Braking torque measurement device, method and system

Abstract

The present invention discloses a braking torque measuring device, method and system, which relate to the field of aviation technology, to ensure that an aircraft can obtain accurate braking torque when braking, thereby improving braking efficiency. The braking torque measuring device is used to measure the braking torque of a landing gear, and the landing gear has a wheel assembly, a first brake lever and a second brake lever, and the wheel assembly includes a front wheel assembly, a rear wheel assembly and an intermediate wheel assembly. The braking torque measuring device includes: a first sensor, a second sensor and a controller connected to the signals of the first sensor and the second sensor. The torque measurement method is used to measure the braking torque of the landing gear. The braking torque measurement system includes a landing gear and the above-mentioned braking torque measuring device. The braking torque measuring device, method and system provided by the present invention are used in aircraft.

Description

Technical Field

[0001] The present invention relates to the field of aviation technology, and in particular to a braking torque measurement device, method and system. Background Art

[0002] Currently, the brake control input signals for most domestic aircraft only include brake pressure and wheel speed. This small number of input signals significantly impacts braking efficiency. In practical applications, brake torque is crucial information for brake control. However, the brake torque coefficient varies in a complex manner and is affected by numerous factors, making it difficult to accurately estimate the brake torque coefficient and, consequently, to accurately determine the brake torque.

[0003] Therefore, in order to obtain the braking torque information, it is necessary to multiply the braking pressure by the braking torque coefficient. How to directly and accurately measure the braking torque is particularly important for the braking torque information. Summary of the Invention

[0004] The object of the present invention is to provide a braking torque measurement device, method and system to ensure that an aircraft can obtain accurate braking torque when braking, thereby improving braking efficiency.

[0005] In a first aspect, the present invention provides a braking torque measuring device for measuring the braking torque of a landing gear, wherein the landing gear comprises a wheel assembly, a first brake lever and a second brake lever, the wheel assembly comprising a front wheel assembly, a rear wheel assembly and an intermediate wheel assembly, the first brake member of the front wheel assembly and the second brake member of the intermediate wheel assembly being connected via a first brake lever, the first brake member of the rear wheel assembly and the second brake member of the intermediate wheel assembly being connected via a second brake lever, the braking torque measuring device comprising: a first sensor for detecting force information of the first brake lever; a second sensor for detecting force information of the second brake lever;

[0006] The controller connected to the first sensor and the second sensor signals is used to determine the front wheel braking torque based on the force information of the first brake rod and the radial size parameters of the first brake component, determine the rear wheel braking torque based on the force information of the second brake rod and the radial size parameters of the second brake component, and determine the braking torque based on the front wheel braking torque and the rear wheel braking torque.

[0007] Compared with the prior art, the braking torque measuring device provided by the present invention is used to measure the braking torque of the landing gear. The landing gear has a wheel assembly, a first brake rod and a second brake rod. The wheel assembly includes a front wheel assembly, a rear wheel assembly and an intermediate wheel assembly. The first brake member of the front wheel assembly and the second brake member of the intermediate wheel assembly are connected through the first brake rod. Therefore, the force information of the first brake rod can actually be regarded as the force information of the first brake member of the front wheel assembly; and the first brake member of the rear wheel assembly and the second brake member of the intermediate wheel assembly are connected through the second brake rod. Therefore, the force information of the second brake rod can actually be regarded as the force information of the second brake member of the rear wheel assembly. Based on this, a first sensor can be used to detect force information on the first brake lever, and a second sensor can be used to detect force information on the second brake lever. Because both the first and second sensors are signal-connected to the controller, the controller can determine the front wheel braking torque based on the force information on the first brake lever and the radial dimension parameters of the first brake member, and determine the rear wheel braking torque based on the force information on the second brake lever and the radial dimension parameters of the second brake member. On this basis, the controller can determine the braking torque based on the front and rear wheel braking torques. Furthermore, the force applied to the first brake lever during braking is compressive, while the force applied to the second brake lever during braking is tensile. During the entire braking process, the aircraft is unaffected by external forces such as friction. This makes the force information on the first brake lever obtained by the first sensor and the force information on the second brake lever obtained by the second sensor accurate and reliable. Consequently, the controller can obtain very accurate braking torque. Based on this accurate braking torque, the controller can determine the required braking distance, thereby improving the braking efficiency of the aircraft.

