A kind of sand or mud ground wheel-foot robot landing track quick replacement structure

Abstract

The application relates to the technical field of robots, in particular to a track quick replacement structure for a sand or mud wheel-foot robot landing, which comprises a robot main body, a moving forelimb is rotationally connected to one side surface of the robot main body, a lock buckle forewheel mechanism is arranged on one side surface of the moving forelimb, and a track mechanism is arranged on one side surface of the moving forelimb. The track quick replacement structure for the sand or mud wheel-foot robot landing is provided with the track mechanism and the lock buckle forewheel mechanism, when the robot needs to be quickly replaced with the track, a push rod is started, a buckle is extended outside the forewheel to hook a buckle rope, and a rotating magnet of a rear wheel is matched to complete the fixation of the head and the tail. The track does not need to be manually replaced, a large amount of time on the operation process is saved, the robot can be quickly put into operation in a new terrain, and the work efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and particularly relates to a track quick replacement structure for a wheel-foot robot landing on sand or mud. BACKGROUND

[0002] In the development history of robot technology, the adaptability to complex terrain has always been the research focus. With the expansion of application scenarios, robots need to perform tasks in sand, mud and other special terrains more and more. In the sand environment, the softness of sand easily leads to the sinking of the robot, and the traditional walking structure may be difficult to move effectively due to insufficient friction. The viscosity of mud not only increases the moving resistance, but also may wrap the moving parts of the robot with mud, affecting the normal operation. As a design combining the advantages of wheeled and footed robots, the wheel-foot robot improves the terrain adaptability to a certain extent, but when dealing with these special terrains, it still faces many challenges without suitable auxiliary structures. Therefore, there is an urgent need for a track quick replacement structure for a wheel-foot robot landing on sand or mud.

[0003] However, the existing wheel-foot robot often needs manual replacement of the track, which not only consumes a lot of time due to the complex operation process, but also leads to the robot being unable to quickly enter the operation of new terrain, reducing work efficiency. Especially in some emergency rescue or scientific exploration task scenarios, time delay may have serious consequences. SUMMARY

[0004] The present application relates to the field of robot technology, and particularly relates to a track quick replacement structure for a wheel-foot robot landing on sand or mud.

[0005] To achieve the above purpose, the present application provides the following technical scheme: a track quick replacement structure for a wheel-foot robot landing on sand or mud, comprising a robot main body, a moving hind limb rotatably connected to one side surface of the robot main body, a rear wheel rotatably connected to one side surface of the moving hind limb, a rolling magnet fixedly connected to one side surface of the rear wheel, a moving forelimb rotatably connected to one side surface of the robot main body, a lock buckle front wheel mechanism arranged on one side surface of the moving forelimb, and a track mechanism arranged on one side surface of the moving forelimb.

[0006] The lock 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 a non-slip pattern, one side surface of the moving front limb is rotationally connected with the front wheel, the inner side surface of the front wheel is fixedly connected with the longitudinal push rod, the upper surface of the longitudinal push rod is fixedly connected with the longitudinal spring, the upper surface of the longitudinal spring is fixedly connected with the longitudinal displacement block, the upper surface of the longitudinal displacement block is fixedly connected with the buckle, the inner side surface of the front wheel is fixedly connected with the transverse push rod, one side surface of the transverse push rod is fixedly connected with the transverse spring, one side surface of the transverse spring is fixedly connected with the transverse displacement block, one side surface of the transverse displacement block is fixedly connected with the manual button, and one side surface of the manual button is provided with the non-slip pattern.

[0007] Preferably, two groups of the moving rear limbs and the moving front limbs are arranged on the front and rear sides of the robot body respectively, and six groups of the rolling magnets are symmetrically arranged with the median line of the rear wheel.

[0008] Preferably, two groups of the rear wheels and the front wheels are respectively arranged on one side of the moving rear limbs and the moving front limbs, and two groups of the longitudinal springs are fixedly connected with the upper surface of the longitudinal push rod and symmetrically arranged with the median line of the push rod.

[0009] Preferably, the central part of the longitudinal displacement block is hollow, and a ejection block is arranged in the central part, the ejection block is in abutment with the transverse displacement block when the transverse displacement block is not pressed, and the ejection block ejects the transverse displacement block upward after the transverse displacement block is pressed.

