The invention discloses an upper limb rehabilitation device, and belongs to the field of medical rehabilitation training equipment. The device comprises two symmetrically arranged training rails arranged on the left side and the right side of a seat, and the training rails are connected to armrests of the seat through connecting supports; each training rail is an arc in the vertical plane, the front ends of the training rails are located right ahead the middle of a cushion, the rear ends of the training rails are located above the sides where the rear ends of the armrests on the correspondingsides of the seat are located, the heights of the front ends of the two training rails from the ground are different, and the positions of the front ends of the two training rails cross each other; holding sliding blocks moving along the rails are arranged on the training rails, and fixed parts binding palms of a user are arranged on the holding sliding block mechanisms; second sliding rails allowing a positive and negative rotating motor and a support component thereof to slide are arranged on one sides of the raining rails; the lower ends of the connecting supports are rotationally connectedto the armrests on the corresponding sides, and limiting blocks fixed to the armrests are arranged on the portions, facing the inner side of the seat, of the joints. Accordingly, comprehensive movement of the whole arm can be achieved, cooperation among joints is natural, and drive control is extremely easy.