The application discloses a
lower limb auxiliary driving mechanism and a
robot, which comprises a
thigh assembly and a lower leg
assembly connected with the
thigh assembly, and a connecting end of a
thigh connecting piece two and the lower leg assembly forms a
knee joint. In the application, a
constant force load mechanism is arranged on the thigh assembly, constant tension of a spring is converted into a compensation torque acting on the
knee joint, so that the compensation torque can directly offset part or all of the
bending moment generated by the weight of the
lower limb on the
knee joint, thereby realizing accurate compensation of the static load of the knee joint, reducing the driving burden when the joint maintains a posture, and the
constant force load spring serves as a parallel auxiliary execution mechanism and jointly bears the load of the knee joint with a motor driving
system. Through the parallel sharing mode, the
joint load originally borne by the motor can be reasonably distributed, the motor works in a relatively stable and high-efficiency interval more,
peak load is reduced, current
impact is reduced, and overall driving efficiency is improved.