High-rigidity self-adaptive secondary deployable secondary variable configuration type pneumatic speed reducer

Abstract

The invention belongs to the technical field of deployable pneumatic speed reducers, and particularly relates to a high-rigidity self-adaptive secondary deployable secondary variable configuration type pneumatic speed reducer which comprises a supporting body. The heat-proof nose cone is movably connected to the closed end of the supporting main body through the six-degree-of-freedom parallel platform; the driving sleeve sleeves the outer side of the supporting main body in a sliding manner; the sleeve driving mechanism is fixedly arranged at the closed end of the supporting main body; and the multiple two-degree-of-freedom deployable units are arranged on the outer side of the driving sleeve in the circumferential direction at equal intervals, and the two-degree-of-freedom deployable units and the six-degree-of-freedom parallel platform are matched to drive the heat-proof nose cone to act. The device has high supporting rigidity and good attitude adjusting performance, can achieve multiple functions such as pneumatic deceleration, accurate control over the entering track and landing buffering, and meets most requirements of Mars exploration tasks in the EDL process.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of adaptive multi-time deployable aerodynamic decelerator, and particularly relates to a high-rigidity adaptive twice deployable twice variable configuration type aerodynamic decelerator. BACKGROUND

[0002] In the field of planetary landing exploration, the deployable aerodynamic decelerator capable of twice deployment provides a larger deceleration area for a large-mass landing explorer, reduces the folding height, and improves the landing safety. In addition, in order to realize the accurate landing of the explorer on the surface of a predetermined place, the explorer needs to realize the flexible control of the trajectory in the complex environment on the surface of each planet, and also needs to provide effective landing buffer for the explorer during the landing phase. The multiple requirements in the EDL process put forward higher requirements for the configuration design of the new type of multi-time deployable variable configuration type aerodynamic decelerator. SUMMARY

[0003] The purpose of the application is to provide a high-rigidity adaptive twice deployable twice variable configuration type aerodynamic decelerator, which meets most of the requirements of the Mars exploration mission in the EDL process through higher support rigidity, good attitude adjustment performance, and multiple functions such as aerodynamic deceleration, accurate control of entry trajectory, and landing buffer.

[0004] To achieve the above purpose, the application provides the following scheme: a high-rigidity adaptive twice deployable twice variable configuration type aerodynamic decelerator, comprising: a support main body, which is cylindrical, and has an open end and a closed end; a heat-proof nose cone, which is movably connected to the closed end of the support main body through a six-degree-of-freedom parallel platform; a driving sleeve, which is slidably sleeved outside the support main body, and is coaxially arranged with the support main body; a sleeve driving mechanism, which is fixedly arranged at the closed end of the support main body, is located inside the six-degree-of-freedom parallel platform, and is used to drive the driving sleeve to slide up and down outside the support main body; a plurality of two-degree-of-freedom deployable units, which are arranged at equal intervals in the circumferential direction outside the driving sleeve, have one end slidably connected to the outer wall of the driving sleeve, and have the other end movably connected to the heat-proof nose cone, and are used to drive the heat-proof nose cone to move in cooperation with the six-degree-of-freedom parallel platform.

[0005] Based on the high-rigidity adaptive twice deployable twice variable configuration type aerodynamic decelerator, the two-degree-of-freedom deployable unit comprises a first deployment part, one end of the first deployment part is movably connected to the heat-proof nose cone, and the other end of the first deployment part is movably connected to one end of a second deployment part, and the other end of the second deployment part is slidably connected to the outer wall of the driving sleeve.

[0006] The first expansion part comprises a first spoke, one end of the first spoke is movably connected with the heatproof head cone through a first hinge seat, the other end of the first spoke is slidably connected with a second spoke, and the second expansion part is movably connected with the first spoke and the second spoke.

