Self-walking type variable structure external limb robot

Abstract

The invention discloses a self-walking type variable extracorporeal limb robot, which belongs to the field of man-machine collaborative robot equipment and comprises a wearable backpack and mechanical limbs, the mechanical limbs are arranged on the wearable backpack; the mechanical limb comprises a rotary joint, two opposite rotary parts of the rotary joint are respectively connected with an arm lever; the arm lever is connected with the three-degree-of-freedom wrist; the three-degree-of-freedom wrist is connected with the electro-permanent magnet quick-change connecting mechanism, so that the mechanical limb has the degree of freedom of rotation, pitching or synchronous movement of rotation and pitching; the electro-permanent magnet quick-change connecting mechanism is used for the outer limb robot to complete autonomous switching of different configurations on the wearable backpack; the arm lever, the three-degree-of-freedom wrist and the electro-permanent magnet quick-change connecting mechanism are symmetrically arranged. According to the invention, actions similar to autonomous walking are carried out on the wearable knapsack, and the electric permanent magnet type interface is matched, so that the autonomous configuration changing function of the outer limbs can be realized, and the outer limb robot can adapt to more complex and diversified working conditions.

Description

Technical Field

[0001] The invention relates to a robot, in particular to a self-propelled variable-configuration exo-limb robot, belonging to the field of human-machine collaborative robot equipment. Background Art

[0002] Exo-limb robots are a new type of wearable auxiliary work robot. Exo-limb robots are independent of the wearer's limbs and are not constrained by the wearer's limb movements. At the same time, they do not replace human limbs. They can serve as redundant limbs of humans to expand the wearer's operating capabilities and assist the wearer in completing work tasks. With the cooperation of exo-limbs, the wearer can complete some tasks that are easy to fatigue, relatively dangerous, and difficult for humans to complete independently. It has great application prospects in industrial production, rehabilitation medicine, national defense and military fields.

[0003] As an emerging wearable auxiliary work robot, exo-limb robots still have some shortcomings. There is no consensus on the optimal arrangement and allocation of mechanical limbs. For different auxiliary work tasks, the location requirements of the mechanical limbs are also different. How to improve the adaptability of exo-limb robots to different tasks is an important issue. Although existing solutions have increased the number of mechanical limbs to improve the adaptability of exo-limbs to different tasks, it will also directly increase the weight of the overall device, thereby causing unnecessary burden on the wearer. In addition, although there are plans to propose variable configuration exo-limbs and adopt modular design solutions to improve the interchangeability of exo-limbs and reduce the difficulty of variable configuration, the mechanical and electrical interfaces of such solutions are still relatively complex, making it difficult to achieve rapid configuration changes.

[0004] In summary, the existing exo-limb robots have weak multi-task adaptability, and the mechanical and electrical interfaces are still relatively complex, making it difficult to achieve rapid conformational changes. Summary of the invention

[0005] The present invention is to overcome the shortcomings of the prior art and propose a self-propelled variable configuration exo-limb robot. The robot adopts an electro-permanent magnet connection interface that is easy to connect and disconnect, which can conveniently and quickly realize the mechanical and electrical connection of the mechanical limbs. At the same time, a symmetrical design is adopted, and the mechanical limbs can be controlled to move autonomously between the reserved interfaces on the backpack in the way of self-propelled walking on the wearable backpack, thereby realizing the function of automatic variable configuration, which greatly enhances the multi-task adaptability of the exo-limb robot.

[0006] A self-propelled variable-configuration exo-limb robot comprises a wearable backpack and a mechanical limb; the mechanical limb is arranged on the wearable backpack;

[0007] The mechanical limb comprises:

[0008] A swivel joint, wherein two opposite swivel parts are respectively connected to an arm;

[0009] The arm is connected to the three-degree-of-freedom wrist;

[0010] The three-degree-of-freedom wrist is connected to an electro-permanent magnet quick-change connection mechanism, so that the mechanical limb has the freedom of rotation, pitch, or simultaneous rotation and pitch;

[0011] An electro-permanent magnet quick-change connection mechanism, used for the exo-limb robot to autonomously switch between different configurations on a wearable backpack;

[0012] The arm, the three-degree-of-freedom wrist and the electro-permanent magnet quick-change connection mechanism are arranged symmetrically. The mechanical limb has seven degrees of rotational freedom.

