CN113048209B - Tilting mechanism based on bevel gear differential gear train - Google Patents

Tilting mechanism based on bevel gear differential gear train Download PDF

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Publication number
CN113048209B
CN113048209B CN202110256122.7A CN202110256122A CN113048209B CN 113048209 B CN113048209 B CN 113048209B CN 202110256122 A CN202110256122 A CN 202110256122A CN 113048209 B CN113048209 B CN 113048209B
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China
Prior art keywords
tilting
box body
bevel gear
input shaft
shaft
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Active
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CN202110256122.7A
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Chinese (zh)
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CN113048209A (en
Inventor
李政民卿
胡东根
朱如鹏
招启军
吕世恒
单来阳
赵江
盛伟
张健
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
    • F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
    • B64C27/58—Transmitting means, e.g. interrelated with initiating means or means acting on blades
    • B64C27/59—Transmitting means, e.g. interrelated with initiating means or means acting on blades mechanical
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/038—Gearboxes for accommodating bevel gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Gear Transmission (AREA)
  • Retarders (AREA)

Abstract

The invention discloses a tilting mechanism based on a bevel gear differential gear train, which comprises a fixed transmission assembly, a tilting transmission assembly and a coupler. The fixed transmission assembly comprises a fixed box body, an engine input shaft, a first transmission shaft, a speed reduction transmission assembly and first to fourth box body bearings; the tilting transmission assembly comprises a tilting box body, a second transmission shaft, an output shaft, a bevel gear differential assembly, a tilting input shaft, fifth to eighth box body bearings, first to second body bearings and first to second rotating bearings. The engine input shaft is system power input, the output shaft is system power output, and the tilting input shaft is system tilting input. The mode switching of the tilt rotor aircraft is realized by controlling the rotating speed and the rotating direction of the tilt input shaft. The invention realizes the power transmission and the tilting transition of the system by using the gear and the shaft, and has simple structure; and through the indirect control system tilting transition of the tilting input shaft, the control is convenient, and the reliability is high.

