High-rigidity space posture adjusting platform

Abstract

This invention discloses a high-rigidity spatial attitude adjustment platform, belonging to the field of spatial attitude adjustment technology. Its purpose is to solve the problems of poor rigidity, low accuracy, coordinate incompatibility, and insufficient safety in existing attitude adjustment platforms. The invention includes: a platform base comprising an upper base and a lower base disposed opposite to each other; the upper base includes a platform surface and an inner ring fixing plate of an upper turntable rotatably connected to the platform surface via an upper turntable bearing; the lower base includes a base assembly and an inner gear ring fixing plate of a lower turntable rotatably connected to the base assembly via a lower turntable bearing; a universal anti-rotation device connecting the centers of the upper and lower bases; the universal anti-rotation device locking the azimuth angle of the base assembly of the upper base relative to the lower base; a pitch adjustment device disposed between the upper and lower bases, driving the upper base to pitch relative to the lower base; and a yaw adjustment device, adjusting the yaw motion of the pitch adjustment device.

Description

Technical Field

[0001] This invention belongs to the field of spatial attitude adjustment technology, and specifically relates to a high-rigidity spatial attitude adjustment platform. Background Technology

[0002] Before landing, sampling, and roving missions, deep space probes must undergo extensive ground-based tests, including attitude simulation, mechanical loading, and motion characteristic verification, to ensure their reliability and safety in the complex space environment. The attitude adjustment platform is the core equipment for these ground tests, used to simulate pitch, yaw, roll, and other attitude changes of the probe in space, providing a precise and controllable attitude reference for the tests.

[0003] Currently, attitude adjustment mechanisms used for ground testing of probes in the aerospace field are mainly divided into two categories: one is a six-degree-of-freedom parallel attitude adjustment platform based on the Stewart structure, and the other is a serial pitch-yaw two-degree-of-freedom attitude adjustment mechanism.

[0004] Existing parallel attitude adjustment platforms typically consist of a moving platform, a fixed platform, and six sets of retractable branches. The six sets of servo electric cylinders or hydraulic cylinders coordinate the retractable motion of the moving platform to achieve spatial six-degree-of-freedom attitude adjustment. This type of platform is widely used in industrial automation, aerospace simulation, and other fields. However, when applied to large-scale heavy-load testing of deep space probes, it has significant shortcomings: (1) The overall stiffness is low, and it is prone to elastic deformation under heavy load and large off-center load conditions, resulting in a decrease in attitude accuracy and failing to meet the requirements for maintaining high stiffness; (2) The motion calculation is complex, relying on coordinate transformation algorithms, which are not directly compatible with the Roll-Pitch-Yaw body coordinate system commonly used by spacecraft, easily introducing coordinate transformation errors and increasing the complexity of the control system; (3) The structural redundancy is high. In test scenarios where only two degrees of freedom attitude simulation is required, the equipment cost is high, the control difficulty is high, and the maintenance is complex.

[0005] Existing series two-degree-of-freedom attitude adjustment mechanisms mostly use slewing bearings in conjunction with direct motor drive or reducer drive to achieve pitch and yaw motion, which is relatively simple in structure and intuitive in control. However, in actual engineering applications, the following technical defects still exist: (1) Insufficient stiffness and load-bearing capacity, which easily leads to swaying, backlash and positioning drift under large loads and large torques; (2) Lack of reliable failure protection mechanism, which can easily cause the platform to overturn when key load-bearing components such as drive screws and hinge shafts break or fail, posing a safety hazard to the test; (3) Weak locking ability after attitude adjustment, relying only on motor brakes or simple friction braking, which is insufficient in static torsional stiffness and cannot meet the requirements of high-precision long-term position holding test; (4) Lack of dedicated azimuth anti-rotation structure, which makes the platform prone to additional deflection during attitude adjustment, making it difficult to maintain the stability of the reference azimuth and affecting the test accuracy and data consistency.

[0006] In summary, existing attitude adjustment platforms cannot simultaneously meet the comprehensive requirements of high rigidity, high precision, high safety, coordinate system compatibility, and long-term position maintenance for deep space probe ground tests, thus restricting the accuracy and reliability of aerospace ground tests. Summary of the Invention

[0007] The purpose of this invention is to propose a high-rigidity spatial attitude adjustment platform to solve the problems of poor rigidity, low accuracy, coordinate incompatibility, and insufficient safety of existing attitude adjustment platforms.