[0013] Furthermore, the swivel joint comprises an upper shell, a lower shell and a drive unit; the drive unit is installed on the lower shell, the drive unit is used to drive the upper shell to rotate, and the upper shell and the lower shell are respectively connected to the arm rod.

[0014] Furthermore, the three-degree-of-freedom wrist includes: a rotating part, used to drive the differential drive part to rotate; the differential drive part, used to drive the differential transmission part to rotate, pitch, or rotate and pitch synchronously; the differential transmission part, whose output end is connected to the electro-permanent magnet quick-change connection mechanism, so as to realize the synchronous movement of the electro-permanent magnet quick-change connection mechanism under the movement of the differential transmission part.

[0015] Furthermore, the electropermanent magnet quick-change connection mechanism includes a connecting shell, a circuit board, an electropermanent magnet and a chassis; the connecting shell is installed at the end of the end bevel gear shaft of the three-degree-of-freedom wrist, the electropermanent magnet is installed on the chassis, and the circuit board is arranged between the connecting shell and the chassis to supply power to the electropermanent magnet, and magnetize and demagnetize the electropermanent magnet according to sending forward or reverse pulse current, and the connecting shell and the chassis are connected.

[0016] The beneficial effects of the present invention compared with the prior art are as follows:

[0017] 1. The symmetrical design of the mechanical limbs enables the present application to perform actions similar to autonomous walking on a wearable backpack. Combined with the electropermanent magnet interface, the autonomous configuration-changing function of the external limbs can be realized, allowing the external limb robot to adapt to more complex and diverse working conditions.

[0018] 2. The differential three-degree-of-freedom robot wrist used in this application has the characteristics of flexible movement, strong load output capacity and compact space, which makes the mechanical limb have strong flexibility and operation ability.

[0019] 3. The rotary joint used in this application adopts a dual-motor anti-backlash drive mode, which improves the control accuracy and load capacity of the mechanical limbs.

[0020] 4. This application adopts an electro-permanent magnet quick-change method, which takes into account the requirements of both mechanical and electrical interfaces, reduces the difficulty of connecting and disconnecting the mechanical limbs and the wearable backpack, greatly improves the quick-change efficiency, and at the same time provides the possibility for automated switching of the mechanical limbs.

[0021] The present application scheme is further described below with reference to the accompanying drawings and embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the mechanical limb of this application;

[0023] Figure 2 A state diagram of the mechanical limbs in the embodiment walking on the wearable backpack;

[0024] Figure 3 It is a stereoscopic diagram of the rotary joint and the corresponding exploded diagram;

[0025] Figure 4 It is the main view and main sectional view of the swivel joint;

[0026] Figure 5 This is the arm composition and connection diagram;

[0027] Figure 6 It is a stereogram of the three-degree-of-freedom wrist;

[0028] Figure 7 It is a schematic diagram of the rotation part of the three-degree-of-freedom wrist;

[0029] Figure 8 A schematic diagram showing the connection between the differential drive part and the differential transmission part;

[0030] Fig. 9 It is a schematic diagram of the differential drive part of the three-degree-of-freedom wrist;

[0031] Fig.10 Schematic diagram of the synchronous belt transmitting power;

[0032] Fig.11 It is a schematic diagram of the differential transmission part of the three-degree-of-freedom wrist;

[0033] Fig.12 Schematic diagram of the electro-permanent magnet quick-change connection mechanism. DETAILED DESCRIPTION

[0034] The embodiments of the technical solution of the present application are described in detail below in conjunction with the accompanying drawings. Unless otherwise specified, the technical terms or scientific terms used in the present application are generally understood by those skilled in the art.

