A two-fold semi-rigid mechanical deployment speed reduction mechanism

Abstract

A two-fold semi-rigid mechanical deployment deceleration mechanism, which comprises a driving unit, a rigid head cone, a flexible heat-proof skin, a main body and multiple groups of moving rod units; the driving unit comprises a winch and a cable; the winch is installed on the main body, and the winch is connected to the rigid head cone through the cable to drive the rigid head cone to move toward the main body in the axial direction, and multiple groups of moving rod units are arranged between the rigid head cone and the main body, which are hinged to the two and support the rigid head cone, and each group of moving rod units is a double-fold spoke synchronous folding mechanism to achieve folding and unfolding movement with the movement of the rigid head cone, and the flexible heat-proof skin covers the multiple groups of moving rod units and is tensioned with the deployment of the moving rod units. The present invention adopts a double-fold spoke synchronous folding mechanism, and the double-fold spoke synchronous mechanism is deployed synchronously, the folding height is low, and it has sufficiently high rigidity after deployment. Compared with a rigid deceleration mechanism with the same envelope volume, it has a larger deceleration area, thereby having a stronger deceleration capacity.

Description

Technical Field

[0001] The present invention relates to the technical field of aerospace equipment and devices, and in particular to a two-fold semi-rigid mechanical deployment speed reduction mechanism. Background Art

[0002] Currently, research on semi-rigid mechanical deployment deceleration mechanisms in the field of aerodynamic deceleration mechanisms for planetary probes is very limited. Traditional rigid deceleration mechanisms used for planetary exploration lack both retraction and deployment capabilities. Limited by the size of the launch vehicle, their deceleration area is relatively small, making them incapable of carrying large payloads. Therefore, a semi-rigid mechanical deployment deceleration mechanism with both retraction and deployment capabilities has been proposed. The mechanism is usually stored in a folded state inside the carrier rocket and unfolded before entering the target planet. In this way, it can have a smaller envelope volume and a larger deceleration area at the same time. Compared with the rigid reducer with the same envelope volume, its deceleration capacity is improved. However, the mechanism is only a folding mechanism (such as CN105584645A, CN217805342U), with limited folding and unfolding, and a relatively high folding height. According to the internal size and space limitations of the carrier rocket, the envelope size of the deceleration mechanism in the folded state must be controlled within a certain range. In addition, according to the distribution of thermal airflow during the deceleration process, hiding the main body and the planet inside the flexible heat-proof skin can effectively reduce the impact of the thermal airflow. Therefore, after the mechanism is unfolded, the main body can be closer to the rigid nose cone to a certain extent.

[0003] In summary, the one-fold semi-rigid mechanical deployment deceleration mechanism that meets the load conditions and deployment requirements has limited folding and a high folding height, which cannot meet the envelope requirements of limited space. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a two-fold semi-rigid mechanical unfolding deceleration mechanism. The double-fold spokes of the present invention are folded synchronously, the folded height is low, and after unfolding, they have sufficiently high rigidity and stronger deceleration capability.

[0005] A two-fold semi-rigid mechanical deployment deceleration mechanism includes a drive unit, a rigid head cone, a flexible heat-proof skin, a main body and multiple groups of moving rod units; the drive unit includes a winch and a cable; the winch is installed on the main body, and the winch is connected to the rigid head cone through a cable to drive the rigid head cone to move axially toward the main body. Multiple groups of moving rod units are arranged between the rigid head cone and the main body, which are hinged to the two and support the rigid head cone. Each group of moving rod units is a double-fold spoke synchronous folding mechanism to achieve folding and unfolding movement with the movement of the rigid head cone. The flexible heat-proof skin covers the multiple groups of moving rod units and is tensioned as the moving rod units are deployed.

[0006] Furthermore, each set of moving rod units includes a single-fold spoke, a double-fold spoke, a single-fold support rod, and a double-fold support rod. The single-fold spoke is hinged to the rigid head cone, the double-fold spoke, and one end of the single-fold support rod, respectively. One end of the double-fold support rod is hinged to the double-fold spoke. The other ends of the single-fold support rod and the double-fold support rod are hinged to the main body at one point. In the collapsed state, the single-fold spoke folds upward, and the double-fold spoke folds downward. This configuration balances the issues of collapsed height and structural complexity, and the mechanism has greater force stability when deployed.

