The invention discloses an exoskeleton type upper limb rehabilitation training robot, comprising a base, a mechanical shoulder girdle assembly, a mechanical shoulder joint assembly, a mechanical elbow joint assembly, a mechanical forearm assembly, a mechanical wrist joint assembly, a mechanical hand assembly and a motor drive assembly; The base supports the entire exoskeleton-type upper limb rehabilitation training robot, the mechanical shoulder girdle component is connected to the base, the mechanical shoulder joint component is connected to the mechanical shoulder girdle component, the mechanical elbow joint component is connected to the mechanical shoulder joint component, and the mechanical forearm component is connected to the mechanical elbow joint The components are connected, the mechanical wrist joint component is connected with the mechanical forearm component, the mechanical hand component is connected with the mechanical wrist joint component, and the motor drive component is used as the power source of the entire exoskeleton upper limb rehabilitation training robot. The invention can be used to assist human upper limbs to move in three-dimensional space and perform rehabilitation training.