Human motion energy collection system based on exoskeleton and working method

Abstract

The invention relates to an exoskeleton-based human motion energy collection system and a working method, the exoskeleton-based human motion energy collection system comprises a rapid assembly and disassembly mechanism rotatably connected to an exoskeleton hip joint, a foot power generation mechanism is arranged in the rapid assembly and disassembly mechanism, the foot power generation mechanism comprises a motor driven by a gear train, and electric energy generated by the motor is stored by a battery; the gear train is connected with one end of the Bowden cable, and the other end of the Bowden cable is arranged along a thigh rod of the exoskeleton and is connected with one end of the knee joint quick switching piece through a winder at the knee joint of the exoskeleton; the other end of the knee joint quick conversion piece is hinged to an energy storage element at the exoskeleton shank, two mounting hole positions are formed in the middle, and the knee joint quick conversion piece is hinged to the exoskeleton knee joint through the first hole position and fixed to the exoskeleton knee joint through the second hole position. A passive lower limb power-assisted exoskeleton is combined with foot power generation, power is provided for walking of a human body through the lower limb power-assisted exoskeleton, and motion energy of the human body can be captured for power generation.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton, and in particular to a human motion energy collection system and a working method based on an exoskeleton. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Wearable exoskeleton robots can provide additional movement assistance for the wearer, enhance their athletic ability, reduce long-term exercise fatigue, and avoid injuries during exercise. Due to the limitations of battery technology and battery capacity, exoskeleton robots are difficult to work continuously for a long time.

[0004] The movement of the lower limbs of the human body is the coupled movement of the bones around the corresponding joints driven by the skeletal muscles. It can not only generate a large amount of energy, but also has significant periodic characteristics. In a gait cycle, the foot goes through the movement process of heel landing, single-foot support, toe off, single-foot swing and heel landing. The method of using foot movement to generate electricity can improve the endurance of exoskeleton robots. Generally, power is generated through piezoelectric materials or electromagnetic transmission. However, due to the limitations of piezoelectric technology itself, the power generation power of converting foot movement into electrical energy through piezoelectric materials is very limited, and the power generation power of electromagnetic power generation is limited by the installation space of the foot. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a human motion energy collection system and working method based on an exoskeleton, which is not limited to the installation space of the foot, and combines a passive lower limb assist exoskeleton with foot power generation. It can choose to provide assistance for human walking through the lower limb assist exoskeleton, or it can choose to capture human motion energy through a foot power generation device to generate electricity.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] The first aspect of the present invention provides an exoskeleton-based human motion energy collection system, including a quick assembly and detachment mechanism rotatably connected to the exoskeleton hip joint, a foot power generation mechanism is arranged inside the quick assembly and detachment mechanism, the foot power generation mechanism includes a motor driven by a gear system, the electric energy generated by the motor is stored in a battery, the gear system is connected to one end of a Bowden cable, the other end of the Bowden cable is arranged along the thigh rod of the exoskeleton, passes through a winder at the exoskeleton knee joint, and is connected to one end of a knee joint quick conversion member; the other end of the knee joint quick conversion member is hinged to an energy storage element at the exoskeleton calf, two mounting holes are arranged in the middle, the knee joint quick conversion member is hinged to the exoskeleton knee joint through the first hole, and is fixed to the exoskeleton knee joint through the second hole.

[0008] As a further implementation method, the quick assembly and disassembly mechanism includes a shell, a space for accommodating a gear train, a motor and a battery is formed inside the shell, the shell is rotatably connected to an intermediate connecting piece, and the intermediate connecting piece is connected to the exoskeleton hip joint through a quick-release shaft. The intermediate connecting piece follows the rotation of the exoskeleton hip joint, and the shell together with the internal gear train, motor and battery remain in a relatively static state.

[0009] As a further implementation method, the gear system includes a gear set meshed with a rack, the output shaft of the gear set is connected to the input shaft of the motor, the rack is connected to the Bowden cable, the rack is pulled by the Bowden cable, and the resulting linear motion drives the motor to generate electrical energy through the gear set.