[0010] Preferably, a plurality of groups of the non-slip patterns are arranged on one side surface of the manual button, and the longitudinal push rod and the transverse push rod of the lock front wheel mechanism can be manually operated by pressing the manual button and the buckle when damaged, so as to replace and install the track.

[0011] 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 hollow, so that the longitudinal displacement block can pass through the central part of the transverse displacement block when the transverse displacement block moves, and the longitudinal displacement block is ejected upward.

[0012] Preferably, the track mechanism comprises a first metal rotating shaft, a first limiting column, a track body, a first anti-skid protrusion, a second anti-skid protrusion, a strong magnet, a buckle rope, a second metal rotating shaft and a second limiting column, one side surface of the moving hind limb is fixedly connected with the first metal rotating shaft, one side surface of the first metal rotating shaft is fixedly connected with the first limiting column, one side surface of the first metal rotating shaft is attached with the track body, one side surface of the track body is provided with the first anti-skid protrusion, one side surface of the track body is provided with the second anti-skid protrusion, one side surface of the track body is fixedly connected with the strong magnet, one side surface of the track body is fixedly connected with the buckle rope, one side surface of the track body is attached with the second metal rotating shaft, one side surface of the second metal rotating shaft is fixedly connected with the second limiting column.

[0013] Preferably, the material of the first metal rotating shaft is iron, the strong magnet can be connected with the first metal rotating shaft through iron, the strong magnet can attract various materials, the order of the attraction strength from large to small is the strong magnet, the rolling magnet, the first metal rotating shaft and the second metal rotating shaft, wherein the first metal rotating shaft and the second metal rotating shaft have the same effect and are listed last.

[0014] 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.

[0015] Preferably, the strong magnet is symmetrically arranged in two groups at the front end and the rear end of the track body, the track body is rolled on the first metal rotating shaft in use, then the front end of the track body is pulled to the second metal rotating shaft, the strong magnet is used to attract the front end of the track body to the upper side, and the buckle rope naturally falls to one to two centimeters above the front wheel.

[0016] Compared with the prior art, the beneficial effects of the application are that: the quick replacement structure of the crawler belt for the sand or mud ground wheel-foot robot landing is provided with a crawler belt mechanism, before the crawler belt is used, the crawler belt is first wound around the first metal rotating shaft to reduce the carrying volume, after the winding is completed, the front end of the crawler belt is pulled out above the second metal rotating shaft, due to the strong magnet and the metal rotating shaft, the front end of the crawler belt can be fixed above the second metal rotating shaft, at this time, the buckle rope naturally falls at a position of one to two centimeters above the front wheel, so that the carrying of the crawler belt mechanism is realized, and the basis for automatic installation of the crawler belt by the robot is prepared, which facilitates the subsequent operation of the front wheel locking buckle mechanism, when the robot needs to quickly replace the crawler belt, the horizontal push rod is started, the horizontal push rod drives the horizontal displacement block to move to one side surface, when the slot hole in the center of the horizontal displacement block is matched with the vertical displacement block, the vertical spring pushes the vertical displacement block to move upward, so that the buckle is exposed outside the front wheel, so that when the robot rotates, the buckle hooks the buckle rope, so that the crawler belt body is separated from the second metal rotating shaft, and moves with the front wheel until the lowest end is separated, when the rear wheel rolls to the front end of the crawler belt body, due to the fact that the upper side of the rear wheel is provided with a rolling magnet, the crawler belt body is attracted to move upward to the tail end of the crawler belt body, due to the fact that the attractive force of the strong magnet is greater than that of the rolling magnet and the metal rotating shaft, the crawler belt body is separated from the restraint of the rear wheel, and is attracted to the tail end of the crawler belt body, so that the first and second ends are fixed, so that manual replacement of the crawler belt is not required, a large amount of operation process time is saved, the robot can be quickly put into operation in a new terrain, and the work efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a side view of the appearance structure of the application;

[0018] Figure 2 It is a schematic view of the mutual cooperation structure of the first metal rotating shaft, the first limiting column and the front wheel;

[0019] Figure 3 It is a schematic view of the mutual cooperation of the front and rear limbs;

[0020] Figure 4 It is a schematic view of the structure of the crawler belt mechanism;

[0021] Figure 5 It is a schematic view of the mutual cooperation structure of the rear wheel and the rolling magnet;

[0022] Figure 6 It is a schematic view of the structure of the front wheel locking buckle mechanism;

[0023] Figure 7 It is a schematic view of the internal vertical structure of the front wheel locking buckle mechanism;

[0024] Figure 8 This is a schematic diagram of the internal transverse structure of the locking front wheel mechanism of the present invention.