[0008] In a second aspect, the present invention provides a braking torque measurement method for measuring the braking torque of a landing gear, wherein the landing gear comprises a wheel assembly, a first brake lever, and a second brake lever, the wheel assembly comprising a front wheel assembly, a rear wheel assembly, and an intermediate wheel assembly, the first brake member of the front wheel assembly and the second brake member of the intermediate wheel assembly being connected via the first brake lever, and the first brake member of the rear wheel assembly and the second brake member of the intermediate wheel assembly being connected via the second brake lever, the method comprising: detecting force information of the first brake lever; detecting force information of the second brake lever;

[0009] Based on the force information of the first brake rod and the dimensional parameters of the first brake component, the front wheel braking torque is determined; based on the force information of the second brake rod and the dimensional parameters of the second brake component, the rear wheel braking torque is determined; based on the front wheel braking torque and the rear wheel braking torque, the braking torque is determined.

[0010] Compared with the prior art, the beneficial effects of the braking torque measurement method provided by the present invention are the same as the beneficial effects of the first aspect of the present invention, and will not be repeated here.

[0011] In a third aspect, the present invention provides a braking torque measurement system comprising: a landing gear; and the braking torque measurement device according to any one of claims 1 to 3;

[0012] In which, the landing gear has a wheel assembly, a first brake rod and a second brake rod, the wheel assembly includes a front wheel assembly, a rear wheel assembly and an intermediate wheel assembly, the first brake member of the front wheel assembly and the second brake member of the intermediate wheel assembly are connected through the first brake rod, and the first brake member of the rear wheel assembly and the second brake member of the intermediate wheel assembly are connected through the second brake rod; the brake torque measuring device contains a first sensor for detecting the force information of the first brake rod, and a second sensor for detecting the force information of the second brake rod.

[0013] Compared with the prior art, the beneficial effects of the braking torque measurement system provided by the present invention are the same as the beneficial effects of the first aspect of the present invention, and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0015] Figure 1 This is a structural diagram of a landing gear according to an embodiment of the present invention;

[0016] Figure 2 This is a structural block diagram of a braking torque measuring device according to an embodiment of the present invention;

[0017] Figure 3 Flowchart of the braking torque measurement method in an embodiment of the present invention.

[0018] Reference numerals:

[0019] 101-support mechanism, 1011-sleeve, 1012-shock absorber, 1013-support member, 102-buffer mechanism, 103-wheel assembly, 1031-front wheel assembly, 1031a-front wheel, 1031b-first brake member, 1032-intermediate wheel assembly, 1032a-intermediate wheel, 1032b-second brake member, 1033-rear wheel assembly, 1033a-rear wheel, 1033b-first brake member, 104-first brake rod, 105-first sensor, 106-second brake rod, 107-second sensor, 108-first connecting rod, 109-second connecting rod; brake torque measuring device 200; controller 201. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined. "Several" means one or more, unless otherwise specifically defined.

[0023] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0024] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and may encompass internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0025] Currently, the brake control input signals for most domestic aircraft only include brake pressure and wheel speed, while the most important brake torque signal cannot be directly measured. This small number of brake control input signals seriously affects braking efficiency. In practical applications, brake torque is a crucial piece of information in brake control. The brake lever of an aircraft's landing gear is the key force-bearing component when the aircraft brakes after landing. If the torque at the brake lever can be measured, the brake torque can be calculated. However, the brake torque coefficient varies in a complex manner and is affected by many factors, making it difficult to accurately estimate the brake torque coefficient and, consequently, impossible to accurately determine the brake torque.

[0026] Therefore, in order to obtain the braking torque information, it is necessary to multiply the braking pressure by the braking torque coefficient. How to directly and accurately measure the braking torque is particularly important for the braking torque information.

