Lower limb rehabilitation training robot

The utility model discloses a lower limb training robot, comprising an outer skeleton type mechanical structure and a control system independent from the mechanical structure, wherein the outer skeleton type mechanical structure comprises thigh mechanisms and calf mechanisms which are bilaterally connected in sequence by a waist mechanism; the connecting positions of the waist mechanism and the thigh mechanisms is human-simulating hip joints, and the connecting positions of the thigh mechanisms and the calf mechanisms are human-simulating knee joints; the waist mechanism comprises a waist connecting plate and flexible connecting plates which are bilaterally connected; the waist mechanism, the left thigh mechanism, the right thigh mechanism, the left calf mechanism and the right calf mechanism are respectively provided with flexible connecting belts which connect the corresponding parts of a human body and the robot; the control system is independent from the mechanical structure of the robot, is connected tog