[0025] In the diagram: 1. Robot body; 2. Hind limbs; 3. Rear wheel; 4. Scrolling magnet; 5. Forelimbs; 6. Locking mechanism for front wheel; 601. Front wheel; 602. Longitudinal push rod; 603. Longitudinal spring; 604. Longitudinal displacement block; 605. Buckle; 606. Lateral push rod; 607. Lateral spring; 608. Lateral displacement block; 609. Manual button; 610. Anti-slip texture; 7. Track mechanism; 701. First metal shaft; 702. First limiting post; 703. Track body; 704. First anti-slip protrusion; 705. Second anti-slip protrusion; 706. Powerful magnet; 707. Buckle rope; 708. Second metal shaft; 709. Second limiting post. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Please see Figures 1-8 The present invention provides a technical solution: a quick-change track structure for a wheeled robot landing in sand or mud, comprising a robot body 1, a rotatable hind limb 2 rotatably connected to one side surface of the robot body 1, a rear wheel 3 rotatably connected to one side surface of the hind limb 2, a rotating magnet 4 fixedly connected to one side surface of the rear wheel 3, a rotatable forelimb 5 rotatably connected to one side surface of the robot body 1, a locking mechanism 6 for the front wheel limb 5 rotatably connected to one side surface of the forelimb limb 5, and a track mechanism 7 rotatably connected to one side surface of the forelimb limb 5.

[0028] The lock buckle 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 a non-slip pattern 610, one side surface of the movement forelimb 5 is rotationally connected with the front wheel 601, the inner side surface of the front wheel 601 is fixedly connected with the longitudinal push rod 602, the upper surface of the longitudinal push rod 602 is fixedly connected with the longitudinal spring 603, the upper surface of the longitudinal spring 603 is fixedly connected with the longitudinal displacement block 604, the upper surface of the longitudinal displacement block 604 is fixedly connected with the buckle 605, the inner side surface of the front wheel 601 is fixedly connected with the transverse push rod 606, one side surface of the transverse push rod 606 is fixedly connected with the transverse spring 607, one side surface of the transverse spring 607 is fixedly connected with the transverse displacement block 608, one side surface of the transverse displacement block 608 is fixedly connected with the manual button 609, one side surface of the manual button 609 is provided with the non-slip pattern 610, through the setting of 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 manual button 609 and the non-slip pattern 610, in use, the transverse push rod 606 is started, the transverse push rod 606 drives the transverse displacement block 608 to move to one side surface, when the slot hole in the center of the transverse displacement block 608 is consistent with the longitudinal displacement block 604, the longitudinal spring 603 pushes the longitudinal displacement block 604 to displace upward, the buckle 605 is exposed outside the front wheel 601, so that when the robot rotates, the buckle 605 will hook the buckle rope 707, so that the track main body 703 is separated from the constraint of the second metal rotating shaft 708, and follows the front wheel 601 to move until the bottom end is separated, when the rear wheel 3 rolls to the front end of the track main body 703, because the upper side of the rear wheel 3 is provided with the rolling magnet 4, the track main body 703 will be attracted to move upward to the tail end of the track main body 703 following the rear wheel 3, because the attractive force of the strong magnet 706 is greater than that of the rolling magnet 4, the track main body 703 is separated from the constraint of the rear wheel 3, and is attracted to the tail end of the track main body 703, completing the fixation of the head and tail, so the setting does not need manual replacement of the track, saves a lot of time in the operation process, and can make the robot quickly enter the new terrain operation.

[0029] Further, the movement hindlimb 2 and the movement forelimb 5 are provided with two groups on the front and rear sides of the robot main body 1, and the rolling magnet 4 is symmetrically arranged with the median line of the rear wheel 3, through the setting of the movement hindlimb 2 and the movement forelimb 5, in use, the movement hindlimb 2 and the movement forelimb 5 are provided with two groups on the front and rear sides of the robot main body 1, the symmetrical distribution provides a stable support structure for the robot during movement, whether walking, running or performing other actions on flat ground or complex terrain, the robot can effectively prevent tilting due to center of gravity deviation, and ensure the stability of its posture.

