Human body upper limb collaborative lower hem energy recovery device

Abstract

The invention discloses a human body upper limb collaborative lower hem energy recovery device. According to the device, the energy of the lower hem movement of the upper limbs of the human body is efficiently recycled, and when the energy of the upper limbs cooperating with the lower hem movement is recycled, the power supply time of outdoor wearable equipment such as an outdoor interphone, a portable GPS navigator and an outdoor head-mounted searchlight can be prolonged.

Description

Technical Field

[0001] The present invention relates to a device for recovering the energy of the downward swing of the human upper limb, and is a collaborative energy recovery device based on the simultaneous downward swing of the forearm and the upper arm of the human upper limb. Background Art

[0002] Due to the development of human wearable electronic devices, continuously powering the wearable electronic devices has gradually become a problem worthy of research. When the user is working in the wild, the user's demand for the use of wearable electronic devices increases in aspects such as outdoor communication, outdoor navigation and positioning, and outdoor detection and lighting. Therefore, the energy storage capacity of the wearable electronic device relying solely on the battery has become one of the important factors restricting its efficient use.

[0003] In fact, the human upper limb is a multi-degree-of-freedom limb composed of multiple joints. The upper limb can drive the corresponding limbs through multiple joints to achieve rich movement forms. In essence, the reason why the upper limb can produce various degrees of freedom of movement is that various muscles attached to the upper limb bones work together to drive the upper limb bones to move.

[0004] Taking the downward swing of the upper limb as an example, the downward swing of the upper limb can be divided into three motion states: the downward swing of the forearm, the downward swing of the upper arm, and the collaborative downward swing. When the forearm swings downward, the anconeus and triceps brachii work together to drive the forearm bone to swing downward; when the upper arm swings downward, the latissimus dorsi and triceps brachii work together to drive the upper arm bone to swing downward; when swinging downward collaboratively, the triceps brachii exerts force on both the forearm bone and the upper arm bone at the same time, and coordinates with the muscles on the forearm bone and the upper arm bone to complete the simultaneous downward swing movement of the forearm and the upper arm together. Therefore, when the forearm and the upper arm swing downward collaboratively, the triceps brachii is a muscle that acts across the limb bones, and the force exerted by this muscle that acts across the bones is the power basis for the collaborative downward swing movement of the forearm and the upper arm.

[0005] Compared with only collecting the energy of the downward swing movement of the forearm or the upper arm, the collaborative movement energy collection can improve the energy recovery density of the human upper limb energy recovery device and improve the energy recovery efficiency. It avoids unnecessary waste of the energy of the downward swing movement of the upper limb and improves the power supply capacity for the human wearable device.

[0006] Based on the above analysis, the present invention proposes a device for recovering the energy of the downward swing of the human upper limb. This energy recovery device can not only separately recover the energy of the single downward swing movement of the forearm or the upper arm, but also recover the energy generated by the collaborative downward swing movement of the forearm and the upper arm, increasing the energy collection methods of the downward swing movement of the upper limb. Summary of the Invention

[0007] The purpose of the present invention is to provide a device for recovering the energy of the downward swing of the upper limb, which solves the problem of low energy recovery density of the movement of the human upper limb by increasing the way of recovering the degrees of freedom of the upper limb movement.