[0010] As a further implementation, the Bowden cable is arranged along the thigh rod of the exoskeleton through a cable locker, and the cable locker has at least two groups, the first cable locker is arranged at the top end of the exoskeleton thigh rod, and the second cable locker is arranged at the bottom end of the exoskeleton thigh rod.

[0011] As a further implementation method, the cable winder includes a rotatably connected fixed seat and a winding wheel. The fixed seat is connected to the knee joint of the exoskeleton and is located in the space above the knee joint quick conversion part. The Bowden cable is wound on the winding wheel. Through different numbers of winding circles and different lower limb lengths of the exoskeleton, it can match wearers of different heights and body shapes.

[0012] As a further implementation method, one end of the knee joint quick conversion piece connected to the Bowden cable coincides with the rotation center of the exoskeleton knee joint, and one end of the knee joint quick conversion piece articulated energy storage element is arranged toward the back side of the exoskeleton calf and forms a set angle with the exoskeleton calf.

[0013] As a further implementation, the line of action of the energy storage element deviates from the rotation center of the knee joint.

[0014] As a further implementation method, the knee joint quick conversion part uses a quick pin inserted into the first hole to achieve hinge connection with the exoskeleton knee joint. The exoskeleton enters the power generation mode, and the collision movement between the wearer's foot and the ground is transmitted to the knee joint quick conversion part through the energy storage element and the movement stroke is amplified. The other end of the knee joint quick conversion part transmits the movement stroke to the gear system of the foot power generation mechanism through the Bowden cable. The gear system uses a motor to convert the kinetic energy of the rotational motion into electrical energy and store it in the battery.

[0015] As a further implementation method, the knee joint quick conversion part uses a quick pin inserted into the second hole to achieve fixation with the exoskeleton knee joint. The exoskeleton enters the power-assist mode, and when the wearer's lower limbs are in the support period, the collision movement of the foot causes the exoskeleton foot pedals to approach, and the foot pedals compress the energy storage element; when the lower limbs are in the swing period, the foot leaves the ground, the energy storage element is released, and the exoskeleton knee joint is pushed to rotate, providing assistance to the wearer.

[0016] A second aspect of the present invention provides a method for an exoskeleton-based human motion energy harvesting system, comprising the following steps:

[0017] In the standing position, the load carried by the wearer is transferred to the ground through the exoskeleton;

[0018] In the walking state, the knee joint quick conversion part uses the quick pin inserted into the first hole to realize the exoskeleton switching into the power generation mode when the exoskeleton knee joint is articulated;

[0019] In the walking state, the knee joint quick conversion part uses a quick pin inserted into the second hole to achieve the exoskeleton switching into the power-assisting mode when the exoskeleton is fixed to the knee joint of the exoskeleton;

[0020] In the power-assist mode, when the wearer's lower limbs are in the support phase, the collision movement of the feet causes the exoskeleton foot pedals to move closer, and the foot pedals compress the energy storage elements; when the lower limbs are in the swing phase, the feet leave the ground, the energy storage elements are released, and the exoskeleton knee joints are pushed to rotate, providing power assistance to the wearer;

[0021] In the power generation mode, the collision movement between the wearer's foot and the ground is transmitted to the knee joint quick conversion part through the energy storage element and amplifies the movement stroke. The other end of the knee joint quick conversion part transmits the movement stroke to the gear system of the foot power generation mechanism through the Bowden cable. The gear system uses the motor to convert the kinetic energy of the rotational motion into electrical energy and store it in the battery.

