Series-parallel hybrid-drive seven-degree-of-freedom upper limb rehabilitation robot

The invention relates to the technical field of rehabilitation equipment, in particular to a series-parallel hybrid-drive seven-degree-of-freedom upper limb rehabilitation robot. The shoulder joint assembly comprises a sliding part, an outward extending part, an inward rotating part and a forward extending part, the outward extending part is slidably connected with the sliding part, the inward rotating part is rotatably connected with the outward extending part, and the forward extending part is rotatably connected with the inward rotating part; the elbow joint assembly comprises a large arm part and a small arm part; the wrist joint assembly comprises a rotating part and a bending part; the mounting assembly comprises a supporting piece and a driving piece. Series connection and parallel connection are mixed, motor driving and rope driving are mixed, safety is high, and flexibility is high; from the perspective of human body structure, the upper limb rehabilitation training device is convenient to wear and l