Spacecraft centroid unloading and attitude adaptation device and method

Abstract

The invention relates to the technical field of spacecraft low-gravity environment simulation tests, in particular to a spacecraft mass center unloading and attitude adaptation device and method.The device comprises a cross beam, a first vertical rod, a second vertical rod, a first Z-direction adjusting column, a second Z-direction adjusting column, a first X-direction adjusting base, a second X-direction adjusting base and an adapter base; the cross beam is used for being detachably connected with a low-gravity system sling; the upper end of the first vertical rod is rotationally connected with one end of the beam through a first rotating shaft; the upper end of the second vertical rod is rotationally connected with the other end of the cross beam through a second rotating shaft, one side of the adapter seat is detachably connected with the first X-direction adjusting seat, and the other side of the adapter seat is detachably connected with the second X-direction adjusting seat; the cross beam, the first vertical rod, the second vertical rod and the adapter form a parallelogram-like structure, and the change of the mass center position of the spacecraft is adapted through X, Y and Z three-direction adjustment, so that the requirements that the spacecraft is laterally inclined by + / -60 degrees and pitching by + / -180 degrees relative to the horizontal position are met, and the attitude change of the spacecraft is adapted while the mass center of the spacecraft is unloaded.

Description

Technical Field

[0001] The present application relates to the technical field of low-gravity environment simulation for spacecraft, and in particular to a device and method for center-of-mass unloading and attitude adaptation for spacecraft. Background Art

[0002] The existing unloading devices in the aerospace field that meet the requirements of unloading in motion are mainly aimed at component-level mass unloading with simple structures, single motion trajectories, and no attitude changes, such as solar wings and antennas, and can only adapt to structures with small changes between the measured center of mass and the theoretical center of mass of the product. However, in the increasingly frequent deep space exploration missions in recent years, some spacecraft need to enter a motion state in a low-gravity environment to complete complex operations such as deployment, walking, and sampling. In order to improve the reliability of such spacecraft in low-gravity environments, system-level tests simulating low-gravity environments are one of the essential environmental tests.

[0003] However, the traditional unloading device in motion does not meet the requirements of accurate unloading of the center of mass of deep space probes and adapting to the changes in the spacecraft's attitude. In the simulated low-gravity test system, as the spacecraft's attitude changes, the low-gravity system sling cannot guarantee accurate unloading of the spacecraft's center of mass while adapting to the spacecraft's attitude. Summary of the invention

[0004] The present application provides a spacecraft center of mass unloading and attitude adaptation device to solve the problem that the unloading device in the prior art cannot meet the requirements of accurate center of mass unloading of deep space probes and adapt to changes in spacecraft attitude.

[0005] On the one hand, the present application provides a spacecraft center of mass unloading and attitude adaptation device, comprising: A crossbeam for detachable connection with the low gravity system sling; A first vertical rod, the upper end of which is rotatably connected to one end of the horizontal beam via a first rotating shaft; A second vertical rod is parallel to the first vertical rod, and an upper end of the second vertical rod is rotatably connected to the other end of the crossbeam via a second rotating shaft, and the first rotating shaft is parallel to the second rotating shaft; A first Z-axis adjustment column, the upper end of which is connected to the first vertical rod via a ball joint structure; A second Z-axis adjustment column, the upper end of which is connected to the second vertical rod via a ball joint structure; A first X-direction adjustment seat is detachably connected to the lower end of the first Z-direction adjustment column; A second X-direction adjustment seat is detachably connected to the lower end of the second Z-direction adjustment column; A transfer seat, one side of which is detachably connected to the first X-direction adjustment seat, and the other side of which is detachably connected to the second X-direction adjustment seat.

[0006] In a possible design, a Y-axis adjustment hole is provided on the crossbeam, and the device also includes a Y-axis adjustment block and a hanging shaft arranged on the Y-axis adjustment block. The Y-axis adjustment block is installed at the Y-axis adjustment hole, and the Y-axis adjustment block is rotatably connected to the low-gravity system sling through the hanging shaft.