[0008] The energy recovery device of the present invention adopts the following technical solutions: The upper limb pendulum movement collection part consists of an arm wearing frame, a waist wearing mounting plate, a fixing plate, a rope transmission support frame, a first fixed winding wheel, a first forearm rope, a first tensioning wheel, a first winding wheel, a first transmission shaft, a first support seat, a second support seat, a second winding wheel, a second forearm rope, a forearm input winding wheel, a second fixed winding wheel, a first upper arm rope, a third winding wheel, a second transmission shaft, a third support seat, a fourth support seat, a fourth winding wheel, a second upper arm rope, an upper arm input winding wheel, a tensioning support seat, and a second tensioning wheel; The energy conversion part consists of a first bearing seat, a first rolling bearing, a solid shaft, a first one-way bearing, a first scroll spring, a first scroll spring box, a second one-way bearing, a hollow shaft, a second scroll spring, a second scroll spring box, a scroll spring box fixing plate, a second bearing seat, a third one-way bearing, a third bearing seat, a second rolling bearing, an output cylindrical gear, a first central bevel gear, a second central bevel gear, a first planetary bevel gear, a first planetary bevel gear shaft, a second planetary bevel gear, a second planetary bevel gear shaft, a differential arm, a fourth bearing seat, a third rolling bearing, a fifth bearing seat, a fourth one-way bearing, a generator gear, a generator, and a generator support seat; The arm wearing frame is worn on the forearm and upper arm of the human body using nylon Velcro bandages; The waist wearing mounting plate is worn on the waist of the human body using nylon Velcro bandages; The fixing plate is fixed on the waist wearing mounting plate using hexagon socket head cap screws, and the rope transmission support frame is vertically installed on the fixing plate using hexagon socket head cap screws; The first fixed winding wheel is installed on the arm wearing frame near the end of the forearm; The head end of the first forearm rope is fixedly wound on the first fixed winding wheel, and the tail end is wound counterclockwise on the first winding wheel; The first tensioning wheel is installed on the arm wearing frame near the middle of the upper arm to ensure the tension of the first forearm rope when pulling across the upper arm; Both ends of the first transmission shaft are rotatably installed on the first support seat and the second support seat; The second winding wheel is installed at the right end of the first transmission shaft by means of a flat key connection, and the second winding wheel and the first winding wheel are coaxially driven by the first transmission shaft; The head end of the second forearm rope is wound clockwise on the second winding wheel, and the tail end is also wound clockwise on the forearm input winding wheel; The second fixed winding wheel is installed on the arm wearing frame near the end of the upper arm; The head end of the first upper arm rope is fixedly wound on the second fixed winding wheel, and the tail end is wound counterclockwise on the third winding wheel; Both ends of the second transmission shaft are rotatably mounted on the third support seat and the fourth support seat; the fourth wire winding wheel is mounted on the right end of the second transmission shaft by means of a flat key connection, and the fourth wire winding wheel and the third wire winding wheel are in coaxial transmission through the second transmission shaft; The leading end of the second boom rope is wound clockwise around the fourth wire winding wheel, and the trailing end is also wound clockwise around the boom input wire winding wheel; The tension support seat is mounted on the rope transmission support frame; both ends of the second tension pulley are rotatably mounted on the tension support seat to ensure the tension of the second boom rope when it is pulled; The first bearing seat is mounted on the fixed plate using hexagon socket head cap screws; one end of the outer ring end face of the first rolling bearing is axially fixed on the shoulder of the first bearing seat hole, and one end of the inner ring end face is axially fixed on the shoulder of the solid shaft; The inner ring of the first one-way bearing is circumferentially fixed to the solid shaft by means of a flat key connection, one end of the inner ring end face is axially fixed by a shaft circlip, the outer ring is circumferentially fixed to the forearm input wire winding wheel by means of a flat key connection, and one end face of the outer ring is axially fixed on the shoulder of the bearing seat hole of the forearm input wire winding wheel; The first volute spring is of an inner-hook and outer-hook type, the inner ring is fixed in the spring winding groove of the forearm input wire winding wheel, and the outer ring is fixed in the spring winding groove of the first volute spring box; The outer ring of the second one-way bearing is circumferentially fixed to the boom input wire winding wheel by means of a flat key connection, one end face of the outer ring is axially fixed on the shoulder of the bearing seat hole of the boom input wire winding wheel, the inner ring is circumferentially fixed to the hollow shaft by means of a flat key connection, and one end of the inner ring end face is axially fixed by a shaft circlip; The second volute spring is of an inner-hook and outer-hook type, the inner ring is fixed in the spring winding groove of the boom input wire winding wheel, and the outer ring is fixed in the spring winding groove of the second volute spring box; The volute spring box fixing plate is mounted on the fixed plate using hexagon socket head cap screws, and a circular through hole coaxial with the solid shaft is machined in the center, allowing the solid shaft to pass through, and the first volute spring box and the second volute spring box are respectively mounted on both sides; The second bearing seat is mounted on the fixed plate using hexagon socket head cap screws; the inner ring of the third one-way bearing is circumferentially fixed to the hollow shaft by means of a flat key connection, one end of the inner ring end face is axially fixed by a shaft circlip, the outer ring is circumferentially fixed to the second bearing seat hole by means of a flat key connection, and one end face of the outer ring is axially fixed on the shoulder of the second bearing seat hole; The third bearing seat is mounted on the fixed plate using hexagon socket head cap screws and is in contact with the second bearing seat; one end of the outer ring end face of the second rolling bearing is axially fixed on the shoulder of the third bearing seat hole, and one end of the inner ring end face is axially fixed on the shoulder of the convex platform of the left through hole of the output cylindrical gear; A boss is machined on the back side of the first central bevel gear. Threaded through holes are provided on the circumferential surface of the boss and are circumferentially fixed on the solid shaft using set screws. The end face of the boss is axially fixed by the shoulder of the solid shaft. The second central bevel gear is symmetrically installed with the first central bevel gear. A boss is machined on the back side of the second central bevel gear. Threaded through holes are provided on the circumferential surface of the boss and are circumferentially fixed on the hollow shaft using set screws. The end face of the boss is axially fixed by the shoulder of the hollow shaft. A boss is machined on the back side of the first planetary bevel gear. Threaded through holes are provided on the circumferential surface of the boss and are circumferentially fixed on the first end of the first planetary bevel gear shaft using set screws, and it meshes with the first central bevel gear and the second central bevel gear simultaneously. The second planetary bevel gear is arranged coaxially with the first planetary bevel gear. A boss is machined on the back side of the second planetary bevel gear. Threaded through holes are provided on the circumferential surface of the boss and are circumferentially fixed on the first end of the second planetary bevel gear shaft using set screws, and it meshes with the first central bevel gear and the second central bevel gear simultaneously. The ends of the first planetary gear shaft and the second planetary gear shaft are rotatably installed on the differential arm. The fourth bearing seat is installed on the fixed plate using hex socket head cap screws. One end of the outer ring end face of the third rolling bearing is axially fixed on the shoulder of the hole of the fourth bearing seat, and one end of the inner ring end face is axially fixed on the shoulder of the convex platform of the right end through hole of the differential arm. The left end of the differential arm is machined with an end face, which is connected to the right end face of the output cylindrical gear as a whole using hex socket head cap screws, so that the rotational movement of the differential arm is transmitted to the output cylindrical gear. The fifth bearing seat is installed on the fixed plate using hex socket head cap screws and is attached to the fourth bearing seat. The outer ring of the fourth one-way bearing is circumferentially fixed to the hole of the fifth bearing seat using a flat key connection. One end face of the outer ring is axially fixed on the shoulder of the hole of the fifth bearing seat, and the inner ring is circumferentially fixed to the solid shaft using a flat key connection. One end of the inner ring end face is fixed on the shoulder of the solid shaft. The generator gear meshes with the output cylindrical gear. The generator gear is connected to the generator, and the generator is driven to rotate through the generator gear. The generator support seat is installed on the fixed plate using hex socket head cap screws to fix the generator and enable the generator to rotate stably.

[0009] Optionally, in the upper limb downward swing motion collection part: the forearm rope composed of the first forearm rope and the second forearm rope can pull the forearm input winding wheel to recover the forearm downward swing motion; the upper arm rope composed of the first upper arm rope and the second upper arm rope can pull the upper arm input winding wheel to recover the upper arm downward swing motion; when the forearm and the upper arm swing downward simultaneously, the two groups of ropes of the forearm rope and the upper arm rope move independently of each other without interference, realizing the separate collection of the simultaneous downward swing motion.

[0010] Optionally, in the energy conversion part: when the forearm swings downward alone, the outer ring of the first one-way bearing is locked clockwise and the inner ring stops moving, connecting the forearm input winding wheel and the solid shaft as a whole; the outer ring of the fourth one-way bearing stops moving and the inner ring is released clockwise, causing the forearm input winding wheel to drive the solid shaft to rotate clockwise and simultaneously drive the first scroll spring to be compressed clockwise; the solid shaft drives the first central bevel gear to rotate clockwise. At the same time, the outer ring of the third one-way bearing stops moving and the inner ring is locked counterclockwise, preventing the hollow shaft from rotating counterclockwise and ensuring that the second central bevel gear remains stationary; the first planetary bevel gear and the second planetary bevel gear mesh with the clockwise rotating first central bevel gear and the stationary second central bevel gear to generate a differential force, which is transmitted to the differential arm through the first planetary bevel gear shaft and the second planetary bevel gear shaft, causing the differential arm to rotate clockwise, thereby driving the output cylindrical gear to rotate clockwise, and finally, the generator rotates to generate electrical energy through the engagement of the generator gear and the output cylindrical gear.

[0011] Optionally, in the energy conversion part: when the upper arm swings downward alone, the outer ring of the second one-way bearing is locked clockwise and the inner ring stops moving, connecting the upper arm input winding wheel and the hollow shaft as a whole; the outer ring of the third one-way bearing stops moving and the inner ring is released clockwise, causing the upper arm input winding wheel to drive the hollow shaft to rotate clockwise and simultaneously drive the second scroll spring to be compressed clockwise; the hollow shaft drives the second central bevel gear to rotate clockwise. At the same time, the outer ring of the fourth one-way bearing stops moving and the inner ring is locked counterclockwise, preventing the solid shaft from rotating counterclockwise and ensuring that the first central bevel gear remains stationary; the first planetary bevel gear and the second planetary bevel gear mesh with the clockwise rotating second central bevel gear and the stationary first central bevel gear to generate a differential force, which is transmitted to the differential arm through the first planetary bevel gear shaft and the second planetary bevel gear shaft, causing the differential arm to rotate clockwise, thereby driving the output cylindrical gear to rotate clockwise, and finally, the generator rotates to generate electrical energy through the engagement of the generator gear and the output cylindrical gear.