[0035] Reference Figure 1 and Figure 2A self-propelled variable-configuration exo-limb robot, comprising a wearable backpack E and mechanical limbs; the mechanical limbs are arranged on the wearable backpack E;

[0036] The mechanical limb comprises:

[0037] The swivel joint A has two opposite swivel parts connected to an arm B respectively;

[0038] Arm B, connected to the three-degree-of-freedom wrist C;

[0039] The three-degree-of-freedom wrist C is connected to the electro-permanent magnet quick-change connection mechanism D, so that the mechanical limb has the freedom of rotation, pitch, or synchronous rotation and pitch;

[0040] An electro-permanent magnet quick-change connection mechanism D, used for the external limb robot to complete autonomous switching of different configurations on the wearable backpack E;

[0041] The arm B, the three-degree-of-freedom wrist C and the electro-permanent magnet quick-change connection mechanism D are arranged symmetrically. That is, each mechanical limb includes 1 swivel joint A, 2 arm bars B, 2 three-degree-of-freedom wrists C and 2 electro-permanent magnet quick-change connection devices D. The two three-degree-of-freedom wrists C have a total of 6 degrees of freedom, the swivel joint A has 1 rotational degree of freedom, and a single mechanical limb has seven rotational degrees of freedom. Its overall joint configuration adopts a symmetrical arrangement. Because the mechanical limb adopts a symmetrical design, through the form of "end movement to the predetermined interface point - end magnetization - end connection - base demagnetization - base disconnection", the mechanical limb can "self-walk" on the wearable backpack, and then move to the designated interface position to form a specific configuration. Figure 2 (a) is the head-up configuration, Figure 2 (b) is the shoulder configuration, Figure 2 (c) is the waist configuration.

[0042] Further, refer to Figure 3-Figure 4 The swivel joint A comprises an upper housing A1, a lower housing A8 and a driving unit A7; the driving unit A7 is mounted on the lower housing A8, and the driving unit A7 is used to drive the upper housing A1 to rotate, and the upper housing A1 and the lower housing A8 are respectively connected to the arm B. The upper housing A1 and the lower housing A8 of the swivel joint A are connected to the arm B through threads.

[0043] Exemplarily: each rotary joint A includes two drive units A7, each of which has two symmetrically distributed drive units A7, and each of which includes a servo and an output gear; the output gear is installed at the output end of the servo, and the servo is installed on the lower outer shell A8, and an inner ring gear A5 that can rotate relative to the lower outer shell A8 is provided on the upper part of the lower outer shell A8, the output gear is meshed with the inner ring gear A5, and the inner ring gear A5 is connected to the upper outer shell A1.

[0044] For example: refer to Figure 4 , Figure 4 (a) is the front view of the rotary joint A. Figure 4 (b) Figure 4 (a) is a cross-sectional view along the FF line; it can be seen from the figure that the two drive units A7 are installed on the drive unit mounting plate A6, and then the drive unit mounting plate A6 and the lower shell A8 are installed and fixed by threaded connection. The rolling bearing A4 is installed on the upper part of the drive unit mounting plate A6, and the bearing end cover A2 is installed on the upper end of the drive unit mounting plate A6 by threaded connection, and fixes the inner ring of the rolling bearing A4 together with the drive unit mounting plate A6. The output gears of the two drive units A7 are respectively engaged with the inner gear ring A5, and the inner gear ring A5 is installed and fixed with the upper shell connecting member A3 by threaded connection, and at the same time, the outer ring of the rolling bearing A4 is constrained together. The upper shell connecting member A3 is installed and fixed with the upper shell A1 by threaded connection, and the output of the drive unit A7 can be transmitted to the upper shell A1.

[0045] For example, the upper shell A1, the bearing end cover A2, the upper shell connector A3, the drive unit mounting plate A6 and the lower shell A8 all adopt a hollow design, leaving sufficient space for subsequent electrical wiring.

