External skeleton wearable type lower limb rehabilitation training robot device

The utility model discloses an external skeleton wearable type lower limb rehabilitation training robot device which comprises a left bracket, a right bracket, a front waist clamping plate, a rear waist clamping plate, thigh jackets, crus jackets, connection plates, foot plates, toe plates, an air cylinder, pin shafts, set screws, bolts and spring sheets. The external skeleton wearable type lower limb rehabilitation training robot device is characterized in that the front waist clamping plate, the rear waist clamping plate and the thigh jackets form a 3 range positioning system (3-RPS) parallel mechanism, the crus jackets and the foot plates form a two-degree-of-freedom space six-bar mechanism, and the whole device is a series-parallel mechanism which is formed by using a rotation pair to serially connect the thigh jackets and the crus jackets. The external skeleton wearable type lower limb rehabilitation training robot device is simple in structure, small in size, complete in function, low in cost, safe, comfortable, high in training efficiency and capable of achieving physical therapy and rehabilitation of lower limb hip joints, knee joints and ankle joints. The device can be used by patients who suffer from nerve injuries or limb injuries to perform lower limb rehabilitation training and can be also used by healthy old people to perform physical training.