[0012] Optionally, in the energy conversion section: when the forearm and the upper arm swing downward simultaneously, the outer rings of the first one-way bearing and the second one-way bearing are both locked clockwise, and the inner rings both stop moving; the outer rings of the third one-way bearing and the fourth one-way bearing both stop moving, and the inner rings both rotate clockwise. While the forearm input winding wheel drives the solid shaft and the first central bevel gear to rotate clockwise, the upper arm input winding wheel drives the hollow shaft and the second central bevel gear to rotate clockwise; the first central bevel gear and the second central bevel gear drive the first planetary bevel gear and the second planetary bevel gear to rotate simultaneously, generating a differential force on the first planetary bevel gear shaft and the second planetary bevel gear shaft, causing the differential arm to rotate clockwise, and then driving the output cylindrical gear to rotate clockwise. Finally, the generator gear meshes with the output cylindrical gear to generate electrical energy by the generator.

[0013] Optionally, the first central bevel gear, the second central bevel gear, the first planetary bevel gear, the second planetary bevel gear, the first planetary bevel gear shaft, the second planetary bevel gear shaft and the differential arm form a bevel gear train; the combination of the movement states of the inner and outer rings of the first one-way bearing, the second one-way bearing, the third one-way bearing and the fourth one-way bearing realizes the free switching of the movement state of the bevel gear train between the planetary gear train and the differential gear train to correspond to the conversion and output of the swing mechanical energy when the forearm swings downward alone, the upper arm swings downward alone and swings downward simultaneously.

[0014] Optionally, when the forearm or the upper arm swings downward alone, the combination of the movement states of the inner and outer rings of the first one-way bearing, the second one-way bearing, the third one-way bearing and the fourth one-way bearing switches the bevel gear train into a planetary gear train. At this time, the energy recovery device is a single-input and single-output energy system; when the forearm and the upper arm swing downward simultaneously, the combination of the movement states of the inner and outer rings of the first one-way bearing, the second one-way bearing, the third one-way bearing and the fourth one-way bearing switches the bevel gear train into a differential gear train. At this time, the energy recovery device is a double-input and single-output energy system, realizing the coupled output of the two mechanical energies of the downward swing of the forearm and the downward swing of the upper arm.

[0015] Optionally, when the forearm swings upward, the outer ring of the first one-way bearing is loosened counterclockwise, and the inner ring stops moving. The first scroll spring drives the forearm input winding wheel to rotate counterclockwise due to the compressive force generated by being compressed clockwise when the forearm swings downward, recovering the forearm rope, keeping the forearm rope always taut, and facilitating the energy recovery when the forearm swings downward next time; when the upper arm swings upward, the outer ring of the second one-way bearing is loosened counterclockwise, and the inner ring stops moving. The second scroll spring drives the upper arm input winding wheel to rotate counterclockwise due to the compressive force generated by being compressed clockwise when the upper arm swings downward, recovering the upper arm rope, keeping the upper arm rope always taut, and facilitating the energy recovery when the upper arm swings downward next time.

[0016] The energy recovery device for the downward swing movement of the upper limb of the human body has the following beneficial effects: This device efficiently recovers the energy of the downward swing movement of the human upper limb. When recovering the energy of the coordinated downward swing movement of the upper limb, it can extend the power supply time of outdoor wearable devices, such as outdoor walkie-talkies, portable GPS navigators, and outdoor head-mounted searchlights. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings illustrate exemplary embodiments of the present disclosure and, together with the description, are used to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are included in this specification and form a part of this specification.

[0018] Figure 1 It is a structural diagram of the energy recovery device for the coordinated downward swing of the upper limb of the human body according to the present invention; Figure 2 It is a structural diagram of the arm-wearing part of the downward swing movement collection of the upper limb according to the present invention; Figure 3 It is a structural diagram of the back support of the downward swing movement collection of the upper limb according to the present invention; Figure 4 It is a structural diagram of the energy conversion part device worn on the back according to the present invention; Figure 5 It is an exploded structural diagram of the energy conversion part device worn on the back according to the present invention; Figure 6 It is a cross-sectional view of the energy conversion part device worn on the back according to the present invention; Figure 7 It is an exploded structural diagram of the bevel gear train of the energy conversion part device worn on the back according to the present invention; Figure 8 It is a cross-sectional view of the bearing system of the energy conversion part device worn on the back according to the present invention; Figure 9 It is a schematic diagram of the wearing of the energy recovery device for the coordinated downward swing of the upper limb of the human body according to the present invention; The markings in the figure are indicated as follows: 1 - Arm-wearing frame, 2 - Waist-wearing mounting plate, 3 - Fixed plate, 4 - Cable drive support frame, 5 - First fixed winding wheel, 6 - First forearm cable, 7 - First tensioning wheel, 8 - First winding wheel, 9 - First transmission shaft, 10 - First support seat, 11 - Second support seat, 12 - Second winding wheel, 13 - Second forearm cable, 14 - Forearm input winding wheel, 15 - Second fixed winding wheel, 16 - First upper arm cable, 17 - Third winding wheel, 18 - Second transmission shaft, 19 - Third support seat, 20 - Fourth support seat, 21 - Fourth winding wheel, 22 - Second upper arm cable, 23 - Upper arm input winding wheel, 24 - Tensioning support seat, 25 - Second tensioning wheel; 26 - First bearing seat, 27 - First rolling bearing, 28 - Solid shaft, 29 - First one-way bearing, 30 - First volute spring, 31 - First volute spring box, 32 - Second one-way bearing, 33 - Hollow shaft, 34 - Second volute spring, 35 - Second volute spring box, 36 - Volute spring box fixed plate, 37 - Second bearing seat, 38 - Third one-way bearing, 39 - Third bearing seat, 40 - Second rolling bearing, 41 - Output cylindrical gear, 42 - First central bevel gear, 43 - Second central bevel gear, 44 - First planetary bevel gear, 45 - First planetary bevel gear shaft, 46 - Second planetary bevel gear, 47 - Second planetary bevel gear shaft, 48 - Differential arm, 49 - Fourth bearing seat, 50 - Third rolling bearing, 51 - Fifth bearing seat, 52 - Fourth one-way bearing, 53 - Generator gear, 54 - Generator, 55 - Generator support seat; 27-1 Outer ring of the first rolling bearing, 27-2 Inner ring of the first rolling bearing, 29-1 Outer ring of the first one-way bearing, 29-2 Inner ring of the first one-way bearing, 32-1 Outer ring of the second one-way bearing, 32-2 Inner ring of the second one-way bearing, 38-1 Outer ring of the third one-way bearing, 38-2 Inner ring of the third one-way bearing, 40-1 Outer ring of the second rolling bearing, 40-2 Inner ring of the second rolling bearing, 50-1 Outer ring of the third rolling bearing, 50-2 Inner ring of the third rolling bearing, 52-1 Outer ring of the fourth one-way bearing, 52-2 Inner ring of the fourth one-way bearing. Specific embodiments

[0019] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the relevant content and do not limit the present disclosure. Additionally, it should be noted that for the convenience of description, only the parts related to the present disclosure are shown in the drawings.

[0020] It should be noted that, without conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The technical solutions of the present disclosure will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0021] Unless otherwise stated, the exemplary embodiments / examples shown are to be understood as providing exemplary features of various details of some ways in which the technical concept of the present disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various embodiments / examples can be additionally combined, separated, interchanged and / or rearranged without departing from the technical concept of the present disclosure.

