Crawler belt quick replacement structure for sand or mud land wheel-foot robot landing

Abstract

The invention relates to the related technical field of robots, in particular to a quick crawler belt replacing structure for sand or mud land wheel-foot robot landing, which comprises a robot main body, one side surface of the robot main body is rotatably connected with a moving front limb, and one side surface of the moving front limb is provided with a lock catch front wheel mechanism; and a crawler mechanism is arranged on the surface of one side of the moving front limb. According to the quick track replacement structure for landing of the sand or mud wheel-foot robot, through the arrangement of the track mechanism and the lock catch front wheel mechanism, when the robot needs to carry out quick track replacement, a push rod is started, a buckle extends out of the outer side of a front wheel to hook a buckle rope and is matched with a rotating magnet of a rear wheel, and head-tail fixation is completed; due to the arrangement, the crawler does not need to be manually replaced, a large amount of time in the operation process is saved, the robot can be rapidly put into operation of a new terrain, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot-related technologies, and in particular to a track quick-replacement structure for a wheeled-foot robot landing on sandy or muddy ground. Background Art

[0002] In the development history of robotics, the ability to adapt to complex terrain has always been a research focus. With the expansion of application scenarios, robots need to perform tasks on special terrains such as sand and mud. In sandy environments, the soft nature of sand can easily cause the robot to sink, and traditional walking structures may be difficult to move effectively due to insufficient friction. The viscosity of the mud not only increases the resistance to movement, but may also cause the robot's moving parts to be wrapped in mud, affecting normal operation. Wheel-footed robots, as a design that combines the advantages of wheels and feet, have improved terrain adaptability to a certain extent, but when dealing with these special terrains, they will still face many challenges without suitable auxiliary structures. Therefore, there is a special need for a quick-replacement structure for the tracks of wheel-footed robots landing on sand or mud.

[0003] However, existing wheeled robots often require manual track replacement, which not only takes a lot of time due to the complicated operation process, but also causes the robot to be unable to quickly operate in new terrain, reducing work efficiency. Especially in some emergency rescue or scientific expedition mission scenarios, time delays may have serious consequences. Summary of the invention

[0004] The purpose of the present invention is to provide a quick-replacement structure for the tracks of wheeled-foot robots for landing on sandy or muddy ground, so as to solve the problem that the existing wheeled-foot robots proposed in the above background technology often need to be manually replaced. This not only consumes a lot of time due to the complicated operation process, resulting in the robot being unable to be quickly put into operation on new terrain, thereby reducing work efficiency. Especially in some emergency rescue or scientific expedition mission scenarios, time delays may have serious consequences. In addition, manual replacement requires high skills from the operator. In complex environments such as hot sand or muddy wetlands, the operation difficulty is further increased. At the same time, the track or robot-related connecting parts may be damaged due to improper operation.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a structure for quickly replacing crawler tracks for landing on sandy or muddy ground wheeled-foot robots, comprising a robot body, a side surface of the robot body being rotatably connected to a moving hind limb, a side surface of the moving hind limb being rotatably connected to a rear wheel, a side surface of the rear wheel being fixedly connected to a rolling magnet, a side surface of the robot body being rotatably connected to a moving front limb, a side surface of the moving front limb being provided with a locking front wheel mechanism, and a side surface of the moving front limb being provided with a crawler track mechanism; The locking front wheel mechanism comprises a front wheel, a longitudinal push rod, a longitudinal spring, a longitudinal displacement block, a buckle, a transverse push rod, a transverse spring, a transverse displacement block, a manual button and anti-skid patterns; one side surface of the moving front limb is rotatably connected to the front wheel, the inner side surface of the front wheel is fixedly connected to the longitudinal push rod, the upper surface of the longitudinal push rod is fixedly connected to the longitudinal spring, the upper surface of the longitudinal spring is fixedly connected to the longitudinal displacement block, the upper surface of the longitudinal displacement block is fixedly connected to the buckle, the inner surface of the front wheel is fixedly connected to the transverse push rod, one side surface of the transverse push rod is fixedly connected to the transverse spring, one side surface of the transverse spring is fixedly connected to the transverse displacement block, one side surface of the transverse displacement block is fixedly connected to the manual button, and one side surface of the manual button is provided with anti-skid patterns.