[0007] The second expansion part comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is movably connected with the end of the second spoke through a second hinge seat, one end of the second connecting rod is movably connected with the end of the first spoke away from the first hinge seat through a third hinge seat, the other end of the first connecting rod and the other end of the second connecting rod are movably connected with a composite hinge, one end of a third connecting rod movably connected with the composite hinge, the other end of the third connecting rod is slidably connected with the outer side wall of the driving sleeve through a variable configuration joint, a variable configuration driving part is fixedly connected on the driving sleeve, and the driving end of the variable configuration driving part is fixedly connected with the variable configuration joint.

[0008] The variable configuration driving part comprises a variable configuration driving motor, the variable configuration driving motor is fixedly connected with the driving sleeve, a second steel wire is fixedly connected with the output shaft of the variable configuration driving motor, the other end of the second steel wire is slidably connected with the variable configuration joint after penetrating through a round hole formed on the driving sleeve, a second fixed pulley is also fixedly connected on the driving sleeve, the second fixed pulley is located below the variable configuration driving motor, a third fixed pulley is also fixedly connected on the opening end of the support main body, the second fixed pulley and the third fixed pulley are in upper and lower correspondence, a tensioning cable is also fixedly connected with the variable configuration joint, the tensioning cable is sequentially wound around the second fixed pulley and the third fixed pulley and then fixedly connected with the composite hinge, and an elastic rope is fixedly connected between the opening end of the support main body and the variable configuration joint.

[0009] The sleeve driving mechanism comprises an expansion driving motor, the expansion driving motor is fixedly connected with the closed end of the support main body, the expansion driving motor is located inside the six-degree-of-freedom parallel platform, and the output shaft of the expansion driving motor is fixedly connected with one end of a plurality of first steel wires, and the other ends of the plurality of first steel wires are fixedly connected with the driving sleeve.

[0010] The closed end of the supporting main body is further fixedly connected with a plurality of first fixed pulleys, the first fixed pulleys correspond to the first steel wire ropes one by one, and the first steel wire ropes are fixedly connected with the driving sleeve after passing through the first fixed pulleys.

[0011] The driving sleeve is provided with a reinforcing layer at one end, a plurality of sliding grooves are formed in the outer side wall of the driving sleeve, the sliding grooves are arranged at equal intervals in the circumferential direction of the outer side wall of the driving sleeve, the variable configuration joint is slidingly arranged in the sliding grooves, and a weight-reducing groove is formed between any two adjacent sliding grooves.

[0012] The variable configuration joint comprises a sliding block, the sliding block is slidingly arranged in the sliding groove, the sliding block is movably connected with an eighth hinge seat, the eighth hinge seat is movably connected with a short-stroke telescopic supporting rod through a seventh hinge seat, and the short-stroke telescopic supporting rod is fixedly connected with the third connecting rod.

[0013] The composite hinge comprises a sixth hinge seat, the sixth hinge seat is fixedly connected with the third connecting rod, the sixth hinge seat is movably connected with a fourth hinge seat and a fifth hinge seat, the fourth hinge seat is fixedly connected with the first connecting rod, the fifth hinge seat is fixedly connected with the second connecting rod, one end of a tensioning cable is fixedly connected with the sixth hinge seat, and the other end of the tensioning cable is fixedly connected with the sliding block.

[0014] Compared with the prior art, the pneumatic decelerator has the following advantages and technical effects: the pneumatic decelerator can realize the synchronous expansion of a plurality of two-degree-of-freedom expandable units through the cooperation of the sleeve driving mechanism and the driving sleeve, realize the deflection of the pneumatic deceleration surface under the cooperation of the two-degree-of-freedom expandable units and the six-degree-of-freedom parallel platform, realize the locking of the first expansion part by using external pneumatic load after the end of the pneumatic deceleration stage, and change into a landing state under the driving of the variable configuration driving part and the variable configuration joint, and the first expansion part changes into a landing buffer leg, thereby reducing the impact force of the probe at the landing moment. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0016] Figure 1 It is a schematic diagram of the whole application.

[0017] Figure 2 It is a schematic diagram of the sleeve driving mechanism of the application.

