Spacecraft on-orbit six-degree-of-freedom adjusting device and using

Abstract

The invention provides a spacecraft on-orbit six-degree-of-freedom adjusting device and a using method. The spacecraft on-orbit six-degree-of-freedom adjusting device comprises an upper adapter bracket, a lower adapter bracket and six actuating assemblies, the axes of every two actuating assemblies are symmetrically arranged in pairs according to a certain included angle; the upper end of a single actuating assembly comprises a hooke joint, the lower end of the single actuating assembly comprises a hooke joint and a rotating shaft joint, and the single actuating assembly is fixedly connected with an adjusted object through an upper adapter bracket and is fixedly connected with the fixed base through a lower adapter bracket; the six-degree-of-freedom high-precision position and posture adjustment of an adjusted object can be realized through the axial extension and retraction of the actuator positioned in the middle; the method is suitable for spacecraft components such as satellite-borne reflector antennas and space telescopes which have high requirements on pose keeping precision or orientation adjusting precision; the device has the advantage of high precision under six-degree-of-freedom large-range adjustment, is high in modularization and generalization degree, and has very high adaptability to different layout scenes.

Description

Technical Field

[0001] The present invention belongs to the field of on-orbit adjustment of spacecraft, and specifically, relates to an on-orbit six-degree-of-freedom adjustment device for spacecraft and a use method thereof, and in particular to an on-orbit high-precision and long-stroke six-degree-of-freedom adjustment device for spacecraft and a use method thereof. Background Art

[0002] When a spacecraft flies around the earth, its orbital position and attitude are constantly changing. In addition, due to the influence of the orbital shadow area and various shielding relationships between structural components, the thermal environment in space also changes periodically. In order to meet the observation performance requirements, such spacecraft usually carry large observation payloads. In order to effectively solve the limitation of the fairing envelope size on the payload caliber, large deployable antenna technology is widely used. Taking the microwave antenna reflector as an example, before launch, the entire antenna is divided into structural parts of different sizes and shapes. After folding and launching, it is deployed and reset in orbit through various high-precision structural mechanisms.

[0003] As mentioned above, changes in the on-orbit thermal environment cause periodic hot and cold changes and unevenly distributed transient temperature fields in the antenna structure, which causes changes in the on-orbit surface accuracy of the structure; in addition, assembly errors and deployment errors of the satellite platform's extension arms also lead to antenna beam pointing deviations and performance degradation. Therefore, the antenna is required to have on-orbit active pointing and focus adjustment technology to achieve precise adjustment of the antenna beam pointing under changes in surface accuracy, thereby improving the on-orbit beam pointing performance and stability.

[0004] Currently, this type of problem is mainly solved by installing active adjustment mechanisms between the spacecraft platform and the adjusted components. However, with the increase in aerospace types and the substantial increase in launch activities, the adaptability of existing adjustment mechanisms is still lacking in the face of the on-orbit adjustment needs of spacecraft payloads and components of different scales and configurations. It is urgent to develop universal on-orbit adjustment technology to achieve multi-task, multi-layout environment and multi-application scenario matching of the adjustment technology.

[0005] The relevant existing technical achievements are mainly as follows:

[0006] (1) An active profile adjustment method and device for microwave antennas (patent document CN109002061A), which discloses an active profile adjustment method and device for microwave antennas, including a mechanical system consisting of a microwave antenna, a support frame, an adjustment actuator and an actuator rod; the fixed end of the adjustment actuator is connected to the support frame through a screw, the displacement output end is connected to one end of the actuator rod, the other end of the actuator rod is connected to a flexible hinge through a screw hole, and the flexible hinge is connected to the embedded part of the reflective surface of the microwave antenna through a screw. The invention calculates the adjustment amount of each adjustment point according to the actual deformed profile accuracy of the microwave antenna, and actively adjusts it through the actuator. The use of a piezoelectric actuator can greatly improve the profile accuracy of the microwave antenna. However, since a single actuator of the invention can only achieve single-point unidirectional adjustment, a large number of actuators are required to achieve high-precision six-degree-of-freedom adjustment, and the consumption of control resources also increases dramatically.