[0022] In the drawings, cross - hatching and / or shading are generally used to clarify the boundaries between adjacent components. Thus, unless stated otherwise, the presence or absence of cross - hatching or shading does not convey or imply any preference or requirement regarding the specific materials, material properties, dimensions, proportions, commonality between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. Additionally, in the drawings, for clarity and / or descriptive purposes, the dimensions and relative dimensions of components may be exaggerated. When the exemplary embodiments can be implemented differently, the specific process sequences can be performed in an order different from that described. For example, two consecutively described processes can be performed substantially simultaneously or in an order opposite to that described. Moreover, the same reference numerals denote the same components.

[0023] When a component is referred to as being “on” or “above” another component, “connected to” or “coupled to” another component, the component can be directly on, directly connected to, or directly coupled to the other component, or there can be an intermediate component. However, when a component is referred to as being “directly on” another component, “directly connected to” or “directly coupled to” another component, there is no intermediate component. For this reason, the term “connected” can refer to a physical connection, an electrical connection, etc., and can have or not have an intermediate component.

[0024] For descriptive purposes, the present disclosure may use spatial relative terms such as “under”, “below”, “beneath”, “down”, “above”, “on”, “over”, “upper”, and “side (e.g., as in “sidewall”)” etc., so as to describe the relationship of one component to another (wherein) component as shown in the drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as being “under” or “beneath” other components or features will then be positioned “above” the other components or features. Thus, the exemplary term “under” can encompass both “above” and “below” orientations. Additionally, the device can be positioned otherwise (e.g., rotated 90 degrees or at other orientations), and thus the spatial relative descriptors used herein are to be interpreted accordingly.

[0025] The terms used herein are for the purpose of describing particular embodiments and are not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are also intended to include the plural forms. In addition, when the terms "comprise" and / or "include" and their variants are used in this specification, it is stated that there are the stated features, integers, steps, operations, components, assemblies, and / or groups thereof, but it does not exclude the presence or addition of one or more other features, integers, steps, operations, components, assemblies, and / or groups thereof. It should also be noted that, as used herein, the terms "substantially", "about", and other similar terms are used as approximate terms and not as terms of degree, so they are used to explain the inherent deviations of measured values, calculated values, and / or provided values that would be recognized by a person of ordinary skill in the art.

