Wearable mechanical power assisting device and energy recovery circuit thereof

Abstract

The invention relates to the technical field of human body power assisting equipment, in particular to wearable mechanical power assisting equipment and an energy recovery circuit thereof. The wearable mechanical power assisting equipment comprises a trunk wearing part, a limb wearing part, a driver, an energy conversion assembly and an energy storage device. The driver is mounted on the trunk wearing part, the output end of the driver is connected with the limb wearing parts, and the driver is used for driving the limb wearing parts to swing forwards when the limbs are lifted; the two ends of the energy conversion assembly are connected to the head end of the trunk wearing part and the tail end of the limb wearing part respectively, the energy conversion assembly comprises piezoelectric ceramics, and the piezoelectric ceramics can be extruded when the limb wearing part swings; the energy storage device is used for storing the electric energy output by the piezoelectric ceramics and providing the electric energy for the driver. According to the wearable mechanical power assisting device and the energy recovery circuit thereof, mechanical energy can be recycled, the endurance time of the energy storage device is prolonged, and the energy utilization efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of human assistive equipment technology, and more specifically, to a wearable mechanical assistive device and its energy recovery circuit. Background Technology

[0002] With the increasing aging of society and the growing demand for wearable mechanical assistive devices in industries and other fields, dual-hip assistive exoskeleton stair climbing technology has attracted widespread attention.

[0003] Traditional dual-hip exoskeletons typically rely on batteries for continuous power when climbing stairs. Once the batteries are depleted, they need to be unplugged and fully charged before they can be used again. However, the limited battery capacity and short battery life result in a poor user experience. In addition, the exoskeleton generates a large amount of mechanical energy during operation, which is wasted and not effectively utilized, resulting in low energy efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a wearable mechanical assistive device and its energy recovery circuit to alleviate the technical problems of short battery life and low energy utilization rate of existing dual-hip exoskeletons.

[0005] The wearable mechanical assistive device provided by the present invention includes a torso wearable part, a limb wearable part, a driver, an energy conversion component, and an energy storage device.

[0006] The end of the limb wearable part is rotatably connected to the head end of the torso wearable part; the driver is installed on the torso wearable part, and the output end of the driver is connected to the limb wearable part for driving the limb wearable part to swing forward when the limb is raised.

[0007] The energy conversion component is connected at both ends to the head of the torso wearable part and the end of the limb wearable part, respectively. The energy conversion component includes a piezoelectric ceramic, which can be squeezed when the limb wearable part swings. The energy storage device is electrically connected to the piezoelectric ceramic and is used to store the electrical energy output by the piezoelectric ceramic. The energy storage device is electrically connected to the driver and is used to supply power to the driver.

[0008] As one possible implementation, the energy conversion component includes a limb-raising energy conversion component and a limb-lowering energy conversion component. The piezoelectric ceramic in the limb-raising energy conversion component can be squeezed when the limb wearing part swings forward, and the piezoelectric ceramic in the limb-lowering energy conversion component can be squeezed when the limb wearing part swings backward.

[0009] As one possible implementation, the energy conversion component further includes an elastic connector, the first end of which is fixedly connected to the piezoelectric ceramic.

[0010] The piezoelectric ceramic is fixed to the end of the torso wear part, and the second end of the elastic connector is fixed to the first end of the limb wear part; or, the piezoelectric ceramic is fixed to the first end of the limb wear part, and the second end of the elastic connector is fixed to the end of the torso wear part.

[0011] In one possible implementation, the first end of the limb wearing part is provided with a pivot, the pivot is rotatably connected to the end of the torso wearing part, and the central axis of the pivot coincides with the rotation axis of the limb wearing part. The elastic connector is provided on the periphery of the pivot along the rotation axis direction of the pivot.

[0012] As one possible implementation, the sidewall of the rotating shaft is provided with a protruding extension.

[0013] The piezoelectric ceramic is fixed to the end of the torso wear portion, and the second end of the elastic connector is fixed to the extension portion; or, the piezoelectric ceramic is fixed to the extension portion, and the second end of the elastic connector is fixed to the end of the torso wear portion.

[0014] In one possible implementation, the end of the wearable torso is provided with a mounting shell, and the rotating shaft and the energy conversion component are disposed within the mounting shell; And / or, the energy storage device includes a battery; And / or, the drive includes a motor.