[0006] Preferably, the moving hind limbs and the moving front limbs are respectively provided with two groups on the front and rear sides of the robot body, and the rolling magnets are symmetrically arranged in six groups along the perpendicular midline of the rear wheels.

[0007] Preferably, the rear wheels and the front wheels are respectively provided with two groups on one side of the moving hind limb and the moving front limb, and the longitudinal springs are fixedly connected with two groups on the upper surface of the longitudinal push rod, and are symmetrically arranged with the mid-vertical line of the push rod.

[0008] Preferably, the central portion of the longitudinal displacement block is hollowed out, and is provided with an ejection block, which presses against the lateral displacement block when it is not pressed, and ejects the lateral displacement block upward after it is pressed.

[0009] Preferably, the anti-slip patterns are arranged in multiple groups on one side surface of the manual button. When the longitudinal push rod and the transverse push rod of the locking front wheel mechanism are damaged, manual operation can be performed by pressing the manual button and the buckle to replace and install the track.

[0010] Preferably, two groups of the transverse springs are arranged on one side surface of the transverse push rod, and the central part of the transverse displacement block is hollowed out. When the transverse displacement block moves, the longitudinal displacement block can pass through the central part of the transverse displacement block to be ejected upward.

[0011] Preferably, the track mechanism includes a first metal shaft, a first limiting column, a track body, a first anti-slip protrusion, a second anti-slip protrusion, a strong magnet, a buckle rope, a second metal shaft and a second limiting column. One side surface of the moving hind limb is fixedly connected with the first metal shaft, one side surface of the first metal shaft is fixedly connected with the first limiting column, one side surface of the first metal shaft is bonded with the track body, one side surface of the track body is provided with the first anti-slip protrusion, one side surface of the track body is provided with the second anti-slip protrusion, one side surface of the track body is fixedly connected with a strong magnet, one side surface of the track body is fixedly connected with a buckle rope, one side surface of the track body is bonded with the second metal shaft, and one side surface of the second metal shaft is fixedly connected with the second limiting column.

[0012] Preferably, the material of the first metal shaft is iron, and the strong magnet can be connected to the first metal shaft through iron. Among the various adsorbable materials of the mechanism, the order of the adsorption strength of the strong magnet is from large to small: strong magnet, rolling magnet, first metal shaft and second metal shaft, among which the first metal shaft and the second metal shaft have the same effect and are ranked last.

[0013] Preferably, the first anti-skid protrusion is arranged on the side of the track body facing the robot wheel, which is composed of a plurality of anti-skid spots, effectively preventing the track body from falling off relative to the wheel; the second anti-skid protrusion is arranged on the side of the track body facing the ground, which is composed of a plurality of stripes, effectively preventing the track body from slipping when the robot moves.

[0014] Preferably, the strong magnets are symmetrically arranged in two groups at the front and rear ends of the track body. When the track body is in use, the whole is rolled up above the first metal shaft, and then the front end of the track body is pulled onto the second metal shaft and adsorbed on it by the strong magnet, and the buckle rope is naturally hung down to one to two centimeters above the front wheel.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: this structure for quickly replacing tracks for wheeled robots landing on sandy or muddy ground, through the setting of the track mechanism, before the track is used, the track is first wound around the first metal shaft to reduce the carrying volume, and after the winding is completed, the front end of the track is pulled out to above the second metal shaft, and due to the strong magnet and the metal shaft, the front end of the track can be fixed above the second metal shaft, and at this time the buckle rope naturally falls one to two centimeters above the front wheel, which not only realizes the carrying of the track mechanism, but also lays a good foundation when the robot needs to automatically install the track, and facilitates the subsequent operation of the locking front wheel mechanism, and through the setting of the locking front wheel mechanism, when the robot needs to quickly replace the track, the lateral push rod is started, and the lateral push rod drives the lateral displacement block to move toward one side surface. When the slot in the center of the lateral displacement block coincides with the longitudinal displacement block, the longitudinal spring pushes the longitudinal displacement block to move upward, exposing the buckle on the outside of the front wheel. In this way, when the robot rotates, the buckle will hook the buckle rope, so that the track body is freed from the restraint of the second metal shaft and moves with the front wheel until the lowest end is separated. When the rear wheel rolls over the front end of the track body, the track body will be attracted and move upward to the tail end of the track body due to the rolling magnet provided above the rear wheel. Since the strong magnet of the attractive force is greater than the rolling magnet and greater than the metal shaft, the track body is freed from the restraint of the rear wheel and attracted to the tail end of the track body to complete the fixation of the head and tail. This setting does not require manual replacement of the track, saves a lot of time in the operation process, and can enable the robot to quickly engage in operations on new terrain, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the side appearance structure of the present invention; Figure 2 It is a schematic diagram of the structure of cooperation between the first metal shaft, the first limiting column and the front wheel of the present invention; Figure 3 This is a schematic diagram of the cooperation between the front and rear limbs of the present invention; Figure 4 It is a schematic diagram of the crawler mechanism structure of the present invention; Figure 5 It is a schematic diagram of the structure of the rear wheel and the rolling magnet cooperating with each other in the present invention; Figure 6 This is a schematic diagram of the structure of the locking front wheel mechanism of the present invention; Figure 7 It is a schematic diagram of the vertical structure inside the locking front wheel mechanism of the present invention; Figure 8 It is a schematic diagram of the internal transverse structure of the front wheel locking mechanism of the present invention.

