An active and passive combined clamping mechanism with on-track repeated locking function

Abstract

The present invention relates to an active and passive combined clamping mechanism with an on-orbit repeated locking function, belonging to the technical field of spacecraft mechanisms; a primary deployable structure is hinged at the side wall of an aircraft along the axial direction of the aircraft; the side edge of a secondary deployable load is hinged to the outer side edge of the primary deployable structure; an active locking device is arranged on the inner arc surface of the primary deployable structure to realize the locking of the secondary deployable load; three passive positioning locking devices are evenly arranged at the other side edge of the secondary deployable load along the axis of the aircraft, and when the secondary deployable load and the primary deployable structure are folded and retracted, the active locking device realizes locking of the secondary deployable load and the primary deployable structure; the present invention proposes an active and passive combined clamping system that can be repeatedly locked on-orbit, has multiple clamping points, can provide greater locking stiffness, can be passively maintained, and can adapt to compact layout space and non-planar shapes.

Description

Technical Field

[0001] The invention belongs to the technical field of spacecraft mechanisms, and relates to an active and passive combined clamping mechanism with an on-orbit repeated locking function. Background Art

[0002] The retractable heat radiator installed on the retractable door of the space shuttle needs to be retracted and pressed against the inside of the locked door during the launch phase, and withstand the mechanical environment assessment of the launch phase together with the door; after entering orbit, the compression constraint is released and the heat radiator is deployed to increase the heat dissipation area and improve the working efficiency of the radiator; when returning, it needs to be retracted and pressed against the inside of the door again to withstand the mechanical environment of the reentry phase together with the locked door. According to the thermal protection needs and aerodynamic layout of the space shuttle, the door of the spacecraft is cylindrical; in order to increase the maximum envelope of the internal payload when the door is retracted, the retractable heat radiator should be consistent with the shape of the door; because the heat pipe needs to be laid inside the retractable heat radiator and the heat dissipation efficiency is considered, the radiator is large in size and has a low fundamental frequency, so multiple clamping points are required to improve the retraction stiffness; considering energy consumption, the energy consumption when locking, pressing and unlocking at each clamping point should be as small as possible. Therefore, according to the structure, installation position and working characteristics of this load, a clamping system is needed that can be repeatedly locked on the track, has multiple clamping points, can provide strong retraction stiffness, can be passively maintained, can adapt to the compact layout space and non-planar shape inside the cabin door, and has the smallest possible total weight.

[0003] By combing through the existing technologies, it is found that the devices with on-orbit re-locking function on spacecraft are mainly divided into two categories: mechanical and electromagnetic. Electromagnetic re-locking devices need to rely on permanent magnets to maintain the re-locking function. The locking force is smaller than that of mechanical devices, and there is a magnetic field leakage problem, which affects the surrounding electronic equipment. Mechanical re-locking mechanisms are currently widely used in space docking, hatch locking, etc., but the spatial envelope of existing space docking mechanisms cannot adapt to the compact layout space and non-planar shape inside the hatch; patents represented by application numbers CN201210216787.6, CN201510779987.6 and CN201710302676.X disclose some locking mechanisms that can be used to re-lock large retractable hatches, but a locking mechanism needs to be provided for each locking point. When multiple locking points are required, multiple locking mechanisms are required to achieve locking.

[0004] After investigation, it was found that the existing repeated locking device did not systematically consider that when the compressed retractable structure is installed on another retractable structure, the passive locking of other locking points can be achieved by borrowing the retraction and compression process of another retractable structure without adding additional mechanical components; it did not consider the situation that the surface of the compressed load is not flat; nor did it consider how to improve the locking stiffness of the plate-like load after repeated compression. Therefore, it cannot meet the on-orbit repeated locking requirements of the secondary retractable load installed on the primary retractable structure of the earth-to-space shuttle, represented by the retractable radiator. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to propose an active and passive combined clamping mechanism with an on-track repeated locking function, and to propose an active and passive combined clamping system that can be repeatedly locked on the track, has multiple clamping points, can provide greater locking stiffness, can be passively maintained, and can adapt to compact layout spaces and non-planar shapes.

