A three-degree-of-freedom deployable full-function vector adjustment mechanism

Abstract

The application discloses a three-degree-of-freedom deployable full-function vector adjusting mechanism, which comprises a compression supporting structure, a serial three-degree-of-freedom driving structure carried on the compression supporting structure, a thruster mounting plate carrying a load of the vector adjusting mechanism and moving to a specified working position under the driving of the serial three-degree-of-freedom driving structure, and the serial three-degree-of-freedom driving structure comprises a first joint assembly, a second joint assembly and a third joint assembly, which respectively provide rotating driving forces in a first direction, a second direction and a third direction, and the first direction, the second direction and the third direction are perpendicular to each other; the first joint assembly, the second joint assembly and the third joint assembly sequentially provide the rotating driving forces, one end of the first joint assembly away from the third joint assembly is fixed on the compression supporting structure, and the thruster mounting plate is fixed on the third joint assembly. Therefore, the thrust vector of the thruster passes through the whole satellite barycenter in the whole life cycle, the north and south position protection and the east and west position protection are considered, and the double load backup function is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spacecraft structures and mechanisms, and in particular to a three-degree-of-freedom deployable full-function vector adjustment mechanism. BACKGROUND

[0002] Electric propulsion technology is currently the most effective means of improving the satellite payload carrying capacity internationally, and is an indispensable application technology for future long-life, high-power geosynchronous orbit satellites. Compared with traditional chemical propulsion, the biggest advantage of electric propulsion is high specific impulse and low propellant consumption. However, the thrust deviation from the spacecraft center of mass during the ignition process of the thruster will cause interference torque and inefficient consumption of propellant, making it difficult to ensure that the thruster vector passes through the center of mass of the whole satellite during the whole life cycle. SUMMARY

[0003] The present application provides a three-degree-of-freedom deployable full-function vector adjustment mechanism, which is configured with a vector adjustment mechanism to ensure that the thruster vector passes through the center of mass of the whole satellite during the whole life cycle.

[0004] In a first aspect, a three-degree-of-freedom deployable full-function vector adjustment mechanism is provided, comprising:

[0005] A compression support structure;

[0006] A series three-degree-of-freedom drive structure, which is borne on the compression support structure;

[0007] A thruster mounting plate for bearing the load of the vector adjustment mechanism, which is moved to a specified working position under the drive of the series three-degree-of-freedom drive structure;

[0008] The series three-degree-of-freedom drive structure comprises a first joint assembly, a second joint assembly and a third joint assembly, the first joint assembly provides a first direction of rotational drive force, the second joint assembly provides a second direction of rotational drive force, and the third joint assembly provides a third direction of rotational drive force, the first direction, the second direction and the third direction being perpendicular to each other;

[0009] The first joint assembly, the second joint assembly and the third joint assembly provide rotational drive forces in sequence, one end of the first joint assembly away from the third joint assembly is fixed on the compression support structure, and the thruster mounting plate is fixed on the third joint assembly.

[0010] The above scheme enables flexible movement of the thruster mounting plate. In some embodiments, the thruster mounting plate is deployed by driving the first joint assembly; the load on the thruster mounting plate is rotated to the transfer orbit change position by driving the second joint assembly, thus achieving the transfer orbit change function; after the satellite enters its working orbit, the load on the thruster mounting plate is rotated to the north-south position holding position by driving the first joint assembly, thus entering the working position; the third joint assembly is used to achieve at least one of the following: deflecting the load on the thruster mounting plate to achieve both north-south and east-west position holding functions; driving the third joint assembly to reverse the positions of the two loads on the thruster mounting plate to achieve a backup function for satellite attitude adjustment.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the series three-degree-of-freedom drive structure further includes a joint connecting frame and a joint support; the first joint assembly and the second joint assembly are connected by the joint connecting frame, and the second joint assembly and the third joint assembly are connected by the joint support, wherein the first joint assembly is used to drive the joint connecting frame to rotate about a first direction, the second joint assembly is used to drive the joint support to rotate about a second direction on the joint connecting frame, and the third joint assembly is used to drive the thruster mounting plate to rotate about a third direction on the joint support.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the joint connecting frame includes a first connecting ring and a second connecting ring, wherein the axis of the first connecting ring is parallel to a first direction, and the axis of the second connecting ring is parallel to a second direction;