[0007] In a possible design, X-direction adjustment holes are respectively arranged on two opposite sides of the adapter, and the first X-direction adjustment seat and the second X-direction adjustment seat are respectively installed at the X-direction adjustment holes on the corresponding sides.

[0008] In a possible design, the first X-direction adjustment seat and the second X-direction adjustment seat respectively include side plates and a top plate, the side plates are connected to the adapter seat, and the top plate is threadedly connected to the first Z-direction adjustment column and the second Z-direction adjustment column.

[0009] In a possible design, a rectangular hole penetrating along the Z direction is opened on the top plate, screw holes along the X direction are opened at opposite ends of the rectangular hole, and a fine adjustment component is installed at the rectangular hole, and the fine adjustment component includes: The guide block is arranged in the rectangular hole, the outer wall of which is in clearance with the inner wall of the rectangular hole, and has an upper stop edge. The guide block is provided with a threaded hole that passes through along the Z direction, and the inner wall of the threaded hole is threadedly matched with the first Z-direction adjustment column / the second Z-direction adjustment column; A first screw rod is inserted into one of the screw holes, and a distal end thereof abuts against a side wall of the guide block; The second screw rod is inserted into the other screw hole, and the end thereof abuts against the side wall of the guide block.

[0010] In a possible design, the fine adjustment assembly also includes a locking nut and a locking screw. The locking nut is provided with a radial opening near one end, and the locking nut is provided with axial screw holes at the opening. The locking screw is locked by being screwed into the screw hole.

[0011] In one possible design, the ball joint structure includes: The ball seats are respectively arranged at the lower ends of the first vertical rod and the second vertical rod, and have a concave spherical surface; The ball heads are respectively arranged on the upper ends of the first Z-direction adjustment column and the second Z-direction adjustment column, and cooperate with the inner concave spherical surface of the ball seat to form a revolute pair.

[0012] In a possible design, the first vertical rod and the second vertical rod respectively include: An upper rod section, wherein the lower end of the upper rod section is provided with an end plate; A lower rod section, the upper section of which is a hollow section, and the end plate and the inner top wall of the hollow section abut against each other; The pressure sensor is arranged between the end plate and the inner top wall of the lower rod section, and is used to measure the pressure between the end plate and the inner top wall of the lower rod section.

[0013] In a possible design, scales are respectively provided on the crossbeam, the adapter, the first Z-direction adjustment column, and the second Z-direction adjustment column.

[0014] On the other hand, the present application also provides a method for spacecraft mass center unloading and attitude adaptation, using the spacecraft mass center unloading and attitude adaptation device as described above, the method comprising: According to the coordinates of the center of mass at the initial attitude of the spacecraft and the coordinates of the center of mass at the target attitude of the spacecraft, the relative displacements of the center of mass in the X direction, the Y direction, and the Z direction during the process of the spacecraft changing from the initial attitude to the target attitude are obtained; According to the relative displacement of the center of mass in the X direction, the relative positions of the first X-direction adjustment seat, the second X-direction adjustment seat and the adapter seat are adjusted; According to the relative displacement of the center of mass in the Y direction, the position of the connection between the beam and the low-gravity system sling is adjusted; According to the relative displacement of the center of mass in the Z direction, the relative position of the first Z-direction adjustment column and the first X-direction adjustment seat, and the relative position of the second Z-direction adjustment column and the second X-direction adjustment seat are adjusted.

