Star catalog high-passibility mobile device and work robot

Abstract

The application discloses a star table high-passability mobile device and a working robot and relates to the technical field of aerospace equipment. The application comprises a force-bearing vehicle body, at least four groups of adjusting suspension systems and at least two groups of tension suspension systems are installed on the side wall of the force-bearing vehicle body; the adjusting suspension system comprises a first connecting rod fixedly connected to the force-bearing vehicle body, a second connecting rod rotatably connected to the free end of the first connecting rod, a bogie rotatably connected to the bottom of the second connecting rod, a wheel mechanism installed at the bottom end of the bogie, spikes installed on the outer side wall of the wheel mechanism, and a driven wheel fixedly connected to the top of the bogie. The star table high-passability mobile device can perform inchworm movement when sinking into a pit or climbing a slope, effectively facilitates escape from trouble, and further enhances the overall escape-from-trouble capability of the device through the coordinated movement of the large-load mechanical arm, the multi-degree-of-freedom mechanical arm and the adjusting suspension system.

Description

Technical Field

[0001] This invention relates to the field of aerospace equipment technology, specifically to a high-accessibility mobile device and a work robot for spacecraft. Background Technology

[0002] With the advancement of my country's aerospace technology, planetary exploration has entered a new stage, expanding from stellar surface and orbital monitoring and exploration to major projects such as the construction of unmanned planetary research stations, which will bring revolutionary changes to the field of planetary exploration. Existing planetary rovers, represented by rovers, suffer from low sampling efficiency, simple functions, and weak autonomous operation capabilities, making them ill-suited to support the necessary tasks of long-term autonomous maintenance, construction, and resource utilization of future unmanned research stations.

[0003] In the future, space surface operation robots will need to autonomously complete complex tasks such as additive manufacturing, water ice resource extraction, and equipment maintenance. These robots will be required to perform a variety of complex and delicate tasks. Extraterrestrial bodies, such as the Moon and Mars, have soft surfaces. The Moon's surface contains lunar dust with a thickness of about 10-20 cm, which traditional lunar rovers may get stuck in lunar craters. The surface of Mars is prone to collapse, and the soil in some areas is similar to quicksand. The American "Opportunity" Mars rover was stuck in a sandy area for several weeks and could not move. To address these issues, we propose a highly mobile space surface operation device and robot. Summary of the Invention

[0004] The purpose of this invention is to provide a highly maneuverable mobile device and work robot for the lunar surface, which can adapt to the environment of the moon, Mars and other planetary surfaces, and has good crater escape and strong climbing ability.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a high-passability mobile device for star-shaped surfaces, comprising a load-bearing vehicle body, wherein at least four sets of adjustable suspension systems and at least two sets of tension suspension systems are installed on the side walls of the load-bearing vehicle body;

[0006] The adjustable suspension system includes a first link fixedly connected to the load-bearing vehicle body, a second link rotatably connected to the free end of the first link, a bogie rotatably connected to the bottom of the second link, a wheel mechanism installed at the bottom of the bogie, and spikes installed on the outer side wall of the wheel mechanism. A driven wheel is fixedly connected to the top of the bogie, and a driving wheel is rotatably connected to the side wall of the driven wheel.

[0007] The tension suspension system includes a third link rotatably connected to the side wall of the load-bearing vehicle body, a fourth link rotatably connected to the end of the third link, and a wheel mechanism also mounted at the bottom end of the fourth link.

[0008] Furthermore, a transverse motor is fixedly connected to the end of the first link, and the output end of the transverse motor passes through the first link and is fixed to the second link.

[0009] Furthermore, a longitudinal motor is fixedly connected to the end of the second connecting rod, and the longitudinal motor is fixedly connected to the drive wheel.

[0010] Furthermore, both the driving wheel and the driven wheel are bevel gears, meshing with each other, and the interior of the second connecting rod is provided with a receiving cavity to accommodate the driving wheel and the driven wheel.