[0013] The first joint assembly includes:

[0014] The first joint output cylinder is fixed on the clamping support structure;

[0015] The first joint includes a first joint shaft and a first joint housing, and the relative rotation between the first joint shaft and the first joint housing is about a first direction; the first joint shaft and the first joint output cylinder are fixedly connected, and the first joint housing is fixed on the first connecting ring of the joint connecting frame;

[0016] The second joint assembly includes:

[0017] The boom is fixedly connected to the joint support;

[0018] The second joint includes a second joint shaft and a second joint housing, and the relative rotation between the second joint shaft and the second joint housing is about a second direction; the second joint shaft and the arm are fixedly connected, and the second joint housing is fixed on the second connecting ring of the joint connecting frame.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, the first joint assembly further includes a first joint limiting plate, which is fixed relative to the first joint axis to limit the relative rotation of the first joint housing, and the maximum rotation provided by the first joint is 180 to 220°.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the second joint assembly further includes a second joint limiting plate, which is fixed relative to the second joint housing to limit the relative rotation of the second joint shaft, wherein the maximum rotation provided by the second joint is 170 to 190°.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, the joint support has a support ring, the support ring being parallel to a third direction along an axis; the third joint assembly includes:

[0022] The second joint output cylinder is connected to the thruster mounting plate;

[0023] The third joint includes a third joint shaft and a third joint housing, and the relative rotation between the third joint shaft and the third joint housing is about a third direction; the third joint shaft and the second joint output cylinder are fixedly connected, and the third joint housing is fixed on the support ring of the joint support.

[0024] In conjunction with the first aspect, in some implementations of the first aspect, the third joint assembly further includes a third joint limiting plate, which is fixed relative to the third joint housing to limit the relative rotation of the third joint shaft, and the rotation range provided by the third joint is -45 to 225°.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the clamping support structure includes:

[0026] Base plate, which is used to fix the satellite equipment;

[0027] A support bracket is provided, which is supported on the base plate and is used to support the series three-degree-of-freedom drive structure. The first joint assembly is disposed on the support bracket.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, the thruster mounting plate is in a compressed, locked state before formal operation; the thruster mounting plate is also used to be relatively fixed to the compression support structure before unlocking; wherein,

[0029] The thruster mounting plate is provided with a first clamping and unlocking point and a second clamping and unlocking point. Before unlocking, the thruster mounting plate is fixed to the support bracket by the first clamping and unlocking point, and the thruster mounting plate is fixed to the base plate by the second clamping and unlocking point.

[0030] Secondly, a method of using the three-degree-of-freedom deployable full-function vector adjustment mechanism as described in any of the implementations of the first aspect above is provided, the method of using the mechanism comprising:

[0031] Drive the first joint assembly to unfold the thruster mounting plate;

[0032] Drive the second joint assembly to rotate the load on the thruster mounting plate to the transfer track change position to realize the transfer track change function;

[0033] After the celestial body enters its working orbit, the first joint assembly is driven, and the load on the thruster mounting plate rotates to the north-south position to maintain its position, thus entering the working position.

[0034] The method of use also includes at least one of the following:

[0035] Drive the third joint assembly to deflect the load on the thruster mounting plate to achieve both north-south and east-west position protection functions.

[0036] Drive the third joint assembly to reverse the position of the dual loads on the thruster mounting plate to achieve a backup function for celestial attitude adjustment.

[0037] Compared with the prior art, the solution provided in this application has at least the following beneficial technical effects:

[0038] This mechanism adopts a series three-degree-of-freedom structure to provide installation and support for two electric thrusters during satellite launch and in-orbit flight, realize the pointing adjustment of the thrust vector in three dimensions, realize the locking function of the thruster mounting platform during satellite launch and the unlocking function after the satellite enters orbit, provide the mounting interface between the thruster and the satellite surface and the thruster mounting surface, and can provide the control unit with the measurement signals of the thruster's position and direction of motion.

