Vertical follow-up type lightened walking rehabilitation training robot

The invention discloses a vertical follow-up type lightened walking rehabilitation training robot. The robot comprises an electric treadmill, a partial lightened supporting system, and exoskeleton mechanical legs and supporting devices thereof; the exoskeleton mechanical legs and supporting devices thereof further comprise supporting frames, door-type bracket components arranged on the supporting frame, supporting seat components of the mechanical legs arranged on the door-type bracket components, back and butt supporting components connected with the supporting seat components of the mechanical legs, and mechanical leg components connected with the supporting seat components of the mechanical legs. Due to the limitation of door frame guide rails and springs, the supporting seat components of the mechanical legs only can do up-and-down wave motion with a small range in the vertical direction, thus guaranteeing that the exoskeleton mechanical legs can do up-and-down wave motion synchronously along the up-and-down motion of the center of gravity of a trainer in the process of walking training, and avoiding the defect of motion in the fore-and-aft direction when adopting a parallel four bar linkage as a lifting mechanism commonly.