[0011] Furthermore, the wheel mechanism includes a hub, a first spoke is fixedly connected to the outer surface of the hub, a first rim is fixedly connected to the outer edge of the first spoke, a second spoke is fixedly connected to the outer surface of the first rim, and a second rim is fixedly connected to the outer edge of the second spoke;

[0012] The spike is installed inside the second spoke, and a pop-out component is installed on the side wall of the spike.

[0013] Furthermore, the pop-out component includes an electromagnet fixedly connected inside the second wheel spoke, with an elastic element installed at one end of the electromagnet and a spike installed at the other end of the elastic element.

[0014] Furthermore, the spikes are made of magnetic material, are conical in shape, and have through holes on the side wall of the second rim that are adapted to the spikes.

[0015] Furthermore, the wheel mechanism also includes a brake disc mounted on the wheel hub, with a brake caliper mounted on the outer surface of the brake disc, and the brake caliper is mounted on the bogie.

[0016] Furthermore, a rotational damper is provided between the third link and the fourth link.

[0017] Furthermore, a large-load robotic arm is installed at the rear of the load-bearing vehicle body, and a drill bit, gripper, or bucket is detachably installed on the large-load robotic arm.

[0018] Furthermore, a support seat is rotatably connected to one side of the top of the load-bearing vehicle body, and a movable seat is hinged to the top of the support seat. Multi-degree-of-freedom robotic arms are symmetrically installed on the left and right sides of the movable seat. Torque sensors are installed in each joint of the multi-degree-of-freedom robotic arms, and grippers are installed at the ends of the multi-degree-of-freedom robotic arms. Tactile sensors are installed in the grippers.

[0019] Furthermore, it also includes an intelligent sensing and navigation system, which integrates LiDAR, a visual camera, and an IMU into one unit, and is installed on the top of the movable seat.

[0020] Furthermore, it also includes a data management system, which is an integrated aerospace chip, specifically the RAD750.

[0021] Furthermore, it also includes a power supply and distribution system, which includes a battery installed inside the vehicle body and solar panels installed on the side of the vehicle body, and the battery and solar panels transmit power through wireless and contact charging methods.

[0022] According to one aspect of the present invention, a working robot is provided for performing star surface exploration operations, which includes the aforementioned high-penetration star surface mobile device.

[0023] The present invention has at least the following beneficial effects:

[0024] The high-trafficability mobile device described in this invention can move like an inchworm when stuck in a pit or climbing a slope, which facilitates effective escape. Furthermore, the overall escape capability of the device can be further enhanced by the coordinated movement of the large-load robotic arm, the multi-degree-of-freedom robotic arm and the adjustable suspension system.

[0025] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0026] Figure 1 This is a first-view perspective perspective of the overall structure of an embodiment of the present invention;

[0027] Figure 2 This is a two-dimensional schematic diagram of the overall structure of an embodiment of the present invention from a second perspective;

[0028] Figure 3 This is a three-dimensional schematic diagram of the escape state according to an embodiment of the present invention;

[0029] Figure 4 This is a perspective view of an embodiment of the adjustable suspension system of the present invention;

[0030] Figure 5 This is a three-dimensional schematic diagram of a wheel structure according to an embodiment of the present invention;

[0031] Figure 6 This is a three-dimensional schematic diagram of the pop-up component structure according to an embodiment of the present invention.

[0032] Figure label:

[0033] 1. Load-bearing body; 2. Adjustable suspension system; 21. First link; 22. Second link; 23. Bogie; 24. Wheel mechanism; 241. Wheel hub; 242. First spoke; 243. First rim; 244. Second spoke; 245. Second rim; 246. Pop-out component; 2461. Electromagnet; 2462. Elastic element; 25. Spike; 26. Driven wheel; 27. Drive wheel; 28. Lateral motor; 29. ​​Longitudinal motor; 3. Tension suspension system; 31. Third link; 32. Fourth link; 4. High-load robotic arm; 5. Support seat; 6. Movable seat; 7. Multi-degree-of-freedom robotic arm; 8. Intelligent sensing and navigation system; 9. Data management system; 10. Power supply and distribution system. Detailed Implementation