[0030] Further, the rear wheels 3 and the front wheels 601 are respectively provided with two groups on one side of the moving hind limbs 2 and the moving forelimbs 5, and the longitudinal springs 603 are fixedly connected to the upper surface of the longitudinal push rods 602 in two groups and symmetrically arranged with the median line of the push rod. Through the arrangement of the longitudinal springs 603, the two groups of springs 603 can remain stable when the longitudinal push rods 602 rebound in use, reducing friction with the front wheels and prolonging the service life of the equipment.

[0031] Further, the central part of the longitudinal displacement block 604 is hollowed out and provided with an ejection block that presses the lateral displacement block 608 when it is not pressed and ejects it upward after the lateral displacement block 608 is pressed. Through the arrangement of the longitudinal displacement block 604, only the lateral displacement of the lateral displacement block 608 is needed to realize the extension and retraction of the longitudinal displacement block 604 and the buckle 605 in use, and a precise mechanical transmission and control feedback mechanism is also provided.

[0032] Further, the anti-skid lines 610 are provided on the side surface of the manual button 609 in multiple groups, and the longitudinal push rod 602 and the lateral push rod 606 of the lock buckle front wheel mechanism 6 can be manually operated by pressing the manual button 609 and the buckle 605 when damaged to replace and install the track. Through the arrangement of the anti-skid lines 610, multiple groups of anti-skid lines 610 are provided on the side surface of the manual button 609 in use, which can effectively increase the friction between the hand and the button when operating the manual button 609, preventing accidental operation due to hand slipping. Especially when replacing and installing the track, a key component, to avoid safety accidents caused by accidental pressing or improper operation, ensuring the safety of the operator. In the case of push rod damage, the operator can quickly start the manual track replacement program to make the robot resume normal operation as soon as possible. Compared with the case of waiting for professional maintenance personnel or specific maintenance equipment, 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.

[0033] Further, the lateral springs 607 are provided on one side surface of the lateral push rod 606 in two groups, and the central part of the lateral displacement block 608 is hollowed out. When the lateral displacement block 608 moves, the longitudinal displacement block 604 can pass through the central part of the lateral displacement block 608 to be ejected upward. Through the arrangement of the lateral springs 607, the two groups of springs 607 can remain stable when the lateral push rod 606 rebounds in use, reducing friction with the front wheels and prolonging the service life of the equipment.

[0034] Further, 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 with the first metal rotating shaft 701, one side surface of the first metal rotating shaft 701 is fixedly connected with the first limiting column 702, one side surface of the first metal rotating shaft 701 is attached 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 attached with the second metal rotating shaft 708, one side surface of the second metal rotating shaft 708 is fixedly connected with the second limiting column 709, through the setting of the first metal rotating shaft 701, the first limiting column 702, the track body 703, the first anti-skid protrusion 704, the second anti-skid protrusion 705, the strong magnet 706, the buckle rope 707, the second metal rotating shaft 708 and the second limiting column 709, in use, the track is first wound around the first metal rotating shaft 701 to reduce the carrying volume, after winding is completed, the front end of the track is pulled out to above the second metal rotating shaft 708, due to the strong magnet 706 and the metal rotating shaft, the front end of the track can be fixed above the second metal rotating shaft 708, at this time the buckle rope 707 naturally falls at one to two centimeters above the front wheel 601, so that not only the carrying of the track mechanism 7 is realized, but also the basis is prepared when the robot needs to automatically install the track, which facilitates the subsequent operation of the lock buckle front wheel mechanism 6.

[0035] Further, the material of the first metal rotating shaft 701 is iron, the strong magnet 706 can be connected with the first metal rotating shaft 701 through iron, the strong magnet 706 is in various adsorbable materials of the mechanism, the order of the adsorbed strength 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 listed last, through the setting of the strong magnet 706, the rolling magnet 4, the first metal rotating shaft 701 and the second metal rotating shaft 708, in use, the track body 703 is transposed in a gradually increasing manner through the magnet attraction force, so that the process is convenient and automatic, and the working efficiency is improved.

