Aiming at the critical limitations of traditional microgravity simulation methods, including significant disturbance forces, restricted rotational degrees of freedom (DOF), high operational costs, and short maintenance cycles, this study presents an innovative microgravity simulation device integrating a spherical bearing and reverse counterweight system. Through symmetric counterweight distribution, high-low staggered rope transmission, and collaborative design of air bearing pads with high-precision spherical bearings, the device achieves full six-DOF simulation with notable rotational flexibility, vertical movement capability, and load capacity, while maintaining low friction resistance. Experimental results demonstrate superior gravity unloading accuracy, reduced hardware costs, and extended maintenance cycles. This study provides a high-stability platform for ground testing of space contact operations, with significant implications for full-state verification of large payloads.