[0034] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0035] The term "planetary surface" primarily refers to the surface of a planet. With the advancement of my country's aerospace technology, planetary exploration has entered a new stage, expanding from planetary surface orbit monitoring and exploration to major projects such as the construction of unmanned planetary research stations. This will bring revolutionary changes to the field of planetary exploration. The technical solution provided by this invention enables the exploration equipment to adapt to the environments of the Moon, Mars, and other planetary surfaces, possessing good crater escape capabilities and strong climbing ability.

[0036] Please see Figure 1-6 The present invention provides a technical solution: a high-passability mobile device for star surfaces, including a load-bearing body 1, on which at least four sets of adjustable suspension systems 2 and at least two sets of tension suspension systems 3 are installed on the side wall of the load-bearing body 1;

[0037] like Figure 4-5 As shown, the adjustable suspension system 2 includes a first link 21 fixedly connected to the load-bearing body 1, a second link 22 rotatably connected to the free end of the first link 21, a bogie 23 rotatably connected to the bottom of the second link 22, a wheel mechanism 24 mounted at the bottom of the bogie 23, and spikes 25 mounted on the outer side wall of the wheel mechanism 24. A driven wheel 26 is fixedly connected to the top of the bogie 23, and a driving wheel 27 is rotatably connected to the side wall of the driven wheel 26.

[0038] A transverse motor 28 is fixedly connected to the end of the first link 21. The output end of the transverse motor 28 passes through the first link 21 and is fixed to the second link 22. When the transverse motor 28 is started, it can drive the second link 22 to rotate, thereby raising the overall height of the load-bearing vehicle body 1, so that the device can ensure high passability when encountering obstacles.

[0039] A longitudinal motor 29 is fixedly connected to the end of the second link 22. The longitudinal motor 29 is fixedly connected to the drive wheel 27. Both the drive wheel 27 and the driven wheel 26 are bevel gears, and they mesh with each other. When the longitudinal motor 29 starts, it drives the drive wheel 27 to rotate, which in turn drives the driven wheel 26 to rotate. When the driven wheel 26 rotates, it drives the bogie 23 and the wheel mechanism 24 to rotate. Therefore, by controlling the rotation angle of the longitudinal motor 29, the steering of the wheel mechanism 24 can be adjusted.

[0040] Furthermore, the second link 22 has an internal cavity for accommodating the driving wheel 27 and the driven wheel 26. The cavity facilitates the support and storage of the driving wheel 27 and the driven wheel 26.

[0041] like Figure 4 As shown, the tension suspension system 3 includes a third link 31 rotatably connected to the side wall of the load-bearing vehicle body 1, a fourth link 32 rotatably connected to the end of the third link 31, and a wheel mechanism 24 is also installed at the bottom end of the fourth link 32.

[0042] A rotary damper (not shown in the figure) is provided between the third link 31 and the fourth link 32, which enables the third link 31 and the fourth link 32 to move smoothly when the height of the load-bearing vehicle body 1 is adjusted. A torsion spring (not shown in the figure) is also provided between the third link 31 and the fourth link 32. One end of the torsion spring is connected to the third link 31 and the other end is connected to the fourth link 32. The elastic potential energy provided by the torsion spring can keep the wheel mechanism 24 in close contact with the ground, which can improve the vibration reduction capacity while increasing the load-bearing capacity.

[0043] The wheel mechanism 24 includes a hub 241, a first spoke 242 fixedly connected to the outer surface of the hub 241, a first rim 243 fixedly connected to the outer edge of the first spoke 242, a second spoke 244 fixedly connected to the outer surface of the first rim 243, and a second rim 245 fixedly connected to the outer edge of the second spoke 244.

[0044] It should be noted that a drive motor (not shown in the figure) is also provided between the wheel hub 241 and the bogie 23. The drive motor is powered by a battery. By controlling the drive motor to rotate forward or backward, it is convenient to drive the wheels to move forward or backward.