[0039] This vector adjustment mechanism can simultaneously perform multiple tasks such as orbit change, north-south position maintenance, east-west position maintenance, momentum unloading, and orbit circularization. It enables the two thrusters to achieve a planetary attitude adjustment mode where they serve as equal-efficiency backups for each other. It is a lightweight, high-rigidity, high-pointing-precision, full-function, and long-life pointing mechanism.

[0040] Despite the limited space for installation on the celestial body, it achieved a wide range of pointing capabilities with three degrees of freedom, ranging from 200° to 270°, which is 125% more capable than the vector control mechanisms with existing flight experience.

[0041] The use of 3D printing technology to achieve topology optimization of the large support components reduced the weight of the large support components by 66% and the overall weight by 38%, greatly alleviating the pressure of the satellite's weight constraints.

[0042] The overall structure cleverly utilizes the space between the solar array and the star for layout. With its compact, folded volume and ingenious configuration design, it achieves a star position retention efficiency of over 90% from 55%, while also avoiding the impact of the thruster's 40° plume angle on the solar array.

[0043] Even when the vector adjustment mechanism is in a compressed state that cannot be unlocked and deployed after the satellite enters orbit, it can still achieve a satellite position preservation efficiency of more than 50%.

[0044] It is capable of activating the load thrusters simultaneously by changing the angle and position, thus fulfilling the orbital change requirements of the celestial body.

[0045] The two thrusters of the load can be rotated by the angular position adjustment mechanism to achieve equivalent position swapping, ensuring that the function of celestial attitude adjustment and position preservation efficiency are not affected, and providing complete backup. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the overall structure of a three-degree-of-freedom deployable full-function vector adjustment mechanism according to the present invention.

[0047] Figure 2 This is a schematic diagram of the clamping support structure of a three-degree-of-freedom deployable full-function vector adjustment mechanism according to the present invention.

[0048] Figure 3 This is a schematic diagram of the series three-degree-of-freedom drive structure of a three-degree-of-freedom deployable full-function vector adjustment mechanism according to the present invention.

[0049] Figure 4 This is a schematic diagram showing the change in posture of a three-degree-of-freedom deployable full-function vector adjustment mechanism after entering the track, from the clamping position to the north-south position.

[0050] Figure 5 This is a schematic diagram illustrating the transformation of the north-south position-preserving and east-west position-preserving pose of a three-degree-of-freedom deployable full-function vector adjustment mechanism of the present invention after entering the orbit.

[0051] Figure 6 This is a schematic diagram of the dual-load position conversion after the entry of a three-degree-of-freedom deployable full-function vector adjustment mechanism according to the present invention. Detailed Implementation

[0052] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0053] Figure 1This is a schematic structural diagram of a three-degree-of-freedom deployable full-function vector adjustment mechanism provided in an embodiment of this application. The three-degree-of-freedom deployable full-function vector adjustment mechanism includes a clamping support structure 1 and a series three-degree-of-freedom drive structure 2. The vector adjustment mechanism also includes thruster mounting plates 1-5, which are used to bear the load of the vector adjustment mechanism. Figure 1 In the diagram, A and B represent the two loads of the vector control mechanism. Figure 1 In the illustrated embodiment, the thruster mounting plate 1-5 can be in a clamped, locked state before formal operation. The clamping support structure 1 can be used to fix and support the thruster mounting plate 1-5 before unlocking. The tandem three-degree-of-freedom drive structure 2 can be used to drive the thruster mounting plate 1-5 to move after unlocking.

[0054] Figure 2 This is a schematic diagram of a clamping support structure 1. The clamping support structure 1 includes a base plate 1-1 and a support bracket 1-2. The base plate 1-1 supports the support bracket 1-2 and is fixed to the satellite equipment. The support bracket 1-2 can support a series three-degree-of-freedom drive structure 2 and is used to fix it relative to the thruster mounting plate 1-5 before unlocking. That is, the series three-degree-of-freedom drive structure 2 can drive the thruster mounting plate 1-5 to move on the support bracket 1-2. The support bracket 1-2 can be a 3D-printed bracket.