[0026] This embodiment provides a human upper limb downward swing motion energy recovery device, especially an energy recovery device that can recover the energy of the simultaneous downward swing of the forearm and the upper arm, and is used to recover the energy of the coordinated downward swing motion of the upper limb; it includes: an upper limb downward swing motion collection part: an arm wearing frame 1, a waist wearing mounting plate 2, a fixing plate 3, a rope transmission support frame 4, a first fixed winding wheel 5, a first forearm rope 6, a first tensioning wheel 7, a first winding wheel 8, a first transmission shaft 9, a first support seat 10, a second support seat 11, a second winding wheel 12, a second forearm rope 13, a forearm input winding wheel 14, a second fixed winding wheel 15, a first upper arm rope 16, a third winding wheel 17, a second transmission shaft 18, a third support seat 19, a fourth support seat 20, a fourth winding wheel 21, a second upper arm rope 22, an upper arm input winding wheel 23, a tensioning support seat 24, a second tensioning wheel 25; an energy conversion part: a first bearing seat 26, a first rolling bearing 27, a solid shaft 28, a first one-way bearing 29, a first scroll spring 30, a first scroll spring box 31, a second one-way bearing 32, a hollow shaft 33, a second scroll spring 34, a second scroll spring box 35, a scroll spring box fixing plate 36, a second bearing seat 37, a third one-way bearing 38, a third bearing seat 39, a second rolling bearing 40, an output cylindrical gear 41, a first central bevel gear 42, a second central bevel gear 43, a first planetary bevel gear 44, a first planetary bevel gear shaft 45, a second planetary bevel gear 46, a second planetary bevel gear shaft 47, a differential arm 48, a fourth bearing seat 49, a third rolling bearing 50, a fifth bearing seat 51, a fourth one-way bearing 52, a generator gear 53, a generator 54, a generator support seat 55; The outer ring of the first rolling bearing 27-1, the inner ring of the first rolling bearing 27-2, the outer ring of the first one-way bearing 29-1, the inner ring of the first one-way bearing 29-2, the outer ring of the second one-way bearing 32-1, the inner ring of the second one-way bearing 32-2, the outer ring of the third one-way bearing 38-1, the inner ring of the third one-way bearing 38-2, the outer ring of the second rolling bearing 40-1, the inner ring of the second rolling bearing 40-2, the outer ring of the third rolling bearing 50-1, the inner ring of the third rolling bearing 50-2, the outer ring of the fourth one-way bearing 52-1, the inner ring of the fourth one-way bearing 52-2; The arm wearing frame 1 is worn on the forearm and upper arm of the human body using a nylon Velcro bandage; The waist wearing mounting plate 2 is worn on the waist of the human body using a nylon Velcro bandage; The fixing plate 3 is fixed on the waist wearing mounting plate 2 using an Allen screw, and the rope drive support frame 4 is vertically installed on the fixing plate 3 using an Allen screw; The first fixed winding wheel 5 is installed on the arm wearing frame near the end of the forearm; the head end of the first forearm rope 6 is fixedly wound on the first fixed winding wheel 5, and the tail end is wound counterclockwise on the first winding wheel 8; the first tensioning wheel 7 is installed on the arm wearing frame near the middle of the upper arm to ensure the tension when the first forearm rope 6 is pulled; Both ends of the first transmission shaft 9 are rotatably installed on the first support seat 10 and the second support seat 11; the second winding wheel 12 is installed at the right end of the first transmission shaft 9 by means of a flat key connection, and the second winding wheel 12 and the first winding wheel 7 are coaxially driven by the first transmission shaft; The head end of the second forearm rope 13 is wound clockwise on the second winding wheel, and the tail end is also wound clockwise on the forearm input winding wheel 14; The second fixed winding wheel 15 is installed on the arm wearing frame near the end of the upper arm; the head end of the first upper arm rope 16 is fixedly wound on the second fixed winding wheel 15, and the tail end is wound counterclockwise on the third winding wheel 17; Both ends of the second transmission shaft 18 are rotatably installed on the third support seat 19 and the fourth support seat 20; the fourth winding wheel 21 is installed at the right end of the second transmission shaft 18 by means of a flat key connection, and the fourth winding wheel 21 and the third winding wheel 17 are coaxially driven by the second transmission shaft; The head end of the second upper arm rope 22 is wound clockwise on the fourth winding wheel 21, and the tail end is also wound clockwise on the upper arm input winding wheel 23; The tensioning support seat 24 is installed on the rope drive support frame; both ends of the second tensioning wheel 25 are rotatably installed on the tensioning support seat 24 to ensure the tension when the second upper arm rope 22 is pulled; The first bearing housing 26 is mounted on the fixed plate 3 using hexagon socket head cap screws; one end of the axial end face of the outer ring 27-1 of the first rolling bearing is axially fixed on the shoulder of the hole of the first bearing housing 26, and one end of the axial end face of the inner ring 27-2 of the first rolling bearing is axially fixed on the shoulder of the solid shaft 28; The outer ring 29-1 of the first one-way bearing is circumferentially fixed to the small arm input winding wheel 14 by a flat key connection. One end face of the outer ring 29-1 is axially fixed on the shoulder of the bearing seat hole of the small arm input winding wheel 14. The inner ring 29-2 is circumferentially fixed to the solid shaft 28 by a flat key connection, and one end of the axial end face of the inner ring 29-2 is axially fixed by a shaft retaining ring; The first volute spring 30 is of the inner-hook and outer-hook type. The inner ring is fixed in the spring hook groove of the small arm input winding wheel 14, and the outer ring is fixed in the spring groove of the first volute spring box 31; The outer ring 32-1 of the second one-way bearing is circumferentially fixed to the large arm input winding wheel by a flat key connection. One end face of the outer ring 32-1 is axially fixed on the shoulder of the bearing seat hole of the large arm input winding wheel 23. The inner ring 32-2 is circumferentially fixed to the hollow shaft 33 by a flat key connection, and one end of the axial end face of the inner ring 32-2 is axially fixed by a shaft retaining ring; The second volute spring 34 is of the inner-hook and outer-hook type. The inner ring is fixed in the spring hook groove of the large arm input winding wheel 23, and the outer ring is fixed in the spring groove of the second volute spring box 35; The volute spring box fixing plate 36 is mounted on the fixed plate 3 using hexagon socket head cap screws. A circular through hole coaxial with the solid shaft 28 is machined in the center, allowing the solid shaft 28 to pass through. The two sides are respectively used to mount the first volute spring box 31 and the second volute spring box 35; The second bearing housing 37 is mounted on the fixed plate 3 using hexagon socket head cap screws; the outer ring 38-1 of the third one-way bearing is circumferentially fixed to the hole of the second bearing housing 37 by a flat key connection. One end face of the outer ring 38-1 is axially fixed on the shoulder of the hole of the second bearing housing 37. The inner ring 38-2 is circumferentially fixed to the hollow shaft by a flat key connection, and one end of the axial end face of the inner ring 38-2 is axially fixed by a shaft retaining ring; The third bearing housing 39 is mounted on the fixed plate 3 using hexagon socket head cap screws and is in mutual contact with the second bearing housing 37; one end of the axial end face of the outer ring 40-1 of the second rolling bearing is axially fixed on the shoulder of the hole of the third bearing housing, and one end of the axial end face of the inner ring 40-2 is axially fixed on the shoulder of the convex platform of the left through hole of the output cylindrical gear 41; A convex platform is machined on the back side of the first central bevel gear 42, and threaded through holes are provided on the circumferential surface of the convex platform. It is circumferentially fixed on the solid shaft 28 using set screws, and the end face of the convex platform is axially fixed by the shoulder of the solid shaft 28; The second central bevel gear 43 is symmetrically installed with the first central bevel gear 42. A boss is machined on the back side of the second central bevel gear 43, and threaded through holes are provided on the circumferential surface of the boss. It is circumferentially fixed on the hollow shaft 33 using set screws, and the end face of the boss is axially fixed by the shoulder of the hollow shaft 33; A boss is machined on the back side of the first planetary bevel gear 44, and threaded through holes are provided on the circumferential surface of the boss. It is circumferentially fixed on the head end of the first planetary bevel gear shaft 45 using set screws and meshes with the first central bevel gear 42 and the second central bevel gear 43 simultaneously; The second planetary bevel gear 46 is arranged coaxially with the first planetary bevel gear 44. A boss is machined on the back side of the second planetary bevel gear 46, and threaded through holes are provided on the circumferential surface of the boss. It is circumferentially fixed on the head end of the second planetary bevel gear shaft 47 using set screws and meshes with the first central bevel gear 42 and the second central bevel gear 43 simultaneously; The ends of the first planetary gear shaft 45 and the second planetary gear shaft 47 are rotatably installed on the differential arm 48; The fourth bearing housing 49 is installed on the fixing plate 3 using hexagon socket head cap screws; one end face of the outer ring 50-1 of the third rolling bearing is axially fixed on the shoulder of the hole of the fourth bearing housing 49, and one end face of the inner ring 50-2 is axially fixed on the shoulder of the through hole boss at the right end of the differential arm 48; One end face is machined on the left end of the differential arm 48 and is connected integrally with the right side end face of the output cylindrical gear 41 using hexagon socket head cap screws, so that the rotational movement of the differential arm 48 is transmitted to the output cylindrical gear 41; The fifth bearing housing 51 is installed on the fixing plate 3 using hexagon socket head cap screws and is in mutual contact with the fourth bearing housing 49; the outer ring 52-1 of the fourth one-way bearing is circumferentially fixed to the hole of the fifth bearing housing 51 using a flat key connection, one end face of the outer ring 52-1 is axially fixed on the shoulder of the hole of the fifth bearing housing 51, the inner ring 52-2 is circumferentially fixed to the solid shaft 28 using a flat key connection, and one end face of the inner ring 52-2 is fixed on the shoulder of the solid shaft 28; The generator gear 53 meshes with the output cylindrical gear 41. The generator gear 53 is connected to the generator 54, and the generator is driven to rotate through the generator gear; The generator support seat 55 is installed on the fixing plate 3 using hexagon socket head cap screws to fix the generator 54 and enable the generator to rotate stably.

[0027] Preferably, when the small arm swings downward alone, the arm wearing frame 1 swings downward, the first fixed winding wheel 5 pulls the first small arm rope 6, and through the first tensioning wheel 7, the first winding wheel 8 rotates counterclockwise, while driving the first transmission shaft 9 and the second winding wheel 12 to rotate counterclockwise; the leading end of the second small arm rope 13 is pulled by the second winding wheel 12, so that the trailing end of the second small arm rope 13 pulls the small arm input winding wheel 14 to rotate clockwise; the outer ring 29-1 of the first one-way bearing 29 is locked clockwise and the inner ring 29-2 stops moving, so that the small arm input winding wheel 14 is connected to the solid shaft 28 as a whole; the outer ring 52-1 of the fourth one-way bearing 52 stops moving and the inner ring 52-2 is released clockwise, so that the small arm input winding wheel 14 drives the solid shaft 28 to rotate clockwise and at the same time drives the first volute spring 30 to be compressed clockwise; the solid shaft 28 drives the first central bevel gear 42 to rotate clockwise. At the same time, the outer ring 38-1 of the third one-way bearing 38 stops moving and the inner ring 38-2 is locked counterclockwise, so that the hollow shaft 33 cannot rotate counterclockwise, ensuring that the second central bevel gear 43 remains stationary; the first planetary bevel gear 44 and the second planetary bevel gear 46 mesh with the clockwise rotating first central bevel gear 42 and the stationary second central bevel gear 43 to generate a differential force, and the differential force is transmitted to the differential arm 48 through the first planetary bevel gear shaft 45 and the second planetary bevel gear shaft 47, so that the differential arm 48 rotates clockwise, and then drives the output cylindrical gear 41 to rotate clockwise. Finally, through the engagement of the generator gear 53 and the output cylindrical gear 41, the generator 54 rotates to generate electric energy.