[0006] The solution of the present invention is:

[0007] The invention discloses an active-passive combined clamping mechanism with an on-orbit repeated locking function, comprising an active locking device, three passive positioning locking devices, a primary retractable structure, a secondary retractable load and an aircraft; wherein the aircraft is placed axially and horizontally; the primary retractable structure is an arc plate-shaped structure; the primary retractable structure is hinged at the side wall of the aircraft along the aircraft axis to realize the rotation of the primary retractable structure relative to the aircraft; the secondary retractable load is an arc plate-shaped structure corresponding to the inner profile of the primary retractable structure; the side edge of the secondary retractable load is hinged to the outer side edge of the primary retractable structure to realize the rotation of the secondary retractable load relative to the primary retractable structure; the active locking device is arranged on the inner arc surface of the primary retractable structure to realize the locking of the secondary retractable load; the three passive positioning locking devices are evenly arranged at the other side edge of the secondary retractable load along the aircraft axis, and when the secondary retractable load and the primary retractable structure are folded and retracted, the active locking device realizes the locking of the secondary retractable load and the primary retractable structure.

[0008] In the above-mentioned active and passive combined clamping mechanism with on-track repeated locking function, the clamping system also includes n semi-rigid supporting devices; the n semi-rigid supporting devices are arranged on the inner wall of the primary deployable structure; when the secondary deployable load is folded and retracted with the primary deployable structure and locked by the active locking device, the n semi-rigid supporting devices support the secondary deployable load; n is a positive integer greater than or equal to 3.

[0009] In the above-mentioned active and passive combined clamping mechanism with on-orbit repeated locking function, when the secondary deployable load and the primary deployable structure are in a folded and stowed state, the secondary deployable load and the primary deployable structure are locked by an active locking device; the secondary deployable load and the aircraft are limited by three passive positioning locking devices.

[0010] In the above-mentioned active and passive combined clamping mechanism with on-track repeated locking function, the active locking device includes a linear reciprocating motion device, a guide column, a push rod, an auxiliary shaft, a clamping roller and a locking hook; wherein the linear reciprocating motion device is installed on a once-expandable structure; the guide column is connected to the once-expandable structure by a screw; the push rod passes through the guide column and is connected to the linear reciprocating motion device; the auxiliary shaft passes through the push rod and the clamping roller, and is connected to the push rod by a screw nut; the locking hook is installed on the secondary expandable load, and its position corresponds to the clamping roller.

[0011] In the above-mentioned active and passive combined clamping mechanism with on-track repeated locking function, the locking hook is L-shaped, one end of the locking hook is connected to the secondary expandable load to be clamped by a screw and an oblong hole, and the vertical position of the locking hook is adjusted by the oblong hole; the other end of the locking hook is in the shape of an arc and smoothly connected to the straight line segment, and the arc is used to ensure that the clamping roller climbs up the straight line segment; the locking force applied to the secondary expandable load is adjusted by adjusting the height difference between the clamping roller and the straight line segment of the locking hook; the locking force is determined by calibrating the current of the linear reciprocating motion device during the locking process to determine the driving force of the linear reciprocating motion device on the push rod; the positive pressure of the contact point between the clamping roller and the locking hook is analyzed based on the static balance of the push rod, the guide column and the clamping roller, which is the locking force applied by the active locking release device to the secondary expandable load.

[0012] In the above-mentioned active and passive combined clamping mechanism with on-track repeated locking function, the semi-rigid support device includes a metal rubber block and a rubber pad; the rubber pad is installed on the inner arc surface of the one-time expandable and retractable structure; the metal rubber block is installed on the upper surface of the rubber pad.

[0013] In the above-mentioned active and passive combined clamping mechanism with on-track repeated locking function, the metal rubber block is arranged at a position where the amplitude of the secondary deployable load is relatively large; the thickness of the metal rubber block is slightly larger than the distance between the secondary deployable load and the primary deployable structure at this point; fine-tuning is performed by rubber pads of different thicknesses, so that the metal rubber block generates elastic deformation during locking, provides supporting force to the secondary deployable load, and improves the locking stiffness of the secondary deployable load.

