Constant-torque output exoskeleton wearable device based on telecentric point and use method of constant-torque output exoskeleton wearable device

The invention discloses fixed torque output exoskeleton wearable equipment based on a telecentric point and a use method of the fixed torque output exoskeleton wearable equipment. The research and development of exoskeleton wearing tools for assisting farmers in over-shoulder work and weight lifting actions are very necessary. The robot comprises a wearing body, a fixed torque output device, a wheel train type shoulder joint, an upper arm part and a front arm part, the gear train type shoulder joint comprises a first connecting frame, a second connecting frame and a third output gear; the rotation center line of the first connecting frame relative to the wearing body, the rotation center line of the second connecting frame relative to the first connecting frame and the rotation center line of the third output gear relative to the second connecting frame intersect at one point in the space. The fixed torque output device comprises a mounting cage, a first output shaft, a second output shaft, a third output sha