[0017] In the figure: 1. incubator; 2. support legs; 3. door; 4. one-way glass; 5. handle; 6. display console; 7. temperature adjustment knob; 8. humidity adjustment knob; 9. ventilation adjustment knob; 10. light adjustment knob; 11. camera adjustment button; 12. pull-out; 13. incubator; 14. temperature and humidity adjustment mechanism; 1401. water temperature regulator; 1402. water inlet; 1403. temperature control water pipe; 1404. humidity control water tank; 1405. fixing ring; 1406. piezoelectric ceramic sheet; 1407. fixing block; 1408. dryer housing ; 1409, upper spring; 1410, upper air baffle; 1411, support column; 1412, small motor; 1413, desiccant box; 1414, fixing ring; 1415, lower spring; 1416, lower air baffle; 15, lighting mechanism; 1501, limiting ring; 1502, rotating shaft; 1503, light cover; 1504, adjustable light; 16, ventilation mechanism; 1601, breathable cover; 1602, ventilation motor; 1603, fan; 1604, rotating breathable cover; 1605, air baffle; 17, camera probe; 18, display screen inside the box. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1-8 The present invention provides a technical solution: a track quick-replacement structure for landing a wheeled robot on sand or mud, comprising a robot body 1, a side surface of the robot body 1 is rotatably connected to a moving hind limb 2, a side surface of the moving hind limb 2 is rotatably connected to a rear wheel 3, a side surface of the rear wheel 3 is fixedly connected to a rolling magnet 4, a side surface of the robot body 1 is rotatably connected to a moving front limb 5, a side surface of the moving front limb 5 is provided with a locking front wheel mechanism 6, and a side surface of the moving front limb 5 is provided with a track mechanism 7; The locking front wheel mechanism 6 includes a front wheel 601, a longitudinal push rod 602, a longitudinal spring 603, a longitudinal displacement block 604, a buckle 605, a transverse push rod 606, a transverse spring 607, a transverse displacement block 608, a manual button 609 and an anti-skid pattern 610. The front wheel 601 is rotatably connected to the surface of one side of the moving front limb 5, the longitudinal push rod 602 is fixedly connected to the inner surface of the front wheel 601, the upper surface of the longitudinal push rod 602 is fixedly connected to the longitudinal spring 603, the upper surface of the longitudinal spring 603 is fixedly connected to the longitudinal displacement block 604, and the upper surface of the longitudinal displacement block 604 The front wheel 601 is fixedly connected with a buckle 605, the inner surface of the front wheel 601 is fixedly connected with a transverse push rod 606, one side surface of the transverse push rod 606 is fixedly connected with a transverse spring 607, one side surface of the transverse spring 607 is fixedly connected with a transverse displacement block 608, one side surface of the transverse displacement block 608 is fixedly connected with a manual button 609, one side surface of the manual button 609 is provided with an anti-slip pattern 610, through the front wheel 601, the longitudinal push rod 602, the longitudinal spring 603, the longitudinal displacement block 604, the buckle 605, the transverse push rod 606, the transverse spring 607, the transverse displacement block 608 The arrangement of the block 608, the manual button 609 and the anti-slip groove 610, when in use, start the lateral push rod 606, the lateral push rod 606 drives the lateral displacement block 608 to move to one side surface, when the slot hole in the center of the lateral displacement block 608 coincides with the longitudinal displacement block 604, the longitudinal spring 603 pushes the longitudinal displacement block 604 to move upward, exposing the buckle 605 to the outside of the front wheel 601, so that when the robot rotates, the buckle 605 will hook the buckle rope 707, so that the crawler body 703 is freed from the restraint of the second metal shaft 708, and moves with the front wheel 601 until the bottom. Separate, and when the rear wheel 3 rolls over the front end of the track body 703, due to the rolling magnet 4 provided above the rear wheel 3, the track body 703 will be attracted and follow the rear wheel 3 to move upward to the tail end of the track body 703. Since the attractive force magnet 706 is greater than the rolling magnet 4 and greater than the metal shaft, the track body 703 breaks away from the restraint of the rear wheel 3 and is attracted to the tail end of the track body 703 to complete the fixation of the head and tail. This arrangement does not require manual replacement of the track, saves a lot of time in the operation process, and allows the robot to quickly operate in new terrain.