[0055] exist Figure 2 In the illustrated embodiment, two unlocking devices can be installed on the thruster mounting plate 1-5 corresponding to the clamping unlocking points 1-6 and 1-7, respectively. Before unlocking, the thruster mounting plate 1-5 can be fixed to the support bracket 1-2 via the clamping unlocking points 1-6 and 1-7.

[0056] exist Figure 2 In the illustrated embodiment, the base plate 1-1 can also be used to fix the thruster mounting plate 1-5 before unlocking. The base plate 1-1 is provided with a small clamping bracket (left 1-3) and a small clamping bracket (right 1-4). Two unlocking devices can be installed on the thruster mounting plate 1-5 corresponding to the clamping unlocking points 1-8 and 1-9, respectively. The small clamping brackets (left 1-3 and right 1-4) correspond to the clamping unlocking points 1-8 and 1-9 of the thruster mounting plate 1-5, respectively.

[0057] Figure 3 This is a schematic diagram of a series three-degree-of-freedom drive structure. The series three-degree-of-freedom drive structure 2 includes a first joint assembly, a second joint assembly, and a third joint assembly. The first joint assembly can provide a rotational driving force in a first direction, the second joint assembly can provide a rotational driving force in a second direction, and the third joint assembly can provide a rotational driving force in a third direction. The first, second, and third directions are perpendicular to each other.

[0058] The first, second, and third joint assemblies sequentially provide rotational driving force. That is, the rotational driving force provided by the first joint assembly can cause the second and third joint assemblies, and the components fixed to the third joint assembly, to rotate as a whole around a first direction. The rotational driving force provided by the second joint assembly can cause the third joint assembly and the components fixed to the third joint assembly to rotate as a whole around a second direction. The rotational driving force provided by the third joint assembly can cause the components fixed to the third joint assembly to rotate as a whole around a third direction. The end of the first joint assembly furthest from the second joint assembly is fixed to the printing bracket 1-2 of the clamping support structure 1, and a thruster mounting plate 1-5 is fixed to the third joint assembly.

[0059] The series three-degree-of-freedom drive structure 2 also includes a joint connecting frame 2-5 and a joint support 2-11. The first joint assembly and the second joint assembly are connected via the joint connecting frame 2-5, and the second joint assembly and the third joint assembly are connected via the joint support 2-11. The first joint assembly can be used to drive the joint connecting frame to rotate about a first direction, the second joint assembly is used to drive the joint support to rotate about a second direction on the joint connecting frame, and the third joint assembly is used to drive the thruster mounting plate to rotate about a third direction on the joint support.

[0060] The first joint assembly includes a first joint output cylinder 2-1, a first joint output flange 2-2, and a first joint 2-4. The first joint 2-4 provides rotational driving force in a first direction for the first joint assembly. The first joint 2-4 includes a first joint shaft and a first joint housing, and the relative rotation between the first joint shaft and the first joint housing can be around the first direction. The first joint shaft and the first joint output cylinder 2-1 of the first joint 2-4 are fixedly connected by the first joint output flange 2-2, and the first joint output cylinder 2-1 is fixed on the support bracket 1-2 of the clamping support structure 1. Therefore, the first joint shaft can be considered as the stator of the first joint 2-4, and the first joint housing can be considered as the mover of the first joint 2-4. The first joint housing can be fixed on the joint connecting frame 2-5, thereby driving the joint connecting frame 2-5, and the second and third joint assemblies directly or indirectly disposed on the joint connecting frame 2-5, to rotate around the first direction. The joint connecting frame 2-5 includes a first connecting ring and a second connecting ring, the axis of the first connecting ring being parallel to the first direction, and the axis of the second connecting ring being parallel to the second direction. The first joint housing can be fixed to the first connecting ring of the joint connecting frame 2-5, thereby driving the first connecting ring of the joint connecting frame 2-5 to rotate around a first direction. In some embodiments, the first joint assembly may further include a first joint limiting plate 2-3, which can be fixed relative to the first joint axis to limit the relative rotation of the first joint housing and prevent the first joint 2-4 from exceeding its working range, thus avoiding structural interference. In some embodiments, the maximum rotation provided by the first joint 2-4 is, for example, 180 to 220°.

