The invention provides an upper limb rehabilitation robot. The upper limb rehabilitation robot includes a base, a lifting platform, a bidirectional sliding platform and a first arm; the first arm includes a supporting base, a scapula module, a shoulder module, an upper arm module and a front arm module; the robot further includes a first joint module, a second joint module, a third joint module, afourth joint module, a fifth joint module, a sixth joint module and a seventh joint module; each joint module consists of a direct-current motor, a harmonic reduction gear, a braking machine and an encoder. The upper limb rehabilitation robot is more suitable for movement of upper limb joints of the human body and more flexible and has seven degrees of freedom, wherein the scapula portion has twodegrees of freedom, the shoulder joint has three degrees of freedom, and the elbow joint and the front arm both rotate at a degree of freedom; each joint is driven by the corresponding joint module,each joint module is composed of the direct-current motor, the harmonic reduction gear, the braking machine and the encoder, and therefore the upper limb rehabilitation robot can achieve an initiativetraining mode, a passive training mode and an impedance training mode.