[0020] Furthermore, two groups of the moving hind limbs 2 and the moving front limbs 5 are respectively arranged on the front and rear sides of the robot body 1, and the rolling magnets 4 are symmetrically arranged on the perpendicular bisector of the rear wheel 3. Through the arrangement of the moving hind limbs 2 and the moving front limbs 5, when in use, two groups of the moving hind limbs 2 and the moving front limbs 5 are respectively arranged on the front and rear sides of the robot body 1. This symmetrical distribution provides a stable support structure for the robot during movement, and can effectively prevent the robot from tipping over due to the shift of the center of gravity, whether walking, running or performing other actions on flat ground or complex terrain, thereby ensuring the stability of its posture.

[0021] Furthermore, the rear wheel 3 and the front wheel 601 are respectively provided with two groups on one side of the moving hind limb 2 and the moving front limb 5, and two groups of longitudinal springs 603 are fixedly connected to the upper surface of the longitudinal push rod 602, and are symmetrically arranged with the mid-vertical line of the push rod. Through the arrangement of the longitudinal springs 603, when in use, the two groups of springs 603 can maintain stability when the longitudinal push rod 602 rebounds, thereby reducing friction with the front wheel and extending the service life of the equipment.

[0022] Furthermore, the center portion of the longitudinal displacement block 604 is hollowed out, and an ejection block is provided, which presses against the lateral displacement block 608 when it is not pressed, and ejects the lateral displacement block 608 upward after it is pressed. Through the provision of the longitudinal displacement block 604, when in use, the longitudinal displacement block 604 and the buckle 605 can be extended and retracted only through the lateral displacement of the lateral displacement block 608, and a precise mechanical transmission and control feedback mechanism is also provided.

[0023] Furthermore, multiple groups of anti-skid patterns 610 are provided on the surface of one side of the manual button 609. When the longitudinal push rod 602 and the transverse push rod 606 of the locking front wheel mechanism 6 are damaged, manual operation can be realized by pressing the manual button 609 and the buckle 605 to replace and install the crawler. Through the setting of the anti-skid patterns 610, when in use, multiple groups of anti-skid patterns 610 are provided on the surface of one side of the manual button 609, which can effectively increase the friction between the hand and the button when operating the manual button 609, and prevent misoperation due to hand slippage. Especially when replacing and installing key components such as crawlers, safety accidents caused by mispressing or improper operation are avoided, and the safety of operators is guaranteed. In the case of damage to the push rod, the operator can quickly start the manual crawler replacement program to restore the robot to normal operation as soon as possible. Compared with the situation where professional maintenance personnel or specific maintenance equipment need to be waited for, the use efficiency and task execution efficiency of the robot can be significantly improved, and the impact of equipment failure on work progress can be reduced.

[0024] Furthermore, two groups of transverse springs 607 are arranged on one side surface of the transverse push rod 606, and the center part of the transverse displacement block 608 is hollowed out. When the transverse displacement block 608 moves, the longitudinal displacement block 604 can pass through the center part of the transverse displacement block 608 to be pushed upward. Through the setting of the transverse springs 607, when in use, the two groups of springs 607 can maintain stability when the transverse push rod 606 rebounds, reduce friction with the front wheel, and extend the service life of the equipment.

