The invention relates to a dedicated transmission device for a hand massage intelligent robot. The dedicated transmission device includes a fixed base, lift rods, locking fasteners, a lift board, height measuring mechanisms, fixing racks, transmission motors, driving shafts, driving gears, driven gears and driven shafts. The lift rods arranged between the fixed base and the lift board uniformly in sequence. The height measuring mechanisms are arranged at the rear end of the fixed base uniformly in a symmetric manner about the longitudinal central axis of the fixed base. The transmission motors are fixed on the lift board through the fixing racks. One end of each driving shaft is connected with a spindle of each transmission motor while the other end of each driving shaft is in key connection with each driving gear. The driven gears are arranged exactly below the driving gears. The driven gears are in fixed key connection with one ends of the driven shafts. According to the invention, through forward and backward reciprocating rotation, rolling friction generates between a massage actuator and fingers of a hand, so that a function of massaging the fingers is realized. Besides, the height of the transmission device can be adjusted accurately, so that effects of engagement for transmission and disengagement for stopping transmission can be realized.