[0018] Figure 3 It is a schematic diagram of the driving sleeve of the application.

[0019] Figure 4 It is a schematic diagram of the composite hinge of the application.

[0020] Figure 5 It is a schematic diagram of the variable configuration joint of the application.

[0021] Figure 6 It is a schematic diagram of the primary variable configuration state of the application.

[0022] Figure 7 It is a schematic diagram of the secondary variable configuration state of the application.

[0023] Figure 8 It is a schematic diagram of the driving principle of the application.

[0024] Figure 9 It is a schematic diagram of the landing state of the application.

[0025] Among them, 1, heat-proof nose cone; 2, six-degree-of-freedom parallel platform; 3, two-degree-of-freedom deployable unit; 4, support main body; 5, driving sleeve; 6, tensioning cable; 7, first hinge seat; 8, first spoke; 9, second spoke; 10, second hinge seat; 11, first connecting rod; 12, composite hinge; 13, second connecting rod; 14, third hinge seat; 15, third connecting rod; 16, variable configuration joint; 17, fourth hinge seat; 18, fifth hinge seat; 19, sixth hinge seat; 20, second fixed pulley; 21, sliding block; 22, short stroke telescopic support rod; 23, seventh hinge seat; 24, eighth hinge seat; 25, reinforcing layer; 26, round hole; 27, sliding groove; 29, deployment driving motor; 30, first fixed pulley; 31, first steel wire rope; 32, variable configuration driving motor. DETAILED DESCRIPTION

[0026] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described, obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0028] Referring to Figures 1 to 9 The present application provides a high-rigidity self-adaptive secondary deployable secondary variable configuration type aerodynamic decelerator, comprising: a support body 4, which is cylindrical, with one end open and the other end closed; a heat-proof nose cone 1 movably connected to the closed end of the support body 4 through a six-degree-of-freedom parallel platform 2, which can move in any direction under the drive of the six-degree-of-freedom parallel platform 2.

[0029] A drive sleeve 5 is slidably sleeved on the outside of the support body 4, and the drive sleeve 5 is coaxially arranged with the support body 4; a sleeve drive mechanism is fixedly arranged at the closed end of the support body 4, and the sleeve drive mechanism is located inside the six-degree-of-freedom parallel platform 2, and the sleeve drive mechanism is used to drive the drive sleeve 5 to slide up and down on the outside of the support body 4; a plurality of two-degree-of-freedom deployable units 3 are arranged on the outside of the drive sleeve 5 at equal intervals in the circumferential direction, one end of each two-degree-of-freedom deployable unit 3 is slidably connected to the outer wall of the drive sleeve 5, and the other end of each two-degree-of-freedom deployable unit 3 is movably connected to the heat-proof nose cone 1, and the two-degree-of-freedom deployable units 3 cooperate with the six-degree-of-freedom parallel platform 2 to drive the heat-proof nose cone 1 to move.

[0030] The support body 4 is a cylinder with one end closed and the other end open, the closed end is provided with a chamfer, and the open end is provided with a reinforcing layer to improve the overall rigidity of the support body 4, provide installation space for the first fixed pulley 30 and the third fixed pulley, serve as a movement obstacle device for the drive sleeve 5, and provide space for the installation of the entire aerodynamic decelerator. The large cavity inside the drive sleeve 5 provides a large installation space for the payload.

[0031] Further, the two-degree-of-freedom deployable unit 3 comprises a first deployment part, one end of the first deployment part is movably connected to the heat-proof nose cone 1, and the other end of the first deployment part is movably connected to one end of a second deployment part, and the other end of the second deployment part is slidably connected to the outer wall of the drive sleeve 5.

[0032] Further, the first deployment part comprises a first spoke 8, one end of the first spoke 8 is movably connected to the heat-proof nose cone 1 through a first hinge seat 7, and the other end of the first spoke 8 is slidably connected to a second spoke 9, and the second deployment part is movably connected to the first spoke 8 and the second spoke 9.

