Three-degree-of-freedom passive energy storage and power assisting exoskeleton hip joint

The invention discloses a three-degree-of-freedom passive energy storage and power assisting exoskeleton hip joint. The three-degree-of-freedom passive energy storage and power assisting exoskeleton hip joint comprises a hip supporting plate, an elastic energy storage element, a joint assembly and a leg rod connecting piece, the joint assembly comprises an upper joint piece and a lower joint piece, one end of the hip supporting plate is contained in the mounting position of the upper joint piece, the hip supporting plate is rotationally connected with the upper joint piece by arranging a first shaft in a penetrating manner, the upper joint piece is in butt joint with the lower joint piece, the upper joint piece is rotationally connected with the lower joint piece by arranging a second shaft in a penetrating manner, one end of the leg rod connecting piece is contained in the mounting position of the lower joint piece, and the leg rod connecting piece is rotationally connected with the lower joint piece by pene