[0015] The energy recovery circuit for a wearable mechanical assist device provided by the present invention includes a rectifier bridge, a microcontroller unit, and a monitoring unit.

[0016] The two leads of the piezoelectric ceramic are electrically connected to the two AC input terminals of the rectifier bridge, respectively, and the DC output terminal of the rectifier bridge is electrically connected to the energy storage device; the communication port of the monitoring unit is connected to the first communication port of the microcontroller unit, and the second communication port of the microcontroller unit is connected to the communication port of the driver.

[0017] The monitoring unit is used to monitor the state of the limb wearable part, and the microcontroller unit is used to control the driver to drive the limb wearable part to swing forward when the monitoring unit detects that the limb wearable part is swinging forward; and to control the driver to stop working after the monitoring unit detects that the limb wearable part has stopped swinging.

[0018] In one possible implementation, a voltage regulator module is connected in series between the rectifier bridge and the energy storage device, and the enable pin of the microcontroller unit is connected to the enable pin of the voltage regulator module.

[0019] The microcontroller unit is used to control the voltage regulator module to turn on when the monitoring unit detects that the limb wearable part is swinging; and to control the voltage regulator module to turn off when the monitoring unit detects that the limb wearable part is stationary.

[0020] In one possible implementation, a detection resistor is connected in series between the voltage regulator module and the energy storage device; the two analog input ports of the microcontroller unit are respectively connected to the two ends of the detection resistor to obtain the current value passing through the detection resistor, and to control the voltage regulator module to shut down when the current value exceeds the limit.

[0021] As one possible implementation, a current-limiting resistor is connected in series between the rectifier bridge and the voltage regulator module; And / or, the monitoring unit includes an inertial measurement unit.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: When wearing the device, the torso part can be fixed to the torso (such as the waist, shoulders, etc.), and the limb part can be fixed to the limbs (such as the upper arms, thighs, etc.). The limb part will then swing synchronously with the limbs. After wearing and starting, the actuator can obtain electrical energy from the energy storage unit and convert it into kinetic energy. This kinetic energy is used to drive the limb part to swing forward when the limb is lifted, providing auxiliary lifting power and reducing the effort required to lift the limb. Simultaneously, the swinging limb part compresses the piezoelectric ceramic. Under pressure, the piezoelectric ceramic generates an electric charge on its poles, converting mechanical energy into electrical energy. The energy storage unit stores the electrical energy output by the piezoelectric ceramic, allowing it to recharge in real time during device operation. This achieves the recovery and utilization of mechanical energy, extends the energy storage unit's operating time, and improves energy efficiency. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the wearable mechanical assistive device provided in an embodiment of the present invention; Figure 2 A schematic diagram of the assembly structure of the energy conversion component, mounting shell and rotating shaft in a wearable mechanical assist device provided in an embodiment of the present invention; Figure 3 A schematic diagram of the energy recovery circuit provided for an embodiment of the invention.

[0025] Explanation of reference numerals in the attached figures: 100 - Torso wearable part; 110 - Mounting shell; 200 - Limb wearable part; 210 - Rotating shaft; 211 - Extension part; 300 - Driver; 400 - Energy conversion component; 410 - Piezoelectric ceramic; 420 - Elastic connector; 500 - Energy storage device; 600 - Rectifier bridge; 700 - Microcontroller unit; 800 - Monitoring unit; 900 - Voltage regulator module. Detailed Implementation

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

[0027] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0028] See Figures 1-3 An embodiment of the present invention provides a wearable mechanical assistive device, which includes a torso wearable part 100, a limb wearable part 200, an actuator 300, an energy conversion component 400, and an energy storage device 500; the end of the limb wearable part 200 is rotatably connected to the head end of the torso wearable part 100; the actuator 300 is mounted on the torso wearable part 100, and the output end of the actuator 300 is connected to the limb wearable part 200 for driving the limb wearable part 200 to swing forward when the limb is raised; the two ends of the energy conversion component 400 are respectively connected to the head end of the torso wearable part 100 and the end of the limb wearable part 200, and the energy conversion component 400 includes a piezoelectric ceramic 410, which can be squeezed when the limb wearable part swings; the energy storage device 500 is electrically connected to the piezoelectric ceramic 410 for storing the electrical energy output by the piezoelectric ceramic 410; the energy storage device 500 is electrically connected to the actuator 300 for providing electrical energy to the actuator 300.