Description

Tilting mechanism based on bevel gear differential gear train
Technical Field
The invention relates to the technical field of gyroplanes, in particular to a tilting mechanism based on a bevel gear differential gear train.
Background
The tilting rotor aircraft is a novel high-speed aircraft, and two tilting transmission systems which can enable the rotor to rotate between a horizontal position and a vertical position are respectively arranged at the tips of two side wings of the aircraft, so that the tilting rotor aircraft is a new concept aircraft between a helicopter and fixed wing flight. When the rotor shaft is in a vertical position and the rotor shaft is upward, the pulling force generated by the rotor can enable the helicopter to vertically take off and hover for flight. When the aircraft needs to cruise and fly, the rotor shaft tilts to the horizontal position, at the moment, the rotor generates pulling force, and the wings generate lift force to maintain the horizontal flight of the aircraft, so that the aircraft has the vertical take-off and landing and hovering flight capabilities of the helicopter and the large-range and high-speed (relative to the helicopter) capabilities of the fixed-wing aircraft; compare with the fixed wing aircraft of screw, but the rotorcraft that verts VTOL has reduced the demand to take off and land place and ground equipment, has bigger use flexibility. Therefore, the tiltrotor aircraft is considered to be one of the models with the highest development prospect and application value in the aviation industry.
In foreign countries, the development of tiltrotor aircraft has been carried out since the last 70-80 years. On the basis of a fixed-wing aircraft, two tiltable rotors are respectively added on two sides of the wing. When the rotor wing is in a vertical state, the movement of the tilt rotor aircraft is the same as that of a helicopter; when the rotor is in the forward position, the tiltrotor aircraft moves as a fixed-wing aircraft.
The tilting mechanism is a key execution component for realizing flight attitude conversion of the tilt rotor aircraft. The prior patents comprise:
in CN201010617072, CN201310412479, CN201710992073, CN201720317780, CN201810124341 and CN201810258758, the tilting mechanism is generally complex in structure and difficult to machine and assemble. Therefore, the development of the tilting mechanism with simple structure and high reliability has great significance for the design of the tilting rotor aircraft.
Disclosure of Invention
The invention aims to solve the technical problem of providing a tilting mechanism based on a bevel gear differential gear train aiming at the defects in the background technology.
The invention adopts the following technical scheme for solving the technical problems:
the tilting mechanism based on the bevel gear differential gear train comprises a fixed transmission assembly, a tilting transmission assembly and a coupler;
the fixed transmission assembly comprises a fixed box body, an engine input shaft, a first transmission shaft, a speed reduction transmission assembly and first to fourth box body bearings;
the fixed box body is hollow, and is provided with a first through hole and a second through hole for the engine input shaft and the first transmission shaft to extend out respectively;
the engine input shaft is arranged in the fixed box body through a first box body bearing and a second box body bearing, and can rotate freely but cannot move radially relative to the fixed box body; one end of the engine input shaft extends out of the first through hole;
the first transmission shaft is arranged in the fixed box body through a third box body bearing and a fourth box body bearing, and can freely rotate but cannot radially move relative to the fixed box body; the first transmission shaft and the engine input shaft are perpendicular to each other, and one end of the first transmission shaft extends out of the second through hole;
the other end of the engine input shaft is connected with the first transmission shaft through the speed reduction transmission assembly and is used for transmitting external power input to the first transmission shaft through the speed reduction transmission assembly;
the tilting transmission assembly comprises a tilting box body, a second transmission shaft, an output shaft, a bevel gear differential assembly, a tilting input shaft, fifth to eighth box body bearings, first to second machine body bearings and first to second rotating bearings;
the tilting box body is hollow, and is provided with a third through hole, a fourth through hole and a fifth through hole for extending out of the second transmission shaft, the output shaft and the tilting input shaft;
the second transmission shaft is arranged in the tilting box body through a fifth box body bearing and a sixth box body bearing, and can freely rotate but cannot radially move relative to the tilting box body; one end of the second transmission shaft extends out of the third through hole and is coaxially and fixedly connected with one end of the first transmission shaft extending out of the fixed box body through a coupler;
the output shaft is arranged in the tilting box body through a seventh box body bearing and an eighth box body bearing, and can freely rotate but cannot radially move relative to the tilting box body; the output shaft is vertical to the second transmission shaft, and one end of the output shaft extends out of the fourth through hole;