[0045] like Figure 6 As shown, the interior of the second rim 244 is hollow, and multiple spikes 25 are installed inside. Pop-out components 246 are installed on the side walls of the spikes 25. In some embodiments, the spikes 25 can be shaped as cones, pyramids, or frustums. For the technical solution of the present invention, the overall shape of the spikes 25 is set as cones. The spikes 25 are made of magnetic material, and through holes adapted to the spikes 25 are opened on the side walls of the second rim 245.

[0046] Furthermore, the ejector component 246 includes an electromagnet 2461 fixedly connected inside the second wheel spoke 244. An elastic element 2462 is mounted on one end of the electromagnet 2461, and a spike 25 is mounted on the other end of the elastic element 2462. When the electromagnet 2461 is energized, it generates magnetism. If the magnetism of the electromagnet 2461 is opposite to that of the spike 25, it will repel the spike 25, causing the spike 25 to pass through the through hole on the second wheel rim 245 and eject, facilitating wheel movement or getting out of trouble. Enhance the grip of the wheels; when it is necessary to retrieve the spike 25, a current in the opposite direction is passed to the electromagnet 2461, which changes the magnetism of the electromagnet 2461, making it attract the magnetism of the spike 25. This makes it easier to use magnetic attraction to store the spike 25 inside the second wheel spoke 244. In this way, the spike 25 can be retrieved to increase the speed when moving on flat roads, and the spike 25 can be ejected to increase grip on steep slopes or in craters, so that the maximum climbing angle of the star table robot exceeds 45°.

[0047] It should be noted that, as Figure 6 As shown, the internal width of the second spoke 244 is adapted to the width of the spike 25, which allows the spike 25 to move only in a straight line during retraction and ejection. Furthermore, there is a distance between adjacent electromagnets 2461 in the same group, so that adjacent electromagnets 2461 will not act on other spikes 25 after being energized. At the same time, the elastic element 2462 is provided to buffer the spike 25 during retraction and ejection, preventing the spike 25 from moving too fast and damaging the electromagnet 2461.

[0048] Furthermore, the wheel mechanism 24 also includes a brake disc (not shown) mounted on the wheel hub 241. A brake caliper (not shown) is mounted on the outer surface of the brake disc and is mounted on the bogie 23. The brake caliper is used to brake the brake disc, which facilitates selective braking of the wheel.

[0049] The brake caliper used in the technical solution of this invention is an EPB caliper. The brake of the EPB caliper consists of an electric motor, a reducer, a helical gear, and a brake. When the wheel needs to be braked, the controller sends a signal to the electric motor, and the electric motor transmits the rotational force to the brake through the reducer and the helical gear, thereby achieving braking.

[0050] Furthermore, a large-load robotic arm 4 is installed at the rear of the load-bearing vehicle body 1. According to the technical solution of the present invention, the large-load robotic arm 4 is a six-degree-of-freedom robotic arm. Drill bits, grippers, buckets or brushes are detachably installed on the large-load robotic arm 4 to complete heavy-load tasks such as drilling and shoveling. It can also be used in conjunction with the adjustable suspension system 2 to get out of trouble. It should be noted that the drill bits, grippers, buckets, brushes and other tools are all installed at the rear of the load-bearing vehicle body 1.

[0051] Furthermore, a support seat 5 is rotatably connected to the top side of the load-bearing vehicle body 1, and a movable seat 6 is hinged to the top of the support seat 5. Multi-degree-of-freedom robotic arms 7 are symmetrically installed on the left and right sides of the movable seat 6. Specifically, for the technical solution of this invention, they are seven-degree-of-freedom robotic arms. Each joint of the seven-degree-of-freedom robotic arm is equipped with a torque sensor (not shown in the figure), and a gripper is installed at the end of the seven-degree-of-freedom robotic arm. A tactile sensor (not shown in the figure) is also installed in the gripper. By coordinating the operation between the two seven-degree-of-freedom robotic arms, not only can equipment handling and equipment maintenance tasks be completed, but also, in conjunction with the heavy-load robotic arm 4, the adjustable suspension system 2, and the tension suspension system 3, they can move like inchworms to facilitate getting out of trouble.

