The invention relates to a wearable flexible lower limb power-assisted exoskeleton robot, which belongs to the technical field of exoskeleton robots and comprises a back component, hip joint components, thigh components, knee joint components, shank components, foot components, ankle joint components, a floating binding device and a transmission-driving system. The invention has the following beneficial effects: the driving system is integrated on the waist to a certain extent to realize the light weight of the equipment, the deflection inertia of the joint is reduced, the power transmission torque is large through the rope, and the transmission is stable. A rigid-flexible mixed limiting mode is adopted at the joint, rigid impact is reduced, secondary damage to a user caused by mistaken rotation of the motor is prevented, energy is stored when the limiting spring is pressed, and the restoring force of rebounding plays a role in saving labor. The sizes of the thighs, the shanks and the hip joints can be continuously adjusted, and the device is suitable for users of different figures and high in wearing universality. The setting of the degree of freedom of the joints conforms to the actual situation of the human body, the consistency of exoskeleton and user movement is guaranteed, and the movement flexibility is improved.