[0007] Furthermore, each group of moving rod units includes a single-fold spoke, a double-fold spoke, a support rod, a connecting rod one, a connecting rod two, and a connecting rod three; one end of the single-fold spoke is hinged to the rigid nose cone, the other end of the single-fold spoke is hinged to one end of the double-fold spoke and one end of the support rod, the other end of the support rod is hinged to the main body, one end of connecting rod one is hinged to the middle of the double-fold spoke, one end of connecting rod two is hinged to the support rod, one end of connecting rod three is hinged to the single-fold spoke, and the other ends of connecting rods one, two, and three are hinged at the same point. This configuration has a lower deployment height, the center of gravity of the structure is closer to the rigid nose cone of the structure, and it is easier to meet the CG (center of gravity)-CP (center of pressure) conditions. It has the ability to automatically adjust back to the original equilibrium state after the equilibrium state is disturbed during deceleration, and can better protect the main body and the star and reduce the impact of thermal airflow.

[0008] Furthermore, each group of moving rod units includes a single-fold spoke, a double-fold spoke, a single-fold support rod, and a double-fold support rod; the single-fold spoke, the double-fold spoke, the single-fold support rod, and the double-fold support rod are all rod-shaped structures, one end of the single-fold spoke is hinged to the rigid head cone, the other end of the single-fold spoke is hinged to one end of the double-fold spoke, one end of the single-fold support rod is hinged to the single-fold spoke, one end of the double-fold support rod is hinged to the double-fold spoke, and the other ends of the single-fold support rod and the double-fold support rod are hinged to the main body at one point. In the folded state, the single-fold spoke folds downward, and the double-fold spoke folds upward. Compared with a rigid deceleration mechanism with the same envelope volume, this configuration has a larger deceleration area, thereby having a stronger deceleration capacity, and a lower folding height than a single-fold deceleration mechanism.

[0009] The beneficial effects of the present invention compared to the prior art are:

[0010] The present invention adopts a double-fold spoke synchronous folding mechanism. The double-fold spoke synchronous mechanism is unfolded synchronously, the folded height is low, and it has sufficiently high rigidity after unfolding. Compared with the rigid deceleration mechanism with the same envelope volume, it has a larger deceleration area, and thus has a stronger deceleration ability. It reasonably designs a configuration scheme for the skin tensioning problem after the deceleration mechanism is unfolded, reasonably designs a configuration scheme in which the center of gravity of the structure is closer to the rigid head cone, and reasonably designs a configuration scheme that balances the folding height and structural complexity. After unfolding, the mechanism has stronger force stability.

[0011] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the overall structure of Example 1 when it is expanded;

[0013] Figure 2 Schematic diagram of the structure of the drive unit;

[0014] Figure 3 Schematic diagram of the structure of the mechanism when it is folded after the flexible heat-proof skin is removed in Example 1

[0015] Figure 4 This is a schematic structural diagram of a single set of moving rod units in Example 1 when deployed;

[0016] Figure 5 for Figure 4 Schematic diagram of the structure after removing the flexible heat-resistant skin;

[0017] Figure 6 This is a schematic diagram of a single set of motion rod units in Example 1 when they are folded;

[0018] Figure 7 Schematic diagram of the deployment process of a single group of moving rod units in Example 1;

[0019] Figure 8 Schematic diagram of a single set of moving rod units in Example 1 when fully deployed

[0020] Figure 9 This is a schematic diagram of the overall structure of Example 2 when it is expanded;

[0021] Figure 10 for Figure 9 Schematic diagram of the structure when the mechanism is unfolded after removing the skin

[0022] Figure 11 for Figure 10 Schematic diagram of the structure of the unfolding process after removing the skin;

[0023] Figure 12 for Figure 10 Schematic diagram of the structure when it is folded after the skin is removed;

[0024] Figure 13 Schematic diagram of the structure of the two-fold semi-rigid mechanical deployment speed reduction mechanism of Example 2;

[0025] Figure 14 for Figure 1 Structural diagram of a single group of moving rod elements

[0026] Figure 15 Schematic diagram of the limiting platform of Example 2;

[0027] Figure 16 This is a schematic diagram of the overall structure of the two-fold semi-rigid mechanical deployment deceleration mechanism of Example 3 when deployed;

[0028] Figure 17 for Figure 16 Schematic diagram of unfolding after removing the skin;

[0029] Figure 18 for Figure 16 Schematic diagram of the folding after removing the skin;

[0030] Figure 19 for Figure 18 Schematic diagram of the folding of a single group of moving rod units;

[0031] Figure 20 for Figure 18 Schematic diagram of the expansion process of a single group of moving rod elements;

[0032] Figure 21 for Figure 16 Schematic diagram of a single set of moving rod elements when unfolded;

[0033] Figure 22 for Figure 16 Schematic diagram of the overall structure of a single group of moving rod units;

[0034] Figure 23 for Figure 22 Schematic diagram of the structure after removing the flexible thermal protection skin. DETAILED DESCRIPTION

[0035] The following embodiments of the technical solution of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore only examples and are not intended to limit the scope of protection of the present invention.