[0029] When worn, the torso wearing part 100 can be worn and fixed to the human torso (such as the waist, shoulders, etc.), and the limb wearing part 200 can be worn and fixed to the human limbs (such as the upper arm, thigh, etc.). In this way, the limb wearing part 200 will swing synchronously with the human limbs. After the device is worn and started, the driver 300 can obtain electrical energy from the energy storage unit 500 and convert it into kinetic energy to drive the limb wearing part 200 to swing forward when the limb is raised, providing auxiliary lifting power for the limb and reducing the force required for the human body to raise the limb. At the same time, the swinging limb wearing part 200 will also compress the piezoelectric ceramic 410. After being compressed, the two poles of the piezoelectric ceramic 410 will generate charges, converting mechanical energy into electrical energy. The energy storage unit 500 can store the electrical energy output by the piezoelectric ceramic 410, so that the energy storage unit 500 can be charged in real time when the device is working. Thus, mechanical energy is recovered and utilized, the battery life of the energy storage unit 500 is extended, and energy utilization efficiency is improved.

[0030] Preferably, the torso wearable part 100 is worn and fixed to the waist of the human body, and the limb wearable part 200 is worn and fixed to the thigh of the human body to assist the human body in walking, especially suitable for use when climbing stairs. In this case, the wearable mechanical assistive device provided in this embodiment can be regarded as a double iliac exoskeleton.

[0031] The aforementioned energy conversion component 400 may specifically include a limb-raising energy conversion component and a limb-lowering energy conversion component. Specifically, the piezoelectric ceramic 410 in the limb-raising energy conversion component can be squeezed when the limb wearing part 200 swings forward, so that the mechanical energy generated when the piezoelectric ceramic 410 raises the limb is converted into electrical energy; the piezoelectric ceramic 410 in the limb-lowering energy conversion component can be squeezed when the limb wearing part 200 swings backward, so that the piezoelectric ceramic 410 converts the mechanical energy generated when the limb falls into electrical energy, which can further improve energy utilization efficiency.

[0032] It should be noted that the forward swing of the limb wearing part 200 is actually the limb wearing part 200 relative to the body wearing part 100 along the first direction (e.g., Figure 1 The direction indicated by the upward-sloping arrow in the middle) rotates, and the first direction can be regarded as the direction in which the limb is raised; the backward swing of the limb wearing part 200 is actually the limb wearing part 200 relative to the torso wearing part 100 along the second direction (such as... Figure 1 The direction indicated by the downward-sloping arrow is the direction of rotation, and the second direction can be seen as the direction in which the limb falls.

[0033] In the specific structure of the energy conversion component 400, an elastic connector 420 can be provided to fix the first end of the elastic connector 420 to the piezoelectric ceramic 410. Based on this, either of the following two connection methods can be selected: A. The piezoelectric ceramic 410 is fixed to the end of the torso wearing part 100, and the second end of the elastic connector 420 is fixed to the first end of the limb wearing part 200. When the limb wearing part 200 swings, the elastic connector 420 can be stretched or compressed to adapt to the relative rotation between the limb wearing part 200 and the torso wearing part 100. At the same time, the elastic pressure generated when the elastic connector 420 is compressed can act on the piezoelectric ceramic 410 connected to its first end, so that the piezoelectric ceramic 410 can generate charges on the two poles under pressure, realizing the conversion of mechanical energy into electrical energy.

[0034] B. The piezoelectric ceramic 410 is fixed to the first end of the limb wearing part 200, and the second end of the elastic connector 420 is fixed to the end of the torso wearing part 100. The elastic connector 420 can also be stretched or compressed, and the piezoelectric ceramic 410 can generate charges on the two poles under pressure, realizing the conversion of mechanical energy into electrical energy.

[0035] Specifically, a spring can be used as the aforementioned elastic connector 420.

[0036] Preferably, a pivot 210 can be provided at the first end of the limb wearing part 200, and the pivot 210 is rotatably connected to the end of the torso wearing part 100. The central axis of the pivot 210 and the rotation axis of the limb wearing part 200 are set to coincide with each other. The elastic connector 420 is provided on the periphery of the pivot 210 along the rotation direction of the pivot 210, that is, the elastic connector 420 is arc-shaped. In this way, when the limb wearing part 200 swings, the elastic connector 420 can basically extend or shorten along its own length direction, which helps to prevent the elastic connector 420 from bending. The circumferential driving force when the pivot 210 rotates can be fully utilized to obtain better energy conversion efficiency and extend the service life of the elastic connector 420.