[0008] To achieve the above objectives, the present invention provides a high-rigidity spatial attitude adjustment platform comprising: The platform base includes an upper base and a lower base arranged opposite to each other. The upper base includes a platform surface and an upper turntable inner ring fixing plate rotatably connected to the platform surface via an upper turntable bearing. The lower base includes a base assembly and a lower turntable outer gear ring fixing plate 606 rotatably connected to the lower turntable outer gear ring rotatably connected to the lower turntable bearing and the base assembly. A universal anti-rotation device connecting the centers of the upper and lower bases; the universal anti-rotation device locks the azimuth angle of the base assembly of the upper base relative to the lower base; A pitch adjustment device is installed between the upper and lower bases, which drives the upper base to pitch relative to the lower base. And a yaw attitude adjustment device, through which the pitch attitude adjustment device adjusts the yaw motion.

[0009] The adjustment platform also includes a follow-up protection device, which includes: A follower hinge support installed at the bottom of the inner ring fixing plate of the upper turntable; Follower boom: One end of a pair of follower booms is connected to a follower hinge support via a hinge shaft; The gear shaft is connected to the other end of the follower arm via a bearing. One end of the gear shaft is connected to the bearing housing, and the other end is connected to the slide block via a first brake. A rack is fixed on the outer gear ring fixing plate of the lower turntable of the lower base, and the rack meshes with the gear shaft; In addition, there are two sets of linear slide rail pairs fixed on the top of the outer gear ring fixing plate of the lower turntable. The slider of one set of linear slide rail pairs is connected to the bearing seat, and the slider of the other set of linear slide rail pairs is connected to the slide block.

[0010] The pitch adjustment device includes: Two lower turntable supports are symmetrically mounted on the fixing plate of the outer gear ring of the lower turntable; Two upper turntable supports are connected to the inner ring fixing plate of the upper turntable, and the two upper turntable supports are respectively hinged to the two lower turntable supports; The pitch lower support arm is fixed to the outer gear ring fixing plate of the lower turntable; The pitch upper support arm is fixed to the inner ring fixing plate of the upper turntable; And a servo screw jack, wherein the servo screw jack is hinged to the lower pitch arm and the telescopic end is hinged to the upper pitch arm.

[0011] The pitch adjustment device also includes a tilt sensor, which is installed at the bottom of the pitch upper support arm to detect the pitch adjustment angle.

[0012] The adjustment platform also includes a brake device, which locks or releases the upper plate bearing and the lower plate bearing.

[0013] The brake holding device includes an upper turntable bearing brake mechanism and a lower turntable bearing brake mechanism. The upper turntable bearing braking mechanism includes: A brake disc is fixed to the bottom of the outer ring of the upper turntable bearing; the inner ring of the upper turntable bearing is connected to the upper turntable support. And a disc brake mounted on the upper turntable support via a brake bracket; The lower turntable bearing braking mechanism includes: A brake cylinder installed in the middle of the outer gear ring fixing plate of the lower turntable; And a second brake located outside the brake cylinder, the second brake being mounted on the base assembly, the brake cylinder being released or engaged by switching the power on and off of the second brake.

[0014] The universal anti-rotation device includes: Splined mount fixed to the base assembly; A spline shaft that slides in conjunction with the spline seat; And a hollow shaft seat fixed to the bottom of the platform surface, wherein the splined shaft is connected to the hollow shaft seat via a double cross universal joint.

[0015] The yaw attitude adjustment device includes: A worm gear reducer is installed at the bottom of the base assembly, and the worm gear reducer is driven by a servo motor; And a drive gear that is coaxially and fixedly connected to the output shaft of the worm gear reducer, wherein the drive gear meshes with the outer gear ring of the lower turntable bearing.

