The invention provides a winding and unwinding device for a winching rope. The device comprises a frame body, a bearing steering assembly, a tension driving assembly and a rope winding device; the bearing steering assembly comprises a second bearing steering part and a third bearing steering part; the second bearing steering part and the third bearing steering part are fixed at the top of the frame body; the tension driving assembly is fixed at the bottom of the frame body; the winching rope sequentially passes through the top of the second bearing steering part, the bottom of the tension driving assembly and the top of the third bearing steering part, and then enters the rope winding device; and the top of the tension driving assembly is lower than the bottom of the second bearing steering part and the bottom of the third bearing steering part. The winding and unwinding device provided by the invention can be widely applied to a mainstream winching machine type, the automatic windingand unwinding of the winching rope can be realized, the safety and the reliability of the construction operation can be directly improved, and the labor investment can be reduced.