[0028] Preferably, when the upper arm swings downward alone, the arm wearing frame 1 swings downward, the second fixed winding wheel 15 pulls the first upper arm rope 16, causing the third winding wheel 17 to rotate counterclockwise, and simultaneously driving the second transmission shaft 18 and the fourth winding wheel 21 to rotate counterclockwise; the leading end of the second upper arm rope 22 is pulled by the fourth winding wheel 21, causing the trailing end of the second upper arm rope 22 to pull the upper arm input winding wheel 23 to rotate clockwise; the outer ring 32-1 of the second one-way bearing 32 is locked clockwise and the inner ring 32-2 stops moving, connecting the upper arm input winding wheel 23 and the hollow shaft 33 as a whole; the outer ring 38-1 of the third one-way bearing 38 stops moving and the inner ring 38-2 is loosened clockwise, causing the upper arm input winding wheel 23 to drive the hollow shaft 33 to rotate clockwise and simultaneously driving the second volute spring 34 to be compressed clockwise; the hollow shaft 33 drives the second central bevel gear 43 to rotate clockwise. At the same time, the outer ring 52-1 of the fourth one-way bearing 52 stops moving and the inner ring 52-2 is locked counterclockwise, preventing the solid shaft 28 from rotating counterclockwise and ensuring that the first central bevel gear 42 remains stationary; the first planetary bevel gear 44 and the second planetary bevel gear 46 mesh with the clockwise-rotating second central bevel gear 43 and the stationary first central bevel gear 42, generating a differential force, which is transmitted to the differential arm 48 through the first planetary bevel gear shaft 45 and the second planetary bevel gear shaft 47, causing the differential arm 48 to rotate clockwise, and then driving the output cylindrical gear 41 to rotate clockwise. Finally, the generator 54 rotates to generate electrical energy through the engagement of the generator gear 53 and the output cylindrical gear 41.

[0029] Preferably, when the lower arm and the upper arm swing downward simultaneously, the outer ring 29-1 of the first one-way bearing 29 and the outer ring 32-1 of the second one-way bearing 32 are locked clockwise simultaneously, and the inner rings 29-2 and 32-2 both stop moving; the outer rings 38-1 of the third one-way bearing 38 and 52-1 of the fourth one-way bearing 52 both stop moving, and the inner rings 38-2 and 52-2 both rotate clockwise, causing the lower arm input winding wheel 14 to drive the solid shaft 28 and the first central bevel gear 42 to rotate clockwise, while the upper arm input winding wheel 23 drives the hollow shaft 33 and the second central bevel gear 43 to rotate clockwise; the first central bevel gear 42 and the second central bevel gear 43 simultaneously drive the first planetary bevel gear 44 and the second planetary bevel gear 46 to rotate, generating a differential force on the first planetary bevel gear shaft 45 and the second planetary bevel gear shaft 47, causing the differential arm 48 to rotate clockwise, and then driving the output cylindrical gear 41 to rotate clockwise. Finally, the generator 54 generates electrical energy through the engagement of the generator gear 53 and the output cylindrical gear 41.

[0030] Preferably, the first central bevel gear 42, the second central bevel gear 43, the first planetary bevel gear 44, the first planetary bevel gear shaft 45, the second planetary bevel gear 46, the second planetary bevel gear shaft 47 and the differential arm 48 form a bevel gear train; the combination of the inner and outer ring motion states of the first one-way bearing 29, the second one-way bearing 32, the third one-way bearing 38 and the fourth one-way bearing 52 is shown in Table 1, which can realize the free switching of the motion state of the bevel gear train between the planetary gear train and the differential gear train to correspond to the conversion and output of the swing mechanical energy when the small arm swings downward alone, the large arm swings downward alone, and they swing downward simultaneously.

[0031] Table 1 Motion state of one-way bearings Preferably, when the small arm or the large arm swings downward alone, the combination of the inner and outer ring motion states of the first one-way bearing 29, the second one-way bearing 32, the third one-way bearing 38 and the fourth one-way bearing 52 switches the bevel gear train into a planetary gear train. At this time, the energy recovery device is a single-input and single-output energy system; when the small arm and the large arm swing downward simultaneously, the combination of the inner and outer ring motion states of the first one-way bearing 29, the second one-way bearing 32, the third one-way bearing 38 and the fourth one-way bearing 52 switches the bevel gear train into a differential gear train. At this time, the energy recovery device is a double-input and single-output energy system, realizing the coupled output of the mechanical energies of the downward swing of the small arm and the downward swing of the large arm.

[0032] Preferably, when the small arm swings upward, the outer ring 29-1 of the first one-way bearing 29 is released counterclockwise and the inner ring 29-2 stops moving. The first scroll spring 30 drives the small arm input winding wheel 14 to rotate counterclockwise due to the compressive force generated by being compressed clockwise when the small arm swings downward, recovering the second small arm rope 13 and the first small arm rope 6, keeping the small arm rope always taut, facilitating the energy recovery when the small arm swings downward next time; when the large arm swings upward, the outer ring 32-1 of the second one-way bearing 32 is released counterclockwise and the inner ring 32-2 stops moving. The second scroll spring 34 drives the large arm input winding wheel 23 to rotate counterclockwise due to the compressive force generated by being compressed clockwise when the large arm swings downward, recovering the first large arm rope 16 and the second large arm rope 22, keeping the large arm rope always taut, facilitating the energy recovery when the large arm swings downward next time.

[0033] As a preferred solution, the generator 54 is also connected with a rectification module and an energy storage module to rectify and store the electric energy generated by the generator 54. In this embodiment, the rectification module includes a rectifier bridge circuit, and the energy storage module includes a voltage stabilizing circuit and a super capacitor. The rectifier bridge circuit and the voltage stabilizing circuit can be realized by common circuit structures in the art and will not be elaborated here one by one.

[0034] The swinging of the forearm and upper arm of the human upper limb mainly consists of two processes: upward swing and downward swing. During the downward swing process, the muscles of the arm mainly do negative work, and it is in line with the movement law of human muscle force to recover energy from the downward movement of the arm. Moreover, the downward swing of the arm is a variable-speed movement, that is, the speed of the arm's downward swing is not constant. The energy recovery device of the present invention can achieve stable recovery of the energy generated by the downward movement of the forearm and upper arm.

[0035] The normal downward movement of the forearm and upper arm of the human upper limb belongs to low-frequency movement, and its swing frequency range is mostly between 0 - 2 Hz. The energy recovery device of the present invention can double the frequency of the captured low-frequency movement of the upper limb through the rope, winding pulley and gear train, so that the kinetic energy of the downward movement of the forearm and upper arm can be more efficiently converted into electrical energy by the generator and stored in the super capacitor to complete a complete energy collection.

[0036] The energy recovery device for the downward movement of the human upper limb has the following beneficial effects: This device efficiently recovers the energy of the downward movement of the human upper limb. When recovering the energy of the coordinated downward movement of the upper limb, it can increase the power supply time of outdoor wearable devices, such as outdoor walkie-talkies, portable GPS navigators, and outdoor head-mounted searchlights, etc.