[0016] The beneficial effects of this invention are as follows: This invention provides a high-rigidity spatial attitude adjustment platform that integrates a double-rotor bearing support structure, a central universal anti-rotation device, a pitch adjustment device, a worm gear yaw adjustment device, a follow-up protection device, and a dual-position brake device. This integrated design optimizes the platform across all dimensions of structure, motion, rigidity, safety, and control. Compared to existing Stewart six-degree-of-freedom parallel platforms and traditional serial two-degree-of-freedom mechanisms, it possesses the following outstanding advantages: This invention uses high-load-bearing upper and lower turntable bearings as core supports. The pitch adjustment device employs symmetrical double-support hinges and a high-rigidity servo screw jack drive, forming a stable frame-type force-bearing system. After the attitude adjustment is completed, a dual-position braking device consisting of an air-operated disc brake and an electromagnetic drum brake achieves full-circumference mechanical rigidity locking of the upper and lower turntable bearings. The load torque is directly transmitted to the base assembly, rather than relying on the drive components for force. This completely solves the core defects of parallel platforms, such as low stiffness, elastic deformation under heavy loads, swaying under loads in traditional serial mechanisms, and insufficient torsional stiffness. Under the large-scale heavy-load and large-eccentric load test conditions of deep space probes, the structure exhibits no elastic deformation and no attenuation of attitude accuracy.

[0017] The platform adopts a two-degree-of-freedom serial motion structure of pure pitch and pure yaw: pitch rotates around a horizontal hinge axis and yaw rotates around a vertical center. The motion form is completely and directly compatible with the standard attitude coordinate system of the spacecraft. It eliminates the need for complex coordinate transformations and motion calculation algorithms of a six-degree-of-freedom parallel platform, thereby eliminating control errors introduced by coordinate transformations from the structural source. The control system logic is greatly simplified, the debugging difficulty is reduced, and the attitude control accuracy is significantly improved.

[0018] The centrally integrated splined shaft and double cross universal joint form a universal anti-rotation device: the splined pair restricts circumferential torsion, ensuring that the azimuth angle of the platform surface relative to the base component is permanently locked; the double cross universal joint flexibly accommodates pitch and tilt angle changes, achieving attitude adjustment while completely eliminating additional platform deflection and azimuth drift; it solves the problems of traditional mechanisms lacking a dedicated anti-rotation structure, test reference offset, and poor data consistency, ensuring accurate and reliable test data.

[0019] The system employs a gear shaft and rack-and-pinion servo protection device: during normal attitude adjustment, the gear shaft rolls freely with the pitch motion without interfering with the movement; when critical load-bearing components such as the servo screw and hinge shaft break or fail, the electromagnetic brake immediately locks the gear shaft, and emergency limiting is achieved through rigid rack support, completely preventing the platform from tipping over; simultaneously, it works in conjunction with the lower turntable bearing power-off clamping brake and the upper turntable bearing air-off disc brake, forming dual safety protection against drive failure and braking failure, fundamentally ensuring test safety. The yaw attitude adjustment device uses a worm gear reducer to drive the external meshing gear. The worm gear has a self-locking characteristic, ensuring no slippage or overshoot during yaw motion, and providing high overall attitude adjustment positioning accuracy and smooth, impact-free movement. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of a high-rigidity spatial attitude adjustment platform according to the present invention; Figure 2 This is a schematic diagram of the pitch adjustment device in a high-rigidity spatial attitude adjustment platform according to the present invention. Figure 3This is a schematic diagram of the yaw attitude adjustment device in a high-rigidity spatial attitude adjustment platform according to the present invention. Figure 4 This is a schematic diagram of the follow-up protection device structure in a high-rigidity spatial attitude adjustment platform according to the present invention; Figure 5 This is a schematic diagram of the brake holding device structure in a high-rigidity spatial attitude adjustment platform according to the present invention; Figure 6 This is a schematic diagram of the universal anti-rotation device in a high-rigidity spatial attitude adjustment platform according to the present invention. Among them: 1. Pitch adjustment device, 101. Upper pitch support arm, 102. Servo screw jack, 103. Lower pitch support arm, 104. Lower turntable support, 105. Upper turntable support, 106. Tilt sensor; 2. Yaw adjustment device, 201. Worm gear reducer, 202. Drive gear; 3. Follow-up protection device, 301. Follow-up hinge support, 302. Follow-up arm, 303. Gear shaft, 304. First brake, 305. Slide, 306. Bearing housing, 307. Linear slide pair, 30 8. Rack and pinion; 4. Brake holding device; 401. Disc brake; 402. Brake disc; 403. Brake bracket; 404. Brake cylinder; 405. Second brake; 5. Universal anti-rotation device; 501. Spline seat; 502. Spline shaft; 503. Double cross universal joint; 504. Hollow shaft seat; 6. Platform base; 601. Platform surface; 602. Upper turntable bearing; 603. Upper turntable inner ring fixing plate; 604. Base assembly; 605. Lower turntable bearing; 606. Lower turntable outer gear ring fixing plate. Detailed Implementation