[0036] Further, the first anti-skid protrusions 704 are arranged on the side of the track body 703 facing the wheels of the robot, which are composed of a plurality of anti-skid spots, effectively preventing the track body 703 from slipping off the wheels. The second anti-skid protrusions 705 are arranged on the side of the track body 703 facing the ground, which are composed of a plurality of stripes, effectively preventing the track body 703 from slipping when the robot is moving. Through the arrangement of the first anti-skid protrusions 704 and the second anti-skid protrusions 705, in use, the first anti-skid protrusions 704 are arranged on the side of the track body 703 facing the wheels of the robot, which are composed of a plurality of anti-skid spots. When the track is installed on the wheels, these anti-skid spots can increase the friction and engagement between the track and the wheels. During the movement of the robot, especially in complex terrain or high-load operation, it can effectively prevent the track from displacing or even falling off the wheels due to uneven force or vibration, etc., ensuring that the connection between the track and the wheels remains stable at all times, thereby ensuring the normal driving of the robot. The second anti-skid protrusions 705 are arranged on the side of the track body 703 facing the ground, which are composed of a plurality of stripes. These stripe-shaped 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 it is wet and slippery mud, soft sand, or 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 movement performance.

[0037] Further, two groups of strong magnets 706 are symmetrically arranged at the front and rear ends of the track body 703. In use, the track body 703 is wound around the first metal shaft 701, then the front end of the track body 703 is pulled onto the second metal shaft 708 and is attracted to the top by the strong magnets 706, and the buckle rope 707 naturally falls to one or two centimeters above the front wheel. Through the arrangement of the strong magnets 706, in use, the symmetric arrangement of the strong magnets 706 at the front and rear ends of the track body 703 provides a clear positioning point for the installation of the track, allowing the front and rear ends of the track to 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.

[0038] Working principle: the quick replacement structure of the crawler belt for the wheel-foot robot landing on sand or mud ground, through the setting of the crawler belt mechanism 7, before using the crawler belt, first wind the crawler belt around the first metal shaft 701, reduce the carrying volume, after winding, pull the front end of the crawler belt above the second metal shaft 708, due to the strong magnet 706 and the metal shaft, the front end of the crawler belt can be fixed above the second metal shaft 708, at this time, the rope 707 naturally falls above the front wheel 601 at one to two centimeters, which not only realizes the carrying of the crawler belt mechanism 7, but also lays the foundation for the automatic installation of the robot when needed, 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 replace the crawler belt quickly, start the horizontal push rod 606, the horizontal push rod 606 drives the horizontal displacement block 608 to move to one side surface, when the slot in the center of the horizontal displacement block 608 is matched with the longitudinal displacement block 604, the longitudinal spring 603 pushes the longitudinal displacement block 604 to move upward, exposing the buckle 605 outside the front wheel 601, so that when the robot rotates, the buckle 605 will hook the rope 707, so that the crawler belt body 703 is separated from the second metal shaft 708, and moves with the front wheel 601 until the bottom end is separated, when the rear wheel 3 rolls to the front end of the crawler belt body 703, due to the setting of the rolling magnet 4 above the rear wheel 3, the crawler belt body 703 will be attracted to move upward with the rear wheel 3 to the tail end of the crawler belt body 703, due to the strong magnet 706 being greater than the rolling magnet 4 and the metal shaft, the crawler belt body 703 is separated from the restraint of the rear wheel 3, and is attracted to the tail end of the crawler belt body 703, completing the fixation of the head and tail, so the setting does not need manual replacement of the crawler belt, saves a lot of time in the operation process, can make the robot quickly enter the new terrain work, improve the work efficiency, the model of the longitudinal push rod 602 and the horizontal push rod 606 is YS-NZ100-12A.

[0039] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, the scope of the present application being defined by the appended claims and their equivalents.