[0061] The second joint assembly includes a second joint 2-6, a joint output connector 2-8, a boom 2-9, and a boom end cap 2-10. The second joint 2-6 provides rotational driving force in a second direction for the second joint assembly. The second joint 2-6 includes a second joint shaft and a second joint housing, and the relative rotation between the second joint shaft and the second joint housing can be around the second direction. The second joint housing can be considered as the stator of the second joint 2-6, and the second joint shaft can be considered as the mover of the second joint 2-6. The second joint housing can be fixed to the joint connecting frame 2-5, specifically to the second connecting ring of the joint connecting frame 2-5. Therefore, when only the second joint 2-6 is driven, the joint connecting frame 2-5 is relatively fixed, and the second joint shaft rotates around the second direction within the second connecting ring of the joint connecting frame 2-5. The second joint shaft of the second joint 2-6 and one end of the arm 2-9 are fixedly connected via a joint output connector 2-8, and the other end of the arm 2-9 is fixedly connected to the joint support 2-11 via an arm end cap 2-10. Therefore, the second joint 2-6 can drive the arm 2-9, thereby driving the entire third joint assembly on the joint support 2-11 to rotate relative to the joint connecting frame 2-5 around a second direction. In some embodiments, the second joint assembly may further include a second joint limiting plate 2-7, which can be fixed relative to the second joint housing to limit the relative rotation of the second joint shaft. In some embodiments, the maximum rotation provided by the second joint 2-6 is, for example, 170 to 190°.

[0062] The third joint assembly includes a third joint 2-12, a second joint output flange 2-14, and a second joint output cylinder 2-15. The third joint 2-12 provides a third-direction rotational driving force for the third joint assembly. The third joint 2-12 includes a third joint shaft and a third joint housing, and the relative rotation between the third joint shaft and the third joint housing is possible about a third direction. The third joint housing can be considered as the stator of the third joint 2-12, and the third joint shaft can be considered as the mover of the third joint 2-12. The third joint housing can be fixed to a joint support 2-11. Specifically, the joint support 2-11 can have a support ring with the shaft parallel to the third direction, and the third joint housing can be fixed to the support ring of the joint support 2-11. Therefore, when only the third joint 2-12 is driven, the joint support 2-11 is relatively fixed, and the third joint shaft rotates about a third direction within the support ring of the joint support 2-11. The third joint shaft of the third joint 2-12 and the second joint output cylinder 2-15 are fixedly connected via the second joint output flange 2-14. The second joint output cylinder 2-15 is connected to the thruster mounting plate 1-5. Therefore, the third joint shaft of the third joint 2-12 can drive the second joint output cylinder 2-15, and the components directly or indirectly disposed on the second joint output cylinder 2-15 (specifically including the thruster mounting plate 1-5 and its load), to rotate about a third direction relative to the joint support 2-11. In some embodiments, the third joint assembly may further include a third joint limiting plate 2-13, which can be fixed relative to the third joint housing to limit the relative rotation of the third joint shaft. In some embodiments, the rotation range provided by the third joint 2-12 is, for example, -45 to 225°.

[0063] The main functions of the clamping support structure are: during satellite launch, it clamps the entire structure to resist the harsh mechanical environment of the launch phase; after the satellite enters orbit, it supports the entire structure, ensuring the stability of the tandem three-degree-of-freedom drive structure for on-orbit missions. This clamping support structure has four clamping and unlocking points, providing sufficient clamping force for the overall mechanical resistance and enabling reliable unlocking after orbit insertion. The large support frame of this clamping support structure is manufactured using 3D printing technology and optimized with lattice skin design. This design satisfies both the mechanical resistance and support function of the large support frame, while also achieving the goal of lightweight design, significantly reducing the overall weight of the satellite.