[0021] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0022] See Figures 1-6 The present invention provides a high-rigidity spatial attitude adjustment platform comprising: The platform base 6 includes an upper base and a lower base disposed opposite to each other. The upper base includes a platform surface 601 and an upper turntable inner ring fixing plate 603 rotatably connected to the platform surface 601 via an upper turntable bearing 602. The lower base includes a base assembly 604 and a lower turntable outer gear ring fixing plate 606 rotatably connected to the base assembly 604 via a lower turntable bearing 605. The inner ring of the lower turntable bearing 605 is fixed to the base assembly 604, and the top of the outer ring is connected to the lower turntable outer gear ring fixing plate 606. The inner ring of the upper turntable bearing 602 is connected to the upper turntable inner ring fixing plate 603, and the outer ring is connected to the platform surface 601. A universal anti-rotation device 5 is connected between the centers of the upper and lower bases; the universal anti-rotation device 5 locks the azimuth angle of the base assembly 604 of the upper base relative to the lower base; A pitch adjustment device 1 is installed between the upper substrate and the lower substrate, and the pitch adjustment device 1 drives the upper substrate to pitch relative to the lower substrate. And yaw attitude adjustment device 2, through which the pitch attitude adjustment device 1 yaw motion is adjusted.

[0023] The adjustment platform also includes a follow-up protection device 3, which includes: The follower hinge support 301 is installed at the bottom of the inner ring fixing plate 603 of the upper turntable; Follower arm 302, one end of a pair of follower arms 302 is connected to follower hinge support 301 via a hinge shaft; The gear shaft 303 is connected to the other end of the follower arm 302 via a bearing. One end of the gear shaft 303 is connected to the bearing seat 306, and the other end is connected to the slide 305 via a first brake 304. The slide 305 is coaxial with the shaft hole of the bearing seat 306 and the gear shaft 303 is installed thereon. The first brake 304 is used to brake the gear shaft 303 to achieve attitude locking and anti-tipping protection. A rack 308 is fixed on the lower turntable outer gear ring fixing plate 606 of the lower base, and the rack 308 meshes with the gear shaft 303; Two sets of linear slide rail pairs 307 are fixed to the top of the outer gear ring fixing plate 606 of the lower turntable by bolts. The slider of one set of linear slide rail pairs 307 is connected to the bearing seat 306, and the slider of the other set of linear slide rail pairs 307 is connected to the slide block 305.

[0024] The first brake 304 is a DZD5-320A type electromagnetic brake; during normal posture adjustment, the brake is de-energized and released, and the gear shaft 303 can roll freely; when locked, the first brake 304 is energized and braked, the gear shaft 303 is locked, and the position is fixed by the rack 308.

[0025] The follow-up protection device 3 is a protection device for the pitch adjustment device 1. The pitch adjustment device 1 relies on the servo screw lift 102 to adjust the pitch angle. If the hinge shaft or telescopic screw breaks or fails, it may cause the entire adjustment device to overturn. Therefore, the follow-up protection device 3 is designed.

[0026] During normal posture adjustment, the first brake 304 is de-energized and disengaged, releasing the gear shaft 303, which can then rotate freely around the shaft. At this time, the follower boom 302 changes angle due to posture adjustment, pushing the gear shaft 303 to roll on the rack 308. When posture adjustment is complete and the position needs to be locked, the first brake 304 is energized and braked, locking the gear shaft 303 and preventing it from rotating. Position locking is then achieved through the rack 308.

[0027] The pitch adjustment device 1 includes: Two lower turntable supports 104 are symmetrically installed on the lower turntable outer gear ring fixing plate 606; Two upper turntable supports 105 are connected to the inner ring fixing plate 603 of the upper turntable, and the two upper turntable supports 105 are respectively hinged to the two lower turntable supports 104. The pitch lower support arm 103 is fixed on the outer gear ring fixing plate 606 of the lower turntable; The pitch upper support arm 101 is fixed on the inner ring fixing plate 603 of the upper turntable; And a servo screw jack 102, which is hinged to the lower pitch arm 103 and the telescopic end is hinged to the upper pitch arm 101.

[0028] The pitch adjustment device 1 also includes a tilt sensor 106, which is installed at the bottom of the pitch upper support arm 101 to detect the pitch adjustment angle.

[0029] The pitch adjustment device 1 is a device that realizes the pitch movement of the platform. It can make the platform 601 rotate around the pivot by the drive of the servo screw lift 102, thereby realizing the pitch movement.

