Wearable lower limb exoskeleton walking-assisted robot

The invention discloses a wearable lower limb exoskeleton walking-assisted robot, which comprises an ankle joint motion module, a knee joint motion module, a hip joint motion module, a drive module and a waist and supporting frame module, wherein the knee joint motion module is connected with the ankle joint motion module and the hip joint motion module respectively; the drive module is connected with the knee joint motion module and the ankle joint motion module respectively; and the hip joint motion module is connected with the waist and supporting frame module. During the walking period of the robot, the consistency of hip joint motion and human body motion is good, the coaxiality and the position deviation of the knee joints of a human body and the robot are small, and the ankle joint is compact in structure.