[0052] The seven-degree-of-freedom robotic arm is composed of multiple modular joints, and the physical and electrical interfaces of each joint are standardized, which allows for free assembly and maintenance of the robotic arm. Furthermore, the support base 5 can perform actions such as rotation around the center and tilting forward, which can effectively increase the task execution space of the robotic arm.

[0053] Torque sensors, also known as torque sensors or torque force sensors, convert the physical changes of torque into precise electrical signals, thereby detecting torsional torque on various rotating or non-rotating mechanical parts.

[0054] Tactile sensors are sensors used in robots to mimic tactile functions. They can be classified according to function into contact sensors, force-torque sensors, pressure sensors, and slip sensors. For the technical solution of this invention, the preferred embodiment is a contact sensor, which is used to determine whether the end gripper is in contact with an external object or to measure the object being contacted, and to provide accuracy compensation for the gripper.

[0055] Furthermore, the device also includes a PLC controller (not shown in the figure), which is mainly used to issue control commands to the entire device.

[0056] A Programmable Logic Controller (PLC) is a microprocessor-based digital control system used for automation control. It can load control instructions into memory for storage and execution. A PLC consists of a CPU, instruction and data memory, input / output interfaces, a power supply, and digital-to-analog converters. Early PLCs only had logic control functions, hence the name. Later, with continuous development, these initially simple computer modules evolved to include various functions such as logic control, timing control, analog control, and multi-machine communication, and the name was changed to Programmable Controller.

[0057] Furthermore, the device also includes an intelligent sensing and navigation system 8, which integrates a lidar (not shown in the figure), a vision camera (not shown in the figure), and an inertial sensor (not shown in the figure) into one unit, and is mounted on the top of the movable base 6.

[0058] The intelligent sensing and navigation system 8 can transmit information to the ground control terminal (not shown in the figure) for synchronous modeling, simulation and analysis, thereby facilitating feedback correction of the device's movement.

[0059] A lidar is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target. Its working principle is to emit a detection signal (laser beam) towards the target, and then compare the received signal reflected back from the target (target echo) with the emitted signal. After appropriate processing, relevant information about the target can be obtained, such as the target's distance, azimuth, altitude, velocity, attitude, and even shape. This allows for the detection, tracking, and identification of the target. It consists of a laser transmitter, an optical receiver, a turntable, and an information processing system.

[0060] The purpose of a vision camera is to transmit images projected onto a sensor through a lens to a machine device capable of storage, analysis, and / or display. According to the chip type, vision cameras can be divided into CCD cameras and CMOS cameras; according to the structural characteristics of the sensor, they can be divided into line scan cameras and area scan cameras. For the technical solution of this invention, a CCD camera is preferred.

[0061] An inertial sensor is a type of sensor that primarily detects and measures acceleration, tilt, impact, vibration, rotation, and multi-degree-of-freedom (DoF) motion. It is an important component for solving navigation, orientation, and motion vehicle control. Inertial sensors include accelerometers (or accelerometer sensors) and angular velocity sensors (gyroscopes), as well as their single, dual, and triaxial combinations, such as IMUs (inertial measurement units) and AHRS (attitude reference systems including magnetic sensors).

[0062] MEMS accelerometers are sensors that measure inertial forces using sensed masses. They typically consist of a standard mass block (sensing element) and a detection circuit.

[0063] Furthermore, the device also includes a data management system 9, which is an integrated aerospace chip, specifically RAD750. The data management system 9 facilitates the processing of data obtained from various sensors.

