The invention provides an upper limb rehabilitation apparatus particularly used for providing rehabilitation therapy to people whose arms cannot move conveniently, and belongs to the field of medial equipment. The upper limb rehabilitation apparatus comprises a supporting base assembly, a seat frame assembly and an arm frame assembly. The seat frame assembly and a supporting base assembly are connected in a welding mode. The arm frame assembly is connected with the supporting base assembly through a rotating shaft and a rotating base in an interference fit mode. The arm frame assembly is driven by a motor to operate so as to conduct more effective auxiliary rehabilitation therapy on the arms. The upper limb rehabilitation apparatus has the advantages of being simple in structure, convenient to operate, adjustable in control and remarkable in therapy.