Suspension-type active joint and passive joint mixed traditional Chinese medicine massage robot

A suspension-type active joint and passive joint mixed traditional Chinese medicine massage robot adopts a passive joint five-degree-of-freedom space movement mechanism capable of being released and locked quickly, positions a multi-way combined massage head at a body massage part under the manual intervention of massage doctors, is simple in structure and lower in cost and overcomes potential safety hazards caused by gravity. The pneumatically-driven active-joint multi-way combined massage head is adopted, the massage force is controlled according to atmospheric pressure, and the massage force is soft, safe and reliable. The suspension-type active joint and passive joint mixed traditional Chinese medicine massage robot is suitable for being used by massage doctors in medical institutions, personal clinics, nursing homes, rehabilitation centers, welfare institutions and other organizations.