[0014] In the above-mentioned active and passive combined clamping mechanism with on-track repeated locking function, the passive positioning and locking device includes a positioning block, a V-shaped positioning groove and a rubber pad; wherein the positioning block is a cylindrical structure; the positioning block is installed on the secondary deployable load; the V-shaped positioning groove is installed on the fixed structure; the rubber pad is attached to the V-shaped surface of the V-shaped positioning groove; by adjusting the thickness of the rubber pad, the cylindrical positioning block is tightly fitted with the V-shaped positioning groove when the primary deployable structure is in a retracted state.

[0015] In the above-mentioned active and passive combined clamping mechanism with on-track repeated locking function, when the primary deployable structure is in a retracted state, the positioning block is located in the V-shaped positioning groove, and the V-shaped positioning groove constrains the axial and radial movement of the positioning block, so that the secondary deployable load moves together with the primary deployable structure; when the primary deployable structure is locked by its own locking mechanism, the freedom of the secondary deployable load to deploy together with the primary deployable structure disappears, and the secondary deployable load is passively locked in the positioning block, so there is no need to add additional mechanism components, that is, the locking of the primary deployable structure provides an additional locking point for the secondary deployable load.

[0016] In the above-mentioned active and passive combined clamping mechanism with on-track repeated locking function, when the secondary deployable load needs to be deployed, the primary deployable structure is first unlocked, and the constraint between the positioning block and the V-shaped positioning groove is released accordingly; after the primary deployable structure is deployed in place, the positioning block is separated from the V-shaped positioning groove, and the constraint between the secondary deployable load and the fixed structure is released; the linear reciprocating motion device drives the push rod to move backward, and the clamping roller is separated from the locking hook, thereby releasing the last constraint of the secondary deployable load;

[0017] When the secondary deployable load is folded into place and needs to be compressed and locked, the linear reciprocating motion device drives the push rod to move forward, and the compression roller climbs onto the locking hook, driving the deployable load to fit tightly with the semi-rigid support device and the primary deployable structure, thereby restricting the movement of the secondary deployable load relative to the deployment direction of the primary deployable structure; when the primary deployable structure is folded into place, the positioning block falls into the V-shaped positioning groove, and when the deployable structure is locked, the passive positioning locking device restricts the relative movement of the secondary deployable load and the fixed structure.

[0018] The beneficial effects of the present invention compared with the prior art are:

[0019] (1) The present invention utilizes the characteristics that the compressed secondary deployable load is installed on the primary deployable structure, and the secondary deployable load moves together with the primary deployable mechanism when the active locking device is compressed. A passive positioning locking device is designed, and the device is passively locked at the location when the primary deployable mechanism is folded and locked. Multiple locking points between the deployable load and the fixed structure are increased at the cost of adding a positioning block with little weight and space.

[0020] (2) The present invention increases the locking points through passive locking and installs a semi-rigid support device at the location where the secondary deployment load response is large, thereby improving the stiffness of the secondary deployment load, reducing the mechanical response in the launch and reentry stages, protecting the secondary deployment load and the active clamping device, and facilitating the reuse of the load and mechanism;

[0021] (3) The active locking device of the present invention is a linear reciprocating motion mechanism driven by a screw nut. The active locking and unlocking directions are perpendicular to the direction in which the clamping force is applied. The envelope in the clamping direction is 50 mm, which is conducive to reducing the spatial envelope in the clamping direction and adapting to a more compact mechanical assembly layout.

[0022] (4) The unlocking of the passive locking device of the present invention relies on the unlocking and unfolding of the structure where the compressed load is located, and there is no unlocking impact itself. The active locking device of the present invention relies on the motor to drive the linear reciprocating motion device to move. When unlocking, the roller gradually disengages the lock hook through the arc surface, and the locking force does not change suddenly, so the unlocking impact is small;

[0023] (5) The present invention utilizes a semi-rigid support device installed on a primary deployable structure to support a secondary deployable load. The operation is simple, and the reliable locking and separation between non-planar loads of different volumes and sizes and non-planar structures can be adapted. The invention has good scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a side view of the locking state of the clamping system of the present invention;

[0025] Figure 2 A side view of the clamping system of the present invention in an unlocked state;

[0026] Figure 3 This is a schematic diagram of the active locking device of the present invention;

[0027] Figure 4 It is a schematic diagram of the semi-rigid support device of the present invention;

[0028] Figure 5 This is a schematic diagram of the passive positioning and locking device of the present invention;

[0029] Figure 6 It is a front view of the locking state of the clamping system of the present invention. DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the embodiments.