[0037] Furthermore, a protruding extension 211 can be provided on the side wall of the rotating shaft 210. Based on this, either of the following two connection methods can be selected: A. The piezoelectric ceramic 410 is fixed to the end of the torso wear part 100, and the second end of the elastic connector 420 is fixed to the extension 211 of the rotating shaft 210. The extension 211 can directly act on the end face of the second end of the elastic connector 420 and apply tangential force to the elastic connector 420, which can better prevent the elastic connector 420 from bending. In addition, the piezoelectric ceramic 410 is fixed on the relatively stationary torso wear part 100, which provides better stability.

[0038] B. The piezoelectric ceramic 410 is fixed to the extension portion 211, and the second end of the elastic connector 420 is fixed to the end of the torso wearing portion 100. The extension portion 211 can serve as a support for the piezoelectric ceramic 410, and the piezoelectric ceramic 410 applies a tangential force to the elastic connector 420. Similarly, the elastic connector 420 can be better prevented from bending.

[0039] Preferably, a mounting shell 110 can be provided at the end of the torso wearable part 100, and both the rotating shaft 210 and the energy conversion component 400 are disposed within the mounting shell 110. On the one hand, the mounting shell 110 can restrict the movement space of the elastic connector 420, limit the degree of bending when the elastic connector 420 is accidentally bent, and enable it to recover its deformation smoothly, thus ensuring the life of the elastic connector 420. On the other hand, the mounting shell 110 can also serve as a protective structure for the rotating shaft 210 and the energy conversion component 400, preventing them from interfering with the surrounding structure and improving reliability. In addition, the presence of the mounting shell can also improve aesthetics.

[0040] Specifically, a battery can be used as the energy storage device 500, which can be charged and discharged smoothly; a motor can be used as the driver 300, which can drive the limb wearable part 200 to rotate synchronously when the output shaft of the motor rotates, thereby achieving an assistive effect.

[0041] See Figures 1-3 An embodiment of the present invention provides an energy recovery circuit for a wearable mechanical assist device, comprising a rectifier bridge 600, a microcontroller unit 700 (MCU), and a monitoring unit 800; two leads of a piezoelectric ceramic 410 are electrically connected to the two AC input terminals of the rectifier bridge 600, and the DC output terminal of the rectifier bridge 600 is electrically connected to an energy storage device 500; the communication port of the monitoring unit 800 is connected to the first communication port of the microcontroller unit 700, and the second communication port of the microcontroller unit 700 is connected to the communication port of the driver 300; the monitoring unit 800 is used to monitor the state of the limb wearable part 200, and the microcontroller unit 700 is used to control the driver 300 to drive the limb wearable part 200 to swing forward when the monitoring unit 800 detects that the limb wearable part 200 swings forward; and to control the driver 300 to stop working after the monitoring unit 800 detects that the limb wearable part 200 stops swinging.

[0042] When the wearable assistive device is used for walking or rehabilitation, the piezoelectric ceramic 410 is compressed by the reciprocating swaying limb wearing part 200, generating charges on its two poles and forming alternating current. This alternating current is rectified by the rectifier bridge 600 into direct current, thus enabling the charging function of the energy storage device 500. Simultaneously, the monitoring unit 800 monitors the state of the limb wearing part 200 in real time. When the limb is raised, the limb wearing part 200 is pulled forward by the raised limb. Therefore, when the monitoring unit 800 detects the forward swaying of the limb wearing part 200, it indicates a need to raise the limb. At this time, the first communication port of the microcontroller unit 700 receives the monitoring data of the forward swaying of the limb wearing part 200 from the communication port of the monitoring unit 800, and sends an assist command through the second communication port. Upon receiving the assist command, the driver 300 drives the limb wearing part 200 to sway forward. The limb-wearing part 200 can assist in lifting the limb, thereby reducing the force required for the human body to lift the limb. Correspondingly, when the limb lands, the limb-wearing part 200 will stop swinging. Therefore, when the monitoring unit 800 detects that the limb-wearing part 200 has stopped swinging, it indicates that the limb has landed and no further assistance is needed. At this time, the first communication port of the microcontroller unit 700 will receive the monitoring data that the limb-wearing part 200 has stopped swinging sent by the communication port of the monitoring unit 800, and the second communication port will send a stop command. After receiving the stop command, the communication port of the driver 300 will stop working, which can save energy.