[0027] To address the above issues, embodiments of the present invention provide a braking torque measurement device, method, and system to ensure that accurate braking torque can be obtained when an aircraft brakes, thereby improving braking efficiency.

[0028] Figure 1 The structural diagram of the landing gear in an embodiment of the present invention is shown. The present invention provides a braking torque measuring device for measuring the braking torque of the landing gear. The landing gear has a wheel assembly 103, a first brake rod 104 and a second brake rod 106. The wheel assembly 103 includes a front wheel assembly 1031, a rear wheel assembly 1033 and an intermediate wheel assembly 1032. The first brake member 1031b of the front wheel assembly 1031 is connected to the second brake member 1032b of the intermediate wheel assembly 1032 through the first brake rod 104, and the first brake member 1033b of the rear wheel assembly 1033 is connected to the second brake member 1032b of the intermediate wheel assembly 1032 through the second brake rod 106.

[0029] Figure 2 FIG. 1 shows a structural block diagram of a brake torque measuring device according to an embodiment of the present invention. Figure 2 As shown, the braking torque measuring device 200 provided by the embodiment of the present invention includes: a first sensor 105, a second sensor 107 and a controller 201, and the controller 201 is signal-connected to the first sensor 105 and the second sensor 107 respectively.

[0030] The above-mentioned first sensor 105 is used to detect the force information of the first brake rod 104, the above-mentioned second sensor 107 is used to detect the force information of the second brake rod 106, and the above-mentioned controller 201 is used to determine the braking torque of the front wheel 1031a based on the force information of the first brake rod 104 and the radial size parameters of the first brake component, determine the braking torque of the rear wheel 1033a based on the force information of the second brake rod 106 and the radial size parameters of the second brake component 1032b, and determine the braking torque based on the braking torque of the front wheel 1031a and the braking torque of the rear wheel 1033a.

[0031] In specific implementation, the braking torque measuring device provided by the present invention is used to measure the braking torque of the landing gear. The landing gear has a wheel assembly 103, a first brake rod 104 and a second brake rod 106. The wheel assembly 103 includes a front wheel assembly 1031, a rear wheel assembly 1033 and an intermediate wheel assembly 1032. The first brake member 1031b of the front wheel assembly 1031 is connected to the second brake member 1032b of the intermediate wheel assembly 1032 through the first brake rod 104, and the first brake member 1031b of the rear wheel assembly 1033 is connected to the second brake member 1032b of the intermediate wheel assembly 1032 through the second brake rod 106. The braking torque measuring device includes: a first sensor 105, for detecting the force information of the first brake rod 104, a second sensor 107, for detecting the force information of the second brake rod 106, and the first sensor 105 and the second sensor 107 are connected to the controller 201 signal.

[0032] It can be seen from the above implementation process that the force information of the first brake lever 104 can actually be regarded as the force information of the first brake member of the front wheel assembly 1031; and the first brake member 1033b of the rear wheel assembly is connected to the second brake member 1032b of the intermediate wheel assembly 1032 through the second brake lever 106. Therefore, the force information of the second brake lever 106 can actually be regarded as the force information of the second brake member of the rear wheel assembly. Based on this, the first sensor 105 can be used to detect the force information of the first brake lever 104, and the second sensor 107 can be used to detect the force information of the second brake member. The force information of the brake rod 106 is obtained from the brake rod 104, and because the first sensor 105 and the second sensor 107 are both connected to the controller signal, the controller can determine the braking torque of the front wheel 1031a based on the force information of the first brake rod 104 and the radial size parameters of the first brake component, and determine the braking torque of the rear wheel 1033a based on the force information of the second brake rod 106 and the radial size parameters of the second brake component 1032b. On this basis, the controller 201 can determine the braking torque based on the braking torque of the front wheel 1031a and the braking torque of the rear wheel 1033a. At the same time, the force applied to the first brake rod 104 when the aircraft brakes is pressure, and the force applied to the second brake rod 106 when the aircraft brakes is tension. The aircraft is not affected by external forces such as friction during the entire braking process. The force information of the first brake rod 104 obtained by the first sensor 105 and the force information of the second brake rod 106 obtained by the second sensor 107 are accurate and reliable. Based on this, the braking torque obtained by the controller is very accurate. The controller can obtain the distance required for braking based on the accurate braking torque, thereby improving the braking efficiency of the aircraft when braking.