[0031] The present invention provides an active and passive combined clamping mechanism with an on-orbit repeated locking function, which can repeatedly lock a secondary deployable load installed on a primary deployable structure of an earth-to-space shuttle on an on-orbit repeated basis, and further proposes an active and passive combined clamping system that can be repeatedly locked on-orbit, has multiple clamping points, can provide greater locking stiffness, can be passively maintained, and can adapt to compact layout spaces and non-planar shapes.

[0032] Active and passive combined clamping mechanism with on-track repeated locking function, such as Figure 1 , Figure 2 As shown, it includes an active locking device 1, three passive positioning locking devices 3, a primary retractable structure 4, a secondary retractable load 5 and an aircraft 6; wherein the aircraft 6 is axially placed horizontally; the primary retractable structure 4 is an arc plate-shaped structure; the primary retractable structure 4 is hinged at the side wall of the aircraft 6 along the axial direction of the aircraft 6 to realize the rotation of the primary retractable structure 4 relative to the aircraft 6; the secondary retractable load 5 is an arc plate-shaped structure corresponding to the inner profile of the primary retractable structure 4; the side of the secondary retractable load 5 is connected to the primary retractable structure 4. The outer side of the deployable structure 4 is hinged; the rotation of the secondary deployable load 5 relative to the primary deployable structure 4 is realized; the active locking device 1 is arranged on the inner arc surface of the primary deployable structure 4 to realize the locking of the secondary deployable load 5; three passive positioning locking devices 3 are evenly arranged on the other side of the secondary deployable load 5 along the axis of the aircraft 6. When the secondary deployable load 5 and the primary deployable structure 4 are folded and retracted, the active locking device 1 realizes locking of the secondary deployable load 5 and the primary deployable structure 4.

[0033] The clamping system also includes n semi-rigid support devices 2; the n semi-rigid support devices 2 are arranged on the inner wall of the primary expandable structure 4; when the secondary expandable load 5 is folded and retracted with the primary expandable structure 4 and locked by the active locking device 1, the n semi-rigid support devices 2 support the secondary expandable load 5; n is a positive integer greater than or equal to 3.

[0034] like Figure 6 As shown, when the secondary deployable load 5 and the primary deployable structure 4 are in a folded and stowed state, the secondary deployable load 5 and the primary deployable structure 4 are locked by an active locking device 1; the secondary deployable load 5 and the aircraft 6 are limited by three passive positioning locking devices 3.

[0035] like Figure 3As shown, the active locking device 1 includes a linear reciprocating motion device 11, a guide column 12, a push rod 13, an auxiliary shaft 14, a clamping roller 15 and a locking hook 16; wherein the linear reciprocating motion device 11 is installed on the primary retractable structure 4; the guide column 12 is connected to the primary retractable structure 4 by a screw; the push rod 13 passes through the guide column 12 and is connected to the linear reciprocating motion device 11; the auxiliary shaft 14 passes through the push rod 13 and the clamping roller 15, and is connected to the push rod 13 by a screw nut; the locking hook 16 is installed on the secondary retractable load 5, and its position corresponds to the clamping roller 15.

[0036] The locking hook 16 is L-shaped, and one end of the locking hook 16 is connected to the secondary retractable load 5 to be clamped by a screw and an oblong hole, and the vertical position of the locking hook 16 is adjusted by the oblong hole; the other end of the locking hook 16 is in the shape of an arc and smoothly connected to the straight line segment, and the arc is used to ensure that the clamping roller 15 climbs up the straight line segment; the locking force applied to the secondary retractable load 5 is adjusted by adjusting the height difference between the clamping roller 15 and the straight line segment of the locking hook 16; the locking force is determined by calibrating the current of the linear reciprocating motion device 11 during the locking process to determine the driving force of the linear reciprocating motion device 11 on the push rod 13; the positive pressure at the contact point between the clamping roller 15 and the locking hook 16 is analyzed based on the static balance of the push rod 13, the guide column 12 and the clamping roller 15, which is the locking force applied by the active locking release device 1 to the secondary retractable load 5.