[0015] The beneficial effects of this application are as follows: The spacecraft center of mass unloading and attitude adaptation device of the present application enables the crossbeam, the first vertical rod, the second vertical rod and the adapter to form a parallelogram-like structure, and can be adjusted in three directions of X, Y and Z at the same time, which can meet the position adjustment of the center of mass of the spacecraft relative to the suspension point of the sling, and ensure that the center of mass can be accurately unloaded. In the face of spacecraft whose center of mass position changes within a certain range at different stages, the change of the center of mass position can be adapted through the three-direction adjustment of X, Y and Z. In this way, the spacecraft can be tilted within ±60° relative to the horizontal position, and can be pitched within ±180°, so that the center of mass can change within a range of 20cm in each of the three directions, and the accuracy can meet ±1mm, so as to adapt to the attitude change of the spacecraft while the center of mass is unloaded, and cope with the weight unloading scene of the spacecraft with variable motion attitude. The spacecraft mass center unloading and attitude adaptation method provided in this application is based on the relative displacement of the mass center in the X, Y and Z directions during the process of the spacecraft changing from the initial attitude to the target attitude, and adjusts the first X-direction adjustment seat, the second X-direction adjustment seat, the crossbeam, the first Z-direction adjustment column and the second Z-direction adjustment column to achieve accurate adjustment of the mass center position at different stages. This not only improves the accuracy of the test results, but also ensures the stability and reliability of the spacecraft model in a low-gravity environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 A front view of the spacecraft center of mass unloading and attitude adaptation device provided in an embodiment of the present application; Figure 2 A side view of a spacecraft center of mass unloading and attitude adaptation device provided in an embodiment of the present application; Figure 3 A top view of the spacecraft center of mass unloading and attitude adaptation device provided in an embodiment of the present application; Figure 4 A schematic diagram of the structure of a fine adjustment component of a spacecraft center of mass unloading and attitude adaptation device provided in an embodiment of the present application; Figure 5 A schematic diagram of the structure of a first vertical rod and a second vertical rod of the spacecraft center of mass unloading and attitude adaptation device provided in an embodiment of the present application; Figure 6 A schematic diagram of the spacecraft center of mass unloading and attitude adaptation device provided in an embodiment of the present application in the initial attitude of the spacecraft; Figure 7 A schematic diagram of the spacecraft center of mass unloading and attitude adaptation device provided in an embodiment of the present application in a front view of the spacecraft in a roll attitude; Figure 8 A simplified side view of the spacecraft center of mass unloading and attitude adaptation device provided in an embodiment of the present application in the initial attitude of the spacecraft; Fig. 9 A simplified side view of the spacecraft center of mass unloading and attitude adaptation device provided in an embodiment of the present application in a spacecraft roll attitude.

[0018] Reference numerals: 100, crossbeam; 110, Y-axis adjustment hole; 200, Y-axis adjustment block; 210, hanging shaft; 310, first vertical rod; 311, upper rod section; 3111, end plate; 312, lower rod section; 313, first rotating shaft; 320, second vertical rod; 321, second rotating shaft; 410, first Z-axis adjustment column; 420, second Z-axis adjustment column; 510, first X-axis adjustment seat; 511, side plate; 512, top plate; 5121, rectangular hole; 520, second X-axis adjustment seat; 600, fine adjustment component; 610, guide block; 620, first screw; 630, second screw; 640, locking nut; 641, screw hole; 700, adapter seat; 710, X-axis adjustment hole; 800, ball joint structure; 810, ball seat; 820, ball head; 900, pressure sensor. DETAILED DESCRIPTION

[0019] The technical solution of the present application will be described clearly and completely below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0020] Combine the following Figure 1-Figure 9 , describing the spacecraft center of mass unloading and attitude adaptation device provided in an embodiment of the present application.

[0021] Reference Figure 1-3 As shown, the spacecraft center of mass unloading and attitude adaptation device provided in the embodiment of the present application includes a cross beam 100, a first vertical rod 310, a second vertical rod 320, a first Z-direction adjustment column 410, a second Z-direction adjustment column 420, a first X-direction adjustment seat 510, a second X-direction adjustment seat 520 and an adapter seat 700.

[0022] The crossbeam 100 is provided with a Y-axis adjustment hole 110, which is at least one strip hole. A Y-axis adjustment block 200 is installed on the crossbeam 100, which is provided with at least two round holes. The round holes of the Y-axis adjustment block 200 are aligned with the strip holes on the crossbeam 100 and adjusted to a suitable position, and then fixed by bolts. The Y-axis adjustment block 200 is provided with a suspension shaft 210, which is connected to the low-gravity system sling. The Y-axis adjustment block 200 is rotatably connected to the low-gravity system sling through the suspension shaft 210. When the forces at both ends of the crossbeam 100 are unequal, the suspension shaft 210 and the low-gravity system sling rotate relative to each other, causing the crossbeam 100 to tilt.