[0033] Furthermore, the second unfolding section includes a first connecting rod 11 and a second connecting rod 13. One end of the first connecting rod 11 is movably connected to the end of the second spoke 9 via a second hinge seat 10. One end of the second connecting rod 13 is movably connected to the end of the first spoke 8 away from the first hinge seat 7 via a third hinge seat 14. The other end of the first connecting rod 11 and the other end of the second connecting rod 13 are movably connected to a composite hinge 12. One end of the composite hinge 12 is movably connected to a third connecting rod 15. The other end of the third connecting rod 15 is slidably connected to the outer wall of the drive sleeve 5 via a variable configuration joint 16. A variable configuration drive part is fixedly connected to the drive sleeve 5. The drive end of the variable configuration drive part is fixedly connected to the variable configuration joint 16.

[0034] The first spoke 8 with a high bending stiffness and the second spoke 9 with a low bending stiffness have a double rectangular cross-section that conform to the load distribution characteristics of the aerodynamic deceleration surface, which can effectively improve the bending performance of the spokes. The cross-sections of the first connecting rod 11, the second connecting rod 13, and the third connecting rod 15 are square. The cross-sectional areas of the first connecting rod 11 and the second connecting rod 13 are significantly reduced, while the third connecting rod 15 maintains a large cross-sectional area. The mass of the first connecting rod 11 and the second connecting rod 13 is significantly reduced, while the compression stability of the third connecting rod 15 is significantly improved. The overall compressive strength is slightly increased while the lightweight of the connecting rod components is achieved.

[0035] Furthermore, the variable configuration drive unit includes a variable configuration drive motor 32, which is fixedly connected to the drive sleeve 5. The output shaft of the variable configuration drive motor 32 is fixedly connected to a second steel wire rope. The other end of the second steel wire rope slides through the circular hole 26 opened on the drive sleeve 5 and is fixedly connected to the variable configuration joint 16. A second fixed pulley 20 is also fixedly connected to the drive sleeve 5. The second fixed pulley 20 is located below the variable configuration drive motor 32. A third fixed pulley is also fixedly connected to the open end of the support body 4. The second fixed pulley 20 and the third fixed pulley correspond vertically. A tension cable 6 and a fixing cable are also fixedly connected to the variable configuration joint 16. The tension cable 6 passes around the second fixed pulley 20 and the third fixed pulley in sequence and is fixedly connected to the composite hinge 12. An elastic rope is fixedly connected between the open end of the support body 4 and the variable configuration joint 16.

[0036] The third pulley is fixed on the reinforcing layer at the open end of the support body 4. The pneumatic reducer as a whole can be fixedly connected to other devices in a manner similar to a flange through the reinforcing layer at the open end of the support body 4.

[0037] When the first wire rope 31 and the second wire rope are in a slack state, the elastic rope uses its own elastic function to fix the variable configuration joint 16, preventing the two-degree-of-freedom deployable unit 3 from unfolding under the action of external force.

[0038] exist Figure 8In the state shown, the whole control process keeps the tension of the tension cable 6 in a very small range, which can ensure that the second spoke CG always remains fully extended.

[0039] When the first variable configuration is performed, the unwinding drive motor 29 is not working, so the drive sleeve 5 is fixed at a certain position relative to the support body 4. By controlling the rotation direction of the variable configuration drive motor 32, the height of the variable configuration joint 16 is adjusted through the second steel wire and the elastic cord. During the lifting of the variable configuration joint 16, the tension cable also moves, the length of the DJ segment decreases, the length of the DI segment remains unchanged, and the length of the EI segment increases, providing space for the counterclockwise rotation of the third connecting rod DE around the D point. During the lowering of the variable configuration joint 16, the tension cable also moves, the length of the DJ segment increases, the length of the DI segment remains unchanged, and the length of the EI segment decreases, pulling the third connecting rod DE to rotate clockwise around the D point. Since the number of variable configuration joints 16 is several, different variable configuration joints 16 are controlled to be at different heights, and combined with the action control of the six-degree-of-freedom parallel platform 2, the pneumatic decelerator can be in Figure 6 the state shown.