[0064] The main functions of the series three-degree-of-freedom drive structure are: to realize the deployable function of the vector adjustment mechanism by using the three drive shaft structure, so as to realize the full functional requirements of satellite orbit transfer function, north-south position holding function, east-west position holding function, high reliability function of dual loads as backup for each other, and repositioning at the end of satellite life.

[0065] like Figure 4As shown, after the three-degree-of-freedom deployable full-function vector adjustment mechanism provided by this invention is launched into orbit with the satellite in the clamped state, it first performs unlocking actions at clamping unlocking points 1-6, 1-7, 1-8, and 1-9. After unlocking, the first joint 2-4 is driven to sequentially deploy to... Figure 4 Positions ②, ③, and ④ are shown. In position ④, the thruster mounting plate 1-5 can be set perpendicular to the base plate 1-1. Then, the second joint 2-6 is driven to rotate to position ⑤ (transfer orbit change position), at which point the transfer orbit change function can be realized. After the satellite enters its working orbit, the first joint 2-4 is driven to rotate to position ⑥ (north-south position holding position), thus entering the working position. By rotating the first joint 2-4, the second joint 2-6, and the third joint 2-12, the satellite's orbit transfer function, north-south position holding function, east-west position holding function, high reliability function with dual loads providing mutual backup, and end-of-life repositioning function are all achieved.

[0066] like Figure 5 As shown, when the three-degree-of-freedom deployable full-function vector adjustment mechanism provided by this invention is in the north-south position after entering the orbit (①), it can be adjusted by rotating the third joint 2-12. Figure 5 The north-south position protector shown also has the function of east-west position protector.

[0067] like Figure 6 As shown, when the three-degree-of-freedom deployable full-function vector adjustment mechanism provided by this invention is in the ① north-south position after orbit insertion... Figure 5 Position ① and Figure 6 Position ① is the same. By rotating the third joint 2-12 to positions ②, ③, ④, and ⑤, the position conversion function of dual load can be realized, and the position can be equivalently swapped to ensure that the function of adjusting the celestial body's attitude and the position preservation efficiency are not affected, and complete backup is achieved.

[0068] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope defined in the claims of the present invention.

Claims

1. A three-degree-of-freedom deployable full-function vector adjustment mechanism, characterized in that, include: Compression support structure (1); A series three-degree-of-freedom drive structure (2) is supported by a compression support structure (1). The thruster mounting plate (1-5) is used to bear the load of the vector adjustment mechanism. The thruster mounting plate (1-5) moves to the designated working position under the drive of the series three-degree-of-freedom drive structure (2). The series three-degree-of-freedom drive structure (2) includes a first joint assembly, a second joint assembly and a third joint assembly. The first joint assembly provides a rotational driving force in a first direction, the second joint assembly provides a rotational driving force in a second direction, and the third joint assembly provides a rotational driving force in a third direction. The first direction, the second direction and the third direction are perpendicular to each other. The first joint assembly, the second joint assembly and the third joint assembly provide rotational driving force in sequence. The end of the first joint assembly away from the third joint assembly is fixed to the clamping support structure (1). The thruster mounting plate (1-5) is fixed on the third joint assembly. The series three-degree-of-freedom drive structure (2) also includes a joint connecting frame (2-5) and a joint support (2-11); the first joint assembly and the second joint assembly are connected by the joint connecting frame (2-5), and the second joint assembly and the third joint assembly are connected by the joint support (2-11). The first joint assembly is used to drive the joint connecting frame (2-5) to rotate about a first direction, the second joint assembly is used to drive the joint support (2-11) to rotate about a second direction on the joint connecting frame (2-5), and the third joint assembly is used to drive the thruster mounting plate (1-5) to rotate about a third direction on the joint support (2-11). The joint connecting frame (2-5) includes a first connecting ring and a second connecting ring. The axis of the first connecting ring is parallel to a first direction, and the axis of the second connecting ring is parallel to a second direction. The first joint assembly includes: The first joint output cylinder (2-1) is fixed on the clamping support structure (1); The first joint (2-4) includes a first joint shaft and a first joint housing, and the relative rotation between the first joint shaft and the first joint housing is about a first direction; the first joint shaft and the first joint output cylinder (2-1) are fixedly connected, and the first joint housing is fixed on the first connecting ring of the joint connecting frame (2-5); The second joint assembly includes: Arm (2-9), wherein the arm (2-9) is fixedly connected to the joint support (2-11); The second joint (2-6) includes a second joint shaft and a second joint housing, and the relative rotation between the second joint shaft and the second joint housing is about a second direction; the second joint shaft and the arm (2-9) are fixedly connected, and the second joint housing is fixed on the second connecting ring of the joint connecting frame (2-5).

