The invention relates to the technical field of health care and rehabilitation machines, in particular to a cervical vertebra massage robot based on Stewart parallel mechanisms. The cervical vertebra massage robot based on the Stewart parallel mechanisms comprises a base, four omni-directional wheels, a height adjustment device, a supporting column, a massage box, two limiting springs, nine flexible parallel mechanisms, twelve flexible massage devices and a box cover; the four omni-directional wheels are symmetrically installed on the base; the height adjustment device is connected with the base; the supporting column is fixedly connected with the height adjustment device; the massage box is fixedly connected with the supporting column; one end of each of the limiting springs is connected with the supporting column, and the other end of each of the limiting springs is connected to the massage box; the nine flexible parallel mechanisms are evenly installed on the massage box; the twelve flexible massage devices are evenly installed on the flexible parallel mechanisms; the box cover is connected with the massage box; the inner wall of the box cover is tightly attached to the flexible massage devices. The cervical vertebra massage robot based on the Stewart parallel mechanisms has the advantages of being good in message effect, large in massage range, even in massage force, wide in application range, free of manual auxiliary massage and the like, and the good cervical vertebra massage function is achieved.