[0040] When the second variable configuration is performed, the unwinding drive motor 29 is not working, so the drive sleeve 5 is fixed at a certain position relative to the support body 4. The tension cable is cut off, the variable configuration joint position is fixed, and the third connecting rod DE loses the constraint and rotates around the D point, driving the compound hinge E to rotate around the B point. At this time, the third connecting rod 15 rotates counterclockwise around the variable configuration joint 16, the first spoke 8 and the second spoke 9 rotate clockwise around the first hinge seat 7, and the second spoke 9 slides into the first spoke 8, so that the pneumatic decelerator is in Figure 7 the state shown.

[0041] Further, the sleeve driving mechanism comprises an unfolding driving motor 29 fixedly connected with the closed end of the support body 4, located inside the six-degree-of-freedom parallel platform 2, and having one end of a plurality of first steel wires 31 fixedly connected with the output shaft of the unfolding driving motor 29, and the other ends of the plurality of first steel wires 31 fixedly connected with the driving sleeve 5.

[0042] The first spoke 8 and the second spoke 9 are connected together in a form-locking manner, the second spoke 9 is translated along the axis direction of the first spoke 8, the first connecting rod 11, the second connecting rod 13 and the third connecting rod 15 are integrated through the composite hinge 12, and the complete unfolding of the two-degree-of-freedom deployable unit 3 is realized by controlling the translation of the variable configuration joint 16 in the vertical direction and the rotation of the third connecting rod 15 around the variable configuration joint 16.

[0043] According to the actual working condition of the deployable pneumatic decelerator, the pneumatic deceleration surface supported by the first spoke 8 is small, and the received pneumatic load is also relatively small; the double-rectangular cross-section feature with small bending stiffness is adopted, the pneumatic deceleration surface supported by the second spoke 9 is large, and the received pneumatic load is also relatively large; the I-shaped section-T-shaped section beam with large bending stiffness is adopted.

[0044] The first connecting rod 11 is fixedly connected with the fourth hinged seat 17, the second connecting rod 13 is fixedly connected with the fifth hinged seat 18, the third connecting rod 15 is fixedly connected with the sixth hinged seat 19, the height of the fourth hinged seat 17 and the sixth hinged seat 19 is adjusted to avoid motion interference, the fifth hinged seat 18 and the sixth hinged seat 19 are in contact with the cylindrical side surface to ensure load transmission.

[0045] The short-stroke telescopic support rod 22 is fixedly connected with the eighth hinged seat 24, has strong compression stiffness, and can provide sufficient support for the third connecting rod 15.

[0046] The pneumatic decelerator is driven by the unfolding driving motor 29, the first steel wire 31, the driving sleeve 5 and the tensioning cable 6 to realize the synchronous unfolding of a plurality of two-degree-of-freedom deployable units 3, is driven by the six-degree-of-freedom parallel platform 2, the variable configuration driving motor 32, the second steel wire, the variable configuration joint 16 and the tensioning cable 6 to realize the first variable configuration, so that the pneumatic deceleration surface can realize flexible deflection; after the pneumatic deceleration stage ends, the tensioning cable 6 is cut off, and the six-degree-of-freedom parallel platform 2, the unfolding driving motor 29, the first steel wire 31, the variable configuration driving motor 32, the second steel wire, the variable configuration joint 16 are driven to realize the second variable configuration to change into a landing state, the reversed spoke changes into a landing buffer leg, and the self-locking characteristic of the planar four-bar mechanism is utilized to realize the locking of the first spoke 8 and the second spoke 9 under the external pneumatic load, so that the impact force of the probe at the landing moment is effectively reduced.

[0047] The short stroke telescopic supporting rod 22 can be extended or shortened by a short distance to match the six-degree-of-freedom parallel platform 2 to drive the two-degree-of-freedom deployable unit 3 to act.