[0046] For arm B, refer to Figure 5 It includes a swivel joint connecting part B1 and a main rod B2. The swivel joint connecting part B1 and one end of the main rod B2 are connected and fixed by bolts and nuts. The swivel joint connecting part B1 is respectively connected to the upper shell A1 and the lower shell A8 of the swivel joint A. The other end of the main rod B2 is connected to the swivel part C1 of the three-degree-of-freedom wrist C.

[0047] Further, refer to Figure 6 , the three-degree-of-freedom wrist C comprises:

[0048] Rotating part C1; used to drive the differential driving part C2 to rotate;

[0049] The differential driving part C2 is used to drive the differential transmission part C3 to rotate, pitch, or rotate and pitch synchronously;

[0050] The output end of the differential transmission part C3 is connected to the electro-permanent magnet quick-change connection mechanism D, so that the electro-permanent magnet quick-change connection mechanism D can be driven to move synchronously when the differential transmission part C3 moves.

[0051] The rotating part of the rotating part C1 is sequentially provided with a differential driving part C2 and a differential transmission part C3, and finally drives the differential transmission part C3 to rotate around the axis.

[0052] For example, refer to Figure 7 ,in Figure 7(a) is the front view of the rotating part. Figure 7 (b) Figure 7 (a) is a cross-sectional view along line HH, wherein the rotating part C1 comprises a rotating housing C1-1, a differential housing C1-3, a large bevel gear C1-5, a small bevel gear C1-6 and a rotating drive steering gear C1-7;

[0053] The rotary drive servo C1-7 is installed on the rotary housing C1-1. A small bevel gear C1-6 is installed on the output end of the rotary drive servo C1-7. The small bevel gear C1-6 is meshed with the large bevel gear C1-5. The large bevel gear C1-5 is connected to the lower half cavity of the differential housing C1-3. The differential housing C1-3 is rotatably installed on the rotary housing C1-1. A differential drive part C2 is arranged above the differential housing C1-3.

[0054] Specifically, two rolling bearings C1-4 are installed between the rotating housing C1-1 and the differential housing C1-3, and the rotating shaft system is installed and fixed through the rotating bearing retaining ring C1-2. The rotating housing C1-1, the large bevel gear C1-5 and the differential housing C1-3 have a certain space and through holes for routing electronic devices such as motors and sensors.

[0055] For example, refer to Figure 8 and Fig. 9 ,in Fig. 9 (a) is a three-dimensional diagram of the differential drive part. Fig. 9 (b) is a partial cross-sectional view of the differential drive part. Two differential drive parts C2 are installed in the upper cavity of the differential housing C1-3. Two differential drive parts C2 are installed in the upper cavity of the differential housing C1-3. Each differential drive part C2 is installed opposite to each other at the diagonal of the cavity. Each differential drive part C2 includes a pulley C2-1, a differential drive servo C2-2 and a synchronous belt C2-5; the pulley C2-1 is installed on the steering wheel of the differential drive servo C2-2, and the pulley C2-1 transmits power to the differential transmission part C3 through the synchronous belt C2-5.

[0056] Reference Fig. 9 (a), the differential drive part C2 also includes a tensioning idler bracket C2-3, an idler C2-6, an idler bearing retaining ring C2-7 and a miniature bearing C2-8; a miniature bearing C2-8 is installed at each end of the idler C2-6, and is fixed to the shaft of the tensioning idler bracket C2-3 through the idler bearing retaining ring C2-7, and the tensioning idler bracket C2-3 is movably connected to the driving servo C2-2, and is used for adjusting and tensioning the synchronous belt C2-5.