[0037] like Figure 4 As shown, the semi-rigid supporting device 2 includes a metal rubber block 21 and a rubber pad 22 ; the rubber pad 22 is installed on the inner arc surface of the one-time deployable structure 4 ; the metal rubber block 21 is installed on the upper surface of the rubber pad 22 .

[0038] The metal rubber block 21 is arranged at a position where the amplitude of the secondary retractable load 5 is relatively large; the thickness of the metal rubber block 21 is slightly larger than the distance between the secondary retractable load 5 and the primary retractable structure 4 at this point; and fine-tuning is performed by rubber pads 22 of different thicknesses, so that the metal rubber block 21 generates elastic deformation when locking, provides support force to the secondary retractable load 5, and improves the locking stiffness of the secondary retractable load 5.

[0039] like Figure 5 As shown, the passive positioning locking device 3 includes a positioning block 31, a V-shaped positioning groove 32 and a rubber pad 33; wherein the positioning block 31 is a cylindrical structure; the positioning block 31 is installed on the secondary retractable load 5; the V-shaped positioning groove 32 is installed on the fixed structure; the rubber pad 33 is attached to the V-shaped surface of the V-shaped positioning groove 32; by adjusting the thickness of the rubber pad 33, the cylindrical positioning block 31 is tightly fitted with the V-shaped positioning groove 32 when the primary retractable structure 4 is in the retracted state.

[0040] When the primary deployable structure 4 is in a folded state, the positioning block 31 is located in the V-shaped positioning groove 32, and the three V-shaped positioning grooves 32 cooperate to constrain the axial and radial movement of the corresponding positioning block 31, so that the secondary deployable load 5 can move together with the primary deployable structure 4; when the primary deployable structure 4 is locked by its own locking mechanism, the freedom of the secondary deployable load 5 to deploy together with the primary deployable structure 4 disappears, and the secondary deployable load 5 is passively locked in the positioning block 31, so there is no need to add additional mechanism components, that is, the locking of the primary deployable structure 4 provides an additional locking point for the secondary deployable load 5.

[0041] When the secondary retractable load 5 needs to be deployed, the primary retractable structure 4 is first unlocked, and the constraint between the positioning block 31 and the V-shaped positioning groove 32 is released; after the primary retractable structure 4 is deployed in place, the positioning block 31 is separated from the V-shaped positioning groove 32, and the constraint between the secondary retractable load 5 and the fixed structure is released; the linear reciprocating motion device 11 drives the push rod 13 to move backward, and the pressing roller 15 is separated from the locking hook 16, and the last constraint of the secondary retractable load 5 is released;

[0042] When the secondary deployable load 5 is folded into place and needs to be compressed and locked, the linear reciprocating motion device 11 drives the push rod 13 to move forward, and the compression roller 15 climbs onto the locking hook 16, driving the deployable load 5 to fit tightly with the semi-rigid support device 2 and the primary deployable structure 4, thereby restricting the movement of the secondary deployable load 5 in the deployment direction relative to the primary deployable structure 4; when the primary deployable structure 4 is folded into place, the positioning block 31 falls into the V-shaped positioning groove 32, and when the deployable structure 4 is locked, the passive positioning locking device 3 restricts the relative movement of the secondary deployable load 5 and the fixed structure.

[0043] The present invention utilizes the characteristics that the compressed secondary retractable load is installed on the primary retractable structure, and the secondary retractable load moves together with the primary retractable mechanism when the active locking device is compressed. A passive positioning locking device is designed, and the device is passively locked at the location when the primary retractable mechanism is folded and locked. A plurality of locking points between the retractable load and the fixed structure are increased at the cost of adding a positioning block with little weight and space.

[0044] By increasing the locking points through passive locking and installing semi-rigid support devices at locations where the secondary deployment and stowage load response is larger, the stiffness of the secondary deployment and stowage load can be improved, reducing the mechanical response in the launch and re-entry stages, protecting the secondary deployment and stowage load and active clamping device, and facilitating the reuse of loads and mechanisms.