[0023] The upper end of the first vertical rod 310 is rotatably connected to the left end of the beam 100 via the first rotating shaft 313. The second vertical rod 320 is parallel to the first vertical rod 310, and the upper end is rotatably connected to the right end of the beam 100 via the second rotating shaft 321. The first rotating shaft 313 is parallel to the second rotating shaft 321, and both are arranged along the X direction. When the beam 100 tilts, the first rotating shaft 313 and the second rotating shaft 321 can ensure that the first vertical rod 310 and the second vertical rod 320 are always arranged vertically.

[0024] The first X-axis adjustment seat 510 and the second X-axis adjustment seat 520 have the same structure and are symmetrically arranged, and respectively include a side plate 511 and a top plate 512. A circular hole is provided on the side plate 511, and the side plate 511 is bolted to the adapter seat 700. Specifically, the side plates on both sides of the adapter seat 700 are respectively provided with X-axis adjustment holes 710, and the X-axis adjustment hole 710 is at least one strip hole, and at least two circular holes are provided on the side plate 511. After the circular holes on the side plate 511 are aligned with the strip holes on the adapter seat 700 and adjusted to a suitable position, they are fixed by bolts.

[0025] Reference Figure 4 As shown, the top plate 512 is threadedly connected with the first Z-direction adjustment column 410 and the second Z-direction adjustment column 420. Specifically, a rectangular hole 5121 is provided on the top plate 512, which is through in the Z direction. Screw holes are provided at opposite ends of the rectangular hole 5121 along the X direction. A fine adjustment assembly 600 is installed at the rectangular hole 5121. The fine adjustment assembly 600 includes a guide block 610, a first screw rod 620 and a second screw rod 630. The guide block 610 is arranged in the rectangular hole 5121. The guide block 610 is square. The opposite side walls of the guide block 610 are clearance-matched with the inner wall of the rectangular hole 5121, which plays a role of circumferential limit. The upper end of the guide block 610 has an upper stop edge, which is located at the upper end of the rectangular hole 5121, and the guide block 610 is clamped in the rectangular hole 5121. A threaded hole is provided in the center of the guide block 610 and penetrates along the Z direction. The inner wall of the threaded hole is respectively threadedly matched with the outer wall of the corresponding first Z-direction adjustment column 410 and the second Z-direction adjustment column 420. By rotating the first Z-direction adjustment column 410 and the second Z-direction adjustment column 420, the effective length of the first Z-direction adjustment column 410 and the second Z-direction adjustment column 420 in the Z direction can be adjusted.

[0026] The first screw rod 620 is inserted into one of the screw holes, and the end of the first screw rod 620 abuts against the side wall of the guide block 610; the second screw rod 630 is inserted into the other screw hole, and the end of the second screw rod 630 abuts against the side wall of the guide block 610. By screwing the first screw rod 620 and the second screw rod 630, the position of the guide block 610 in the rectangular hole 5121 can be adjusted along the length direction of the rectangular hole 5121, that is, the position of the first Z-direction adjustment column 410 and the second Z-direction adjustment column 420 can be adjusted along the X direction.

[0027] In some specific embodiments, the fine adjustment assembly 600 also includes a locking nut 640 and a locking screw. Specifically, two locking nuts 640 are respectively provided on the first Z-axis adjustment column 410 and the second Z-axis adjustment column 420, one of the locking nuts 640 is located on the upper end surface of the guide block 610, and the other locking nut 640 is located on the lower end surface of the guide block 610. A radial opening is provided near one end of the locking nut 640. Specifically, the opening is provided at the end of the locking nut 640 away from the guide block 610, so that a thinner annular block is formed on one side of the opening, and a screw hole 641 along the Z direction is provided on the annular block, and a corresponding screw hole 641 along the Z direction is also provided on the locking nut 640 on the other side of the opening. By screwing the locking screw into the two coaxial screw holes 641, the internal thread on the inner side of the annular block can be axially pressed against the external thread of the first Z-direction adjustment column 410 and the second Z-direction adjustment column 420 to achieve locking, thereby preventing the first Z-direction adjustment column 410 and the second Z-direction adjustment column 420 from rotating accidentally.