[0064] Furthermore, it also includes a power supply and distribution system 10, which includes a battery installed inside the load-bearing vehicle body 1 and a solar panel installed on the side of the load-bearing vehicle body 1. The battery and the solar panel transmit power through wireless and contact charging methods, and the power consumption of the entire device is provided by the battery.

[0065] Wireless charging technology mainly utilizes the principle of magnetic coupling to achieve power transmission. Simply put, it uses the magnetic components built into the wireless charger and the device to achieve power transmission within a specific distance. The principle is that an alternating current of a certain frequency in the primary coil generates a certain current in the secondary coil through electromagnetic induction, thereby transferring energy from the transmitting end to the receiving end.

[0066] According to one aspect of the present invention, a working robot is provided for performing star surface exploration operations, comprising the aforementioned high-penetration star surface mobile device.

[0067] The operating principle and process of this invention are as follows: When it is necessary to escape from a pothole or climb a slope, the electromagnet 2461 is first energized so that its magnetism is opposite to that of the spike 25, causing the spike 25 to pop out and increasing the grip of the wheels. Then, by activating the two sets of lateral motors 28 in the front suspension system 2 of the load-bearing body 1, the second link 22 is rotated in the forward direction, which in turn causes the wheel mechanism 24 to deflect. At this time, the two wheel mechanisms 24 located at the front of the load-bearing body 1 will move forward a certain distance. Then, the brake calipers are activated by the controller to brake the two front wheels. This causes the spikes 25 to engage with the ground. Then, by activating the two transverse motors 28 at the rear of the load-bearing vehicle body 1, the second connecting rod 22 rotates forward, moving the two rear wheels forward a short distance. The controller then brakes the rear two wheels, fixing them to the ground. The front two wheels are then moved forward again, repeating this process to allow the entire device to move forward in a inchworm-like motion. This facilitates extrication from pits or steep slopes. Furthermore, when the front two wheel mechanisms 24 move forward, such as... Figure 3As shown, at this time, the heavy-duty robotic arm 4 can be inserted into the ground through the installed drill bit or gripper to enhance the stability of the rear of the vehicle. The multi-degree-of-freedom robotic arm 7 at the front extends forward and is stuck in the ground. Then, the heavy-duty robotic arm 4 can move forward to assist in pushing the load-bearing vehicle body 1 forward. This process is repeated to further enhance the overall ability of the device to get out of trouble.

[0068] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0069] For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on," "mounted on," "fixed to," or "set on" another element, it may be directly on the other element or there may be an intermediate element present. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible embodiments.

