Upper and lower limb rehabilitation training device with variable rod length

The invention discloses an upper and lower limb rehabilitation training device with a variable rod length. The upper and lower limb rehabilitation training device comprises a crank, a first connecting rod, a side link, a frame and a support, wherein one end of the crank is hinged with the frame, so that a revolute pair is formed; the other end of the crank is hinged with the head end of the first connecting rod, so that a revolute pair is formed; the tail end of the first connecting rod is hinged with the middle of side link, so that a revolute pair is formed; the tail end of the side link is hinged with the frame, so that a revolute pair is formed; the support is arranged at the first end of the side link; the crank and the side link are driven by using a power mechanism on the frame; and the length of the crank, the first connecting rod or the side link is adjustable. The upper and lower limb rehabilitation training device is simple and compact in structure, has a wide application range, can be grafted onto other rehabilitation and fitness training appliances, and can be applied to a foldable variable limb rehabilitation device with an adjustable movement form for rehabilitation of upper/lower limbs and fitness training.