[0057] Specifically, refer to Figure 8 and Fig. 9(b), the pulley C2-1 is installed on the steering wheel of the driving servo C2-2, and a miniature bearing C2-8 is installed at each end of the idler C2-6, and is fixed to the shaft of the tensioning idler bracket C2-3 through the idler bearing retaining ring C2-7, forming a synchronous belt tensioning device. The connection end of the tensioning idler bracket C2-3 and the driving servo C2-2 adopts a slotted hole, leaving an adjustable space along the slot direction for adjusting and tensioning the synchronous belt.

[0058] For example, refer to Fig.10 and Fig.11 The differential transmission part includes a central shaft C3-2, an end bevel gear shaft C3-3, a differential bracket C3-6 and two sets of combined wheels C3-1; the central shaft C3-2 is rotatably mounted on the differential housing C1-3, each set of combined wheels C3-1 includes a coaxially connected synchronous pulley and a bevel gear, and the two sets of combined wheels C3-1 are rotatably mounted on both ends of the central shaft C3-2, the pulley C2-1 transmits power to the synchronous pulley of the combined wheel C3-1 through the synchronous belt C2-5, the bevel gear of the combined wheel C3-1 is meshed with the bevel gear of the end bevel gear shaft C3-3, the differential bracket C3-6 is mounted on both ends of the central shaft C2, and the end bevel gear shaft C3-3 is rotatably set on the differential bracket C3-6.

[0059] Specifically, refer to Fig.11 ,in Fig.11 (a) is the front view of the differential transmission part. Fig.11 (b) Fig.11 (a) is a cross-sectional view along the NN line; the differential transmission part C3 adopts a bevel gear differential transmission method for transmission. The central shaft C3-2 is a stepped shaft, and there is a stepped hole perpendicular to the axis direction in the center of the shaft. The end bevel gear shaft C3-3 and the rolling bearing C3-9 are installed in the stepped hole. Each combined wheel C3-1 is equipped with two rolling bearings C3-4, which are installed on both sides of the central shaft C3-2 and form a differential transmission system together with the end bevel gear shaft C3-3. The central shaft sleeve C3-8 is used to fix the bearings and the parts on the shaft. The differential bracket C3-6 is fixed to the two ends of the central shaft C3-2. Its appearance is a fork-shaped piece with a stepped hole in the middle. It is equipped with a bearing C3-7 to fix the end bevel gear shaft C3-3.

[0060] Reference Fig.10 , Fig.10 (a) is the front view of the synchronous belt drive. Fig.10 (b) Fig.10 The cross-sectional view along line KK in (a) is Fig.10(b) It can be seen that the differential drive part C2 uses a synchronous belt drive to transmit power to the differential transmission part C3. The power is transmitted to the combination wheel C3-1 through the synchronous belt C2-5 and the small pulley C2-1, and is tensioned from the outside of the synchronous belt C2-5 by the idler wheel C2-6. The combination wheel C3-1 includes a synchronous pulley and a bevel gear, which can be installed as a whole or divided into two parts. Two combination wheels C3-1 are installed on the central shaft C3-2, which are installed on the two side brackets of the differential housing C1-3 through rolling bearings C3-5 and fixed on both sides by bearings C2-4.

[0061] For example, refer to Fig.12 The electro-permanent magnet quick-change connection mechanism D comprises a connection shell D1, a circuit board D2, an electro-permanent magnet D3 and a chassis D4; the connection shell D1 is installed at the end of the end bevel gear shaft C3-3 of the three-degree-of-freedom wrist C, and the circuit board D2 has an installation positioning hole aligned with the hole position of the connection shell D1 and the chassis D4, and the electro-permanent magnet D3 is installed in the installation groove of the chassis D4. When the connection shell D1 and the chassis D4 are connected and fixed by bolts and nuts, the circuit board D2 and the electro-permanent magnet D3 are pressed and fixed together; the connection shell D1 and the chassis D4 are connected, and the electro-permanent magnet D3 is installed on the chassis D4 and extends out of the chassis D4. The circuit board D2 is arranged between the connecting shell D1 and the chassis D4. The electro-permanent magnet quick-change device can supply power to the electro-permanent magnet D3 through the circuit board D2, and magnetize and demagnetize the electro-permanent magnet D3 according to the forward or reverse pulse current sent. At the same time, the wearer's neck, shoulder and waist corresponding to the wearable backpack E are respectively provided with electromagnetic interfaces matching the quick-change device, which can be mechanically connected to the quick-change device through magnetic attraction, and the current and control signals are transmitted through the electro-permanent magnet and the internal circuit of the device. In this way, the mechanical and electrical fast switching of the seven-degree-of-freedom mechanical limb and the wearable backpack can be realized. At the same time, because the mechanical limb adopts a symmetrical design, through the form of "the end moves to the predetermined interface point - the end is magnetized - the end is connected - the base is demagnetized - the base is disconnected", the mechanical limb can "walk by itself" on the wearable backpack, and then move to the designated interface position to form a specific configuration.