[0022] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0023] According to the structural characteristics and movement characteristics of the lower limb power-assisted exoskeleton, the energy released by the energy storage element is amplified through the knee joint quick conversion part, and is transmitted to the gear system and motor through the Bowden cable to realize energy collection. Specifically, the lower limb power-assisted exoskeleton uses the wearer's foot collision potential energy when walking, and controls the compression and release of the energy storage element through the engagement and separation of the foot pedal, and temporarily converts the foot collision potential energy into the internal energy of the energy storage element, and then releases the rotation of the power-assisted knee joint, thereby achieving power assistance for the lower limbs of the human body, especially the knee joint. The knee joint quick conversion part amplifies the small displacement of the foot by several times, and the amplified movement stroke drives the gear system through the Bowden cable, and drives the motor to work to realize energy utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0025] Figure 1is a schematic diagram of a wearable collection system provided by one or more embodiments of the present invention;

[0026] Figure 2 is a schematic diagram of the overall structure of a human motion energy collection system provided by one or more embodiments of the present invention;

[0027] Figure 3 It is a schematic diagram of a quick assembly and disassembly mechanism in a human motion energy collection system provided by one or more embodiments of the present invention;

[0028] Figure 4 is a schematic diagram of a foot power generation mechanism in a human motion energy collection system provided by one or more embodiments of the present invention;

[0029] Figure 5 is a schematic diagram of the gear system structure of a foot power generation mechanism in a human motion energy collection system provided by one or more embodiments of the present invention;

[0030] Figure 6 is a schematic diagram of a wiring mechanism in a human motion energy harvesting system provided by one or more embodiments of the present invention;

[0031] Figure 7 is a schematic diagram of the structure of a first wire locker in a human motion energy collection system provided by one or more embodiments of the present invention;

[0032] Figure 8 is a schematic diagram of the structure of a second wire locker in a human motion energy collection system provided by one or more embodiments of the present invention;

[0033] Fig. 9 is a schematic diagram of the structure of a wire winding device in a human motion energy collection system provided by one or more embodiments of the present invention;

[0034] Fig.10 It is a schematic diagram of the structure of a knee joint quick conversion component in a human motion energy collection system provided by one or more embodiments of the present invention.

[0035] In the figure: 1. quick assembly and disassembly mechanism, 101. quick release shaft, 102. intermediate connecting piece, 103. shell, 104. cover plate, 2. foot power generation mechanism, 201. gear train, 202. motor, 203. battery, 204. power output interface, 3. wiring mechanism, 301. Bowden cable, 302. first wire locker, 303. second wire locker, 304. wire winder, 3041. fixing seat, 3042. winding wheel, 305. knee joint quick conversion part, 3051 first hole position, 3052 second hole position, 4. exoskeleton, 401. exoskeleton thigh rod, 402. exoskeleton thigh rod connecting piece, 403. exoskeleton knee joint, 404. exoskeleton spring steel. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0037] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0038] It should be noted that the terms herein are only intended to describe specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0039] As introduced in the background technology, the method of using foot movement to generate electricity can improve the endurance of the exoskeleton robot. Foot movement power generation is a form of human energy capture technology.

[0040] Human energy capture technology is a technology that captures the energy generated during human movement and converts it into electrical energy or other usable forms of energy. Common human energy capture technologies include:

[0041] Gait energy harvesting technology, which uses the mechanical energy generated when walking or running to convert it into electrical energy, such as converting the pressure during walking into electrical energy through piezoelectric materials;

[0042] Vibration energy harvesting technology, which uses the vibration energy generated by human body walking or running or other movements and converts it into electrical energy;

[0043] Physiological energy harvesting technology, which uses the energy generated by the human body's physiological processes and converts it into electrical energy, such as by using physiological energy such as human body heat or pressure differences and converting it into electrical energy;

[0044] Sports equipment energy harvesting technology uses the mechanical energy generated by human movement to drive a generator or battery charging device and convert it into electrical energy.

[0045] Among them, because the energy harvesting technology of sports equipment can recycle the energy during exercise and improve energy utilization efficiency, the human body energy capture effect is better.