the tilting input shaft and the second transmission shaft are coaxial; one end of the tilting input shaft is positioned in the tilting box body, the other end of the tilting input shaft extends out of the fifth through hole, and the tilting input shaft is fixedly connected with the tilting box body at the fifth through hole;
the bevel gear differential assembly comprises a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear and a fourth bevel gear, wherein the first bevel gear and one end of the second transmission shaft, which are positioned in the tilting box body, are coaxially and fixedly connected; the second bevel gear and one end of the output shaft, which are positioned in the tilting box body, are coaxially and fixedly connected; the third bevel gear is arranged at one end of the tilting input shaft in the tilting box body through the first rotating bearing and the second rotating bearing, so that the third bevel gear can freely rotate but cannot radially move relative to the tilting input shaft; the second bevel gear is meshed with the first bevel gear and the third bevel gear respectively;
the tilting box body is connected with the airplane body through the first fuselage bearing outside the third through hole of the tilting box body, connected with the airplane body through the second fuselage bearing outside the fifth through hole of the tilting box body, the first fuselage bearing and the second fuselage bearing are all coaxial with the second transmission shaft, so that the tilting input shaft can drive the tilting box body to rotate relative to the airplane body.
As a further optimized scheme of the tilting mechanism based on the bevel gear differential gear train, the speed reduction transmission assembly adopts any one of a bevel gear transmission assembly, a cylindrical gear transmission assembly, a planetary gear transmission assembly and a face gear transmission assembly.
As a further optimized scheme of the tilting mechanism based on the bevel gear differential gear train, the first to eighth box bearings all adopt tapered roller bearings, and the first to second body bearings and the first to second rotating bearings all adopt ball bearings.
As a further optimization scheme of the tilting mechanism based on the bevel gear differential gear train, the first bevel gear and the third bevel gear are replaced by face gears, and the second bevel gear is replaced by a middle cylindrical gear.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the invention realizes the power transmission and the tilting transition of the system by using the gear and the shaft, and has simple structure; the system is indirectly controlled to be in tilting transition through the tilting input shaft, so that the control is convenient and the reliability is high; the mode switching of the tilt rotor aircraft can be realized by directly controlling the rotating speed and the direction of the tilt input shaft.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a stationary transmission assembly according to the present invention;
FIG. 3 is a schematic view of the tilt transmission assembly of the present invention;
FIG. 4 is a schematic structural view of a bevel gear differential assembly according to the present invention;
FIG. 5 is a schematic structural view of the reduction drive assembly of the present invention employing a bevel gear drive assembly;
FIG. 6 is a schematic view of the bevel gear differential assembly of the present invention when a face gear differential assembly is used.
In the figure, 1-stationary transmission assembly, 2-coupler, 3-tilt transmission assembly, 4-first transmission shaft, 5-reduction transmission assembly, 6-engine input shaft, 7-first casing bearing, 8-second casing bearing, 9-third casing bearing, 10-fourth casing bearing, 11-stationary casing, 12-tilt casing, 13-second transmission shaft, 14-output shaft, 15-tilt input shaft, 16-fifth casing bearing, 17-sixth casing bearing, 18-seventh casing bearing, 19-eighth casing bearing, 20-first bevel gear, 21-second bevel gear, 22-third bevel gear, 23-first rotation bearing, 24-second rotation bearing, 25-first casing bearing, 26-second fuselage bearing.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
As shown in FIG. 1, the invention discloses a tilting mechanism based on a bevel gear differential gear train, which comprises a fixed transmission assembly, a tilting transmission assembly and a coupler;
as shown in fig. 2, the fixed transmission assembly includes a fixed case, an engine input shaft, a first transmission shaft, a reduction transmission assembly, and first to fourth case bearings;
the fixed box body is hollow, and is provided with a first through hole and a second through hole for the engine input shaft and the first transmission shaft to extend out respectively;
the engine input shaft is arranged in the fixed box body through a first box body bearing and a second box body bearing, and can freely rotate relative to the fixed box body but cannot radially move; one end of the engine input shaft extends out of the first through hole;