[0036] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0037] Combine Figure 1 、 Figure 2 、 Figure 9 、 Figure 10 、 Figure 16 and Figure 17 Description: A two-fold semi-rigid mechanical deployment deceleration mechanism comprises a drive unit 1, a rigid nose cone 2, a flexible heat-resistant skin 3, a main body 4 and a plurality of moving rod units 5;

[0038] The driving unit 1 includes a winch 1-1 and a cable 1-2; the winch 1-1 is installed on the main body 4, and the winch 1-1 is connected to the rigid head cone 2 through the cable 1-2 to drive the rigid head cone 2 to move axially toward the main body 4. A plurality of groups of moving rod units 5 are arranged between the rigid head cone 2 and the main body 4, which are hinged to the two and support the rigid head cone 2. Each group of moving rod units 5 is a double-folded spoke synchronous folding mechanism to achieve folding and unfolding movement with the movement of the rigid head cone 2. The flexible heat-proof skin 3 covers the plurality of groups of moving rod units 5 and is tensioned as the moving rod units are unfolded.

[0039] In this embodiment, the lower end of the cable 1-2 is wound on the drum of the winch 1-1, and the upper end is fixed to both sides of the rigid head cone 2. To prevent eccentricity, the two fixed points should be symmetrical. Compared with the existing single-fold semi-rigid mechanical deployment speed reduction mechanism, this embodiment has a lower stowage height.

[0040] Based on the above invention concept, the following is further described in conjunction with embodiments:

[0041] Example 1, as Figure 1 、 Figure 3-Figure 8 As shown, each group of moving rod units 5 in a two-fold semi-rigid mechanical deployment deceleration mechanism includes a single-fold spoke 5-1, a two-fold spoke 5-2, a single-fold support rod 5-7 and a two-fold support rod 5-8;

[0042] The single-fold spoke 5-1 is hinged to the rigid head cone 5-2, the double-fold spoke 5-2 and one end of the single-fold support rod 5-7 respectively, one end of the double-fold support rod 5-8 is hinged to the double-fold spoke 5-2, and the other ends of the single-fold support rod 5-7 and the double-fold support rod 5-8 are hinged to the main body 4 at one place. In the folded state, the single-fold spoke 5-1 is folded upward and the double-fold spoke 5-2 is folded downward.

[0043] The deployment deceleration mechanism of this embodiment balances the issues of stowed height and structural complexity, resulting in greater mechanical stability after deployment. Drive unit 1 consists of winch 1-1 and cable 1-2. Winch 1-1 is fixed to main body 4. The lower end of cable 1-2 is wound around the drum of winch 1-1, while the upper end is fixed to both sides of the rigid nose cone 2. To prevent eccentricity, the two fixed points need to be symmetrical.

[0044] The flexible heat-resistant skin 3 is evenly covered on the multiple groups of moving rod units 5 ( Figure 1 Twelve groups are shown, but the number is not limited to this. When the mechanism is folded, it is like the umbrella cover when it is folded, and it is tightened when it is unfolded.

[0045] When this embodiment 1 is in operation, in the retracted state, the first folded spoke 5-1 folds upward, and the second folded spoke 5-2 folds downward. The motor of the winch 1-1 of the drive unit 1 rotates its drum, winding up the portion of the cable 1-2 not wound on the drum of the winch 1-2, thereby shortening the cable 1-2 and pulling the rigid nose cone 2 axially toward the main body 4. Consequently, all the movable rod units 5 also move accordingly. The first folded spoke 5-1 rotates and folds around its hinge point with the rigid nose cone 2, while also moving horizontally with the rigid nose cone 2. The first folded support rod 5-7 and the second folded support rod 5-8 rotate around their hinge points with the main body 4. The movement of these three rods drives the second folded spoke 5-8 to fold upward, thereby completing the deployment function. When the movable rod unit 5 deploys, it causes the flexible heat-resistant skin 3 covering it to expand and tighten. In the deployed state, the flexible heat-resistant skin 3 assumes a conical shape.