[0030] The adjustment platform also includes a brake device 4, which locks or releases the upper plate bearing and the lower turntable bearing 605.

[0031] The brake holding device 4 includes an upper turntable bearing brake mechanism and a lower turntable bearing brake mechanism. The upper turntable bearing braking mechanism includes: Brake disc 402 is fixed to the bottom of the outer ring of the upper turntable bearing 602; the inner ring of the upper turntable bearing 602 is connected to the upper turntable support 105; And a disc brake 401 mounted on the upper turntable support 105 via a brake bracket 403; The lower turntable bearing braking mechanism includes: Brake cylinder 404 is installed in the middle of the outer gear ring fixing plate 606 of the lower turntable; And a second brake 405 located outside the brake cylinder 404, the second brake 405 being mounted on the base assembly 604, the brake cylinder 404 being released or tightened by the on / off power of the second brake 405.

[0032] The disc brake 401 is a DBHF-206 type air-stop brake. When the air supply is cut off, it clamps the brake disc 402 to brake; when the air supply is restored, it releases the brake. The jaws of the disc brake 401 engage with the brake disc 402. When braking is required, the air supply is cut off through the air valve, and the jaws of the disc brake 401 clamp the brake disc 402 to achieve braking. When compressed air at a specified pressure is introduced, the jaws open to release the brake. The second brake 405 is a JZ-300 type electromagnetic drum brake. When energized, it releases; when de-energized, it clamps the brake cylinder 404 to brake. When the second brake 405 is powered on, it opens, allowing the lower turntable bearing 605 to rotate freely for yaw adjustment. When the second brake 405 is de-energized, it closes, and the lower turntable bearing 605 applies the brake.

[0033] During attitude adjustment, the platform surface 601 and the base assembly 604 only change in spatial angle, without relative rotation. This is because a universal anti-rotation device 5 is installed between the platform surface 601 and the base assembly 604. However, if the universal anti-rotation device 5 is relied upon to overcome the off-center torque caused by the load on the device during the experiment, it will affect the anti-rotation effect and the system accuracy. Therefore, after the attitude adjustment is completed, the upper turntable bearing 602 and the lower turntable bearing 605 of the yaw attitude adjustment device 2 should be locked so that the upper turntable support 105 and the lower turntable support 104 can bear the torque, which can improve the overall torsional stiffness.

[0034] The universal anti-rotation device 5 includes: Spline seat 501 fixed on base assembly 604; The spline shaft 502, which slides in conjunction with the spline seat 501, restricts circumferential rotation; And a hollow shaft seat 504 fixedly connected to the bottom of the platform surface 601. The spline shaft 502 is connected to the hollow shaft seat 504 through a double universal joint 503 to realize the locking of the platform azimuth angle and accommodate the tilt angle change.

[0035] This attitude adjustment platform aims to change the spatial angle between the platform surface 601 and the ground, but the azimuth angle of the platform surface 601 relative to the ground does not change. Therefore, an anti-rotation device is needed to lock the azimuth angle between the platform surface 601 and the ground, while also meeting the requirements for changes in the top surface tilt angle.

[0036] The base assembly 604 is fixed to the ground. The splined seat 501 restricts the rotation of the splined shaft 502. The splined fit accommodates changes in height during attitude adjustment while also limiting torsion. The splined shaft 502 is connected to a double universal joint 503, which meets the requirements for tilt angle changes in the platform surface 601 during attitude adjustment and also locks the azimuth angle. The double universal joint 503 is connected to the platform surface 601 via a hollow shaft seat 504, thus locking the azimuth angle of the platform surface 601 relative to the ground.

[0037] The yaw attitude adjustment device 2 includes: A worm gear reducer 201 is installed at the bottom of the base assembly 604, and the worm gear reducer 201 is driven by a servo motor; And a drive gear 202 that is coaxially and fixedly connected to the output shaft of the worm gear reducer 201, wherein the drive gear 202 meshes with the outer gear ring of the lower turntable bearing 605.