Claims

1. A quick-change track structure for landing wheeled robots in sandy or muddy terrain, comprising a robot body (1), characterized in that: The robot body (1) is rotatably connected to a hind limb (2) on one side surface. The hind limb (2) is rotatably connected to a rear wheel (3) on one side surface. The rear wheel (3) is fixedly connected to a rolling magnet (4) on one side surface. The robot body (1) is rotatably connected to a forelimb (5) on one side surface. The forelimb (5) is provided with a locking mechanism (6) on one side surface. The hind limb (2) and the forelimb (5) are provided with a track mechanism (7). The locking front wheel mechanism (6) includes a front wheel (601), the front wheel (601) is rotatably connected to one side surface of the moving forelimb (5), a longitudinal push rod (602) is fixedly connected to the inner side surface of the front wheel (601), a longitudinal spring (603) is fixedly connected to the upper surface of the longitudinal push rod (602), a longitudinal displacement block (604) is fixedly connected to the upper surface of the longitudinal spring (603), 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 side 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 texture (610) is provided on one side surface of the manual button (609). The track mechanism (7) includes a first metal shaft (701) and a second metal shaft (708). The first metal shaft (701) is mounted on the hind limb (2), and the second metal shaft (708) is mounted on the forelimb (5). A first limiting post (702) is fixedly connected to one side surface of the first metal shaft (701). A track body (703) is attached to one side surface of the first metal shaft (701). A first anti-slip protrusion (704), a second anti-slip protrusion (705), and a strong magnet (706) are respectively provided on the inner and outer surfaces of the track body (703). A buckle (707) is also fixedly connected to one end surface. A second metal shaft (708) is attached to one side surface of the track body (703), and a second limiting post (709) is fixedly connected to one side surface of the second metal shaft (708). The first metal shaft (701) is made of iron. A strong magnet (706) is magnetically connected to the first metal shaft (701). Among the various adsorbable materials in the mechanism, the adsorption strength from largest to smallest is: strong magnet (706), rolling magnet (4), first metal shaft (701) and second metal shaft (708). The first metal shaft (701) and the second metal shaft (708) have the same effect and are listed last. Two sets 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 entire track body (703) 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 attracted to it by the strong magnets (706). The buckle rope (707) hangs down naturally to one to two centimeters above the front wheel. As the robot rotates, the buckle will hook onto the buckle rope, thereby freeing the track body (703) from the restraint of the second metal shaft (708) and moving with the front wheel (601) until the lowest end separates. When the rear wheel (3) rolls over the front end of the track body (703), the track body (703) will be attracted by the magnetic attraction of the magnetic magnet (4) above the rear wheel (3) and move upward to the rear end of the track body (703). Since the attraction of the strong magnet (706) is greater than that of the magnetic magnet (4) and the metal shaft, the track body (703) is freed from the restraint of the rear wheel (3) and attracts the rear end of the track body (703), thus completing the fixation of the head and tail.

2. The quick-change track structure for landing wheeled robots in sandy or muddy terrain according to claim 1, characterized in that: The hind limbs (2) and forelimbs (5) are arranged in two sets on the front and rear sides of the robot body (1), and the rolling magnets (4) are arranged in six sets symmetrically along the vertical line of the rear wheel (3).

3. The quick-change track structure for landing of a wheeled robot in sand or mud as described in claim 1, characterized in that: The rear wheel (3) and the front wheel (601) are respectively provided with two sets on one side of the hind limb (2) and the forelimb (5). The longitudinal spring (603) is fixedly connected to two sets on the upper surface of the longitudinal push rod (602), and is symmetrically arranged with respect to the vertical line of the push rod.

4. The quick-change track structure for landing of a wheeled robot in sand or mud as described in claim 1, characterized in that: The center of the longitudinal displacement block (604) is hollowed out and is provided with a push-out block, which presses against the transverse displacement block (608) when it is not pressed, and pushes it upward after the transverse displacement block (608) is pressed.

5. The quick-change track structure for landing wheeled robots in sandy or muddy terrain according to claim 1, characterized in that: The anti-slip texture (610) is provided in multiple sets on one 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 achieved by pressing the manual button (609) and the buckle (605) to replace and install the track.

6. The quick-change track structure for landing of a wheeled robot in sand or mud as described in claim 1, characterized in that: Two sets of transverse springs (607) are provided on one side surface of the transverse push rod (606). The center 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 of the transverse displacement block (608) and push upward.

7. The quick-change track structure for landing wheeled robots in sandy or muddy terrain according to claim 1, characterized in that: The first anti-slip protrusion (704) is located on the side of the track body (703) facing the robot wheel. It consists of multiple anti-slip spots and effectively prevents the track body (703) from falling off the wheel. The second anti-slip protrusion (705) is located on the side of the track body (703) facing the ground. It consists of multiple stripes and effectively prevents the track body (703) from slipping when the robot moves.

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