumulator, and the left wheel brake device; the right manual parking brake valve is connected to the normal right pressure sensor, the accumulator, and the right wheel brake device; one end of the manual charging valve is arranged between the pressure oil filter and the brake pressure supply valve, and the other end is connected to the pressure reducing valve; the pressure reducing valve is connected to the second one-way valve, the parking brake pressure sensor, and the accumulator in sequence; the air pressure sensor is connected to the accumulator; the charging port is connected to the accumulator; one end of the manual pressure release valve is connected to the accumulator, and the other end is connected to the hydraulic oil tank.

4. The device according to claim 3, characterized in that It also includes a sampling valve, which is arranged on the hydraulic oil tank and is used to take oil from the hydraulic oil tank; further, it also includes a low oil level sensor, which is arranged on the hydraulic oil tank and is used to issue an alarm message when the oil level in the hydraulic oil tank is low.

5. The device according to claim 4, characterized in that It also includes a refueling port, which is arranged on the hydraulic oil tank and is used to refuel the hydraulic oil tank.

6. The device according to claim 5, characterized in that It also includes a temperature sensor, which is arranged on the hydraulic oil tank and is used to detect the oil temperature in the hydraulic oil tank.

7. The device according to claim 6, characterized in that It also includes a liquid level meter, which is arranged on the hydraulic oil tank and is used to observe the oil level position of the hydraulic oil tank.

8. The device according to claim 7, characterized in that It also includes an exhaust valve, which is arranged on the hydraulic oil tank and is used to exhaust the hydraulic oil tank.

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