[0028] The upper end of the first Z-axis adjustment column 410 is connected to the first vertical rod 310 through a ball joint structure 800, and the upper end of the second Z-axis adjustment column 420 is connected to the second vertical rod 320 through a ball joint structure 800. Specifically, the ball joint structure 800 includes a ball seat 810 and a ball head 820. The ball seat 810 is respectively arranged at the lower end of the first vertical rod 310 and the second vertical rod 320, and has a concave spherical surface. The ball head 820 is respectively arranged at the upper end of the first Z-axis adjustment column 410 and the second Z-axis adjustment column 420, and cooperates with the concave spherical surface of the ball seat 810 to form a revolute pair. In this way, when the crossbeam 100 is tilted, the ball seat 810 and the ball head 820 rotate relative to each other, thereby driving the adapter 700 to tilt synchronously to adapt to the attitude adjustment of the spacecraft.

[0029] Specifically, scales are respectively provided on the crossbeam 100 , the adapter 700 , the first Z-direction adjustment column 410 , and the second Z-direction adjustment column 420 , and the moving distance is measured by the scales during adjustment.

[0030] The theoretical value of the center of mass of the spacecraft is obtained through calculation. According to the theoretical coordinates of the center of mass of the spacecraft, the coordinates of the center of mass of the spacecraft under different postures are calculated, and then the relative displacement of the center of mass in the X, Y and Z directions during the process of the spacecraft changing from the initial posture to the target posture is calculated.

[0031] Based on the relative displacement of the center of mass in the X, Y, and Z directions, when the spacecraft is conducting a low-gravity test in a target attitude, the relative position of the crossbeam 100 and the Y-adjustment block 200 is adjusted to adapt to the continuous change of the center of mass of the spacecraft in the range of ±200mm in the Y direction. By screwing the first Z-adjustment column 410 and the second Z-adjustment column 420, the center of mass of the spacecraft is adapted to the continuous change of ±100mm in the Z direction. By adjusting the first X-adjustment seat 510 and the second X-adjustment seat 520, the center of mass of the spacecraft is adapted to the continuous change of ±200mm in the X direction. In this way, by adjusting in the X, Y, and Z directions to adapt to the spacecraft with the change of the center of mass position at different stages, the center of mass of the spacecraft is accurately unloaded, and on the basis of accurate unloading, the attitude changes of the spacecraft attitude inclination of ±60° and pitch of ±180° in the test can also be met.

[0032] Reference Figure 5 As shown, in some specific embodiments, the first vertical rod 310 and the second vertical rod 320 have the same structure, respectively including an upper rod section 311, a lower rod section 312 and a pressure sensor 900, the lower end of the upper rod section 311 has an end plate 3111, the upper section of the lower rod section 312 is a hollow section, the end plate 3111 and the inner top wall of the hollow section abut against each other, the pressure sensor 900 is arranged between the end plate 3111 and the inner top wall of the lower rod section 312, and is used to measure the pressure between the end plate 3111 and the inner top wall of the lower rod section 312. Since the upper rod section 311 and the lower rod section 312 are always in a tensioned state during the test, the pressure between the end plate 3111 and the inner top wall of the lower rod section 312 measured by the pressure sensor 900 is the tension of the first vertical rod 310 and the second vertical rod 320.