[0037] In the description of this specification, the description with reference to terms such as "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / way or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments / ways or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments / ways or examples described in this specification and the features of different embodiments / ways or examples.

[0038] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of these features. In the description of this application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0039] Those skilled in the art should understand that the above embodiments are merely for clearly illustrating the present disclosure and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications can be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A human body energy recovery device, characterized in that, Comprising: An upper limb pendulum movement collection part and an energy conversion part; Upper limb pendulum movement collection part: an arm wearing frame, a waist wearing mounting plate, a fixing plate, a rope transmission support frame, a first fixed winding wheel, a first forearm rope, a first tensioning wheel, a first winding wheel, a first transmission shaft, a first support seat, a second support seat, a second winding wheel, a second forearm rope, a forearm input winding wheel, a second fixed winding wheel, a first upper arm rope, a third winding wheel, a second transmission shaft, a third support seat, a fourth support seat, a fourth winding wheel, a second upper arm rope, an upper arm input winding wheel, a tensioning support seat, a second tensioning wheel; Energy conversion part: a first bearing seat, a first rolling bearing, a solid shaft, a first one-way bearing, a first scroll spring, a first scroll spring box, a second one-way bearing, a hollow shaft, a second scroll spring, a second scroll spring box, a scroll spring box fixing plate, a second bearing seat, a third one-way bearing, a third bearing seat, a second rolling bearing, an output cylindrical gear, a first central bevel gear, a second central bevel gear, a first planetary bevel gear, a first planetary bevel gear shaft, a second planetary bevel gear, a second planetary bevel gear shaft, a differential arm, a fourth bearing seat, a third rolling bearing, a fifth bearing seat, a fourth one-way bearing, a generator gear, a generator, a generator support seat; The arm wearing frame is worn on the forearm and upper arm of the human body using a nylon magic tape bandage; The waist wearing mounting plate is worn on the waist of the human body using a nylon magic tape bandage; The fixing plate is fixed on the waist wearing mounting plate using an internal hexagonal screw, and the rope transmission support frame is vertically installed on the fixing plate using an internal hexagonal screw; The first fixed winding wheel is installed on the arm wearing frame near the end of the forearm; the head end of the first forearm rope is fixedly wound on the first fixed winding wheel, and the tail end is wound counterclockwise on the first winding wheel; the first tensioning wheel is installed on the arm wearing frame near the middle of the upper arm to ensure the tension of the first forearm rope when pulling across the upper arm; Both ends of the first transmission shaft are rotatably installed on the first support seat and the second support seat; the second winding wheel is installed at the right end of the first transmission shaft by means of a flat key connection, and the second winding wheel and the first winding wheel are coaxial driven by the first transmission shaft; The head end of the second forearm rope is wound clockwise on the second winding wheel, and the tail end is also wound clockwise on the forearm input winding wheel; The second fixed winding wheel is installed on the arm wearing frame near the end of the upper arm; the head end of the first upper arm rope is fixedly wound on the second fixed winding wheel, and the tail end is wound counterclockwise on the third winding wheel; Both ends of the second transmission shaft are rotatably installed on the third support seat and the fourth support seat; the fourth winding wheel is installed at the right end of the second transmission shaft by means of a flat key connection, and the fourth winding wheel and the third winding wheel are coaxial driven by the second transmission shaft; The head end of the second upper arm rope is wound clockwise on the fourth winding wheel, and the tail end is also wound clockwise on the upper arm input winding wheel; The tension support base is installed on the rope drive support frame; both ends of the second tension pulley are rotatably installed on the tension support base to ensure the tension of the second boom rope when it is pulled. The first bearing seat is installed on the fixed plate with hexagon socket head cap screws; one end of the outer ring end face of the first rolling bearing is axially fixed on the shoulder of the first bearing seat hole, and one end of the inner ring end face is axially fixed on the shoulder of the solid shaft. The inner ring of the first one-way bearing is circumferentially fixed to the solid shaft by a flat key connection, and one end of the inner ring end face is axially fixed by a shaft snap ring. The outer ring is circumferentially fixed to the small arm input winding wheel by a flat key connection, and one end face of the outer ring is axially fixed on the shoulder of the bearing seat hole of the small arm input winding wheel. The first volute spring is of the inner-hook and outer-hook type. The inner ring is fixed in the spring hook groove of the small arm input winding wheel, and the outer ring is fixed in the spring groove of the first volute spring box. The outer ring of the second one-way bearing is circumferentially fixed to the boom input winding wheel by a flat key connection, and one end face of the outer ring is axially fixed on the shoulder of the bearing seat hole of the boom input winding wheel. The inner ring is circumferentially fixed to the hollow shaft by a flat key connection, and one end of the inner ring end face is axially fixed by a shaft snap ring. The second volute spring is of the inner-hook and outer-hook type. The inner ring is fixed in the spring hook groove of the boom input winding wheel, and the outer ring is fixed in the spring groove of the second volute spring box. The volute spring box fixing plate is installed on the fixed plate with hexagon socket head cap screws. A circular through hole coaxial with the solid shaft is machined in the center, allowing the solid shaft to pass through. The two sides are respectively used to install the first volute spring box and the second volute spring box. The second bearing seat is installed on the fixed plate with hexagon socket head cap screws; the inner ring of the third one-way bearing is circumferentially fixed to the hollow shaft by a flat key connection, and one end of the inner ring end face is axially fixed by a shaft snap ring. The outer ring is circumferentially fixed to the second bearing seat hole by a flat key connection, and one end face of the outer ring is axially fixed on the shoulder of the second bearing seat hole. The third bearing seat is installed on the fixed plate with hexagon socket head cap screws and is in contact with the second bearing seat; one end of the outer ring end face of the second rolling bearing is axially fixed on the shoulder of the third bearing seat hole, and one end of the inner ring end face is axially fixed on the shoulder of the convex platform of the left through hole of the output cylindrical gear. A convex platform is machined on the back side of the first central bevel gear. Threaded through holes are left on the circumferential surface of the convex platform and are circumferentially fixed on the solid shaft with set screws. The end face of the convex platform is axially fixed by the shoulder of the solid shaft. The second central bevel gear is symmetrically installed with the first central bevel gear. A convex platform is machined on the back side of the second central bevel gear. Threaded through holes are left on the circumferential surface of the convex platform and are circumferentially fixed on the hollow shaft with set screws. The end face of the convex platform is axially fixed by the shoulder of the hollow shaft. A convex platform is machined on the back side of the first planetary bevel gear. Threaded through holes are left on the circumferential surface of the convex platform and are circumferentially fixed on the first end of the first planetary bevel gear shaft with set screws, and it meshes with the first central bevel gear and the second central bevel gear simultaneously. The second planetary bevel gear and the first planetary bevel gear are arranged coaxially. A boss is machined on its back side, and threaded through holes are left on the circumferential surface of the boss. It is circumferentially fixed to the front end of the second planetary bevel gear shaft by a set screw and meshes with the first central bevel gear and the second central bevel gear at the same time; The ends of the first planetary gear shaft and the second planetary gear shaft are rotatably installed on the differential arm; The fourth bearing seat is installed on the fixed plate with hex socket head cap screws; One end of the outer ring end face of the third rolling bearing is axially fixed on the shoulder of the hole of the fourth bearing seat, and one end of the inner ring end face is axially fixed on the shoulder of the through hole boss at the right end of the differential arm; The left end of the differential arm is machined with an end face, which is connected to the right end face of the output cylindrical gear as a whole by hex socket head cap screws, so that the rotational movement of the differential arm is transmitted to the output cylindrical gear; The fifth bearing seat is installed on the fixed plate with hex socket head cap screws and fits with the fourth bearing seat; The outer ring of the fourth one-way bearing is circumferentially fixed to the hole of the fifth bearing seat by a flat key connection. One end face of the outer ring is axially fixed on the shoulder of the hole of the fifth bearing seat, and the inner ring is circumferentially fixed to the solid shaft by a flat key connection. One end of the inner ring end face is fixed on the shoulder of the solid shaft; The generator gear meshes with the output cylindrical gear. The generator gear is connected to the generator, and the generator is driven to rotate through the generator gear; The generator support seat is installed on the fixed plate with hex socket head cap screws to fix the generator and make the generator rotate stably.