[0007] (2) A parallel satellite antenna attitude adjustment device (patent document CN108110424A) This patent document discloses a parallel satellite antenna attitude adjustment device, which adopts a non-coupled two-rotation parallel mechanism, including a fixed platform, a moving platform, and three branch motion chains connecting the fixed platform and the moving platform. The antenna is installed on the moving platform by bolts, and two servo motors separately control the elevation angle and azimuth angle of the antenna, thereby adjusting the attitude of the antenna. This device solves the problems of complex kinematic solution and difficult control design caused by the strong motion coupling of the parallel mechanism used for satellite antenna attitude adjustment in the prior art. However, this invention can only adjust the two rotational degrees of freedom of the antenna, and is not applicable to the six-degree-of-freedom attitude adjustment requirements. In addition, the adjustment device is composed of a connecting rod, a rotating shaft and a motor, and the structure is not compact enough.

[0008] (3) A six-degree-of-freedom decoupled compliant parallel platform driven by a stroke amplification mechanism (patent document CN108413206A) This patent document discloses a six-degree-of-freedom decoupled compliant parallel platform driven by a stroke amplification mechanism, which relates to an adjustment system for a space telescope, which includes a first-level motion platform mechanism, a second-level motion platform mechanism, a third-level motion platform mechanism and a base; the first-level motion platform mechanism includes a first-level platform and a first-level drive branch chain that drives the first-level platform to deflect around the X axis, deflect around the Y axis and move along the Z direction; the first-level drive branch chain is installed on the base; the second-level motion platform mechanism includes a second-level platform and a second-level drive branch chain that drives the second-level platform to move along the X direction and the Y direction; the second-level drive branch chain is installed on the first-level platform; the third-level motion platform mechanism includes a third-level platform and a third-level drive branch chain that drives the third-level platform to rotate around the Z axis, and the third-level drive branch chain is installed on the second-level platform. This invention is suitable for space environment conditions and can be used for active adjustment of space optical systems. This invention uses a multi-stage motion platform to achieve motion decoupling, which requires a large number of parts and a complex structure.

[0009] (4) A compact six-degree-of-freedom precision tracking and pointing device for satellite payloads (patent document CN107610158A) This patent document discloses a compact six-degree-of-freedom precision tracking and pointing device for satellite payloads, which consists of an upper platform and a lower platform connected in series along the normal direction of the mounting surface. The upper platform includes a pointing interface component, an adjustment interface component, six sets of drive components, an upper platform control unit and an upper platform clamping and releasing device. The lower platform includes an adjustment rod component, a lower platform clamping and releasing device, a fixing plate and a lower platform control unit. When the upper and lower platforms of the invention cooperate with each other, the tracking and pointing direction can be in any direction of the six degrees of freedom, and the tracking and pointing of the satellite payload in the entire airspace and the entire disk can be flexibly realized, meeting the needs of the satellite payload for continuous and accurate follow-up tracking and pointing positioning over a large range and a large angle; the invention adopts a linear motor drive, and the actuation accuracy is lower than that of the piezoelectric actuator drive of the present invention, and a ball joint connection is adopted to realize the rotational freedom. Compared with the Hooke's joint used in the present invention, the rotation axis motion clearance is larger, so the six-degree-of-freedom adjustment accuracy that can be achieved by the device is lower than the scheme adopted by the present invention.