the first transmission shaft is arranged in the fixed box body through a third box body bearing and a fourth box body bearing, and can freely rotate but cannot radially move relative to the fixed box body; the first transmission shaft and the engine input shaft are perpendicular to each other, and one end of the first transmission shaft extends out of the second through hole;
the other end of the engine input shaft is connected with the first transmission shaft through the speed reduction transmission assembly and is used for transmitting external power input to the first transmission shaft through the speed reduction transmission assembly;
as shown in fig. 3, the tilt transmission assembly includes a tilt housing, a second transmission shaft, an output shaft, a bevel gear differential assembly, a tilt input shaft, fifth to eighth housing bearings, first to second body bearings, and first to second rotary bearings;
the tilting box body is hollow, and is provided with a third through hole, a fourth through hole and a fifth through hole for extending out of the second transmission shaft, the output shaft and the tilting input shaft;
the second transmission shaft is arranged in the tilting box body through a fifth box body bearing and a sixth box body bearing, and can freely rotate but cannot radially move relative to the tilting box body; one end of the second transmission shaft extends out of the third through hole and is coaxially and fixedly connected with one end of the first transmission shaft extending out of the fixed box body through a coupler;
the output shaft is arranged in the tilting box body through a seventh box body bearing and an eighth box body bearing, and can freely rotate but cannot radially move relative to the tilting box body; the output shaft is vertical to the second transmission shaft, and one end of the output shaft extends out of the fourth through hole;
the tilting input shaft and the second transmission shaft are coaxial; one end of the tilting input shaft is positioned in the tilting box body, the other end of the tilting input shaft extends out of the fifth through hole, and the tilting input shaft is fixedly connected with the tilting box body at the fifth through hole;
as shown in fig. 4, the bevel gear differential assembly includes first to third bevel gears, wherein the first bevel gear and the second transmission shaft are coaxially and fixedly connected at one end of the tilt box; the second bevel gear and one end of the output shaft, which are positioned in the tilting box body, are coaxially and fixedly connected; the third bevel gear is arranged at one end of the tilting input shaft in the tilting box body through the first rotating bearing and the second rotating bearing, so that the third bevel gear can freely rotate but cannot radially move relative to the tilting input shaft; the second bevel gear is meshed with the first bevel gear and the third bevel gear respectively;
the tilting box body is connected with the airplane body through the first fuselage bearing outside the third through hole of the tilting box body, connected with the airplane body through the second fuselage bearing outside the fifth through hole of the tilting box body, the first fuselage bearing and the second fuselage bearing are all coaxial with the second transmission shaft, so that the tilting input shaft can drive the tilting box body to rotate relative to the airplane body.
It can be seen that the input shaft of the engine is the power input of the system, the output shaft is the power output of the system, and the tilting input shaft is the tilting input of the system. The system realizes the mode switching of the tilt rotor aircraft by controlling the rotating speed and the rotating direction of the tilt input shaft.
The speed reduction transmission assembly adopts any one of a bevel gear transmission assembly, a cylindrical gear transmission assembly, a planetary gear transmission assembly and a face gear transmission assembly. Specifically, as shown in FIG. 5, the bevel gear drive assembly includes two intermeshing bevel gears; the cylindrical gear transmission component comprises two cylindrical helical gears which are meshed with each other; the planetary gear transmission component comprises a gear ring, a sun gear, a planet gear and a planet carrier which are matched with each other; the face gear transmission assembly comprises a face gear and a cylindrical gear which are meshed with each other.
The first to eighth box bearings all preferentially adopt tapered roller bearings, and the first to second body bearings and the first to second rotating bearings all preferentially adopt ball bearings.
The bevel gear differential assembly of the present invention is not limited to the bevel gear differential assembly described above, and other structures may be adopted, such as a face gear differential assembly, as shown in fig. 6, the first bevel gear and the third bevel gear are replaced by face gears, and the second bevel gear is replaced by a middle cylindrical gear.
The invention realizes the power transmission and the tilting transition of the system by using the gear and the shaft, and has simple structure; the tilting transition of the system is indirectly controlled through the tilting input shaft, the control is convenient, and the reliability is high; the mode switching of the tilt rotor aircraft can be realized by directly controlling the rotating speed and the direction of the tilt input shaft.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (4)

