Two-folding type semi-rigid mechanical unfolding speed reducing mechanism

Abstract

A two-folding type semi-rigid mechanical unfolding speed reducing mechanism comprises a driving unit, a rigid nose cone, a flexible heat-proof skin, a main body and a plurality of moving rod piece units. The driving unit comprises a winch and a cable; each group of moving rod unit comprises a first-fold spoke, a second-fold spoke, a first-fold supporting rod and a second-fold supporting rod; the first-fold spokes are hinged to one end of the rigid nose cone, one end of the second-fold spoke and one end of the first-fold supporting rod respectively, in the folded state, the first-fold spokes are folded upwards, the second-fold spokes are folded downwards, when the first-fold spokes are unfolded, the hinge points of the first-fold spokes and the rigid nose cone rotate and are folded, and meanwhile the first-fold spokes move horizontally along with axial movement of the rigid nose cone. The first-fold supporting rod and the second-fold supporting rod rotate around the hinge points of the first-fold supporting rod and the second-fold supporting rod and the main body to drive the second-fold spokes to turn over upwards. The double-fold spoke synchronous folding mechanism is adopted, the folding height is low, the rigidity is high enough after the double-fold spoke synchronous folding mechanism is unfolded, and compared with a rigid speed reducing mechanism with the same enveloping volume, the double-fold spoke synchronous folding mechanism has the larger speed reducing area, and therefore the higher speed reducing capacity is achieved.

Description

[0001] This application is a divisional application of the invention application with application date of December 14, 2022, application number 202211609698.8, and invention name: A two-fold semi-rigid mechanical unfolding deceleration mechanism. Technical Field

[0002] The invention relates to the technical field of aerospace equipment and devices, and in particular to a two-fold semi-rigid mechanical unfolding speed reduction mechanism. Background Art

[0003] At present, in the field of aerodynamic deceleration mechanisms for planetary probes, research on semi-rigid mechanical deployment deceleration mechanisms is still very limited. Traditional rigid deceleration mechanisms used for planetary exploration do not have the functions of folding and unfolding. Due to the size of the launch vehicle, their deceleration area is relatively small and cannot carry large loads. Therefore, a semi-rigid mechanical deployment deceleration mechanism with folding and unfolding functions has been proposed. The mechanism is usually stored in a folded state in 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-resistant 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.

[0004] In summary, the one-fold semi-rigid mechanical deployment reduction 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

[0005] 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-folded spokes of the present invention are folded synchronously, the folded height is relatively low, and after unfolding, they have sufficiently high rigidity and stronger deceleration capacity.

[0006] A two-fold semi-rigid mechanical deployment deceleration mechanism comprises a drive unit, a rigid head cone, a flexible heat-resistant skin, a main body and multiple groups of moving rod units; the drive 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 a cable to drive the rigid head cone to move axially toward the main body, 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-resistant skin covers the multiple groups of moving rod units and is tensioned as the moving rod units are deployed.

[0007] Furthermore, each group of moving rod units includes a folded spoke, a double folded spoke, a folded support rod and a double folded support rod; the folded spoke is respectively hinged to the rigid head cone, the double folded spoke and one end of the folded support rod, one end of the double folded support rod is hinged to the double folded spoke, and the other ends of the folded support rod and the double folded support rod are hinged to the main body at one point. In the folded state, the folded spoke is folded upwards and the double folded spoke is folded downwards. This configuration balances the problems of folded height and structural complexity, and the mechanism has stronger force stability after unfolding.

[0008] Furthermore, each group of moving rod units includes a folded spoke, a two-folded spoke, a support rod, a connecting rod one, a connecting rod two and a connecting rod three; one end of the folded spoke is hinged to the rigid head cone, the other end of the folded spoke is respectively hinged to one end of the two-folded spoke and one end of the support rod, the other end of the support rod is hinged to the main body, one end of the connecting rod one is hinged to the middle of the two-folded spoke, one end of the connecting rod two is hinged to the support rod, one end of the connecting rod three is hinged to the folded spoke, and the other ends of the connecting rods one, two and three are hinged at the same point. This configuration has a lower unfolding height, the center of gravity of the structure is closer to the rigid head cone of the structure, it is easy to meet the CG (center of gravity)-CP (center of pressure) conditions, and has the ability to automatically adjust back to the original equilibrium state after the equilibrium state is disturbed during the deceleration process, which can better protect the main body and the star body and reduce the impact of thermal airflow.