[0010] (5) A six-degree-of-freedom posture adjustment device for satellite-borne antennas (patent document CN109004361A) This patent document discloses a six-degree-of-freedom posture adjustment device for satellite-borne antennas, comprising three sets of antenna mounting actuation assemblies mounted on a base, the three sets of actuation assemblies being evenly distributed at 120° with respect to each other on a pitch circle with a diameter of 600 mm to 1000 mm; each set of actuation assemblies comprising two actuators, the driving axes of the two actuators being at an angle of 60°, the upper ends of the two actuators being connected to the same adapter bracket A, and the lower ends being respectively connected to the corresponding adapter brackets B; and flexible hinges being respectively installed at the upper and lower ends of each actuator. This invention can realize the six-degree-of-freedom posture adjustment of satellite-borne antennas, compensate for the position and attitude deviation of the antenna on-orbit, and is applicable to satellite-borne antenna systems with high requirements for posture accuracy, such as reflector antennas, measurement and control antennas, and data transmission antennas. This invention uses a flexible hinge as a rotating joint, which needs to rely on the elastic deformation of the material itself to provide rotational freedom for the adjustment device. When adjusting a large stroke on the track, the flexible hinge works in a high stress state and has a low fatigue limit, which greatly reduces the working life. The rotating pair used in the present invention is realized through a rotating shaft, and the number of working times depends on the rotation life of the rotating shaft, which has obvious advantages in working life.

[0011] In view of the technical problems existing in the prior art, the present invention proposes an on-orbit six-degree-of-freedom attitude adjustment platform for spacecraft and a method for using the same. Summary of the invention

[0012] In view of the defects in the prior art, the purpose of the present invention is to provide a spacecraft on-orbit six-degree-of-freedom attitude adjustment platform and a method of using it.

[0013] According to the present invention, a spacecraft on-orbit six-degree-of-freedom adjustment device comprises: an upper adapter bracket 1, an actuating assembly 2, and a lower adapter bracket 3;

[0014] The upper end of the actuating assembly 2 is connected to the upper adapter bracket 1 , and the lower end of the actuating assembly 2 is connected to the lower adapter bracket 3 .

[0015] Preferably, there are six actuating assemblies 2 in total, and the axes of every two actuating assemblies 2 are symmetrically arranged at an angle α to form a group, forming three groups in total.

[0016] Preferably, the actuating assembly 2 comprises: a first Hooke's joint 201, a second Hooke's joint 202, a rotating shaft joint 203, and an actuator 204;

[0017] The first Hooke's hinge 201 is arranged at the upper end of the actuating assembly 2;

[0018] The second Hooke's hinge 202 is arranged at the lower end of the actuating assembly 2;

[0019] An actuator 204 is connected between the first Hooke's hinge 201 and the second Hooke's hinge 202;

[0020] The rotary axis joint 203 is connected to the lower end of the second Hooke's joint 202 .

[0021] Preferably, the six actuating components 2 are decoupled from each other;

[0022] The control system drives one to six actuators 2 to actuate the specified displacement to achieve the adjustment of the desired posture of the adjusted object; the angle α of the three groups of actuating components 2 is adjusted by changing the bevel angles of the upper adapter bracket 1 and the lower adapter bracket 3, and the angle α is the same or different.

[0023] Preferably, the first Hooke's hinge 201 comprises: a first Hooke's hinge first frame 20101 and a first Hooke's hinge second frame 20102;

[0024] The second Hooke's hinge 202 comprises: a second Hooke's hinge first frame 20201 and a second Hooke's hinge second frame 20202;

[0025] The first frame 20101 of the first Hooke's hinge is tightly connected to the upper end surface of the actuator 204;

[0026] The first frame 20201 of the second Hooke's hinge is tightly connected to the lower end of the actuator 204.

[0027] Preferably, the rotary shaft joint 203 comprises: a rotary shaft joint first frame 20301 and a rotary shaft joint second frame 20302;

[0028] The second frame 20302 of the rotating shaft joint is fixedly connected to the lower adapter bracket 3;

[0029] The rotary axis joint 203 provides rotational freedom around the axis;

[0030] The first Hooke's joint second frame 20102 and the second Hooke's joint second frame 20202 are respectively fastened to the upper adapter bracket 1 and the rotating shaft joint first frame 20301.

