Rehabilitation device capable of fully training upper limb movement ability

The invention discloses a rehabilitation device capable of fully training upper limb movement ability. The rehabilitation device comprises a bracket and a rehabilitation training instrument, wherein the rehabilitation training instrument comprises an arm training mechanism, a palm training mechanism and a shoulder joint training mechanism; the bracket and the arm training mechanism are connected through a universal connecting structure; the shoulder joint training mechanism is connected to the bottom of the arm training mechanism; the palm training mechanism is mounted at the tail end of the arm training mechanism; the palm training mechanism comprises a palm fixing plate, and a palm bending driving mechanism for driving the palm fixing plate to conduct bending and straightening movement; the palm bending driving mechanism comprises a palm bending driving fixing seat, a palm bending driving motor and a palm bending driving transmission mechanism. The rehabilitation device can conduct training on shoulder join