The invention relates to an exoskeleton-type shoulder girdle and upper limb synergistic rehabilitation robot which comprises wheels, an electric appliance cabinet, a displayer, a displayer bracket, a lifting column and an outward extending beam and further comprises an inward and outward rotating mechanism for shoulders, an outward-extending inward-contracting mechanism for the shoulders, a forward-bending rearward-extending mechanism for the shoulders, a length adjusting mechanism for upper arms, an inward and outward rotating mechanism for the upper arms, a bending and stretching mechanism for elbows, an inward and outward rotating mechanism for front arms, a length adjusting mechanism for the front arms, a bending and stretching mechanism for wrists, a grabbing mechanism for hands and a movement-assisting shoulder blade mechanism. The robot implements active or passive rehabilitation aiming at shoulder girdle muscular paralysis and upper limb paralysis and is supportive of conversion between left and right arms. The invention further aims to solve an important problem, namely a problem of discomfort of a patient due to limited movement range caused after conversion between left and right mechanical arms. To this end, a mechanical arm structure is designed to be in complete left-right symmetry along a central axis.