[0048] Further, the closed end of the supporting body 4 is further fixedly connected with a plurality of first fixed pulleys 30, the first fixed pulleys 30 correspond to the first steel wires 31 one by one, and the first steel wires 31 are fixedly connected with the driving sleeve 5 after passing through the first fixed pulleys 30.

[0049] Further, the first fixed pulleys 30 are fixedly installed at the chamfered portion of the closed end of the supporting body 4, the chamfered surface is perpendicular to the elastic force direction of the first steel wires 31, and the first fixed pulleys 30 are tightly attached to the supporting body 4 under the action of the elastic force of the first steel wires 31.

[0050] Further, one end of the driving sleeve 5 is provided with a reinforcing layer 25, a plurality of sliding grooves 27 are formed in the outer side wall of the driving sleeve 5, the sliding grooves 27 are equidistantly arranged along the outer side wall of the driving sleeve 5, the variable configuration joint 16 is slidingly arranged in the sliding grooves 27, and a weight-reducing groove is formed between any two adjacent sliding grooves 27.

[0051] Further, the variable configuration joint 16 comprises a sliding block 21, the sliding block 21 is slidingly arranged in the sliding groove 27, the sliding block 21 is movably connected with an eighth hinge seat 24, the eighth hinge seat 24 is movably connected with a short stroke telescopic supporting rod 22 through a seventh hinge seat 23, and the short stroke telescopic supporting rod 22 is fixedly connected with the third connecting rod 15.

[0052] Further, the composite hinge 12 comprises a sixth hinge seat 19, the sixth hinge seat 19 is fixedly connected with the third connecting rod 15, the sixth hinge seat 19 is movably connected with a fourth hinge seat 17 and a fifth hinge seat 18, the fourth hinge seat 17 is fixedly connected with the first connecting rod 11, the fifth hinge seat 18 is fixedly connected with the second connecting rod 13, and one end of the tensioning cable 6 is fixedly connected with the sixth hinge seat 19, and the other end of the tensioning cable 6 is fixedly connected with the sliding block 21.

[0053] One end of the tensioning cable 6 is fixed on the composite hinge 12, the other end of the tensioning cable 6 is fixedly connected with the sliding block 21 of the variable configuration joint 16 after changing direction twice through the second fixed pulley 20 and the third fixed pulley, so as to adapt to the variable configuration movement of the pneumatic speed reducer, drive the first spoke 8 and the second spoke 9 to be completely unfolded, and keep the extension amount within a certain range when the pneumatic speed reducer is completely unfolded and in the variable configuration state, and the first spoke 8 and the second spoke 9 are locked by force locking.

[0054] The composite hinge 12 connects the first connecting rod 11, the second connecting rod 13 and the third connecting rod 15, avoids motion interference; the composite hinge 12 comprises a double-hole pin shaft sixth hinge seat 19 and a standard pin shaft fourth hinge seat 17 and a fifth hinge seat 18, the fourth hinge seat 17 and the fifth hinge seat 18 are in surface contact, so that the load from the spokes can be better transmitted to the connecting rod, reducing the stress and strain of the composite hinge.

[0055] The height of the unfolding driving motor 29 is controlled to prevent motion interference on the six-degree-of-freedom parallel platform 2, the upper ends of the four sets of first steel wires 31 are fixedly connected with the unfolding driving motor 29, the other ends are changed direction through the first fixed pulley 30 and are fixedly connected with the driving sleeve 5. Eight sets of variable-configuration driving motors 32 and eight sets of variable-configuration joints 16 are uniformly distributed along the circumference of the driving sleeve 5, eight sets of third connecting rods 15 are connected together through the variable-configuration joints 16 and the driving sleeve 5, one end of the tensioning cable 6 is fixedly connected with the sixth hinge seat 19, the other end is changed direction through the second fixed pulley 20 and the third fixed pulley and is fixedly connected with the variable-configuration joint 16. The pneumatic decelerator realizes the complete unfolding of the first spokes 8 and the second spokes 9 under the separate driving of the unfolding driving motor 29.

