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.