[0062] For example, the self-propelled variable-configuration exo-limb robot based on the above embodiment can provide body support and safety protection for the wearer when the operator needs to operate in a fatigue-prone working posture such as kneeling or squatting. It can also provide auxiliary lighting, auxiliary grasping, auxiliary operation and other functions for the wearer in the form of additional mechanical limbs by installing end tools.

[0063] The present application has been disclosed as above with preferred implementation cases, but it is not intended to limit the present application. Any technician familiar with the profession can make slight changes or modifications to the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present application, and the equivalent implementation cases with equivalent changes are still within the scope of the technical solution of the present application.

Claims

1. A self-propelled variable-configuration exo-limb robot, characterized in that: It includes a wearable backpack (E) and a mechanical limb; the mechanical limb is arranged on the wearable backpack (E); The mechanical limb comprises: A swivel joint (A), wherein the two opposite swivel parts are connected to an arm (B) respectively; Arm (B), connected to the three-degree-of-freedom wrist (C); A three-degree-of-freedom wrist (C) connected to an electro-permanent magnet quick-change connection mechanism (D) enables the mechanical limb to have the freedom of rotation, pitch, or simultaneous rotation and pitch; The electro-permanent magnet quick-change connection mechanism (D) is used for the external limb robot to complete autonomous switching of different configurations on the wearable backpack (E); the arm (B), the three-degree-of-freedom wrist (C) and the electro-permanent magnet quick-change connection mechanism (D) are symmetrically arranged.

2. According to claim 1, a self-propelled variable-configuration exo-limb robot, characterized in that: The swivel joint (A) comprises an upper shell (A1), a lower shell (A8) and a drive unit (A7); the drive unit (A7) is installed on the lower shell (A8), and the drive unit (A7) is used to drive the upper shell (A1) to rotate; the upper shell (A1) and the lower shell (A8) are respectively connected to the arm (B).

3. The self-propelled variable-configuration exo-limb robot according to claim 2, characterized in that: The driving units (A7) have two symmetrically distributed ones, each of which comprises a steering gear and an output gear; the output gear is installed at the output end of the steering gear, the steering gear is installed at the lower housing (A8), an inner gear ring (A5) rotatable relative to the lower housing (A8) is arranged on the upper part of the lower housing (A8), the output gear is meshed with the inner gear ring (A5), and the inner gear ring (A5) is connected to the upper housing (A1).

4. The self-propelled variable-configuration exo-limb robot according to claim 1, characterized in that: The three-degree-of-freedom wrist (C) comprises: A rotating part (C1) is used to drive the differential drive part (C2) to rotate; The differential driving part (C2) is used to drive the differential transmission part (C3) to rotate, pitch, or rotate and pitch synchronously; The output end of the differential transmission part (C3) is connected to the electro-permanent magnet quick-change connection mechanism (D) so as to achieve synchronous movement of the electro-permanent magnet quick-change connection mechanism (D) when the differential transmission part (C3) moves.

