Exoskeleton type arm rehabilitation training device

The invention aims to provide an exoskeleton type arm rehabilitation training device. The exoskeleton type arm rehabilitation training device comprises a movable rack, a shoulder joint driving unit, a big arm length fine adjustment mechanism, an elbow joint driving unit, a forearm length fine adjustment mechanism and a wrist joint driving unit. The shoulder joint driving unit is mainly composed of a shoulder rotation motor, a transverse rotation shoulder rod, a vertical swing shoulder rod and a shoulder swing motor, and horizontal rotation and vertical swing of the shoulder joint can be achieved under the control of the two motors. The big arm length fine adjustment mechanism and the forearm length fine adjustment mechanism can be adjusted according to practical arm lengths of different trainers, user requirements of different crowds can be met, and meanwhile the length fine adjustment mechanisms are arranged close to one end of the rack as much as possible so that the load at the tail end of a mechanical arm can be reduced to the greatest extent. The elbow joint and the wrist joint are driven through flexible synchronous belts, the load at the tail end of the arm rehabilitation training device is reduced, and the trainers are effectively protected against secondary injury. The load at the tail end of the mechanical arm is reduced, and the controllability of the arm rehabilitation training device is good.