[0046] Compared with other configurations, the deceleration mechanism of this embodiment has a simple structure. After unfolding, the single group of rod motion units forms a triangle shape, which is relatively stable. The folding and unfolding ability is stronger than that of the single-fold deceleration mechanism, and the height after unfolding is moderate. For example: the single-fold spoke 5-1 is a triangular spoke, and the three vertices of the triangular spoke are hinged to the rigid head cone 5-2, the two-fold spoke 5-2 and one end of the single-fold support rod 5-7 respectively. The use of triangular spokes allows the upper end of the single-fold support rod 5-7 to be close to the axis of the rigid head cone 2 when the deceleration mechanism is unfolded, and the single-fold support rod 5-7 is in an inclined state, which well balances the problems of folding height and structural complexity, so that the envelope size requirements are met (avoiding the internal size space limitations of the launch vehicle).

[0047] An analysis of the configuration of Example 1 reveals that the speed reduction mechanism of Example 1 exhibits defined motion. During deployment, the rigid nose cone exhibits minimal axial motion. During retraction, the single-fold spoke 5-1 folds upward, while the double-fold spoke 5-2 folds downward. This avoids the problem of skin wrinkles forming near the junction of the two spokes during retraction, resulting in greater force stability for the speed reduction mechanism after deployment.

[0048] Example 2: Combination Figures 9-14 As shown, each group of moving rod units 5 in a two-fold semi-rigid mechanical deployment deceleration mechanism includes a folded spoke 5-1, two folded spokes 5-2, a support rod 5-3, a connecting rod 1 5-4, a connecting rod 2 5-5 and a connecting rod 3 5-6; one end of the folded spoke 5-1 is hinged to the rigid head cone 2, the other end of the folded spoke 5-2 is hinged to one end of the two folded spoke 5-2 and one end of the support rod 5-3 respectively, the other end of the support rod 5-3 is hinged to the main body 4, one end of the connecting rod 1 5-4 is hinged to the middle part of the two folded spoke 5-2, one end of the connecting rod 2 5-5 is hinged to the support rod 5-3, one end of the connecting rod 3 5-6 is hinged to the folded spoke 5-1, and the other ends of the connecting rod 1 5-4, the connecting rod 2 5-5 and the connecting rod 3 5-6 are hinged to a common point.

[0049] The deceleration mechanism of this embodiment has a lower deployed height, and the center of gravity is closer to the rigid nose cone, making it easier to meet the CG-CP condition. It also has the ability to automatically return to its original equilibrium state if disturbed during deceleration. Compared to Example 1, it can better protect the main body and the star and reduce the impact of thermal airflow.

[0050] The flexible heat-resistant skin 3 is evenly covered on the multiple groups of moving rod units 5 ( Figure 10 and Figure 13 8 groups are shown, but not limited to this number), the mechanism is like an umbrella when it is folded, and is tightened when it is unfolded.

[0051] When this embodiment 1 is deployed, the drum of the cable car 1-1 of the drive unit 1 rotates, driving the cable 1-2, and the cable 1-2 pulls the rigid head cone 2 to move axially toward the main body 4, thereby driving the movement of multiple groups of moving rod units 5. When deployed, the first folded spoke 5-1 of the moving rod unit 5 rotates around the hinge point with the rigid head cone 2, and at the same time moves horizontally with the axial movement of the rigid head cone 2, and the support rod 5-3 rotates around the hinge point with the main body 4. The movement of the first folded spoke 5-1 and the support rod 5-3 drives the second folded spoke 5-2 and the connecting rod 1 5-4, the connecting rod 2 5-5, and the connecting rod 3 5-6 to move, thereby completing the deployment of the structure. When the multiple groups of moving rod units 5 are deployed, they drive the flexible heat-resistant skin 3 covering them to be deployed and tensioned. In the deployed state, the flexible heat-resistant skin 3 is conical.

