And one Cartesian coordinate-type articulated robot combining Chinese massage

The invention relates to a rectangular coordinate and joint type combined traditional Chinese massage robot which is characterized by comprising a bed body provided with a support frame, wherein a mechanical arm is arranged on the support frame; and a massage device comprising a thumb rubber assembly, a metacarpus massage assembly and a roller is arranged at the tail end of the mechanical arm. The mechanical arm in the rectangular coordinate and joint type combined traditional Chinese massage robot is a rectangular coordinate and joint type combined mechanical device and has the characteristics of favorable rigidity and high positioning precision endowed by a rectangular coordinate type mechanical device as well as the characteristic of flexible action endowed by a joint type mechanical device; and the massage device is arranged at the tail end of the mechanical arm. The massage device can be used for realizing various traditional Chinese massage methods such as kneading, finger rolling, finger pressing, palm pushing, palm kneading, palm pressing, vibrating, rolling, rapping and the like under the matching of the mechanical arm.