Multi-working condition upper limb rehabilitation training robot

The invention relates to a multi-working condition upper limb rehabilitation training robot which comprises a wrist movement mechanism, a forearm movement mechanism, an upper arm movement mechanism, a rotating mechanism, a strut and a moving adjusting support which are in series connection sequentially. The front end of the forearm movement mechanism and a rear supporting plate form a rotating pair, the rear end of the forearm movement mechanism is hinged to the front end of the upper arm movement mechanism to form a rotating pair, and a forearm rotating push rod is arranged between the forearm movement mechanism and the upper arm movement mechanism to push the forearm movement mechanism to rotate. The rear end of the upper arm movement mechanism is fixedly connected with one end of the rotating mechanism, and the other end of the rotating mechanism is fixedly connected with a mechanism cantilever. A three freedom degree parallel mechanism formed by a front end plate, a rear end plate and three straight line push rods connected between the front end plate and the rear end plate is arranged at the upper end of the strut. The mechanism cantilever is fixedly connected with the front end plate. The multi-working condition upper limb rehabilitation training robot is simple and compact in structure and wide in applied range and can be applied to upper limb rehabilitation and fitness training, and three-dimensional spatial motion rehabilitation training can be implemented.