5. The self-propelled variable-configuration exo-limb robot according to claim 4, characterized in that: The rotary part (C1) comprises a rotary housing (C1-1), a differential housing (C1-3), a large bevel gear (C1-5), a small bevel gear (C1-6) and a rotary drive steering gear (C1-7); A rotary drive servo (C1-7) is installed on a rotary housing (C1-1); a small bevel gear (C1-6) is installed on the output end of the rotary drive servo (C1-7); the small bevel gear (C1-6) is meshed with a large bevel gear (C1-5); the large bevel gear (C1-5) is connected to a lower cavity of a differential housing (C1-3); the differential housing (C1-3) is rotatably installed on the rotary housing (C1-1); and a differential drive part (C2) is arranged above the differential housing (C1-3).

6. The self-propelled variable-configuration exo-limb robot according to claim 5, characterized in that: Two differential drive parts (C2) are installed in the upper cavity of the differential housing (C1-3), each differential drive part (C2) is installed opposite to each other in the cavity, and each differential drive part (C2) includes a pulley (C2-1), a differential drive steering gear (C2-2) and a synchronous belt (C2-5); the pulley (C2-1) is installed on the steering plate of the differential drive steering gear (C2-2), and the pulley (C2-1) transmits power to the differential transmission part (C3) through the synchronous belt (C2-5).

7. The self-propelled variable-configuration exo-limb robot according to claim 6, characterized in that: The differential transmission part comprises a central shaft (C3-2), a terminal bevel gear shaft (C3-3), a differential bracket (C3-6) and two sets of combined wheels (C3-1); the central shaft (C3-2) is rotatably mounted on a differential housing (C1-3); each set of combined wheels (C3-1) comprises a synchronous pulley and a bevel gear coaxially connected; the two sets of combined wheels (C3-1) are rotatably mounted on both ends of the central shaft (C3-2); the pulley (C2-1) transmits power to the synchronous pulley of the combined wheel (C3-1) through a synchronous belt (C2-5); the bevel gear of the combined wheel (C3-1) is meshed with the bevel gear of the terminal bevel gear shaft (C3-3); the differential bracket (C3-6) is mounted on both ends of the central shaft (C2); and the terminal bevel gear shaft (C3-3) is rotatably arranged on the differential bracket (C3-6).

8. The self-propelled variable-configuration exo-limb robot according to claim 6, characterized in that: The differential drive part (C2) further comprises a tensioning idler bracket (C2-3), an idler (C2-6), an idler bearing retaining ring (C2-7) and a miniature bearing (C2-8); A miniature bearing (C2-8) is installed at each end of the idler wheel (C2-6), and is fixed on the shaft of the tensioning idler wheel bracket (C2-3) through the idler wheel bearing retaining ring (C2-7). The tensioning idler wheel bracket (C2-3) is movably connected to the driving servo (C2-2) for adjusting and tensioning the synchronous belt (C2-5).

9. The self-propelled variable-configuration exo-limb robot according to claim 7, characterized in that: The electropermanent magnet quick-change connection mechanism (D) comprises a connection shell (D1), a circuit board (D2), an electropermanent magnet (D3) and a chassis (D4); the connection shell (D1) is installed at the end of the end bevel gear shaft (C3-3) of the three-degree-of-freedom wrist (C), the electropermanent magnet (D3) is installed on the chassis (D4), the circuit board (D2) is arranged between the connection shell (D1) and the chassis (D4) to supply power to the electropermanent magnet (D3), and magnetize and demagnetize the electropermanent magnet (D3) according to sending a forward or reverse pulse current, and the connection shell (D1) and the chassis (D4) are connected.

10. The self-propelled variable-configuration exo-limb robot according to claim 9, characterized in that: The wearable backpack (E) is provided with electromagnetic interfaces compatible with the electro-permanent magnet quick-change connection mechanism (D) at the back of the wearer's neck, shoulders and waist, respectively, so that the mechanical limbs can switch between any of the three configurations: the top configuration, the shoulder configuration and the waist configuration in a self-propelled manner on the wearable backpack (E).

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