[0031] Preferably, the first Hooke's hinge first frame 20101 is provided with a first Hooke's hinge first frame cutting groove 201011;

[0032] The first Hooke's hinge second frame 20102 is provided with a first Hooke's hinge second frame cutting groove 201021;

[0033] The second Hooke's hinge first frame 20201 is provided with a second Hooke's hinge first frame cutting groove 202011;

[0034] The second Hooke's hinge second frame 20202 is provided with a second Hooke's hinge second frame cutting groove 202021;

[0035] The rotation angle range of the first Hooke's hinge 201 is adjusted by changing the angle and size of the first frame slot 201011 of the first Hooke's hinge and the second frame slot 201021 of the first Hooke's hinge;

[0036] The rotation angle range of the second Hooke's hinge 202 can be adjusted by changing the angle and size of the second Hooke's hinge first frame slot 202011 and the second Hooke's hinge second frame slot 202021.

[0037] Preferably, the angular range of the orthogonal rotational freedom of the first Hooke's joint 201 and the second Hooke's joint 202 is ±5°.

[0038] Preferably, the actuator 204 adopts an inertial piezoelectric drive assembly combined with a high-precision ball screw, with an axial actuation accuracy better than ±2.5 μm and an axial telescopic range of ±5 mm.

[0039] According to a method for using a six-degree-of-freedom adjustment device for a spacecraft on-orbit provided by the present invention, the six-degree-of-freedom adjustment device for a spacecraft on-orbit is used to adjust a reflective surface of a satellite antenna, comprising:

[0040] Step S1: six groups of lower adapter brackets 2 of the six-degree-of-freedom adjustment device are fixedly connected to the satellite structure fixed truss 4, and six groups of upper adapter brackets 1 are fixedly connected to the antenna reflector 5;

[0041] Step S2: The actuator 204 adopts an inertial piezoelectric drive assembly combined with a high-precision ball screw as an actuation form, and the stroke of the actuator 204 is further adjusted by setting a range of mechanical limits;

[0042] Step S3: The six actuating components 2 are decoupled from each other and actuated independently;

[0043] Step S4: When the satellite is in orbit, the control system drives one to six actuators 204 to actuate the specified displacement to achieve precise adjustment of the desired position of the antenna reflector 5; the angle α of the actuator assembly 2 is adjusted by changing the bevel angles of the upper adapter bracket 1 and the lower adapter bracket 3.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. The present invention uses a large-stroke high-precision piezoelectric actuator to adjust the displacement range to the millimeter level and the accuracy to the micrometer level; the adjustment angle range can reach the degree level and the accuracy can reach the arc second level, which has the advantages of large adjustment stroke and high positioning accuracy;

[0046] 2. The present invention releases the rotational freedom through the Hooke joint and the rotary joint, thereby realizing the mutual decoupling between the actuating components of the six-degree-of-freedom adjustment platform, so that each actuating component can complete the adjustment independently or collaboratively, thereby improving the reliability of the system;

[0047] 3. The present invention adopts modular design and standardized design of actuating components. According to the structural characteristics of different adjusted objects (such as satellite-borne reflector antennas, space telescopes and other spacecraft components), adaptive layout can be carried out by simply adapting the interface, and the degree of universality is high. It is suitable for spacecraft components with high requirements for posture maintenance accuracy or pointing adjustment accuracy, and has strong adaptability to different layout scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0049] Figure 1 Schematic diagram of the overall appearance of the six-degree-of-freedom adjustment device of the present invention.

[0050] Figure 2 It is a schematic diagram of the appearance of the actuating assembly of the present invention.

[0051] Figure 3 The figure is a schematic diagram of the appearance of the Hooke's hinge of the present invention.

[0052] Figure 4 It is a schematic diagram of the appearance of the rotary axis joint of the present invention.

[0053] Figure 5 It is a schematic diagram of the implementation state of the six-degree-of-freedom adjustment device of the present invention.