[0046] The movement of the lower limbs of the human body is the coupled movement of the bones around the corresponding joints driven by skeletal muscles. It can not only generate a large amount of energy, but also has significant periodic characteristics, which indicates that energy can be continuously collected, especially the movement of the foot, which plays a pivotal role in energy collection. In the normal walking process of the human body, the cyclic movement of the unilateral limb is defined as the periodic interval of the gait, which starts with the contact between the heel of the unilateral lower limb and the ground, and ends with the next contact between the heel of the lower limb and the ground on the same side. In a gait cycle, the foot successively experiences the movement process of heel landing, single-foot support, toe-off, single-foot swing, and heel landing. Especially in the swing period and the end of the swing period, that is, the process of single-foot swing and from single-foot swing to heel landing, the center of gravity of the lower limb of the human body is transferred from one side to the other. This means that the movement characteristics of the foot are particularly suitable for collecting energy.

[0047] The existing method of using foot movement to generate electricity is to generate electricity through piezoelectric materials or electromagnetic transmission. Due to the limitations of piezoelectric technology itself, the power generation of the method of converting foot movement into electrical energy through piezoelectric materials is very limited, and the power generation through electromagnetic power generation is limited by the installation space of the foot, and the power generation is also limited.

[0048] Therefore, the following embodiments provide a human motion energy collection system and working method based on an exoskeleton, which is not limited to the installation space of the foot, and combines a passive lower limb assist exoskeleton with foot power generation. It is possible to choose to provide assistance for human walking through a lower limb assist exoskeleton, or to choose to capture human motion energy through a foot power generation device for power generation.

[0049] Embodiment 1:

[0050] like Figure 1-Figure 2 As shown, the exoskeleton-based human motion energy collection system includes a quick assembly and disassembly mechanism 1, a foot power generation mechanism 2, a wiring mechanism 3 and an exoskeleton 4.

[0051] Exoskeleton 4 is a passive lower limb assist exoskeleton, and the specific structure is not limited. For example, it may include a backpack module, a load-bearing module, an energy storage assist module and a ground interaction module connected in sequence; the backpack module is connected to the wearer's back to receive and distribute the load, the load-bearing module is connected to the wearer's thigh to receive the load and transfer the load to the energy storage assist module and the ground interaction module, and the ground interaction module is used to transfer the load to the ground and provide gait support; the energy storage assist module is connected to the wearer's calf, and according to the wearer's gait cycle changes, the energy storage element is used to absorb the energy generated by the load to provide torque assistance to the wearer.

[0052] In this embodiment, the load-bearing module has a hip joint that moves with the wearer's hip, and can be a split or integrated ball joint structure.

[0053] In this embodiment, the energy storage element of the exoskeleton 4 is exoskeleton spring steel 404 .

[0054] like Figure 3 As shown, the quick assembly and disassembly mechanism 1 includes a quick-release shaft 101, an intermediate connecting member 102, a housing 103, and a cover plate 104. The quick assembly and disassembly mechanism is based on the housing 103, and can provide a working space for the foot power generation mechanism 2, while keeping the foot power generation mechanism 2 relatively still with the hip joint of the lower limb power-assisting exoskeleton at all times during operation.

[0055] The inner wall of the shell 103 contains a working chamber, and the energy input, transmission and conversion of the entire foot power generation mechanism 2 all occur in the working chamber; the cover plate 104 is connected to the left side of the shell 103, and the cover plate 104 and the shell 103 together ensure that the working chamber is a closed space; the left side of the intermediate connecting piece 102 is installed on the right side of the shell 103 through a bearing, and the right side of the intermediate connecting piece 102 is tightened by a lock nut, which can achieve that the shell 103 and the exoskeleton thigh rod are always kept parallel and relatively still during operation, and the intermediate connecting piece 102 can rotate with the exoskeleton hip joint; the left side of the quick-release shaft 101 is fixed to the intermediate connecting piece 102 by bolts, and the right side can be connected to the hip joint of the lower limb power-assisting exoskeleton, and can achieve quick installation and disassembly.

[0056] like Figure 4 As shown, the foot power generation mechanism 2 includes a gear system 201 , a motor 202 , a battery 203 , and a power output interface 204 .