[0070] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0071] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A high-traffic mobility device, comprising a load-bearing vehicle body (1), characterized in that, At least four adjustable suspension systems (2) and at least two tension suspension systems (3) are installed on the side wall of the load-bearing vehicle body (1); The adjustable suspension system (2) includes a first link (21) fixedly connected to the load-bearing body (1), a second link (22) rotatably connected to the free end of the first link (21), a bogie (23) rotatably connected to the bottom of the second link (22), a wheel mechanism (24) installed at the bottom end of the bogie (23), and spikes (25) installed on the outer side wall of the wheel mechanism (24), a driven wheel (26) fixedly connected to the top of the bogie (23), and a driving wheel (27) rotatably connected to the side wall of the driven wheel (26). A transverse motor (28) is fixedly connected to the end of the first link (21). The output end of the transverse motor (28) passes through the first link (21) and is fixed to the second link (22). A longitudinal motor (29) is fixedly connected to the end of the second connecting rod (22), and the longitudinal motor (29) is fixedly connected to the driving wheel (27); the driving wheel (27) and the driven wheel (26) are both bevel gears, and the driving wheel (27) and the driven wheel (26) mesh with each other, and the interior of the second connecting rod (22) is provided with a receiving cavity to accommodate the driving wheel (27) and the driven wheel (26); The tension suspension system (3) includes a third link (31) rotatably connected to the side wall of the load-bearing vehicle body (1), and a fourth link (32) rotatably connected to the end of the third link (31), and a wheel mechanism (24) is also installed at the bottom end of the fourth link (32). A rotation damper is provided between the third link (31) and the fourth link (32), and a torsion spring is also provided between the third link (31) and the fourth link (32). One end of the torsion spring is connected to the third link (31), and the other end is connected to the fourth link (32). The wheel mechanism (24) includes a hub (241), a first spoke (242) is fixedly connected to the outer surface of the hub (241), a first rim (243) is fixedly connected to the outer edge of the first spoke (242), a second spoke (244) is fixedly connected to the outer surface of the first rim (243), and a second rim (245) is fixedly connected to the outer edge of the second spoke (244). The spike (25) is installed inside the second spoke (244), and a pop-out component (246) is installed on the side wall of the spike (25); The pop-out component (246) includes an electromagnet (2461) fixedly connected inside the second spoke (244), an elastic element (2462) is installed at one end of the electromagnet (2461), and a spike (25) is installed at the other end of the elastic element (2462); The spike (25) is made of magnetic material and is conical in shape. The side wall of the second rim (245) is provided with through holes that are compatible with the spike (25). The wheel mechanism (24) also includes a brake disc mounted on the wheel hub (241), the outer surface of which is fitted with a brake caliper, and the brake caliper is mounted on the bogie (23); The rear of the load-bearing vehicle body (1) is equipped with a large-load mechanical arm (4), on which a drill bit, gripper or bucket can be detachably installed. The top side of the load-bearing vehicle body (1) is rotatably connected to a support seat (5), and the top of the support seat (5) is hinged to a movable seat (6). Multi-degree-of-freedom robotic arms (7) are symmetrically installed on the left and right sides of the movable seat (6). Torque sensors are installed in each joint of the multi-degree-of-freedom robotic arms (7), and grippers are installed at the end of the multi-degree-of-freedom robotic arms (7). Tactile sensors are installed in the grippers. The high-accessibility mobile device also includes an intelligent sensing and navigation system (8), a data management system (9), and a power supply and distribution system (10). The intelligent sensing and navigation system (8) integrates a lidar, a visual camera, and an IMU, and is installed on the top of the mobile seat (6). The data management system (9) is an integrated aerospace chip, specifically the RAD750. The power supply and distribution system (10) includes a battery installed inside the load-bearing vehicle body (1) and a solar panel installed on the side of the load-bearing vehicle body (1), and the battery and the solar panel transmit power through wireless and contact charging methods. The high-passability mobile device of the star table also includes a PLC controller, which is used to issue control commands to the whole device; in the state of escaping from a pit or climbing a slope, the PLC controller is configured to: energize the electromagnet (2461) so that it is magnetically opposite to the spike (25) so that the spike (25) pops out. Start the two sets of lateral motors (28) in the front two sets of adjustable suspension systems (2) of the load-bearing body (1) to drive the second link (22) to rotate in the forward direction, so as to drive the two wheel mechanisms (24) at the front of the load-bearing body (1) to move forward; control the brake calipers to brake the two wheel mechanisms (24) at the front and make the spikes (25) engage in the ground; start the two lateral motors (28) at the rear of the load-bearing body (1) to drive the second link (22) to rotate in the forward direction, so as to drive the two wheel mechanisms (24) at the rear of the load-bearing body (1) to move forward; control the two wheel mechanisms (24) at the rear to brake, so as to fix the two wheel mechanisms (24) at the rear to the ground, and switch the two wheel mechanisms (24) at the front to move forward again, so as to make the whole device move in an inchworm-like manner; When the two wheel mechanisms (24) at the front move forward, the large load mechanical arm (4) is controlled to insert into the ground through the installed drill bit or chuck, the multi-degree-of-freedom mechanical arm (7) at the front extends in the forward direction and is stuck into the ground, and the large load mechanical arm (4) is controlled to move forward to assist in pushing the load-bearing vehicle body (1) forward.

2. A work robot, said work robot performing star surface exploration work, characterized in that: It includes the high-penetration mobile device for the star surface as described in claim 1.

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