[0054] As shown in the figure:

[0055] DETAILED DESCRIPTION

[0056] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0057] like Figure 1 As shown, an on-orbit six-degree-of-freedom adjustment device for a spacecraft provided by an embodiment of the present invention comprises: an upper adapter bracket 1, an actuating assembly 2, and a lower adapter bracket 3, wherein the upper end of the actuating assembly 2 is connected to the upper adapter bracket 1, and the lower end of the actuating assembly 2 is connected to the lower adapter bracket 3;

[0058] like Figure 2 As shown, the actuating assembly 2 has six members, and the axes of every two actuating assemblies 2 are symmetrically arranged at an angle α to form a group, forming three groups in total; the actuating assembly 2 includes: a first Hooke's hinge 201, a second Hooke's hinge 202, a rotating shaft joint 203, and an actuator 204; the first Hooke's hinge 201 is arranged at the upper end of the actuating assembly 2, the second Hooke's hinge 202 is arranged at the lower end of the actuating assembly 2, and the actuator 204 is connected between the first Hooke's hinge 201 and the second Hooke's hinge 202; the rotating shaft joint 203 is connected to the actuator 204; It is connected to the lower end of the second Hooke's joint 202; further, the six actuating assemblies 2 are decoupled from each other and can be actuated independently, and one to six of the actuators 2 are driven by the control system to actuate the specified displacement, thereby achieving high-precision adjustment of the desired position of the adjusted object; the angle α of the three groups of actuating assemblies 2 can be adjusted by changing the bevel angles of the upper adapter bracket 1 and the lower adapter bracket 3, and the angle α can be different to adapt to the overall local needs and adjustment range requirements of different spacecraft, and has the characteristics of universality.

[0059] Furthermore, if Figure 3 As shown, the first Hooke's hinge 201 includes: a first Hooke's hinge first frame 20101, and a first Hooke's hinge second frame 20102; the second Hooke's hinge 202 includes: a second Hooke's hinge first frame 20201, and a second Hooke's hinge second frame 20202; the first Hooke's hinge first frame 20101 is fastened to the upper end surface of the actuator 204; the second Hooke's hinge first frame 20201 is fastened to the lower end of the actuator 204;

[0060] Furthermore, the rotating shaft joint 203 includes: a first rotating shaft joint frame 20301, a second rotating shaft joint frame 20302; the second rotating shaft joint frame 20302 is fixedly connected to the lower adapter bracket 3; the rotating shaft joint 203 provides rotational freedom around the axis; the first Hooke's hinge second frame 20102 and the second Hooke's hinge second frame 20202 are respectively fastened to the upper adapter bracket 1 and the first rotating shaft joint frame 20301; the first Hooke's hinge 201 and the second Hooke's hinge 202 can respectively provide two orthogonal rotational degrees of freedom.

[0061] Further, the first Hook's hinge first frame 20101 is provided with a first Hook's hinge first frame groove 201011; the first Hook's hinge second frame 20102 is provided with a first Hook's hinge second frame groove 201021; the second Hook's hinge first frame 20201 is provided with a second Hook's hinge first frame groove 202011; the second Hook's hinge second frame 20202 is provided with a second Hook's hinge second frame groove 202021;

[0062] The rotation angle range of the first Hooke's hinge 201 can be adjusted by changing the angle and size of the first frame slot 201011 of the first Hooke's hinge and the second frame slot 201021 of the first Hooke's hinge; the rotation angle range of the second Hooke's hinge 202 can be adjusted by changing the angle and size of the first frame slot 202011 of the second Hooke's hinge and the second frame slot 202021 of the second Hooke's hinge; further, the angle range of the orthogonal rotational freedom of the first Hooke's hinge 201 and the second Hooke's hinge 202 is ±5°;

[0063] Furthermore, the actuator 204 adopts an inertial piezoelectric drive component combined with a high-precision ball screw, with an axial actuation accuracy better than ±2.5μm and an axial telescopic range of ±5mm; the stroke of the actuator 204 can be further adjusted by setting a mechanical limit range.