2. The vector adjustment mechanism according to claim 1, characterized in that, The first joint assembly also includes a first joint limiting plate (2-3), which is fixed relative to the first joint shaft to limit the relative rotation of the first joint housing. The first joint (2-4) provides a maximum rotation of 180~220°.

3. The vector adjustment mechanism according to claim 1, characterized in that, The second joint assembly also includes a second joint limiting plate (2-7), which is fixed relative to the second joint housing to limit the relative rotation of the second joint shaft. The second joint (2-6) provides a maximum rotation of 170~190°.

4. The vector adjustment mechanism according to claim 1, characterized in that, The joint support (2-11) has a support ring, which is parallel to the third direction on the axis; the third joint assembly includes: The second joint output cylinder (2-15) is connected to the thruster mounting plate (1-5); The third joint (2-12) includes a third joint shaft and a third joint housing, and the relative rotation between the third joint shaft and the third joint housing is about a third direction; the third joint shaft and the second joint output cylinder (2-15) are fixedly connected, and the third joint housing is fixed on the support ring of the joint support (2-11).

5. The vector adjustment mechanism according to claim 4, characterized in that, The third joint assembly also includes a third joint limiting plate, which is fixed relative to the third joint housing to limit the relative rotation of the third joint shaft. The rotation range provided by the third joint (2-12) is -45 to 225°.

6. The vector adjustment mechanism according to claim 1, characterized in that, The compression support structure (1) includes: Base plate (1-1), said base plate (1-1) is used to fix to satellite equipment; Support bracket (1-2) is supported on the base plate (1-1). The support bracket (1-2) is used to support the series three-degree-of-freedom drive structure (2). The first joint assembly is disposed on the support bracket (1-2).

7. The vector adjustment mechanism according to claim 6, characterized in that, The thruster mounting plate (1-5) is in a pressed, locked state before formal operation; the thruster mounting plate (1-5) is also used to fix relative to the pressing support structure (1) before unlocking; wherein, The thruster mounting plate (1-5) is provided with a first pressing and unlocking point (1-6, 1-7) and a second pressing and unlocking point (1-8, 1-9). Before unlocking, the thruster mounting plate (1-5) is fixed to the support bracket (1-2) through the first pressing and unlocking point (1-6, 1-7), and the thruster mounting plate (1-5) is fixed to the base plate (1-1) through the second pressing and unlocking point (1-8, 1-9).

8. A method of using a three-degree-of-freedom deployable full-function vector adjustment mechanism as described in any one of claims 1 to 7, characterized in that, The method of use includes: Drive the first joint assembly to unfold the thruster mounting plate (1-5); Drive the second joint assembly to rotate the load on the thruster mounting plate (1-5) to the transfer track change position to realize the transfer track change function; After the celestial body enters its working orbit, the first joint assembly is driven, and the load on the thruster mounting plate (1-5) rotates to the north-south position holding position to enter the working position; The method of use also includes at least one of the following: Drive the third joint assembly to deflect the load on the thruster mounting plate (1-5) to achieve both north-south and east-west position protection functions. Drive the third joint assembly to reverse the position of the dual loads on the thruster mounting plate (1-5) to achieve a backup function for celestial attitude adjustment.

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