Claims

1. A high-rigidity spatial attitude adjustment platform, characterized in that, include: The platform base (6) includes an upper base and a lower base arranged opposite to each other. The upper base includes a platform surface (601) and an upper turntable inner ring fixing plate (603) rotatably connected to the platform surface (601) via an upper turntable bearing (602). The lower base includes a base assembly (604) and a lower turntable outer gear ring fixing plate (606) rotatably connected to the base assembly (604) via a lower turntable bearing (605). A universal anti-rotation device (5) is connected between the centers of the upper and lower bases; the azimuth angle of the base assembly (604) of the upper base relative to the lower base is locked by the universal anti-rotation device (5); A pitch adjustment device (1) is set between the upper base and the lower base, and the pitch adjustment device (1) drives the upper base to pitch relative to the lower base. And a yaw attitude adjustment device (2), through which the pitch attitude adjustment device (1) is adjusted to yaw motion.

2. The high-rigidity spatial attitude adjustment platform according to claim 1, characterized in that, The adjustment platform also includes a follow-up protection device (3), which includes: Follower hinge support (301) installed at the bottom of the inner ring fixing plate (603) of the upper turntable; Follower arm (302), one end of a pair of follower arms (302) is connected to follower hinge support (301) via a hinge shaft; The other end of the follower arm (302) is connected to the gear shaft (303) via a bearing. One end of the gear shaft (303) is connected to the bearing seat (306), and the other end is connected to the slide (305) via the first brake (304). A rack (308) is fixed on the lower turntable outer gear ring fixing plate (606) of the lower base, and the rack (308) meshes with the gear shaft (303); Two sets of linear slide rail pairs (307) are fixed on the top of the outer gear ring fixing plate (606) of the lower turntable. The slider of one set of linear slide rail pairs (307) is connected to the bearing seat (306), and the slider of the other set of linear slide rail pairs (307) is connected to the slide block (305).

3. The high-rigidity spatial attitude adjustment platform according to claim 1, characterized in that, The pitch adjustment device (1) includes: Two lower turntable supports (104) are symmetrically installed on the lower turntable outer gear ring fixing plate (606). Two upper turntable supports (105) are connected to the inner ring fixing plate (603) of the upper turntable, and the two upper turntable supports (105) are respectively hinged to the two lower turntable supports (104); The pitch lower support arm (103) is fixed on the lower turntable outer gear ring fixing plate (606). The pitch upper support arm (101) is fixed on the inner ring fixing plate (603) of the upper turntable. And a servo screw jack (102), which is hinged to the lower pitch arm (103) and the telescopic end is hinged to the upper pitch arm (101).

4. The high-rigidity spatial attitude adjustment platform according to claim 3, characterized in that, The pitch adjustment device (1) also includes a tilt sensor (106), which is installed at the bottom of the pitch upper arm (101) to detect the pitch adjustment angle.

5. The high-rigidity spatial attitude adjustment platform according to claim 3, characterized in that, The adjustment platform also includes a brake device (4) for locking or releasing the upper plate bearing and the lower plate bearing (605).

6. The high-rigidity spatial attitude adjustment platform according to claim 5, characterized in that, The brake holding device (4) includes an upper turntable bearing brake mechanism and a lower turntable bearing brake mechanism; The upper turntable bearing braking mechanism includes: Brake disc (402) fixed to the bottom of the outer ring of the upper turntable bearing (602); the inner ring of the upper turntable bearing (602) is connected to the upper turntable support (105); And a disc brake (401) mounted on the upper turntable support (105) via a brake bracket (403); The lower turntable bearing braking mechanism includes: Brake cylinder (404) installed in the middle of the outer gear ring fixing plate (606) of the lower turntable; And a second brake (405) located outside the brake cylinder (404), the second brake (405) is mounted on the base assembly (604), and the brake cylinder (404) is released or clamped by the power supply of the second brake (405).

7. A high-rigidity spatial attitude adjustment platform according to any one of claims 1-6, characterized in that, The universal anti-rotation device (5) includes: Spline seat (501) fixed on base assembly (604); A spline shaft (502) that slides in conjunction with the spline seat (501); And a hollow shaft seat (504) fixed to the bottom of the platform surface (601), wherein the spline shaft (502) is connected to the hollow shaft seat (504) via a double cross universal joint (503).

8. A high-rigidity spatial attitude adjustment platform according to any one of claims 1-6, characterized in that, The yaw attitude adjustment device (2) includes: A worm gear reducer (201) is installed at the bottom of the base assembly (604), and the worm gear reducer (201) is driven by a servo motor; And a drive gear (202) that is coaxially fixedly connected to the output shaft of the worm gear reducer (201), the drive gear (202) meshing with the outer gear ring of the lower turntable bearing (605).

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