[0009] Furthermore, each group of moving rod units includes a folded spoke, two folded spokes, a folded support rod and two folded support rods; the folded spoke, two folded spokes, a folded support rod and two folded support rods are all rod-shaped structures, one end of the folded spoke is hinged to the rigid head cone, the other end of the folded spoke is hinged to one end of the two folded spokes, one end of the folded support rod is hinged to the folded spoke, one end of the two folded support rod is hinged to the two folded spokes, and the other ends of the folded support rod and the two folded support rod are hinged to the main body at one point. In the folded state, the folded spoke is folded downward and the two folded spokes are folded 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 folded deceleration mechanism.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] The present invention adopts a double-folded spoke synchronous folding mechanism. The double-folded spoke synchronous mechanism is synchronously unfolded, the folded height is low, and it has sufficiently high rigidity after unfolding. Compared with a rigid deceleration mechanism with the same envelope volume, it has a larger deceleration area and thus has a stronger deceleration ability. A configuration scheme for the skin tensioning problem after the deceleration mechanism is unfolded is reasonably designed, a configuration scheme for the structural center of gravity to be closer to the rigid head cone is reasonably designed, and a configuration scheme for balancing the folding height and structural complexity is reasonably designed. The force stability of the mechanism is stronger after unfolding.

[0012] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the overall structure of Example 1 when it is unfolded;

[0014] Figure 2 is a schematic diagram of the structure of the drive unit;

[0015] Figure 3 The schematic diagram of the structure of the mechanism when the flexible heat-resistant skin is removed in Example 1 is folded

[0016] Figure 4 It is a structural schematic diagram of a single group of moving rod units in Example 1 when they are unfolded;

[0017] Figure 5 for Figure 4 Schematic diagram of the structure after removing the flexible heat-resistant skin;

[0018] Figure 6 It is a schematic diagram of a single group of moving rod units in Example 1 when they are folded;

[0019] Figure 7 It is a schematic diagram of the unfolding process of a single group of moving rod units in Example 1;

[0020] Figure 8 Schematic diagram of a single set of moving rod units in Example 1 when fully deployed

[0021] Fig. 9 It is a schematic diagram of the overall structure of Example 2 when it is unfolded;

[0022] Fig.10 for Fig. 9 Schematic diagram of the structure when the skin is removed.

[0023] Fig.11 for Fig.10 Schematic diagram of the structure of the unfolding process after removing the skin;

[0024] Fig.12 for Fig.10 The schematic diagram of the structure when the skin is removed and folded;

[0025] Fig.13 It is a structural schematic diagram of a two-fold semi-rigid mechanical unfolding speed reduction mechanism of Example 2;

[0026] Fig.14 for Figure 1 Structural diagram of a single group of moving rod elements

[0027] Fig.15 Schematic diagram of the limiting platform of Example 2;

[0028] Fig.16 It is a schematic diagram of the overall structure of the two-fold semi-rigid mechanical deployment speed reduction mechanism of Example 3 when it is deployed;

[0029] Fig.17 for Fig.16 Schematic diagram of unfolding after removing the skin;

[0030] Fig.18 for Fig.16 Schematic diagram of the folding after removing the skin;

[0031] Fig.19 for Fig.18 Schematic diagram of the folding of a single group of moving rod units;

[0032] Fig. 20 for Fig.18 Schematic diagram of the unfolding process of a single group of moving rod elements;

[0033] Fig.21 for Fig.16 Schematic diagram of a single group of moving rod elements when unfolded;

[0034] Fig. 22 for Fig.16 Schematic diagram of the overall structure of a single group of moving rod units;

[0035] Fig.23 for Fig. 22 Schematic diagram of the structure after removing the flexible heat-resistant skin. DETAILED DESCRIPTION

[0036] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0037] It should be noted that, unless otherwise specified, the technical terms 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.

[0038] Combination Figure 1 , Figure 2 , Fig. 9 , Fig.10 , Fig.16 and Fig.17 Description: A two-fold semi-rigid mechanical deployment speed reduction 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 groups of moving rod units 5;

[0039] 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.

[0040] 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 points of fixation should be symmetrical. Compared with the existing one-fold semi-rigid mechanical unfolding speed reduction mechanism, the folding height of this embodiment is lower.

[0041] Based on the above invention concept, the following is further described in conjunction with embodiments:

[0042] Embodiment 1, as Figure 1 , Figure 3-Figure 8 As shown, each group of moving rod units 5 in a two-fold semi-rigid mechanical unfolding speed reduction mechanism comprises a single-fold spoke 5-1, a double-fold spoke 5-2, a single-fold support rod 5-7 and a double-fold support rod 5-8;

[0043] 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.

[0044] The deployment deceleration mechanism of this embodiment balances the problems of folding height and structural complexity, and the mechanism has stronger force stability after deployment. The drive unit 1 is composed of a winch 1-1 and a cable 1-2. The winch 1-1 is fixed to the main body 4, 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 points of fixation need to be symmetrical.

[0045] The flexible heat-resistant skin 3 is evenly covered on the multiple groups of moving rod units 5 ( Figure 1Twelve 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 when the mechanism is unfolded, it is tensioned.