[0043] The scheme where the monitoring unit 800 stops controlling the driver 300 to stop working after detecting that the limb wearable part 200 has stopped swinging can be replaced by the following scheme: When the monitoring unit 800 detects that the limb wearable part 200 is swinging backward, the driver 300 stops working. That is, when the limb falls, the limb wearable part 200 will swing backward. When the first communication port of the microcontroller unit 700 receives the monitoring data of the limb wearable part 200 swinging backward sent by the communication port of the monitoring unit 800, the second communication port sends a stop command.

[0044] Specifically, both the communication port of the monitoring unit 800 and the first communication port of the microcontroller unit 700 are RS485 interfaces, meaning that the monitoring unit 800 and the microcontroller unit 700 communicate via the RS485 interface, enabling data transmission. Both the second communication port of the microcontroller unit 700 and the communication port of the driver 300 are CAN interfaces, meaning that the microcontroller unit 700 and the driver 300 communicate via CAN, enabling mode control of the driver 300.

[0045] Preferably, a voltage regulator module 900 can be connected in series between the rectifier bridge 600 and the energy storage device 500. When the voltage input to the voltage regulator module 900 is low, the voltage is increased; when the voltage input to the voltage regulator module 900 is high, the voltage is decreased. Thus, the voltage regulator module 900 can stabilize the output voltage to meet the charging voltage requirements of the battery.

[0046] Furthermore, the enable pin EN of the microcontroller unit 700 is connected to the enable pin EN of the voltage regulator module 900. When the limb wearable part 200 swings (including swinging forward and / or backward), the first communication port (RS485 interface) of the microcontroller unit 700 receives monitoring data of the limb wearable part 200 swinging from the communication port (RS485 interface) of the monitoring unit 800, and issues an on command through the enable pin EN. Upon receiving the on command, the enable pin EN of the voltage regulator module 900 is turned on to stabilize the output voltage. When the limb wearable part 200 is stationary, the first communication port (RS485 interface) of the microcontroller unit 700 receives monitoring data of the limb wearable part 200 being stationary from the communication port (RS485 interface) of the monitoring unit 800, and issues a off command through the enable pin EN. Upon receiving the off command, the enable pin EN of the voltage regulator module 900 is turned off to stop working and save energy.

[0047] Preferably, a detection resistor R1 can be connected in series between the voltage regulator module 900 and the energy storage device 500. The two analog input ports (ADC0 and ADC2) of the microcontroller 700 are respectively connected to the two ends of the detection resistor R1. The microcontroller 700 can use the formula: I=(U0-U1) / R to calculate the current value I through the detection resistor R1, and use it to control the voltage regulator module 900 to shut down when the current value I exceeds the limit, so that it has no output and ensures the safety of the charging process.

[0048] Preferably, a current-limiting resistor R2 can be connected in series between the rectifier bridge 600 and the voltage regulator module 900 to limit the current and prevent excessive instantaneous input current.

[0049] Specifically, an inertial measurement unit (IMU) can be used as the monitoring unit 800. The IMU can detect the leg-raising signal at the moment of leg raising, so that the microcontroller unit 700 can obtain the signal of the limb wearing part 200 swinging forward in time, and then switch to the assist mode in time to control the driver 300 to drive the limb wearing part 200 to swing forward, ensuring a good assist effect.

[0050] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0051] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0052] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A wearable mechanical assistive device, characterized in that, It includes a torso wearable part (100), a limb wearable part (200), a driver (300), an energy conversion component (400), and an energy storage device (500). The end of the limb wearing part (200) is rotatably connected to the head end of the trunk wearing part (100); the driver (300) is installed on the trunk wearing part (200), and the output end of the driver (300) is connected to the limb wearing part (200) for driving the limb wearing part (200) to swing forward when the limb is raised. The two ends of the energy conversion component (400) are respectively connected to the head end of the torso wearable part (100) and the end end of the limb wearable part (200). The energy conversion component (400) includes a piezoelectric ceramic (410). When the limb wearable part (200) swings, it can squeeze the piezoelectric ceramic (410). The energy storage device (500) is electrically connected to the piezoelectric ceramic (410) and is used to store the electrical energy output by the piezoelectric ceramic (410). The energy storage device (500) is electrically connected to the driver (300) and is used to supply power to the driver (300).