[0052] Considering the desire to lower the unfolded height, in this embodiment 1, if the single-folded spoke 5-1 and the double-folded spoke 5-2 are collinear, the angle between the support rod 5-3 and the horizontal line is very small when unfolded, and the support provided is very limited. Therefore, in this case, an external support is required. The limit platform 6 is set on the main body 4 below the rigid head cone 2, as shown in FIG. Figure 15 As shown, the limiting platform 6 includes a ring 6-1 and a plurality of support rods 6-2, the support rods 6-2 are fixed on the surface of the ring 6-1, and the support rods 6-2 are arranged on the main body 4. Figure 10 、 Figure 11 and Figure 15 As shown, the positioning of the deployment and the force support after the deployment can be achieved. When the rigid head cone 2 contacts the upper end of the limit platform 6, the deployment process stops and the deployment is completed.

[0053] In order to ensure the reliability of operation, the support rod 5-3 is a U-shaped structure, and the connecting rod 3 5-6 is arranged in the groove of the U-shaped structure. In this way, the support rod 5-3 and the connecting rod 2 5-5 and the connecting rod 3 5-6 complement each other to meet the needs of the envelope size.

[0054] Through the configuration analysis of Example 2, the deceleration mechanism of Example 2 has a certain movement. It has a strong folding and unfolding ability and a relatively low height after unfolding. Although the structure is relatively complex, due to the low height after unfolding, it can be placed in areas with limited internal space (such as rockets).

[0055] Example 3: Combination Figure 16-Figure 23 As shown, each group of moving rod units 5 in a two-fold semi-rigid mechanical deployment deceleration mechanism includes a single-fold spoke 5-1, a two-fold spoke 5-2, a single-fold support rod 5-7 and a two-fold support rod 5-8; the single-fold spoke 5-1, the two-fold spoke 5-2, the single-fold support rod 5-7 and the two-fold support rod 5-8 are all rod-shaped structures, one end of the single-fold spoke 5-1 is hinged to the rigid head cone 2, the other end of the single-fold spoke 5-2 is hinged to one end of the two-fold spoke 5-2, one end of the single-fold support rod 5-7 is hinged to the single-fold spoke 5-1, one end of the two-fold support rod 5-8 is hinged to the two-fold spoke 5-2, and the other ends of the single-fold support rod 5-7 and the two-fold support rod 5-8 are hinged to the main body 4 at one place. In the folded state, the single-fold spoke 5-1 is folded downward and the two-fold spoke 5-2 is folded upward.

[0056] This embodiment has the functions of folding and unfolding. Compared with a rigid deceleration mechanism with the same envelope volume, it has a larger deceleration area and thus a stronger deceleration capability. Compared with a one-fold semi-rigid mechanical unfolding deceleration mechanism, its folding height is lower, which solves the problem of skin tensioning after the mechanism is unfolded.

[0057] The flexible heat-resistant skin 3 is evenly covered on the multiple groups of moving rod units 5 ( Figure 1 8 groups are shown, but not limited to this number), the mechanism is like an umbrella when it is folded, and is tightened when it is unfolded.

[0058] When the deceleration mechanism of this embodiment is collapsed, the single-fold spoke 5-1 folds downward, and the double-fold spoke 5-2 folds upward. During deployment, the drum of the cable car 1-1 of the drive unit 1 rotates, driving the cable 1-2. The cable 1-2 pulls the rigid nose cone 2 axially toward the main body 4, thereby driving the movement of the multiple sets of moving rod units 5. During deployment, the single-fold spoke 5-1 rotates about its hinge point with the rigid nose cone 2, while simultaneously moving horizontally with the axial movement of the rigid nose cone 2. The single-fold support rod 5-7 and the double-fold support rod 5-8 rotate about their hinge points with the main body 4. The movement of the single-fold spoke 5-1 and the double-fold support rod 5-8 drives the movement of the double-fold spoke 5-2, thereby completing the deployment of the structure. When the multiple moving rod units 5 are deployed, the flexible heat-resistant skin 3 covering them expands and tightens, completing the deployment function of the entire structure. In the deployed state, the flexible heat-resistant skin 3 assumes a conical shape.

[0059] Through the configuration analysis of Example 3, the deceleration mechanism of Example 3 has a certain movement. In the folded state, the single-folded spoke 5-1 is folded downward, and the double-folded spoke 5-2 is folded upward, and its structure is relatively simple. During the deployment process, the axial movement distance of the rigid head cone 2 is very small, and the remaining space in the middle after deployment is relatively large. Of course, this also means that the height after deployment is higher than that of Example 2. In addition, the rigidity of this embodiment after deployment is better. When the designed single-folded spoke is longer, its folded height is smaller than other configurations with the same deployment diameter, and the characteristic of the double-folded spoke folding upward when folded can well solve the problem of tensioning the skin after deployment.

