The invention provides an active and passive limb
rehabilitation training device. The training device comprises a base, a
left upper limb mechanism, a
right upper limb mechanism, a left
lower limb mechanism and a
right lower limb mechanism, wherein the
left upper limb mechanism and the
right upper limb mechanism are installed on the two sides of a double-upper-limb position adjusting mechanism fixed to the base respectively, the left
lower limb mechanism and the
right lower limb mechanism are installed on the two sides of a double-lower-limb position adjusting mechanism fixed to the base respectively, the two
lower limb mechanisms are bilaterally symmetrical, and the two
upper limb mechanisms are basically bilaterally symmetrical. A right rotating shaft is rotationally installed on a rightupper limb connecting frame of the
right upper limb mechanism and is connected with a
piston rod on one side of a right double-side rod outlet oil cylinder and a
piston rod of a first right oil cylinder through a gear-rack and guide rail-slider mechanism, a
piston rod on the other side of the right double-side rod outlet oil cylinder is connected with a
piston rod of a third right oil cylinder, aright connecting plate of the
right lower limb mechanism is connected with a second right foot connecting rod and a fourth right coil cylinder in a hinged mode, and a
piston rod of the fourth right oil cylinder is connected with a right foot swing rod in a hinged mode. A right double-side rod outlet
piston cylinder is connected with a left double-side rod outlet
piston cylinder through a three-position four-way valve, the fourth right oil cylinder is connected with the first right oil cylinder through a three-position four-way valve, a fourth left oil cylinder is connected with a first left oil cylinder through a three-position four-way valve, a third right
piston cylinder is connected with the
atmosphere and an energy accumulator through a three-position four-way valve, and a third leftpiston cylinder is connected with a
hydraulic pump and an
oil tank through a three-position four-way valve.