Exoskeleton robot hip joint, exoskeleton robot and control method of exoskeleton robot

The invention discloses an exoskeleton robot hip joint, an exoskeleton robot and a control method of the exoskeleton robot. The hip joint comprises a drive motor, a coupler, a one-way bearing, a screw rod connecting sleeve, a hip joint base, a front-back swing arm moving piece, a left-right swing arm moving piece, a torsion spring and an angle inductor, all of which are sequentially connected, wherein the torsion spring is arranged on the front-back swing arm moving piece, and the angle inductor is used for inducting the swinging angle of the front-back swing arm moving piece. The drive motor drives the one-way bearing to rotate in the free rotation direction, accordingly, the hip joint base drives the front-back swing arm moving piece to swing forwards to as to drive a left part to lift, the one-way bearing is used for being locked after the angle inductor reaches the preset value, and the torsion spring is used for being compressed for energy accumulation when the front-back swing arm moving piece swings forwards and releasing energy after the one-way bearing is locked so that the front-back swing arm moving piece and the leg part can freely fall back. The exoskeleton robot hip joint and the exoskeleton robot are simple in structure and flexible in control, a wearer can adjust the gravity center by herself or himself and freely land, and the function of easy and rapid walking after the wearer is in load is achieved.