2. The wearable mechanical assistive device according to claim 1, characterized in that, The energy conversion component (400) includes a lifting energy conversion component and a lowering energy conversion component. The piezoelectric ceramic (410) in the lifting energy conversion component can be squeezed when the limb wearing part (200) swings forward, and the piezoelectric ceramic (410) in the lowering energy conversion component can be squeezed when the limb wearing part (200) swings backward.

3. The wearable mechanical assistive device according to claim 1 or 2, characterized in that, The energy conversion assembly (400) further includes an elastic connector (420), the first end of which is fixedly connected to the piezoelectric ceramic (410); The piezoelectric ceramic (410) is fixed at the end of the torso wearing part (200), and the second end of the elastic connector (420) is fixed to the first end of the limb wearing part (200); or, the piezoelectric ceramic (410) is fixed at the first end of the limb wearing part (200), and the second end of the elastic connector (420) is fixed to the end of the torso wearing part (100).

4. The wearable mechanical assistive device according to claim 3, characterized in that, The first end of the limb wearing part (200) is provided with a rotating shaft (210), the rotating shaft (210) is rotatably connected to the end of the torso wearing part (100), and the central axis of the rotating shaft (210) coincides with the rotation axis of the limb wearing part (200). The elastic connector (420) is provided on the periphery of the rotating shaft (210) along the rotation axis direction of the rotating shaft (210).

5. The wearable mechanical assistive device according to claim 4, characterized in that, The sidewall of the rotating shaft (210) is provided with a protruding extension (211). The piezoelectric ceramic (410) is fixed to the end of the torso wearable part (100), and the second end of the elastic connector (420) is fixed to the extension part (211); or, the piezoelectric ceramic (410) is fixed to the extension part (211), and the second end of the elastic connector (420) is fixed to the end of the torso wearable part (100).

6. The wearable mechanical assistive device according to claim 4, characterized in that, The end of the torso wearable part (100) is provided with a mounting shell (110), and the rotating shaft (210) and the energy conversion component (400) are disposed in the mounting shell (110); And / or, the energy storage device (500) includes a battery; And / or, the driver (300) includes a motor.

7. An energy recovery circuit for a wearable mechanical assistive device according to any one of claims 1-6, characterized in that, It includes a rectifier bridge (600), a microcontroller unit (700), and a monitoring unit (800). The two leads of the piezoelectric ceramic (410) are electrically connected to the two AC input terminals of the rectifier bridge (600), and the DC output terminal of the rectifier bridge (600) is electrically connected to the energy storage device (500); the communication port of the monitoring unit (800) is connected to the first communication port of the microcontroller unit (700), and the second communication port of the microcontroller unit (700) is connected to the communication port of the driver (300); The monitoring unit (800) is used to monitor the state of the limb wearable part (200), and the microcontroller unit (700) is used to control the driver (300) to drive the limb wearable part (200) to swing forward when the monitoring unit (800) detects that the limb wearable part (200) is swinging forward; and to control the driver (300) to stop working after the monitoring unit (800) detects that the limb wearable part (200) has stopped swinging.

8. The energy recovery circuit according to claim 7, characterized in that, A voltage regulator module (900) is connected in series between the rectifier bridge (600) and the energy storage device (500), and the enable pin of the microcontroller unit (700) is connected to the enable pin of the voltage regulator module (900). The microcontroller unit (700) is used to control the voltage regulator module (900) to turn on when the monitoring unit (800) detects that the limb wearable part (200) is swinging; and to control the voltage regulator module (900) to turn off when the monitoring unit (800) detects that the limb wearable part (200) is stationary.

9. The energy recovery circuit according to claim 8, characterized in that, A detection resistor is connected in series between the voltage regulator module (900) and the energy storage device (500); the two analog input ports of the microcontroller unit (700) are respectively connected to the two ends of the detection resistor to obtain the current value passing through the detection resistor, and to control the voltage regulator module (900) to shut down when the current value exceeds the limit.

10. The energy recovery circuit according to claim 8 or 9, characterized in that, A current-limiting resistor is connected in series between the rectifier bridge (600) and the voltage regulator module (900); And / or, the monitoring unit (800) includes an inertial measurement unit.

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