[0025] Furthermore, the track mechanism 7 includes a first metal shaft 701, a first limiting column 702, a track body 703, a first anti-skid protrusion 704, a second anti-skid protrusion 705, a strong magnet 706, a buckle rope 707, a second metal shaft 708 and a second limiting column 709. One side surface of the moving hind limb 2 is fixedly connected with the first metal shaft 701, one side surface of the first metal shaft 701 is fixedly connected with the first limiting column 702, one side surface of the first metal shaft 701 is bonded with the track body 703, one side surface of the track body 703 is provided with the first anti-skid protrusion 704, one side surface of the track body 703 is provided with the second anti-skid protrusion 705, one side surface of the track body 703 is fixedly connected with the strong magnet 706, one side surface of the track body 703 is fixedly connected with the buckle rope 707, one side surface of the track body 703 is bonded with the second metal shaft 708, and the first A second limiting column 709 is fixedly connected to the surface of one side of the second metal shaft 708. Through the arrangement of the first metal shaft 701, the first limiting column 702, the track body 703, the first anti-slip protrusion 704, the second anti-slip protrusion 705, the strong magnet 706, the buckle rope 707, the second metal shaft 708 and the second limiting column 709, when in use, the track is firstly wrapped around the first metal shaft 701 to reduce the carrying volume. After the wrapping is completed, the front end of the track is pulled out to above the second metal shaft 708. Due to the strong magnet 706 and the metal shaft, the front end of the track can be fixed above the second metal shaft 708. At this time, the buckle rope 707 naturally falls one to two centimeters above the front wheel 601. This not only realizes the carrying of the track mechanism 7, but also lays a good foundation when the robot needs to automatically install the track, which facilitates the subsequent operation of locking the front wheel mechanism 6.

[0026] Furthermore, the material of the first metal shaft 701 is iron, and the strong magnet 706 can be connected to the first metal shaft 701 through iron. Among the various adsorbable materials of the mechanism, the adsorption strength of the strong magnet 706 is in the order of strong magnet 706, rolling magnet 4, first metal shaft 701 and second metal shaft 708 from large to small, among which the first metal shaft 701 and the second metal shaft 708 have the same effect and are arranged at the end. Through the arrangement of the strong magnet 706, rolling magnet 4, first metal shaft 701 and second metal shaft 708, when in use, the track body 703 is replaced by gradually increasing the magnetic suction force, which makes the process convenient and automatic, and improves work efficiency.

[0027] Furthermore, a first anti-skid protrusion 704 is arranged on the side of the track body 703 facing the robot wheel, which is composed of a plurality of anti-skid spots, which effectively prevents the track body 703 from falling off relative to the wheel. A second anti-skid protrusion 705 is arranged on the side of the track body 703 facing the ground, which is composed of a plurality of stripes, which effectively prevents the track body 703 from slipping when the robot moves. Through the arrangement of the first anti-skid protrusion 704 and the second anti-skid protrusion 705, when in use, the first anti-skid protrusion 704 is arranged on the side of the track body 703 facing the robot wheel, which is composed of a plurality of anti-skid spots. When the track is installed on the wheel, these anti-skid spots can increase the friction and bite between the track and the wheel. During the movement of the robot, especially in complex terrain or high-load operation, it can effectively prevent the track from being displaced or even falling off relative to the wheel due to uneven force or vibration, thereby ensuring that the connection between the track and the wheel always remains stable, thereby ensuring the normal driving of the robot. The second anti-skid protrusion 705 is arranged on the track body 703. The side facing the ground is composed of multiple stripes. These striped anti-skid protrusions can significantly increase the friction between the track and the ground, allowing the track to better grip the ground under various ground conditions, whether on slippery muddy ground, soft sand, or on a road with a certain slope. It can effectively prevent the track from slipping, ensuring that the robot can move forward, backward or turn stably, improving the robot's terrain adaptability and motion performance.

