The invention discloses a forearm veinpuncture robot. The forearm veinpuncture robot comprises a bracket, a cantilever beam arranged on the bracket, a first connecting arm, a second connecting arm anda needle inserting device, wherein the first connecting arm, the second connecting arm and the needle inserting device are arranged below the cantilever beam, the second connecting arm is connected to the first connecting arm, and the needle inserting device is connected to the second connecting arm. The robot further includes a first drive mechanism for driving the first connecting arm to rotatein a vertical direction, a second drive mechanism for driving the second connecting arm to perform rotary motion relative to the first connecting arm, and a third driving mechanism for driving the needle inserting device to perform rotary motion relative to the second connecting arm. The first connecting arm moves to drive the second connecting arm to move synchronously, and the second connectingarm moves to drive the needle inserting device to move synchronously. In the forearm veinpuncture robot, the mechanical puncture is adopted, the dependence of the venipuncture on a medical staff technology is greatly reduced, the work intensity of medical staffs is reduced, and compared with manual operation, the venipuncture robot has higher accuracy and stability.