[0033] In an alternative approach, Figure 1 As shown, the first sensor 105 is provided on the first brake lever 104 for detecting the force information of the first brake lever 104 . The second sensor 107 is provided on the second brake lever 106 for detecting the force information of the second brake lever 106 .

[0034] For example, the above-mentioned sensor may be a pressure sensor or other types of sensors, which will not be described in detail here.

[0035] In an alternative approach, Figure 3 As shown, the exemplary embodiment of the present invention also provides a braking torque measurement method for measuring the braking torque. Figure 1 The method includes:

[0036] Step 301: Obtain force information from the first brake lever and the second brake lever. When the aircraft is braking, the first brake lever is in a compressed state, and the force information from the first brake lever can be considered as force information from the first brake member of the front wheel assembly. The second brake lever is in a stretched state, and the force information from the second brake lever can be considered as force information from the second brake member of the rear wheel assembly. The force information from the first brake lever can be detected using a first sensor, and the force information from the second brake lever can be detected using a second sensor.

[0037] Step 302: Determine the front wheel braking torque based on the force information of the first brake rod and the size parameters of the first brake component; determine the rear wheel braking torque based on the force information of the second brake rod and the size parameters of the second brake component; and determine the braking torque based on the front wheel braking torque and the rear wheel braking torque.

[0038] Compared with the prior art, the beneficial effects of the braking torque measurement method provided by the present invention are the same as the beneficial effects of the first aspect of the present invention, and will not be repeated here.

[0039] Exemplarily, the brake torque measurement method further includes a first sensor disposed on the first brake rod for detecting force information of the first brake rod, and a second sensor disposed on the second brake rod for detecting force information of the second brake rod.

[0040] In practical applications, when a multi-wheeled aircraft with a single-strut, six-wheeled trolley-type landing gear brakes, the front wheel braking load is borne by the first brake lever, while the rear wheel braking load is borne by the second brake lever. Therefore, sensors can be installed on the brake levers of a conventional single-strut, six-wheeled trolley-type landing gear. When the aircraft is braking, the first brake lever is in a compressed state, and the pressure of the first brake lever detected by the first sensor on the first brake lever is F1. When the aircraft is braking, the second brake lever is in a tensile state, and the tension of the second brake lever detected by the second sensor on the second brake lever is F2. The radial dimension R of the brake member of the front wheel assembly is 1. Furthermore, because the force information on the first brake lever detected by the first sensor is the force information on the first brake member of the front wheel assembly, and the force information on the second brake lever detected by the second sensor is the force information on the second brake member of the rear wheel assembly, the front wheel braking torque T1 and the rear wheel braking torque T2 can be measured through certain calculations.

[0041] From this we can calculate:

[0042] Front wheel braking torque: T1 = RF1

[0043] Rear wheel braking torque: T2 = RF2

[0044] Due to the multi-wheel landing gear structure, the intermediate wheel braking torque cannot be directly measured by the sensor. The intermediate wheel braking torque is obtained based on the average of the front wheel braking torque T1 and the rear wheel braking torque T2, as follows:

[0045] Intermediate wheel braking torque: T m =(T1+T2) / 2

[0046] Through the above implementation process, we can obtain the braking torque T1 of the front wheel, the braking torque T2 of the rear wheel, and the braking torque T3 of the middle wheel.

[0047] Compared with the prior art, the beneficial effects of the braking torque measurement method provided by the present invention are the same as the beneficial effects of the first aspect of the present invention, and will not be repeated here.

