Three-degree-of-freedom exoskeleton hip joint multiple limiting device

The invention discloses a three-degree-of-freedom exoskeleton hip joint multiple limiting device. The device comprises a hip joint connection plate, a hydraulic cylinder, two attachment tabs, an extension/flexion joint, an abduction/adduction joint, a medial rotation / lateral rotation joint, a limit pin and a thigh attachment rod; the two attachment tabs are pushed by the hydraulic cylinder and then drive the extension/flexion joint to realize active degree of freedom for extension/flexion; drives by the abduction/adduction joint and the medial rotation / lateral rotation joint in corresponding parts of a human body realize the passive degree of freedom of abduction/adduction and medial rotation / lateral rotation; at the same time, the hydraulic cylinder stroke limitation is used; the boss structure of a lower surface of the extension/flexion joint and the limiting pin are used for realizing the limitation of joints in three degrees of freedom and in accordance with body motion demand, avoiding exoskeletal damage to wearers. The present invention achieves three degrees of freedom required for the movement of the hip joint through simple and feasible mechanisms and cooperation, and the multiple restrictions brought by the invention improve the wearer's comfort and safety.