[0028] Furthermore, two groups of strong magnets 706 are symmetrically arranged at the front and rear ends of the track body 703. When the track body 703 is in use, the whole is rolled up above the first metal shaft 701, and then the front end of the track body 703 is pulled to the second metal shaft 708 and adsorbed on it by the strong magnet 706, and the buckle rope 707 is naturally hung down to one to two centimeters above the front wheel. Through the setting of the strong magnet 706, when in use, the symmetrical setting of the strong magnet 706 at the front and rear ends of the track body 703 provides a clear positioning point for the installation of the track, and the front and rear ends of the track can be accurately fixed on the second metal shaft 708 and the first metal shaft 701 during installation, ensuring the accuracy of the track installation position and avoiding affecting the walking performance and stability of the robot due to improper installation position.

[0029] Working principle: This is a structure for quickly replacing tracks for landing wheeled robots on sandy or muddy grounds. Through the setting of the track mechanism 7, before using the track, first wrap the track around the first metal shaft 701 to reduce the carrying volume. After winding, pull the front end of the track out to above the second metal shaft 708. Due to the strong magnet 706 and the metal shaft, the front end of the track can be fixed above the second metal shaft 708. At this time, the buckle rope 707 naturally falls one to two centimeters above the front wheel 601. This not only realizes the carrying of the track mechanism 7, but also lays a good foundation when the robot needs to automatically install the track, and facilitates the subsequent operation of the locking front wheel mechanism 6. Through the setting of the locking front wheel mechanism, when the robot needs to quickly replace the track, start the lateral push rod 606, and the lateral push rod 606 drives the lateral displacement block 608 to move to one side surface. When the slot in the center of the lateral displacement block 608 coincides with the longitudinal displacement block 604, the longitudinal spring 603 pushes The movable longitudinal displacement block 604 moves upward, exposing the buckle 605 outside the front wheel 601. In this way, when the robot rotates, the buckle 605 will hook the buckle rope 707, so that the crawler body 703 is freed from the restraint of the second metal shaft 708 and moves with the front wheel 601 until the bottom ends are separated. When the rear wheel 3 rolls over the front end of the crawler body 703, the crawler body 703 will be attracted to follow the rear wheel 3 and move upward to the crawler body 703 because the rolling magnet 4 is arranged above the rear wheel 3. At the tail end of 03, because the strong attraction magnet 706 is larger than the rolling magnet 4 and larger than the metal shaft, the track body 703 breaks away from the restraint of the rear wheel 3 and attracts the tail end of the track body 703 to complete the fixation of the head and tail. This setting does not require manual replacement of the track, saves a lot of time in the operation process, allows the robot to quickly engage in operations on new terrain, and improves work efficiency. The model of the longitudinal push rod 602 and the transverse push rod 606 is YS-NZ100-12A.

[0030] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A structure for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground, comprising a robot body (1), characterized in that: A moving hind limb (2) is rotatably connected to one side surface of the robot body (1), a rear wheel (3) is rotatably connected to one side surface of the moving hind limb (2), a rolling magnet (4) is fixedly connected to one side surface of the rear wheel (3), a moving front limb (5) is rotatably connected to one side surface of the robot body (1), a locking front wheel mechanism (6) is provided on one side surface of the moving front limb (5), and a track mechanism (7) is provided on one side surface of the moving front limb (5); The locking front wheel mechanism (6) comprises a front wheel (601), a longitudinal push rod (602), a longitudinal spring (603), a longitudinal displacement block (604), a buckle (605), a transverse push rod (606), a transverse spring (607), a transverse displacement block (608), a manual button (609) and anti-slip grooves (610); a side surface of the moving front limb (5) is rotatably connected to the front wheel (601); an inner side surface of the front wheel (601) is fixedly connected to the longitudinal push rod (602); an upper surface of the longitudinal push rod (602) is fixedly connected to the longitudinal spring (603); and the longitudinal spring (610) is fixedly connected to the longitudinal push rod (606). 03) is fixedly connected to a longitudinal displacement block (604) on its upper surface, a buckle (605) is fixedly connected to the upper surface of the longitudinal displacement block (604), a transverse push rod (606) is fixedly connected to the inner surface of the front wheel (601), a transverse spring (607) is fixedly connected to one side surface of the transverse push rod (606), a transverse displacement block (608) is fixedly connected to one side surface of the transverse spring (607), a manual button (609) is fixedly connected to one side surface of the transverse displacement block (608), and an anti-slip pattern (610) is provided on one side surface of the manual button (609).

