Robot for lower limb joint rehabilitation training

The invention discloses a robot for lower limb joint rehabilitation training, and belongs to the field of medical equipment. The robot comprises an ankle joint device, a knee joint device, a hip joint device, a mechanical leg thigh adjustment device, a mechanical leg shank adjustment device, a leg motion prediction device and a rack. The ankle joint device is directly driven by a motor and under bevel gear drive, and pressure sensors are installed on a pedal and can detect insole pressure to predict motion intentions of an ankle joint; a knee joint and a hip joint are driven by means of a high-speed synchronous belt and a low-speed gear, the mechanical leg thigh adjustment device and the mechanical leg shank adjustment device respectively use a swinging push rod sliding block mechanism composed by an electric push rod and a linear sliding rail, and accordingly the length of a mechanical leg can be adjusted so as to be suitable for patients of different heights; the leg motion prediction device is provided with a pressure sensor which can directly judge motion trends of the hip joint and the knee joint and can predict motion intentions of a lower limb of a human body by being combined with the pressure sensors arranged on the pedal, and accordingly flexible auxiliary rehabilitation training is finished.