[0045] The active locking device is a linear reciprocating motion mechanism driven by a screw nut. The active locking and unlocking directions are perpendicular to the direction in which the clamping force is applied. The envelope in the clamping direction is 50 mm, which is beneficial to reducing the spatial envelope in the clamping direction and adapting to a more compact mechanical assembly layout.

[0046] The unlocking of the passive locking device relies on the unlocking and expansion of the structure where the compressed load is located, and it has no unlocking impact itself. The active locking device of the present invention relies on the motor to drive the linear reciprocating motion device to move. When unlocking, the roller gradually disengages the lock hook through the arc surface, and there is no sudden change in the locking force, so the unlocking impact is small.

[0047] The present invention utilizes a semi-rigid support device installed on a primary deployable structure to support a secondary deployable load. The operation is simple, and the reliable locking and separation between non-planar loads and non-planar structures of different volumes and sizes can be adapted. The invention has good expandability.

[0048] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. An active and passive combined clamping mechanism with on-track repeated locking function, characterized in that: The invention comprises an active locking device (1), three passive positioning locking devices (3), a primary retractable structure (4), a secondary retractable load (5) and an aircraft (6); wherein the aircraft (6) is placed axially horizontally; the primary retractable structure (4) is an arc plate-shaped structure; the primary retractable structure (4) is hinged to the side wall of the aircraft (6) along the axial direction of the aircraft (6) to realize the rotation of the primary retractable structure (4) relative to the aircraft (6); the secondary retractable load (5) is an arc plate-shaped structure corresponding to the inner profile of the primary retractable structure (4); the side of the secondary retractable load (5) is connected to the primary retractable structure (4) and the side of the secondary retractable load (5) is connected to the primary retractable structure (4). The outer side of the stowable structure (4) is hinged; the secondary stowable load (5) is rotated relative to the primary stowable structure (4); the active locking device (1) is arranged on the inner arc surface of the primary stowable structure (4) to lock the secondary stowable load (5); three passive positioning locking devices (3) are evenly arranged on the other side of the secondary stowable load (5) along the axis of the aircraft (6); when the secondary stowable load (5) and the primary stowable structure (4) are folded and stowed, the active locking device (1) locks the secondary stowable load (5) and the primary stowable structure (4); The clamping mechanism further comprises n semi-rigid support devices (2); the n semi-rigid support devices (2) are arranged on the inner wall of the primary deployable structure (4); when the secondary deployable load (5) and the primary deployable structure (4) are folded and retracted and locked by the active locking device (1), the n semi-rigid support devices (2) support the secondary deployable load (5); n is a positive integer greater than or equal to 3; When the secondary deployable load (5) and the primary deployable structure (4) are in a folded and retracted state, the secondary deployable load (5) and the primary deployable structure (4) are locked by an active locking device (1); and the secondary deployable load (5) and the aircraft (6) are limited by three passive positioning locking devices (3); The active locking device (1) comprises a linear reciprocating motion device (11), a guide column (12), a push rod (13), an auxiliary shaft (14), a clamping roller (15) and a locking hook (16); wherein the linear reciprocating motion device (11) is mounted on the primary retractable structure (4); the guide column (12) is connected to the primary retractable structure (4) via a screw; the push rod (13) passes through the guide column (12) and is connected to the linear reciprocating motion device (11); the auxiliary shaft (14) passes through the push rod (13) and the clamping roller (15) and is connected to the push rod (13) via a screw and nut; and the locking hook (16) is mounted on the secondary retractable load (5) and is located corresponding to the clamping roller (15).

2. The active and passive combined clamping mechanism with on-track repeated locking function according to claim 1, characterized in that: The locking hook (16) is L-shaped, one end of the locking hook (16) is connected to the secondary expandable load (5) to be compressed by a screw and an oblong hole, and the vertical position of the locking hook (16) is adjusted by the oblong hole; the other end of the locking hook (16) is in the shape of an arc and smoothly connected to a straight line segment, and the arc is used to ensure that the clamping roller (15) climbs up the straight line segment; the locking force applied to the secondary expandable load (5) is adjusted by adjusting the height difference between the clamping roller (15) and the straight line segment of the locking hook (16); the locking force is determined by calibrating the current of the linear reciprocating motion device (11) during the locking process to determine the driving force of the linear reciprocating motion device (11) on the push rod (13); the positive pressure at the contact point of the clamping roller (15) and the locking hook (16) is analyzed based on the static balance of the push rod (13), the guide column (12) and the clamping roller (15), which is the locking force applied by the active locking device (1) to the secondary expandable load (5).

