Wearable upper limb rehabilitation robot

The invention provides a wearable upper limb rehabilitation robot which comprises a rack, a shoulder joint, an elbow joint and a wrist joint and relates to five degrees of freedom, the shoulder joint comprises a big arm inward rotation and outward rotation mechanism, a big arm inward contraction and outward extension mechanism, a big arm upward swing and downward swing mechanism and a big arm length adjusting mechanism, the elbow joint comprises a forearm adduction/abduction mechanism and a forearm length adjusting mechanism, the wrist joint comprises a wrist adduction and abduction mechanism, one end of the shoulder joint is connected with the rack, one end of the elbow joint is connected with the other end of the shoulder joint, and the wrist joint is connected with the other end of the elbow joint; daily or complex arm actions can be completed in rehabilitation training, shoulder joints can be folded inwards and unfolded outwards, and inward-outward unfolding guided rehabilitation training of the shoulder