[0056] By adjusting the shape of the six-degree-of-freedom parallel platform 2 and each variable-configuration driving motor 32, the deflection angle of the heat protection cone 1 and the displacement of the variable-configuration joint 16 are adjusted respectively, so that the pneumatic decelerator can be changed into a first variable-configuration.

[0057] After the pneumatic deceleration stage ends, the tensioning cable is cut off, the third connecting rod 15 drives the first connecting rod 11 and the second connecting rod 13 to move under the action of external pneumatic load, drives the second spokes 9 to be re-stored into the first spokes 8, and realizes self-locking under the action of external pneumatic load, so that the second spokes 9 are always locked in the first spokes 8, at this time the pneumatic decelerator is changed into a second variable-configuration state.

[0058] When the pneumatic decelerator is changed into a second variable-configuration state, the tensioning cable 6 is actively cut off, the six-degree-of-freedom parallel platform 2 shortens the distance between the heat protection cone 1 and the support main body 4, and simultaneously starts the unfolding driving motor 29 and the variable-configuration driving motor 32 to drive the driving sleeve 5 and the variable-configuration joint 16 to move to the limit position, at this time the pneumatic decelerator is kept in a pre-tensioning state under the elastic force of the first steel wire 31, the second steel wire and the external pneumatic load, and is changed into a landing state as a whole, providing sufficient landing buffer for the probe.

[0059] In the description of the present application, it needs to be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0060] The above-described embodiments are only to describe the preferred modes of the present application, and not to limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A high-stiffness adaptive secondary deployable secondary variable configuration pneumatic reducer, characterized in that, include: The supporting body (4) is cylindrical, with one end open and the other end closed; The heat-resistant head cone (1) is movably connected to the closed end of the support body (4) via a six-degree-of-freedom parallel platform (2); The drive sleeve (5) is slidably sleeved on the outside of the support body (4), and the drive sleeve (5) is coaxially arranged with the support body (4); A sleeve drive mechanism is fixedly installed at the closed end of the support body (4). The sleeve drive mechanism is located inside the six-degree-of-freedom parallel platform (2). The sleeve drive mechanism is used to drive the drive sleeve (5) to slide up and down on the outside of the support body (4). A number of two-degree-of-freedom deployable units (3) are arranged circumferentially at equal intervals on the outside of the drive sleeve (5). One end of the two-degree-of-freedom deployable unit (3) is slidably connected to the outer wall of the drive sleeve (5), and the other end of the two-degree-of-freedom deployable unit (3) is movably connected to the heat-resistant head cone (1). The two-degree-of-freedom deployable unit (3) cooperates with the six-degree-of-freedom parallel platform (2) to drive the heat-resistant head cone (1) to move.

2. The high-stiffness adaptive secondary deployable secondary variable configuration pneumatic reducer according to claim 1, characterized in that, The two-degree-of-freedom deployable unit (3) includes a first deployable part, one end of which is movably connected to the heat-resistant head cone (1), and the other end of which is movably connected to one end of a second deployable part, and the other end of which is slidably connected to the outer wall of the drive sleeve (5).

3. The high-stiffness adaptive secondary deployable secondary variable configuration pneumatic reducer according to claim 2, characterized in that, The first unfolding part includes a first spoke (8), one end of the first spoke (8) is movably connected to the heat-resistant head cone (1) through a first hinge seat (7), and the other end of the first spoke (8) is slidably connected to a second spoke (9). The second unfolding part is movably connected to the first spoke (8) and the second spoke (9).

4. The high-stiffness adaptive secondary deployable secondary variable configuration pneumatic reducer according to claim 3, characterized in that, The second unfolding part includes a first connecting rod (11) and a second connecting rod (13). One end of the first connecting rod (11) is movably connected to the end of the second spoke (9) through a second hinge seat (10). One end of the second connecting rod (13) is movably connected to the end of the first spoke (8) away from the first hinge seat (7) through a third hinge seat (14). The other end of the first connecting rod (11) and the other end of the second connecting rod (13) are movably connected to a composite hinge (12). The composite hinge (12) is movably connected to one end of a third connecting rod (15). The other end of the third connecting rod (15) is slidably connected to the outer wall of the drive sleeve (5) through a variable configuration joint (16). A variable configuration drive part is fixedly connected to the drive sleeve (5). The drive end of the variable configuration drive part is fixedly connected to the variable configuration joint (16).