[0033] The theoretical value of the center of mass of the spacecraft has a certain error. After the device of the present application is adjusted in the X direction, Y direction, and Z direction respectively based on the theoretical value of the center of mass, there may still be a situation where the center of mass and the unloading device are offset, resulting in a deviation between the actual attitude of the spacecraft and the target attitude. By setting a pressure sensor 900 between the end plate 3111 and the inner top wall of the lower rod section 312, the actual tension of the first vertical rod 310 and the second vertical rod 320 can be measured respectively; then based on the gravity of the spacecraft and the inclination angle of the crossbeam 100 under the target attitude, the theoretical tension of the first vertical rod 310 and the second vertical rod 320 under the target attitude is calculated, and the actual tension is compared with the theoretical tension, so as to calibrate the scales on the crossbeam 100, the adapter 700, the first Z-direction adjustment column 410, and the second Z-direction adjustment column 420, so as to ensure that the spacecraft center of mass unloading and attitude adaptation device of the present application can accurately unload the center of mass of the spacecraft.

[0034] Reference Figure 6-9As shown, the embodiment of the present application also provides a method for spacecraft mass center unloading and attitude adaptation, using the spacecraft mass center unloading and attitude adaptation device in the above embodiment, the method includes: According to the coordinates of the center of mass at the initial attitude of the spacecraft and the coordinates of the center of mass at the target attitude of the spacecraft, the relative displacements of the center of mass in the X, Y, and Z directions during the process of the spacecraft changing from the initial attitude to the target attitude are obtained; for example, the initial attitude is the attitude where the spacecraft does not roll or pitch ( Figure 6 , Figure 8 The target attitude is that the spacecraft is tilted 30° to the left and tilted 30° forward (as shown in Figure 7 , Fig. 9 as shown).

[0035] According to the relative displacement of the center of mass in the X direction, the relative positions of the first X-direction adjustment seat 510, the second X-direction adjustment seat 520 and the adapter seat 700 are adjusted; According to the relative displacement of the center of mass in the Y direction, the position where the cross beam 100 is connected to the sling of the low gravity system is adjusted; According to the relative displacement of the center of mass in the Z direction, the relative position of the first Z-direction adjustment column 410 and the first X-direction adjustment seat 510 and the relative position of the second Z-direction adjustment column 420 and the second X-direction adjustment seat 520 are adjusted.

[0036] After the adjustment is completed, the spacecraft is connected to the interface of the adapter 700. Under the hoisting of the low-gravity system, the spacecraft presents a target posture of 30° to the left and 30° forward. In addition, the axis of the suspension shaft 210 of the Y-axis adjustment block 200 is the suspension point, and the center of mass of the spacecraft coincides with the Z-axis extension line passing through the suspension point and the connecting line between the center of the first Z-axis adjustment column 410 and the center of the second Z-axis adjustment column 420. In this way, while achieving precise unloading of the center of mass of the spacecraft, it can adapt to the changes in the attitude of the spacecraft and can be applied to various spacecraft weight unloading scenarios with variable motion attitudes.

[0037] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships 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.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0039] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0041] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A spacecraft mass center unloading and attitude adaptation device, characterized in that: include: A crossbeam for detachable connection with the low gravity system sling; A first vertical rod, the upper end of which is rotatably connected to one end of the crossbeam via a first rotating shaft; A second vertical rod, parallel to the first vertical rod, an upper end of which is rotatably connected to the other end of the crossbeam via a second rotating shaft, and the first rotating shaft is parallel to the second rotating shaft; A first Z-axis adjustment column, the upper end of which is connected to the lower end of the first vertical rod through a ball joint structure; A second Z-axis adjustment column, the upper end of which is connected to the lower end of the second vertical rod through a ball joint structure; a first X-direction adjustment seat, detachably connected to the first Z-direction adjustment column; a second X-direction adjustment seat, detachably connected to the second Z-direction adjustment column; A transfer seat, one side of which is detachably connected to the first X-direction adjustment seat, and the other side of which is detachably connected to the second X-direction adjustment seat.

2. The spacecraft mass center unloading and attitude adaptation device according to claim 1, characterized in that: The crossbeam is provided with a Y-direction adjustment hole, and the device further comprises a Y-direction adjustment block and a suspension shaft arranged on the Y-direction adjustment block, the Y-direction adjustment block is installed at the Y-direction adjustment hole, and the Y-direction adjustment block is rotationally connected to the low-gravity system suspension cable through the suspension shaft.