[0057] The main function of the foot power generation mechanism 2 is to capture, transfer, convert and store energy, convert human body movement energy into electrical energy, and store and release it.

[0058] The gear train 201 is installed in a working chamber formed by the shell 103 and the cover plate 104. The gear train 201 can transmit and amplify the energy input by the Bowden cable; the motor 202 is installed at the end of the gear train 201. The motor 202 can convert the kinetic energy of the rotation of the gear train 201 into electrical energy for output; the battery 203 is connected to the motor 202 through a line, and the battery 203 can store the electrical energy output by the motor 202; the power output interface 204 is installed at the bottom of the shell, and the electrical energy stored in the foot power generation mechanism 2 can be provided to other electronic devices for power supply through the power output interface.

[0059] The structure of the gear train 201 is as follows: Figure 5 As shown, it includes a gear set meshed with a rack, the rack is connected to a Bowden cable, and the rack is connected to a spring. The rack is pulled by the Bowden cable to achieve linear motion and is reset under the action of the spring. The output shaft of the gear set is connected to the motor 202.

[0060] like Figure 6-Figure 10As shown, the cable routing mechanism 3 includes a Bowden cable 301 , two cable lockers 302 and 303 , a cable winder 304 , and a knee joint quick conversion member 305 .

[0061] like Fig.10 As shown, one end of the knee joint quick conversion part 305 is hinged to the exoskeleton spring steel 404 to ensure that the two can rotate relative to each other; two installation holes are reserved in the middle of the knee joint quick conversion part 305, and the knee joint quick conversion part 305 is hinged to the exoskeleton knee joint 403 through the first hole 3051 to ensure that the two can rotate relative to each other, and the knee joint quick conversion part is fixed to the exoskeleton knee joint through the second hole 3052 to ensure that the knee joint quick conversion part and the exoskeleton knee joint always remain in a relatively static state during the movement.

[0062] like Figure 6 As shown, the other end of the knee joint quick conversion member 305 fixes the terminal end of the Bowden cable 301 through a pan head bolt and a washer.

[0063] like Fig. 9 As shown, the cable winder 304 includes a fixing seat 3041 and a winding wheel 3042. The cable winder fixing seat is fixed to the exoskeleton knee joint 403 and is located above the knee joint quick conversion part 305. The winding wheel 3042 is installed on the left side of the cable winder fixing seat 3041, and the Bowden cable 301 is wound on the winding wheel 3042. By matching the lower limb length adjustment mechanism of the lower limb power-assisting exoskeleton with different numbers of winding circles, it can be used by people of different heights and body shapes.

[0064] like Figure 7 As shown, the first wire locker 302 is installed at the top of the exoskeleton thigh rod 401, the left end of the first wire locker 302 fixes the wire end, and one end of the Bowden wire tube is connected to it.

[0065] like Figure 8 As shown, the second wire locker 303 is installed at the bottom end of the exoskeleton thigh rod 401, and the left end of the second wire locker 303 fixes the head end of the Bowden cable 301, and the other end of the Bowden cable tube is connected to it; the Bowden cable terminal is installed at the left end of the knee joint quick conversion part 305, passes through the Bowden cable tube, and is finally connected to the inside of the foot power generation mechanism 2.

[0066] This system is based on a lower limb power-assisting exoskeleton, which captures and utilizes the foot collision potential energy during human walking. On the one hand, the foot collision potential energy can be used to assist the lower limbs, that is, the compression and release of the exoskeleton spring steel are controlled by the engagement and separation of the exoskeleton foot pedal, and the foot collision potential energy is temporarily converted into the internal energy of the spring, which is then released to assist the rotation of the knee joint, thereby achieving power assistance for the lower limbs of the human body, especially the knee joints.

[0067] On the other hand, the system can convert the captured foot collision potential energy into electrical energy to power other electronic devices, that is, the foot displacement is transmitted to the Bowden cable through the knee joint quick conversion part, and then input into the foot power generation mechanism through the Bowden cable for energy conversion and storage. In this process, the knee joint quick conversion part can amplify the small displacement of the foot by several times (for example, 3 times), thereby improving the energy utilization effect.

