Hip joint and formula of wearing robot

The utility model provides a hip joint, has: the joint body, the joint body is used for dressing the hip in the user, cam mechanism, cam mechanism's cam rotatably keep in on the body of joint, rotation axis along the horizontal direction of cam, linear motion portion, linear motion portion with cam mechanism's follower links to each other, by cam drive and linear motion ground keep in on the bodyof joint, linear motion portion with the joint body passes through elastic element and connects, elastic element's axial with the linear motion direction of linear motion portion is parallel. The utility model provides a hip joint and formula of wearing robot who has apparent outstanding transmission reliability and compact structure nature. 种髋关节，具有：关节本体，所述关节本体用于穿戴于用户的髋部；凸轮机构，所述凸轮机构的凸轮可旋转地保持于所述关节本体上，所述凸轮的旋转轴沿水平方向；直线运动部，所述直线运动部与所述凸轮机构的从动件相连，由所述凸轮驱动而直线运动地保持于所述关节本体上，所述直线运动部与所述关节本体通过弹性元件连接，所述弹性元件的轴向与所述直线运动部的直线运动方向平行。本实用新型提供了种具有显著突出的传动可靠性与结构紧凑性的髋关节及穿戴式机器人。