[0060] The above three embodiments are different solutions proposed in the context of a practical application, targeting planetary re-entry deceleration. They all meet certain common indicators. For example, in the deceleration mechanism of the three embodiments, in the folded state, the distance from the upper surface of the main body 4 to the top of the rigid nose cone 2 is: in the expanded state, the double-folded spokes are collinear and have an angle with the axis of the rigid nose cone 2. In both the folded and expanded states, the maximum diameter of the mechanism meets the rocket envelope requirements. The three solutions have their own similarities and differences, but all can achieve the situation where the internal size of the launch vehicle is limited. The envelope size of the deceleration mechanism in the folded state can be controlled within a certain range, which can well adapt to different application scenarios.

[0061] The present invention has been disclosed above with reference to preferred embodiments, but this is not intended to limit the present invention. Any person skilled in the art who, without departing from the scope of the technical solution of the present invention, can make slight changes or modifications to the above-disclosed structures and technical contents to produce equivalent embodiments with equivalent changes, all of which still fall within the scope of the technical solution of the present invention.

Claims

1. A two-fold semi-rigid mechanical unfolding deceleration mechanism, characterized in that: The invention comprises a driving unit (1), a rigid nose cone (2), a flexible heat-resistant skin (3), a main body (4), and a plurality of groups of moving rod units (5); the driving unit (1) comprises a winch (1-1) and a cable (1-2); the winch (1-1) is installed on the main body (4), the winch (1-1) is connected to the rigid nose cone (2) through the cable (1-2), so as to drive the rigid nose cone (2) to move axially toward the main body (4), and a rigid nose cone (2) is arranged between the rigid nose cone (2) and the main body (4) to be hinged to the two and to support the rigid nose cone (2). The invention relates to a plurality of moving rod units (5) of a rigid head cone (2), each of which is a double-folded spoke synchronous folding mechanism to achieve folding and unfolding movement along with the movement of the rigid head cone (2); a flexible heat-proof skin (3) covers the plurality of moving rod units (5) and is tensioned along with the unfolding of the moving rod units; each of which comprises a folded spoke (5-1), two folded spokes (5-2), a support rod (5-3), a connecting rod one (5-4), a connecting rod two (5-5) and a connecting rod three (5-6). One end of a folded spoke (5-1) is hinged to the rigid head cone (2), the other end of a folded spoke (5-2) is respectively hinged to one end of two folded spokes (5-2) and one end of a support rod (5-3), the other end of the support rod (5-3) is hinged to the main body (4), one end of a connecting rod (5-4) is hinged to the middle of the two folded spokes (5-2), one end of a connecting rod (5-5) is hinged to the support rod (5-3), one end of a connecting rod (5-6) is hinged to a folded spoke (5-1), and a connecting rod (5- 4), the other ends of the second connecting rod (5-5) and the third connecting rod (5-6) are hinged at the same point. When unfolded, the first folded spoke (5-1) of the moving rod unit (5) rotates around the hinge point with the rigid head cone (2), and at the same time moves horizontally with the axial movement of the rigid head cone (2), the support rod (5-3) rotates around the hinge point with the main body (4), and the movement of the first folded spoke (5-1) and the support rod (5-3) drives the second folded spoke (5-2), the first connecting rod (5-4), the second connecting rod (5-5) and the third connecting rod (5-6) to move.

2. According to claim 1, a two-fold semi-rigid mechanical deployment deceleration mechanism, characterized in that: The support rod (5-3) is a U-shaped structure, and the connecting rod three (5-6) is arranged in a groove of the U-shaped structure.

3. According to claim 1, a two-fold semi-rigid mechanical deployment deceleration mechanism is characterized in that: It also comprises a limiting platform (6), which is arranged on the main body (4) below the rigid head cone (2).

4. According to claim 3, a two-fold semi-rigid mechanical deployment deceleration mechanism is characterized in that: The limiting platform (6) comprises a circular ring (6-1) and a plurality of support rods (6-2), wherein the support rods (6-2) are fixed on the surface of the circular ring (6-1), and the support rods (6-2) are arranged on the main body (4).

5. According to claim 1, a two-fold semi-rigid mechanical deployment deceleration mechanism is characterized in that: In the unfolded state, the double-folded spokes are collinear.

6. The bi-foldable semi-rigid mechanical unfolding deceleration mechanism according to claim 1, characterized in that: In the unfolded state, the flexible heat-resistant skin (3) is conical.

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