[0046] When the embodiment 1 is working, in the folded state, the first folded spoke 5-1 is folded upward, and the second folded spoke 5-2 is folded downward. The winch 1-1 of the driving unit 1 drives its drum to rotate under the rotation of its motor, and the part of the cable 1-2 that is not wound on the drum of the winch 1-2 is wound up, thereby shortening the cable 1-2, thereby pulling the rigid head cone 2 to move toward the main body 4 in the axial direction, so that all the moving rod units 5 also move. Among them, the first folded spoke 5-1 is rotated and folded around the hinge point with the rigid head cone 2 on the one hand, and moves horizontally with the rigid head cone 2 on the other hand. The first folded support rod 5-7 and the second folded support rod 5-8 rotate around the hinge point with the main body 4. The movement of these three rods drives the second folded spoke 5-8 to fold upward, thereby completing the unfolding function. When the moving rod unit 5 is unfolded, it drives the flexible heat-resistant skin 3 covering it to unfold and be tensioned. In the unfolded state, the flexible heat-resistant skin 3 is conical.

[0047] Compared with other configurations, the deceleration mechanism of this embodiment has a simple structure. After unfolding, the single group of rod motion units is triangular, 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 respectively 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. The use of triangular spokes allows the upper end of the single-fold support rod 5-7 to approach 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 folded height and structural complexity, so that the envelope size requirements are met (avoiding the internal size space limitations of the launch vehicle).

[0048] Through the configuration analysis of Example 1, the speed reduction mechanism of Example 1 has a certain movement. The axial movement distance of the rigid head cone is also very small during the deployment process. When folding, the first folded spoke 5-1 is folded upward, and the second folded spoke 5-2 is folded downward. This avoids the disadvantage that the skin wrinkles are easily generated near the connection of the two spokes when folding. After deployment, the speed reduction mechanism has stronger force stability.

[0049] Embodiment 2, combination Figure 9-Figure 14As shown, each group of moving rod units 5 in a two-fold semi-rigid mechanical unfolding 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 respectively hinged to one end of the two folded spoke 5-2 and one end of the support rod 5-3, 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 at a common point.

[0050] The deceleration mechanism of this embodiment has a lower unfolding height, and the center of gravity of the structure is closer to the rigid nose cone of the structure, which is easy to meet the CG-CP condition, and has the ability to automatically adjust back to the original equilibrium state after the equilibrium state is disturbed during the deceleration process. Compared with Example 1, it can better protect the main body and the star body and reduce the impact of thermal airflow.

[0051] The flexible heat-resistant skin 3 is evenly covered on the multiple groups of moving rod units 5 ( Fig.10 and Fig.13 8 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 when the mechanism is unfolded, it is tensioned accordingly.

[0052] When the embodiment 1 is unfolded, the drum of the cable car 1-1 of the driving 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 unfolded, the 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 folded spoke 5-1 and the support rod 5-3 drives the movement of the folded spoke 5-2 and the connecting rod 1 5-4, the connecting rod 2 5-5, and the connecting rod 3 5-6, thereby completing the unfolding of the structure. When the multiple groups of moving rod units 5 are unfolded, the flexible heat-resistant skin 3 covering it is driven to unfold and be tensioned. In the unfolded state, the flexible heat-resistant skin 3 is conical.

[0053] Considering that the unfolded height can be lowered, in this embodiment 1, if the single-folded spoke 5-1 and the double-folded spoke 5-2 are in the same line, 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 located below the rigid head cone 2, such as Fig.15 As shown, the limiting platform 6 comprises 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. Fig.10 , Fig.11 and Fig.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.

[0054] 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.

[0055] Through the configuration analysis of Example 2, the deceleration mechanism of Example 2 has a certain movement. The folding and unfolding ability is relatively strong, and the height after unfolding is relatively low. Although the structure is relatively complex, due to the low height after unfolding, it can be placed in an area with limited internal size space (such as a rocket).

[0056] Embodiment 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 folded spoke 5-1, two folded spokes 5-2, a folded support rod 5-7 and a two folded support rod 5-8; the one folded spoke 5-1, the two folded spokes 5-2, the one folded support rod 5-7 and the two folded support rod 5-8 are all rod-shaped structures, one end of the one folded spoke 5-1 is hinged to the rigid head cone 2, the other end of the one folded spoke 5-2 is hinged to one end of the two folded spoke 5-2, one end of the one folded support rod 5-7 is hinged to the one folded spoke 5-1, one end of the two folded support rod 5-8 is hinged to the two folded spoke 5-2, and the other ends of the one folded support rod 5-7 and the two folded support rod 5-8 are hinged to the main body 4 at one place. In the folded state, the one folded spoke 5-1 is folded downward, and the two folded spokes 5-2 are folded upward.

