The invention relates to a flywheel limb rehabilitation training robot, which belongs to medical rehabilitation equipment. The robot consists of a base, a lower limb movement mechanism, a lifting mechanism, a motor drive mechanism, a rotation mechanism, and an upper limb movement mechanism. The lower limb movement mechanism comprises a large flywheel, a central shaft, a flywheel holder, a lower connecting rod and a pedal. The rotating structure innovatively adopts an upper rotating disc and lower rotating disc assembling structure, and limits the rotation angle through the large five-star handle. The overall structure is inclined by 60 degrees, the handle and the pedal are arranged in the relative position, and the patient can use the robot in the most appropriate state. With the rotating structure of the training robot, the robot can be used at the same time, and the upper and lower limbs of one person can be trained at the same time.