[0068] In addition, this system is used in conjunction with a lower-limb power-assisted exoskeleton. The energy conversion part, namely the foot power generation mechanism, is level with the exoskeleton's hip joint, which means that it does not have to be limited to the limited installation space of the foot, thereby greatly improving energy utilization.

[0069] Embodiment 2:

[0070] The working method of the exoskeleton-based human motion energy harvesting system comprises the following steps:

[0071] The quick-release shaft of the quick-install and disassemble mechanism is aligned with the groove of the hip joint of the lower limb power-assisting exoskeleton and installed so that the quick-release shaft can rotate along with the rotational freedom of the hip joint, while the shell and the thigh rod remain relatively still at all times, thus completing the installation work.

[0072] The Bowden cable extended from the foot power generation mechanism passes through the Bowden cable tube fixed by two cable locks. At the same time, in order to adapt to the adjustable leg and calf rod length of the lower limb power assistance exoskeleton, it is wound around the winding wheel several times. Finally, the Bowden cable terminal is fixed to one end of the knee joint quick conversion part to complete the wiring work.

[0073] When the lower limb exoskeleton selects the power-assist mode, insert the quick pin in the second hole in the middle of the knee joint quick conversion part to fix the knee joint quick conversion part and the exoskeleton knee joint together. During normal walking of the human body, when the lower limbs are in the support period, the collision movement of the feet will cause the exoskeleton foot pedals to move closer, thereby compressing the spring steel. When the lower limbs are in the swing period, the feet will leave the ground, which will release the compressed spring steel, thereby pushing the exoskeleton knee joint to rotate and provide power for the human knee joint.

[0074] When the lower limb exoskeleton selects the power generation mode, the quick pin at the second hole in the middle of the knee joint quick conversion part is pulled out, so that the knee joint quick conversion part can rotate relative to the exoskeleton knee joint through the hinge at the first hole in the middle. During normal walking of the human body, the collision movement of the foot will be amplified by the knee joint quick conversion part, and the movement stroke will be transmitted to the gear system of the foot power generation mechanism through the Bowden cable. The gear system converts the kinetic energy of rotation into electrical energy for storage.

[0075] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. Human motion energy harvesting system based on exoskeleton, characterized in that: The invention comprises a quick assembly and disassembly mechanism rotatably connected to the hip joint of the exoskeleton, a foot power generation mechanism is arranged inside the quick assembly and disassembly mechanism, the foot power generation mechanism comprises a motor driven by a gear system, the electric energy generated by the motor is stored in a battery, the gear system is connected to one end of a Bowden cable, the other end of the Bowden cable is arranged along the thigh rod of the exoskeleton, passes through a winder at the knee joint of the exoskeleton, and is connected to one end of a knee joint quick conversion member; the other end of the knee joint quick conversion member is hinged to an energy storage element at the calf of the exoskeleton, two mounting holes are arranged in the middle, the knee joint quick conversion member is hinged to the exoskeleton knee joint through the first hole, and is fixed to the exoskeleton knee joint through the second hole.

2. The exoskeleton-based human motion energy harvesting system as claimed in claim 1, characterized in that: The quick assembly and disassembly mechanism includes a shell, a space for accommodating a gear train, a motor and a battery is formed inside the shell, the shell is rotatably connected to an intermediate connecting piece, and the intermediate connecting piece is connected to the exoskeleton hip joint through a quick-release shaft. The intermediate connecting piece follows the rotation of the exoskeleton hip joint, and the shell together with the internal gear train, motor and battery remain in a relatively static state.

3. The exoskeleton-based human motion energy harvesting system as claimed in claim 1, characterized in that: The gear system includes a gear set meshed with a rack, the output shaft of the gear set is connected to the input shaft of the motor, the rack is connected to the Bowden cable, the rack is pulled by the Bowden cable, and the generated linear motion drives the motor to work and generate electrical energy through the gear set.