[0064] In a specific embodiment, the present invention also provides a method for using a six-degree-of-freedom adjustment device for a spacecraft on-orbit, such as Figure 5 As shown, a method for adjusting a satellite antenna reflective surface includes:

[0065] Step S1: six groups of lower adapter brackets 2 of the six-degree-of-freedom adjustment device are fixedly connected to the satellite structure fixed truss 4, and six groups of upper adapter brackets 1 are fixedly connected to the antenna reflector 5;

[0066] Step S2: The actuator 204 adopts an inertial piezoelectric drive assembly combined with a high-precision ball screw. The stroke of the actuator 204 can be further adjusted by setting a mechanical limit range.

[0067] Step S3: The six actuating components 2 are decoupled from each other and can be actuated independently;

[0068] Step S4: When the satellite is in orbit, the control system drives one to six actuators 204 to actuate the specified displacement, thereby achieving high-precision adjustment of the desired position of the antenna reflector 5; the angle α of the actuator assembly 2 can be adjusted by changing the bevel angles of the upper adapter bracket 1 and the lower adapter bracket 3 to adapt to the overall layout requirements and adjustment range requirements of different spacecraft, so that the six-degree-of-freedom adjustment device has the characteristics of universality.

[0069] The present invention provides an on-orbit six-degree-of-freedom adjustment device for a spacecraft and a method for using the device, comprising an upper adapter bracket 1, a lower adapter bracket 3 and six actuating assemblies 2; the axes of every two actuating assemblies 2 are symmetrically arranged in pairs at a certain angle; a single actuating assembly 2 comprises a first Hooke's joint 201 at the upper end, and a second Hooke's joint 202 and a rotating shaft joint 203 at the lower end, which is fixedly connected to an object to be adjusted through the upper adapter bracket 1, and is fixedly connected to a fixed base through the lower adapter bracket 3; through the axial extension and contraction of the actuator located in the middle, high-precision posture adjustment of the six-degree-of-freedom of the object to be adjusted can be achieved; the device is suitable for spacecraft components such as satellite-borne reflector antennas and space telescopes that have high requirements for posture maintenance accuracy or pointing adjustment accuracy; the present invention has the advantage of high precision under a large range of six-degree-of-freedom adjustment, and has a high degree of modularization and generalization, and has strong adaptability to different layout scenarios.

[0070] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0071] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A six-degree-of-freedom adjustment device for a spacecraft on-orbit, characterized in that: include: An upper adapter bracket (1), an actuating assembly (2), and a lower adapter bracket (3); The upper end of the actuating assembly (2) is connected to the upper adapter bracket (1), and the lower end of the actuating assembly (2) is connected to the lower adapter bracket (3).

2. The on-orbit six-degree-of-freedom adjustment device for a spacecraft according to claim 1, characterized in that: There are six actuating assemblies (2) in total, and the axes of every two actuating assemblies (2) are symmetrically arranged at an angle α to form a group, forming three groups in total.

3. The on-orbit six-degree-of-freedom adjustment device for a spacecraft according to claim 1, characterized in that: The actuating assembly (2) comprises: a first Hooke's joint (201), a second Hooke's joint (202), a rotating shaft joint (203), and an actuator (204); The first Hooke's hinge (201) is arranged at the upper end of the actuating assembly (2); The second Hooke's hinge (202) is arranged at the lower end of the actuating assembly (2); An actuator (204) is connected between the first Hooke's joint (201) and the second Hooke's joint (202); The rotating shaft joint (203) is connected to the lower end of the second Hooke's joint (202).

4. The on-orbit six-degree-of-freedom adjustment device for a spacecraft according to claim 2, characterized in that: The six actuating components (2) are decoupled from each other; One to six actuators (2) are driven by a control system to actuate a specified displacement, thereby achieving adjustment of a desired posture of the object to be adjusted; the angle α of the three groups of actuation components (2) is adjusted by changing the oblique angles of the upper adapter bracket (1) and the lower adapter bracket (3), and the angle α may be the same or different.

