Wearable bionic hydraulic mechanical lower limb rehabilitation walking aid

The invention discloses a wearable bionic hydraulic mechanical lower limb rehabilitation walking aid and aims to solve problems of high leg weight, poor motor coordination with human bodies and the like of existing motor drive equipment to further improve smoothness and applicability of rehabilitation walking aid equipment. The walking aid comprises a back plate, a waist plate, triaxial hip joints, double-acting hydraulic cylinders, thigh bodies, bionic link knee joints, crus bodies, two-axial ankle joints and sole plates. The triaxial hip joints comprise hip joint adduction/abduction mechanisms, hip joint flexion and extension mechanisms and hip joint pronation/supination mechanisms. Each knee joint flexion and extension mechanism comprises a thigh connector, a front rocking rod, a rear rocking rod, a crus connector, a double-acting hydraulic cylinder and a limiting mechanism. The two-axial ankle joints comprise flexion and extension rotating shafts and adduction/abduction rotating shafts, an elastic steel p