[0048] In an optional manner, an exemplary embodiment of the present invention further provides a braking torque measurement system comprising:

[0049] landing gear;

[0050] and the braking torque measuring device according to any one of claims 1 to 3;

[0051] Among them, Figure 1 As shown, the landing gear has a wheel assembly 103, a first brake rod 104 and a second brake rod 106, the wheel assembly 103 includes a front wheel assembly 1031, a rear wheel assembly 1033 and an intermediate wheel assembly 1032, the first brake member 1031b of the front wheel assembly 1031 is connected to the second brake member 1032b of the intermediate wheel assembly 1032 through the first brake rod 104, the first brake member 1033b of the rear wheel assembly 1033 is connected to the second brake member 1032b of the intermediate wheel assembly 1032 through the second brake rod 106, the brake torque measuring device contains a first sensor 105 for detecting the force information of the first brake rod 104, and a second sensor 107 for detecting the force information of the second brake rod 106.

[0052] Compared with the prior art, the beneficial effects of the braking torque measurement system provided by the present invention are the same as the beneficial effects of the first aspect of the present invention, and will not be described in detail here.

[0053] In an alternative approach, Figure 1 As shown, the landing gear also includes a first link 108 and a second link 109 , the hub of the front wheel assembly 1031 is connected to the hub of the intermediate wheel assembly 1032 via the first link 108 , and the hub of the rear wheel assembly 1033 is connected to the hub of the intermediate wheel assembly 1032 via the second link 109 .

[0054] In actual application, the hub of the intermediate wheel assembly is fixedly connected to the brake part of the intermediate wheel assembly, one end of the first connecting rod 108 is connected to the hub of the front wheel assembly, the other end of the first connecting rod 108 is connected to the hub of the intermediate wheel assembly, one end of the second connecting rod 109 is connected to the hub of the rear wheel assembly, and the other end of the second connecting rod 109 is connected to the hub of the intermediate wheel assembly.

[0055] It can be seen from the above implementation process that when the aircraft is in a braking state, the first connecting rod 108 can provide a supporting force to the front wheel 1031a, and the supporting force can offset the friction force of the front wheel 1031a generated when the front wheel 1031a is braking, thereby preventing the distance between the front wheel 1031a and the intermediate wheel 1032a from being shortened due to the influence of the friction force. The second connecting rod 109 can provide a supporting force to the rear wheel 1033a, and the supporting force can offset the friction force of the rear wheel 1033a generated when the rear wheel 1033a is braking, thereby preventing the distance between the rear wheel 1033a and the intermediate wheel 1032a from being shortened due to the influence of the friction force, thereby avoiding an increase in the braking distance when the aircraft brakes.

[0056] In an alternative approach, Figure 1 As shown, the landing gear also includes: a support mechanism 101 and a buffer mechanism 102, the intermediate wheel assembly 1032 is arranged on the support mechanism 101, the support mechanism 101 is connected to the hub of the intermediate wheel assembly 1032, one end of the buffer mechanism 102 is connected to the support mechanism 101, and the other end of the buffer mechanism 102 is connected to the first connecting rod 108.

[0057] In actual application, the support mechanism 101 has a sleeve 1011, a support member 1013 and a shock absorber 1012. The shock absorber 1012 is arranged at one end where the support member 1013 is connected to the sleeve 1011. The other end of the support member 1013 is connected to the hub of the intermediate wheel assembly 1032. One end of the buffer mechanism 102 is connected to the sleeve 1011, and the other end is connected to the first connecting rod 108.

[0058] From the above connection relationship, it can be seen that the hub of the intermediate wheel assembly 1032 and the brake member of the intermediate wheel assembly 1032b are fixedly connected, and the other end of the support member 1013 is connected to the hub of the intermediate wheel assembly 1032 to play a supporting role on the frame. The shock absorber 1012 is arranged at one end of the support member 1013 connected to the sleeve 1011. When the sleeve 1011 connected to the frame is in a braking state, effective shock absorption of the frame can be achieved. Here, it should be understood that the shock absorber 1012 can be an elastic member or a hydraulic shock absorber 1012. After the shock absorber 1012 achieves shock absorption of the frame, the buffer mechanism 102 can achieve secondary shock absorption of the frame, so that the frame can land smoothly during landing. At the same time, the first brake rod 104 and the second brake rod 106 will not produce large deformation, ensuring the accuracy of the force of the first brake rod 104 detected by the first sensor 105 and the accuracy of the force of the second brake rod 106 detected by the second sensor 107.