1. The tilting mechanism based on the bevel gear differential gear train is characterized by comprising a fixed transmission assembly, a tilting transmission assembly and a coupler;
the fixed transmission assembly comprises a fixed box body, an engine input shaft, a first transmission shaft, a speed reduction transmission assembly and first to fourth box body bearings;
the fixed box body is hollow, and is provided with a first through hole and a second through hole for the extension of an engine input shaft and a first transmission shaft respectively;
the engine input shaft is arranged in the fixed box body through a first box body bearing and a second box body bearing, and can rotate freely but cannot move radially relative to the fixed box body; one end of the engine input shaft extends out of the first through hole;
the first transmission shaft is arranged in the fixed box body through a third box body bearing and a fourth box body bearing, and can freely rotate but cannot radially move relative to the fixed box body; the first transmission shaft and the engine input shaft are perpendicular to each other, and one end of the first transmission shaft extends out of the second through hole;
the other end of the engine input shaft is connected with the first transmission shaft through the speed reduction transmission assembly and is used for transmitting external power input to the first transmission shaft through the speed reduction transmission assembly;
the tilting transmission assembly comprises a tilting box body, a second transmission shaft, an output shaft, a bevel gear differential assembly, a tilting input shaft, fifth to eighth box body bearings, first to second machine body bearings and first to second rotating bearings;
the tilting box body is hollow, and is provided with a third through hole, a fourth through hole and a fifth through hole for extending out of the second transmission shaft, the output shaft and the tilting input shaft;
the second transmission shaft is arranged in the tilting box body through a fifth box body bearing and a sixth box body bearing, and can freely rotate but cannot radially move relative to the tilting box body; one end of the second transmission shaft extends out of the third through hole and is coaxially and fixedly connected with one end of the first transmission shaft extending out of the fixed box body through a coupler;
the output shaft is arranged in the tilting box body through a seventh box body bearing and an eighth box body bearing, and can freely rotate but cannot radially move relative to the tilting box body; the output shaft is vertical to the second transmission shaft, and one end of the output shaft extends out of the fourth through hole;
the tilting input shaft and the second transmission shaft are coaxial; one end of the tilting input shaft is positioned in the tilting box body, the other end of the tilting input shaft extends out of the fifth through hole, and the tilting input shaft is fixedly connected with the tilting box body at the fifth through hole;
the bevel gear differential assembly comprises a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear and a fourth bevel gear, wherein the first bevel gear and one end of the second transmission shaft, which are positioned in the tilting box body, are coaxially and fixedly connected; the second bevel gear and one end of the output shaft, which are positioned in the tilting box body, are coaxially and fixedly connected; the third bevel gear is arranged at one end of the tilting input shaft in the tilting box body through the first rotating bearing and the second rotating bearing, so that the third bevel gear can freely rotate but cannot radially move relative to the tilting input shaft; the second bevel gear is meshed with the first bevel gear and the third bevel gear respectively;
the tilting box body is connected with the airplane body through the first fuselage bearing outside the third through hole of the tilting box body, connected with the airplane body through the second fuselage bearing outside the fifth through hole of the tilting box body, the first fuselage bearing and the second fuselage bearing are all coaxial with the second transmission shaft, so that the tilting input shaft can drive the tilting box body to rotate relative to the airplane body.
2. The bevel gear differential based tilting mechanism according to claim 1 wherein said reduction gearing assembly is any one of a bevel gear gearing assembly, a cylindrical gear gearing assembly, a planetary gear gearing assembly, a face gear gearing assembly.
3. The bevel gear differential based tilting mechanism according to claim 1 wherein said first to eighth case bearings are tapered roller bearings, and said first to second body bearings and said first to second rotational bearings are ball bearings.
4. The bevel gear differential based tilting mechanism according to claim 1 wherein said first and third bevel gears are replaced with face gears and said second bevel gear is replaced with an intermediate cylindrical gear.
CN202110256122.7A 2021-03-09 2021-03-09 Tilting mechanism based on bevel gear differential gear train Active CN113048209B (en)

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CN202110256122.7A CN113048209B (en) 2021-03-09 2021-03-09 Tilting mechanism based on bevel gear differential gear train

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Application Number Priority Date Filing Date Title
CN202110256122.7A CN113048209B (en) 2021-03-09 2021-03-09 Tilting mechanism based on bevel gear differential gear train

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CN113048209B true CN113048209B (en) 2022-06-10

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040214682A1 (en) * 2003-04-28 2004-10-28 Sbabo Thomas L. Dual stage differential speed transmission
US7118328B2 (en) * 2004-03-12 2006-10-10 Sikorsky Aircraft Corporation Gearbox mounted force generator
CN106969098A (en) * 2017-05-05 2017-07-21 西北工业大学 A kind of star-wheel is coaxial to turning deceleration device
CN207374648U (en) * 2017-10-30 2018-05-18 中电科芜湖通用航空产业技术研究院有限公司 The double coaxial homonymy reversion tiltrotor aircrafts of hybrid power
CN111022601B (en) * 2019-10-16 2021-05-07 南京航空航天大学 Gyroplane tilting mechanism with reverse self-locking capacity

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