5. A high-stiffness adaptive secondary deployable secondary variable configuration pneumatic reducer according to claim 4, characterized in that, The variable configuration drive unit includes a variable configuration drive motor (32), which is fixedly connected to the drive sleeve (5). The output shaft of the variable configuration drive motor (32) is fixedly connected to a second steel wire rope. The other end of the second steel wire rope slides through a circular hole (26) opened on the drive sleeve (5) and is fixedly connected to the variable configuration connector (16). A second fixed pulley (20) is also fixedly connected to the drive sleeve (5). The second fixed pulley (20) is located on the... Below the variable configuration drive motor (32), a third fixed pulley is fixedly connected to the open end of the support body (4). The second fixed pulley (20) corresponds to the third fixed pulley vertically. A tension cable (6) is fixedly connected to the variable configuration joint (16). The tension cable (6) passes around the second fixed pulley (20) and the third fixed pulley in sequence and is fixedly connected to the composite hinge (12). An elastic rope is fixedly connected between the open end of the support body (4) and the variable configuration joint (16).

6. The high-stiffness adaptive secondary deployable secondary variable configuration pneumatic reducer according to claim 1, characterized in that, The sleeve drive mechanism includes an unfolding drive motor (29), which is fixedly connected to the closed end of the support body (4). The unfolding drive motor (29) is located inside the six-degree-of-freedom parallel platform (2). The output shaft of the unfolding drive motor (29) is fixedly connected to one end of several first steel wire ropes (31), and the other end of several first steel wire ropes (31) is fixedly connected to the drive sleeve (5).

7. A high-stiffness adaptive secondary deployable secondary variable configuration pneumatic reducer according to claim 6, characterized in that, The closed end of the support body (4) is also fixedly connected with a number of first fixed pulleys (30). The first fixed pulleys (30) correspond one-to-one with the first wire ropes (31). The first wire ropes (31) pass around the first fixed pulleys (30) and are fixedly connected to the drive sleeve (5).

8. A high-stiffness adaptive secondary deployable secondary variable configuration pneumatic reducer according to claim 4, characterized in that, The drive sleeve (5) has a reinforcing layer (25) at one end. The outer wall of the drive sleeve (5) has a plurality of grooves (27). The grooves (27) are evenly spaced along the circumference of the outer wall of the drive sleeve (5). The variable configuration joint (16) is slidably disposed in the grooves (27). A weight reduction groove is provided between any two adjacent grooves (27).

9. A high-stiffness adaptive secondary deployable secondary variable configuration pneumatic reducer according to claim 8, characterized in that, The variable configuration joint (16) includes a slider (21), which is slidably disposed in the groove (27). The slider (21) is movably connected to an eighth hinge seat (24). The eighth hinge seat (24) is movably connected to a short-stroke telescopic support rod (22) through a seventh hinge seat (23). The short-stroke telescopic support rod (22) is fixedly connected to the third connecting rod (15).

10. A high-stiffness adaptive secondary deployable secondary variable configuration pneumatic reducer according to claim 9, characterized in that, The composite hinge (12) includes a sixth hinge seat (19), which is fixedly connected to the third connecting rod (15). The sixth hinge seat (19) is movably connected to a fourth hinge seat (17) and a fifth hinge seat (18). The fourth hinge seat (17) is fixedly connected to the first connecting rod (11), and the fifth hinge seat (18) is fixedly connected to the second connecting rod (13). One end of a tension cable (6) is fixedly connected to the sixth hinge seat (19), and the other end of the tension cable (6) is fixedly connected to the slider (21).

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