[0057] 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 has a stronger deceleration capability. Compared with a one-fold semi-rigid mechanical unfolding deceleration mechanism, its folded height is lower, which solves the problem of skin tensioning after the mechanism is unfolded.

[0058] 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 the number is not limited to this). When the mechanism is folded, it is like the umbrella cover when it is folded, and when the mechanism is unfolded, it is tensioned accordingly.

[0059] In the folded state of the deceleration mechanism of this embodiment, the single-folded spoke 5-1 is folded downward, and the double-folded spoke 5-2 is folded upward. When unfolding, the drum of the cable car 1-1 of the driving unit 1 rotates to drive 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 the multiple groups of moving rod units 5. When unfolding, the single-folded spoke 5-1 rotates around the hinge point with the rigid head cone 2, and moves horizontally with the axial movement of the rigid head cone 2. The single-folded support rod 5-7 and the double-folded support rod 5-8 rotate around the hinge point with the main body 4. The movement of the single-folded spoke 5-1 and the double-folded support rod 5-8 drives the double-folded spoke 5-2 to move, thereby completing the unfolding of the structure. When the multiple moving rod units 5 are unfolded, the flexible heat-resistant skin 3 covering it is driven to unfold and tension, thereby completing the unfolding function of the entire structure. In the unfolded state, the flexible heat-resistant skin 3 is conical.

[0060] Through the configuration analysis of Example 3, the deceleration mechanism of Example 3 has a certain movement. In the folded state, the single-fold spoke 5-1 is folded downward, and the double-fold spoke 5-2 is folded upward, and its structure is relatively simple. During the unfolding process, the axial movement distance of the rigid head cone 2 is very small, and the remaining space in the middle after unfolding is relatively large. Of course, this also means that the height after unfolding is higher than that of Example 2. In addition, the rigidity of this embodiment after unfolding is better. When the designed single-fold spoke is longer, its folded height is smaller than other configurations with the same unfolded diameter, and the characteristic of the double-fold spoke folding upward when folding can well solve the problem of tensioning the skin after unfolding.

[0061] The above three embodiments are different solutions proposed in the context of a practical application, and the benchmark is planetary reentry deceleration. They all meet certain common indicators. For example, 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 head cone 2 is: in the unfolded state, the double-folded spokes are collinear and the angle with the axis of the rigid head cone 2, in the folded and unfolded states, the maximum diameter of the mechanism meets the rocket envelope requirements, the three solutions have their own similarities and differences, and can all 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, and can be well adapted to different application scenarios.

[0062] The present invention has been disclosed as above with preferred implementation cases, but it is not used to limit the present invention. Any technician familiar with the profession can make slight changes or modifications to equivalent implementation cases with equivalent changes by using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention, 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: It comprises a drive 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 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) and 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; each group of moving rod units (5) comprises a folded spoke (5-1), two folded spokes (5-2), a folded support rod (5-7) and two folded support rods (5-8); the one folded spoke (5-1) is respectively connected to the rigid head cone ( 2), one end of the two-fold spoke (5-2) and the one-fold support rod (5-7) are hinged, one end of the two-fold support rod (5-8) is hinged to the two-fold spoke (5-2), the other ends of the one-fold support rod (5-7) and the two-fold support rod (5-8) are hinged to the main body (4) at one point, the one-fold spoke (5-1) is a triangular spoke, and the three vertices of the triangular spoke are respectively connected to the rigid head cone (5-2), the two-fold spoke (5-2) and the one-fold support rod (5-8). One end of the support rod (5-7) is hinged. In the folded state, the first folded spoke (5-1) is folded upwards, and the second folded spoke (5-2) is folded downwards. In the unfolded state, the first folded spoke (5-1) is rotated and folded at the hinge point with the rigid head cone (2), and simultaneously moves horizontally with the axial movement of the rigid head cone (2). The first folded support rod (5-7) and the second folded support rod (5-8) rotate around the hinge point with the main body (4), driving the second folded spoke (5-2) to fold upwards.

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

3. According to claim 1, a two-fold semi-rigid mechanical deployment deceleration mechanism is characterized in that: In the unfolded state, the flexible heat-resistant skin (3) is conical.

4. According to claim 1, a two-fold semi-rigid mechanical deployment deceleration mechanism is characterized in that: The lower end of the cable (1-2) is wound on the drum of the winch (1-1), and the upper end is fixedly connected to both sides of the rigid head cone (2), and the two points of the fixed connection are symmetrical.

5. According to claim 1, a two-fold semi-rigid mechanical deployment deceleration mechanism is characterized in that: The one-fold support rod (5-7) and the two-fold support rod (5-8) are both rod-shaped structures.

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