The invention relates to an upper limb training system comprising a bed body, wherein upper limb training devices are symmetrically arranged on the two sides of the bed body; the upper limb training device comprises a side frame, a lifting arm and an upper limb training module; the upper training module comprises a motor, a crank and a training grabbing rod; the output end of the motor is in transmission connection with one end of the crank, and the other end of the crank is connected with the training grabbing rod; the side frame is arranged on the bed body in a sliding mode through a slidingrail, and the sliding rail extends towards the outer sides of the two sides of the bed body; one end of the lifting arm is connected with the side frame, and the other end of the lifting arm is connected with the upper limb training module. According to the invention, the hidden storage function of the upper limb training device can be effectively realized, and the influence of the upper limb training device on daily care is effectively avoided.