3. The active and passive combined clamping mechanism with on-track repeated locking function according to claim 2, characterized in that: The semi-rigid support device (2) comprises a metal rubber block (21) and a rubber pad (22); the rubber pad (22) is mounted on the inner arc surface of the once-expandable structure (4); and the metal rubber block (21) is mounted on the upper surface of the rubber pad (22).

4. The active and passive combined clamping mechanism with on-track repeated locking function according to claim 3 is characterized in that: The metal rubber block (21) is arranged at a position where the amplitude of the secondary retractable load (5) is relatively large; the thickness of the metal rubber block (21) is slightly greater than the distance between the secondary retractable load (5) and the primary retractable structure (4) at this point; and fine adjustment is performed by means of rubber pads (22) of different thicknesses, so that when locking, the metal rubber block (21) generates elastic deformation, provides support force to the secondary retractable load (5), and improves the locking stiffness of the secondary retractable load (5).

5. The active and passive combined clamping mechanism with on-track repeated locking function according to claim 4, characterized in that: The passive positioning and locking device (3) comprises a positioning block (31), a V-shaped positioning groove (32) and a rubber pad (33); wherein the positioning block (31) is a cylindrical structure; the positioning block (31) is mounted on the secondary deployable load (5); the V-shaped positioning groove (32) is mounted on the fixed structure; the rubber pad (33) is attached to the V-shaped surface of the V-shaped positioning groove (32); and by adjusting the thickness of the rubber pad (33), the cylindrical positioning block (31) is tightly fitted with the V-shaped positioning groove (32) when the primary deployable structure (4) is in a retracted state.

6. The active and passive combined clamping mechanism with on-track repeated locking function according to claim 5, characterized in that: When the primary retractable structure (4) is in a retracted state, the positioning block (31) is located in the V-shaped positioning groove (32), and the V-shaped positioning groove (32) constrains the axial and radial movements of the positioning block (31), so that the secondary retractable load (5) moves together with the primary retractable structure (4). When the primary retractable structure (4) is locked by its own locking mechanism, the freedom of the secondary retractable load (5) to be deployed together with the primary retractable structure (4) disappears, and the secondary retractable load (5) is passively locked in the positioning block (31), thereby eliminating the need for additional mechanism components, that is, by locking the primary retractable structure (4), an additional locking point is provided for the secondary retractable load (5).

7. The active and passive combined clamping mechanism with on-track repeated locking function according to claim 6, characterized in that: When the secondary retractable load (5) needs to be deployed, the primary retractable structure (4) is first unlocked, and the constraint between the positioning block (31) and the V-shaped positioning groove (32) is released; after the primary retractable structure (4) is deployed in place, the positioning block (31) is separated from the V-shaped positioning groove (32), and the constraint between the secondary retractable load (5) and the fixed structure is released; the linear reciprocating motion device (11) drives the push rod (13) to move backward, and the pressing roller (15) is separated from the locking hook (16), thereby releasing the last constraint of the secondary retractable load (5); When the secondary retractable load (5) is folded into place and needs to be pressed and locked, the linear reciprocating motion device (11) drives the push rod (13) to move forward, and the pressing roller (15) climbs onto the locking hook (16), driving the secondary retractable load (5) to fit tightly with the semi-rigid support device (2) and the primary retractable structure (4), thereby restricting the movement of the secondary retractable load (5) relative to the expansion direction of the primary retractable structure (4); when the primary retractable structure (4) is folded into place, the positioning block (31) falls into the V-shaped positioning groove (32), and when the retractable structure (4) is locked, the passive positioning locking device (3) restricts the relative movement of the secondary retractable load (5) and the fixed structure.

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