Lower limbs rehabilitation training robot

The invention discloses a lower limbs rehabilitation training robot, which comprises an exoskeletal mechanical structure and a control system independent of the mechanical structure, wherein the exoskeletal mechanical structure comprises thigh mechanisms and shank mechanisms, which are bilaterally symmetrical and connected with a waist mechanism in turn; imitation human hip joints are arranged at the connection part of the waist mechanism and the thigh mechanisms; imitation knee joints are arranged between the connection parts of the thigh mechanisms and the shank mechanisms; the waist mechanism comprises a waist part connecting plate and flexible connecting plates which are connected with the waist part connecting plate in a bilateral symmetrical manner; the waist mechanism, the left and right thigh mechanisms and the left and right shank mechanisms are provided with flexible connecting bands for connecting the corresponding parts of a human body with the robot; the control system is independent of the mechanism of the robot and is connected with the robot body through data wires for controlling rehabilitation training; and the control system comprises hardware and software, the soft ware comprises a user module, a real-time control module and a rehabilitation effect evaluation module.