4. The exoskeleton-based human motion energy harvesting system as claimed in claim 1, characterized in that: The Bowden cable is arranged along the thigh rod of the exoskeleton through a cable locker. The cable locker has at least two groups, a first cable locker is arranged at the top end of the exoskeleton thigh rod, and a second cable locker is arranged at the bottom end of the exoskeleton thigh rod.

5. The exoskeleton-based human motion energy harvesting system as claimed in claim 1, characterized in that: The cable winder comprises a rotatably connected fixing seat and a cable winding wheel. The fixing seat is connected to the knee joint of the exoskeleton and is located in the space above the knee joint quick conversion part. The Bowden cable is wound on the cable winding wheel. Through different numbers of winding circles and different lower limb lengths of the exoskeleton, it can match wearers of different heights and body shapes.

6. The exoskeleton-based human motion energy harvesting system as claimed in claim 1, characterized in that: One end of the knee joint quick conversion piece connected to the Bowden cable coincides with the rotation center of the exoskeleton knee joint, and one end of the knee joint quick conversion piece articulated with the energy storage element is arranged toward the rear side of the exoskeleton calf and forms a set angle with the exoskeleton calf.

7. The exoskeleton-based human motion energy harvesting system as claimed in claim 6, characterized in that: The action line of the energy storage element deviates from the rotation center of the knee joint.

8. The exoskeleton-based human motion energy harvesting system as claimed in claim 1, characterized in that: The knee joint quick conversion part uses a quick pin inserted into the first hole to achieve hinge connection with the exoskeleton knee joint. The exoskeleton switches into the power generation mode, and the collision movement between the wearer's foot and the ground is transmitted to the knee joint quick conversion part through the energy storage element and the movement stroke is amplified. The other end of the knee joint quick conversion part transmits the movement stroke to the gear system of the foot power generation mechanism through the Bowden cable. The gear system uses a motor to convert the kinetic energy of the rotational motion into electrical energy and stores it in the battery.

9. The exoskeleton-based human motion energy harvesting system as claimed in claim 1, characterized in that: The knee joint quick conversion part uses a quick pin inserted into the second hole to achieve fixation with the exoskeleton knee joint. The exoskeleton enters the power-assist mode. When the wearer's lower limbs are in the support period, the collision movement of the feet causes the exoskeleton foot pedals to approach, and the foot pedals compress the energy storage elements. When the lower limbs are in the swing period, the feet leave the ground, the energy storage elements are released, and the exoskeleton knee joints are pushed to rotate, providing power assistance for the wearer.

10. A working method of a human motion energy collection system based on an exoskeleton according to any one of claims 1 to 9, characterized in that: The following steps are involved: In the standing position, the load carried by the wearer is transferred to the ground through the exoskeleton; In the walking state, the knee joint quick conversion part uses the quick pin inserted into the first hole to realize the exoskeleton switching into the power generation mode when the exoskeleton knee joint is articulated; In the walking state, the knee joint quick conversion part uses a quick pin inserted into the second hole to achieve the exoskeleton switching into the power-assisting mode when the exoskeleton is fixed to the knee joint of the exoskeleton; In the power-assist mode, when the wearer's lower limbs are in the support phase, the collision movement of the feet causes the exoskeleton foot pedals to move closer, and the foot pedals compress the energy storage elements; when the lower limbs are in the swing phase, the feet leave the ground, the energy storage elements are released, and the exoskeleton knee joints are pushed to rotate, providing power assistance to the wearer; In the power generation mode, the collision movement between the wearer's foot and the ground is transmitted to the knee joint quick conversion part through the energy storage element and amplifies the movement stroke. The other end of the knee joint quick conversion part transmits the movement stroke to the gear system of the foot power generation mechanism through the Bowden cable. The gear system uses the motor to convert the kinetic energy of the rotational motion into electrical energy and store it in the battery.

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