5. The on-orbit six-degree-of-freedom adjustment device for a spacecraft according to claim 3, characterized in that: The first Hooke's joint (201) comprises: a first Hooke's joint first frame (20101) and a first Hooke's joint second frame (20102); The second Hooke's joint (202) comprises: a second Hooke's joint first frame (20201) and a second Hooke's joint second frame (20202); The first frame (20101) of the first Hooke's hinge is tightly connected to the upper end surface of the actuator (204); The first frame (20201) of the second Hooke's joint is tightly connected to the lower end of the actuator (204).

6. The on-orbit six-degree-of-freedom adjustment device for a spacecraft according to claim 3, characterized in that: The rotating shaft joint (203) comprises: a rotating shaft joint first frame (20301) and a rotating shaft joint second frame (20302); The second frame (20302) of the rotating shaft joint is fixedly connected to the lower adapter bracket (3); The rotary axis joint (203) provides a rotational degree of freedom around the axis; The first Hooke's joint second frame (20102) and the second Hooke's joint second frame (20202) are respectively fastened to the upper adapter bracket (1) and the rotating shaft joint first frame (20301).

7. The on-orbit six-degree-of-freedom adjustment device for a spacecraft according to claim 5, characterized in that: The first Hooke's hinge first frame (20101) is provided with a first Hooke's hinge first frame cutting groove (201011); The first Hooke's hinge second frame (20102) is provided with a first Hooke's hinge second frame cutting groove (201021); The second Hooke's hinge first frame (20201) is provided with a second Hooke's hinge first frame cutting groove (202011); The second Hooke's hinge second frame (20202) is provided with a second Hooke's hinge second frame cutting groove (202021); The rotation angle range of the first Hooke's hinge (201) is adjusted by changing the angle and size of the first frame slot (201011) of the first Hooke's hinge and the second frame slot (201021) of the first Hooke's hinge; The rotation angle range of the second Hooke's hinge (202) can be adjusted by changing the angle and size of the first frame slot (202011) of the second Hooke's hinge and the second frame slot (202021) of the second Hooke's hinge.

8. The on-orbit six-degree-of-freedom adjustment device for a spacecraft according to claim 7, characterized in that: The angle range of the orthogonal rotational freedom of the first Hooke's joint (201) and the second Hooke's joint (202) is ±5°.

9. The on-orbit six-degree-of-freedom adjustment device for a spacecraft according to claim 3, characterized in that: The actuator (204) adopts an actuation mode of an inertial piezoelectric drive component combined with a high-precision ball screw, with an axial actuation accuracy better than ±2.5 μm and an axial telescopic range of ±5 mm.

10. A method for using a six-degree-of-freedom adjustment device for a spacecraft on-orbit, characterized in that: The on-orbit six-degree-of-freedom adjustment device for a spacecraft according to any one of claims 1 to 9 is used to adjust the reflective surface of a satellite antenna, comprising: Step S1: six groups of lower adapter brackets 2 of the six-degree-of-freedom adjustment device are fixedly connected to the satellite structure fixed truss (4), and six groups of upper adapter brackets (1) are fixedly connected to the antenna reflection surface (5); Step S2: the actuator (204) adopts an inertial piezoelectric drive assembly combined with a high-precision ball screw as an actuation mode, and the stroke of the actuator (204) is further adjusted by setting a range of mechanical limits; Step S3: The six actuating components (2) are decoupled from each other and actuated independently; Step S4: When the satellite is in orbit, the control system drives one to six actuators (204) to actuate a specified displacement, thereby achieving precision adjustment of the desired position of the antenna reflection surface (5); the angle α of the actuator assembly (2) is adjusted by changing the oblique angles of the upper adapter bracket (1) and the lower adapter bracket (3).

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