Upper limb rehabilitation robot and system thereof

The invention provides an upper limb rehabilitation robot and a system thereof, and relates to the technical field of medical instruments. The upper limb rehabilitation robot includes a base, a support rod and an upper limb training assembly; the lower end of the support rod is fixedly mounted on the base, and the upper end of the support rod is movably connected with the upper limb training assembly; the upper limb training assembly supports seven-degree-of-freedom movement of an upper limb of a human body, and enables shoulder-elbow joints to perform combined motion and separation motion training in a spatial range; four of the seven degrees of freedom are motor-driven rotational degrees of freedom, and are set to be shoulder joint three-degree-of-freedom rotating joints and elbow jointflexion and extension rotating joints, and the other three are non-powered degrees of freedom, and set to be high and low lift adjustment joints, shoulder rotation adjustment joints and elbow telescopic adjustment joints. The