3. The spacecraft mass center unloading and attitude adaptation device according to claim 1, characterized in that: X-direction adjustment holes are respectively arranged on opposite sides of the adapter, and the first X-direction adjustment seat and the second X-direction adjustment seat are respectively installed at the X-direction adjustment holes on the corresponding sides.

4. The spacecraft mass center unloading and attitude adaptation device according to claim 3, characterized in that: The first X-direction adjustment seat and the second X-direction adjustment seat respectively include side plates and a top plate, the side plates are connected to the adapter seat, and the top plate is threadedly connected to the first Z-direction adjustment column and the second Z-direction adjustment column.

5. The spacecraft mass center unloading and attitude adaptation device according to claim 4, characterized in that: The top plate is provided with a rectangular hole extending through along the Z direction, and screw holes along the X direction are provided at opposite ends of the rectangular hole. A fine adjustment component is installed at the rectangular hole, and the fine adjustment component includes: A guide block is arranged in the rectangular hole, the outer wall of which is in clearance with the inner wall of the rectangular hole, and has an upper stop edge. A threaded hole penetrating along the Z direction is opened on the guide block, and the inner wall of the threaded hole is in threaded cooperation with the first Z-direction adjustment column / the second Z-direction adjustment column; A first screw rod is inserted into one of the screw holes, and a distal end thereof abuts against a side wall of the guide block; The second screw rod is inserted into the other screw hole, and the end thereof abuts against the side wall of the guide block.

6. The spacecraft mass center unloading and attitude adaptation device according to claim 5, characterized in that: The fine adjustment assembly also includes a locking nut and a locking screw. The locking nut is provided with a radial opening near one end, and the locking nut is provided with axial screw holes at the positions of the opening. The locking screw is locked by being screwed into the screw holes.

7. The spacecraft mass center unloading and attitude adaptation device according to any one of claims 1 to 6, characterized in that: The ball joint structure comprises: A ball seat, which is respectively arranged at the lower end of the first vertical rod and the second vertical rod, and has a concave spherical surface; The ball heads are respectively arranged at the upper ends of the first Z-direction adjustment column and the second Z-direction adjustment column, and cooperate with the concave spherical surface of the ball seat to form a revolute pair.

8. The spacecraft mass center unloading and attitude adaptation device according to any one of claims 1 to 6, characterized in that: The first vertical rod and the second vertical rod respectively include: An upper rod section, wherein the lower end of the upper rod section has an end plate; A lower rod section, wherein the upper section of the lower rod section is a hollow section, and the end plate and the inner top wall of the hollow section abut against each other; The pressure sensor is arranged between the end plate and the inner top wall of the lower rod section, and is used to measure the pressure between the end plate and the inner top wall of the lower rod section.

9. The spacecraft mass center unloading and attitude adaptation device according to any one of claims 1 to 6, characterized in that: The crossbeam, the adapter, the first Z-direction adjustment column, and the second Z-direction adjustment column are respectively provided with scales.

10. A method for spacecraft mass center unloading and attitude adaptation, characterized in that: Using the spacecraft center of mass unloading and attitude adaptation device according to any one of claims 1 to 9, the method comprises: According to the coordinates of the center of mass at the initial attitude of the spacecraft and the coordinates of the center of mass at the target attitude of the spacecraft, the relative displacements of the center of mass in the X direction, the Y direction, and the Z direction during the process of the spacecraft changing from the initial attitude to the target attitude are obtained; According to the relative displacement of the center of mass in the X direction, the relative positions of the first X-direction adjustment seat, the second X-direction adjustment seat and the adapter seat are adjusted; According to the relative displacement of the center of mass in the Y direction, the position of the connection between the beam and the low-gravity system sling is adjusted; According to the relative displacement of the center of mass in the Z direction, the relative position of the first Z-direction adjustment column and the first X-direction adjustment seat, and the relative position of the second Z-direction adjustment column and the second X-direction adjustment seat are adjusted.

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