The application relates to the technical field of rehabilitation equipment, in particular to an upper limb rehabilitation training robot. The upper limb rehabilitation training robot can comprise a base, a lifting device and a training device, wherein the lifting device comprises a lifting module and an operation table; one end of the lifting module is connected with the base, and the other end ofthe lifting module is connected with the operation table; the lifting module is used for driving the operation table to perform lifting movement; the training device comprises a training module and one or more bearing structures; the training module is mounted on the operation table, and is used for training an upper limb; each bearing structure comprises a bearing part for bearing the upper limband a rocker arm which is rotatably mounted on the operation table; an assembling hole is formed in the bottom of each bearing part; and a locking pin is arranged on each rocker arm, and can be in inserting and drawing movement relative to the assembling hole to realize the assembling and disassembling process of each bearing part and the corresponding rocker arm. The upper limb rehabilitation training robot disclosed by the invention can be used for performing systematic rehabilitation training on upper limbs of a patient, and favorable rehabilitation training effects are achieved.