2. The structure for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 1, characterized in that: The moving hind limbs (2) and the moving front limbs (5) are arranged in two groups on the front and rear sides of the robot body (1), respectively, and the rolling magnets (4) are arranged in six groups symmetrically about the perpendicular midline of the rear wheels (3).

3. The structure for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 1, characterized in that: The rear wheels (3) and the front wheels (601) are respectively provided with two groups on one side of the moving hind limb (2) and the moving front limb (5), and the longitudinal springs (603) are fixedly connected to the upper surface of the longitudinal push rod (602) in two groups, and are symmetrically arranged with respect to the mid-vertical line of the push rod.

4. The structure for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 1, characterized in that: The central portion of the longitudinal displacement block (604) is hollowed out and is provided with an ejection block which presses against the transverse displacement block (608) when the transverse displacement block (608) is not pressed, and ejects the transverse displacement block (608) upward after the transverse displacement block (608) is pressed.

5. The structure for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 1, characterized in that: The anti-skid pattern (610) is provided in multiple groups on a side surface of the manual button (609). When the longitudinal push rod (602) and the transverse push rod (606) of the locking front wheel mechanism (6) are damaged, manual operation can be performed by pressing the manual button (609) and the buckle (605) to replace and install the crawler track.

6. The structure for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 1, characterized in that: Two groups of the transverse springs (607) are arranged on one side surface of the transverse push rod (606), and the central part of the transverse displacement block (608) is hollowed out. When the transverse displacement block (608) moves, the longitudinal displacement block (604) can pass through the central part of the transverse displacement block (608) to be pushed upward.

7. The quick track replacement structure for landing a wheeled robot on sand or muddy ground according to claim 1, characterized in that: The track mechanism (7) comprises a first metal rotating shaft (701), a first limiting column (702), a track body (703), a first anti-skid protrusion (704), a second anti-skid protrusion (705), a strong magnet (706), a buckle rope (707), a second metal rotating shaft (708) and a second limiting column (709); one side surface of the moving hind limb (2) is fixedly connected to the first metal rotating shaft (701); one side surface of the first metal rotating shaft (701) is fixedly connected to the first limiting column (702); one side surface of the first metal rotating shaft (701) is in contact with the track body (703); A belt body (703), one side surface of the track body (703) is provided with a first anti-skid protrusion (704), one side surface of the track body (703) is provided with a second anti-skid protrusion (705), one side surface of the track body (703) is fixedly connected with a strong magnet (706), one side surface of the track body (703) is fixedly connected with a buckle rope (707), one side surface of the track body (703) is attached with a second metal rotating shaft (708), and one side surface of the second metal rotating shaft (708) is fixedly connected with a second limiting column (709).

8. The structure for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 7, characterized in that: The material of the first metal rotating shaft (701) is iron, and the strong magnet (706) can be connected to the first metal rotating shaft (701) through iron. Among the various adsorbable materials of the mechanism, the order of the adsorption strength of the strong magnet (706) from large to small is the strong magnet (706), the rolling magnet (4), the first metal rotating shaft (701) and the second metal rotating shaft (708), wherein the first metal rotating shaft (701) and the second metal rotating shaft (708) have the same effect and are ranked last.

9. The structure for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 7, characterized in that: The first anti-skid protrusion (704) is arranged on the side of the track body (703) facing the robot wheel, and is composed of a plurality of anti-skid spots, effectively preventing the track body (703) from falling off relative to the wheel. The second anti-skid protrusion (705) is arranged on the side of the track body (703) facing the ground, and is composed of a plurality of stripes, effectively preventing the track body (703) from slipping when the robot moves.

10. The structure for quickly replacing crawler tracks for landing a wheeled robot on sandy or muddy ground according to claim 7, characterized in that: The strong magnets (706) are symmetrically arranged in two groups at the front and rear ends of the track body (703). When the track body (703) is in use, the whole is rolled up above the first metal shaft (701), and then the front end of the track body (703) is pulled to the second metal shaft (708) and adsorbed on it by the strong magnets (706), and the buckle rope (707) is naturally hung down to one to two centimeters above the front wheel.

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