2. The energy recovery device according to claim 1, wherein In the upper limb lower swing motion collection part: The forearm rope composed of the first forearm rope and the second forearm rope pulls the forearm input winding wheel to recover the lower swing motion of the forearm; The upper arm rope composed of the first upper arm rope and the second upper arm rope pulls the upper arm described as the winding wheel to recover the lower swing motion of the upper arm; When the forearm and the upper arm swing downward at the same time, the two groups of ropes of the forearm rope and the upper arm rope move independently of each other without interference, realizing the separate collection of the simultaneous lower swing motion.

3. According to claim 1 and claim 2, characterized in that In the energy conversion part: When the forearm swings downward alone, the outer ring of the first one-way bearing is locked clockwise and the inner ring stops moving, so that the forearm input winding wheel is connected to the solid shaft as a whole; The outer ring of the fourth one-way bearing stops moving and the inner ring is released clockwise, so that the forearm input winding wheel drives the solid shaft to rotate clockwise and at the same time drives the first volute spring to be compressed clockwise; The solid shaft drives the first central bevel gear to rotate clockwise. At the same time, the outer ring of the third one-way bearing stops moving and the inner ring is locked counterclockwise, so that the hollow shaft cannot rotate counterclockwise, ensuring that the second central bevel gear remains stationary; The first planetary bevel gear and the second planetary bevel gear mesh with the first central bevel gear rotating clockwise and the second central bevel gear stationary, generating a differential force. The differential force is transmitted to the differential arm through the first planetary bevel gear shaft and the second planetary bevel gear shaft, so that the differential arm rotates clockwise, and then drives the output cylindrical gear to rotate clockwise. Finally, the generator rotates to generate electric energy through the engagement of the motor gear and the output cylindrical gear.

4. According to claim 1 and claim 2, characterized in that, In the energy conversion section: When the boom swings downward alone, the outer ring of the second one-way bearing is locked clockwise and the inner ring stops moving, connecting the boom input winding wheel and the hollow shaft as a whole; the outer ring of the third one-way bearing stops moving and the inner ring is released clockwise, causing the boom input winding wheel to drive the hollow shaft to rotate clockwise and at the same time drive the second scroll spring to compress clockwise; the hollow shaft drives the second central bevel gear to rotate clockwise. At the same time, the outer ring of the fourth one-way bearing stops moving and the inner ring is locked counterclockwise, preventing the solid shaft from rotating counterclockwise and ensuring that the first central bevel gear remains stationary; the first planetary bevel gear and the second planetary bevel gear mesh with the clockwise-rotating second central bevel gear and the stationary first central bevel gear, generating a differential force, which is transmitted to the differential arm through the first planetary bevel gear shaft and the second planetary bevel gear shaft, causing the differential arm to rotate clockwise, and then driving the output cylindrical gear to rotate clockwise. Finally, the generator rotates to generate electrical energy through the engagement of the motor gear and the output cylindrical gear.

5. According to claim 1 and claim 2, characterized in that, In the energy conversion section: When the forearm and the boom swing downward simultaneously, the outer rings of the first one-way bearing and the second one-way bearing are both locked clockwise and the inner rings both stop moving; the outer rings of the third one-way bearing and the fourth one-way bearing both stop moving and the inner rings both rotate clockwise, causing the forearm input winding wheel to drive the solid shaft and the first central bevel gear to rotate clockwise while the boom input winding wheel drives the hollow shaft and the second central bevel gear to rotate clockwise; the first central bevel gear and the second central bevel gear simultaneously drive the first planetary bevel gear and the second planetary bevel gear to rotate, generating a differential force on the first planetary bevel gear shaft and the second planetary bevel gear shaft, causing the differential arm to rotate clockwise, and then driving the output cylindrical gear to rotate clockwise. Finally, the generator generates electrical energy through the engagement of the motor gear and the output cylindrical gear.

6. According to claim 1, it is characterized in that The first input bevel gear, the second input bevel gear, the first planetary bevel gear, the second planetary bevel gear, the first planetary bevel gear shaft, the second planetary bevel gear shaft and the differential arm form a bevel gear system; the combination of the motion states of the inner and outer rings of the first one-way bearing, the second one-way bearing, the third one-way bearing and the fourth one-way bearing realizes the free switching of the motion state of the bevel gear system between the planetary gear system and the differential gear system to correspond to the conversion and output of the swing mechanical energy when the forearm swings downward alone, the boom swings downward alone and swings downward simultaneously.

7. According to claim 1 and claim 6, it is characterized in that, When the forearm or the boom swings downward alone, the combination of the motion states of the inner and outer rings of the first one-way bearing, the second one-way bearing, the third one-way bearing and the fourth one-way bearing switches the bevel gear system into a planetary gear system. At this time, the energy recovery device is a single-input and single-output energy system; when the forearm and the boom swing downward simultaneously, the combination of the motion states of the inner and outer rings of the first one-way bearing, the second one-way bearing, the third one-way bearing and the fourth one-way bearing switches the bevel gear system into a differential gear system. At this time, the energy recovery device is a double-input and single-output energy system, realizing the coupled output of the two mechanical energies of the forearm swing downward and the boom swing downward.

8. According to claim 1 and claim 2, it is characterized in that When the forearm swings upward, the outer ring of the first one-way bearing loosens counterclockwise and the inner ring stops moving. The first volute spring drives the forearm input winding wheel to rotate counterclockwise due to the compressive force generated by being compressed clockwise when the forearm swings downward, recovering the forearm rope, so that the forearm rope is always kept taut, facilitating the energy recovery when the forearm swings downward next time; when the upper arm swings upward, the outer ring of the second one-way bearing loosens counterclockwise and the inner ring stops moving. The second volute spring drives the upper arm input winding wheel to rotate counterclockwise due to the compressive force generated by being compressed clockwise when the upper arm swings downward, recovering the upper arm rope, so that the upper arm rope is always kept taut, facilitating the energy recovery when the upper arm swings downward next time.

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