[0059] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A braking torque measuring device, characterized in that: Used to measure the braking torque of a landing gear, the landing gear having a wheel assembly, a first brake rod and a second brake rod, the wheel assembly including a front wheel assembly, a rear wheel assembly and an intermediate wheel assembly, the first brake member of the front wheel assembly and the second brake member of the intermediate wheel assembly being connected via the first brake rod, the first brake member of the rear wheel assembly and the second brake member of the intermediate wheel assembly being connected via the second brake rod, the braking torque measuring device comprising: a first sensor, configured to detect force information of the first brake lever; a second sensor, configured to detect force information of the second brake lever; a controller connected to the first sensor and the second sensor signals, configured to determine a front wheel braking torque based on force information of the first brake lever and radial dimension parameters of the first brake member of the front wheel assembly, determine a rear wheel braking torque based on force information of the second brake lever and radial dimension parameters of the first brake member of the rear wheel assembly, and determine an intermediate wheel braking torque based on an average of the front wheel braking torque and the rear wheel braking torque, wherein the intermediate wheel braking torque is the braking torque of the landing gear of the aircraft; The first sensor is provided on the first brake lever; The second sensor is arranged on the second brake lever.

2. A braking torque measurement method, characterized in that: The method is used to measure the braking torque of a landing gear, wherein the landing gear has a wheel assembly, a first brake rod and a second brake rod, the wheel assembly includes a front wheel assembly, a rear wheel assembly and an intermediate wheel assembly, the first brake member of the front wheel assembly is connected to the second brake member of the intermediate wheel assembly via the first brake rod, and the first brake member of the rear wheel assembly is connected to the second brake member of the intermediate wheel assembly via the second brake rod, and the method comprises: acquiring force information of the first brake lever through a first sensor, and acquiring force information of the second brake lever through a second sensor; Determine a front wheel braking torque based on the force information of the first brake lever and the size parameters of the first brake member of the front wheel assembly; determine a rear wheel braking torque based on the force information of the second brake lever and the size parameters of the first brake member of the rear wheel assembly; and determine an intermediate wheel braking torque based on an average of the front wheel braking torque and the rear wheel braking torque, where the intermediate wheel braking torque is the braking torque of the landing gear of the aircraft; The first sensor is provided on the first brake lever; The second sensor is arranged on the second brake lever.

3. A braking torque measurement system, characterized in that: include: landing gear; and the brake torque measuring device according to claim 1; wherein the landing gear comprises a wheel assembly, a first brake lever and a second brake lever, the wheel assembly comprises a front wheel assembly, a rear wheel assembly and an intermediate wheel assembly, the first brake member of the front wheel assembly is connected to the second brake member of the intermediate wheel assembly via the first brake lever, and the first brake member of the rear wheel assembly is connected to the second brake member of the intermediate wheel assembly via the second brake lever; The brake torque measuring device comprises a first sensor for detecting force information of the first brake lever, and a second sensor for detecting force information of the second brake lever.

4. The brake torque measurement system according to claim 3, characterized in that: The landing gear further includes a first connecting rod and a second connecting rod. The hub of the front wheel assembly is connected to the hub of the intermediate wheel assembly via the first connecting rod, and the hub of the rear wheel assembly is connected to the hub of the intermediate wheel assembly via the second connecting rod.

5. The braking torque measurement system according to claim 3, characterized in that: The landing gear also includes: a support mechanism and a buffer mechanism, the intermediate wheel assembly is arranged on the support mechanism, the support mechanism is connected to the hub of the intermediate wheel assembly, one end of the buffer mechanism is connected to the support mechanism, and the other end of the buffer mechanism is connected to the first connecting rod.

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