A multi-degree-of-freedom robot arm and robot

Abstract

The utility model discloses a kind of multi-degree-of-freedom mechanical arm and robot, mechanical arm includes first rotary joint assembly;Horizontal transmission is connected on the first rotary joint assembly first swing joint assembly;Second rotary joint assembly, second swing joint assembly, third rotary joint assembly, third swing joint assembly and fourth swing joint assembly are sequentially connected with the longitudinal transmission of first swing joint assembly;Third swing joint assembly includes second fixed cavity;Second swing motor mechanism is arranged in second fixed cavity through;With the driving disc of second swing motor mechanism transmission connection;Two ends are respectively with the transmission rod mechanism of driving disc, fourth swing joint assembly transmission connection.The utility model is between third swing joint assembly and fourth swing joint assembly Transmission connection is carried out using quadrilateral, effectively solve the higher problem of the requirement of motor torque bending moment and motor output end part strength of existing mechanical arm.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm and robot with multiple degrees of freedom. Background Technology

[0002] With the rapid development of modern technology, the demands for mechanization, automation, and intelligence in all industries are increasing. Robotics technology is poised to become a core trend in modern scientific and technological development, playing a prominent role in industries such as agriculture, logistics, and automobile manufacturing. To improve the efficiency of logistics, reduce the workload of workers, and improve the working environment, various types of robotic arms have been researched and designed both domestically and internationally. However, many existing robotic arms lack biomimetic capabilities, are insufficient for remote control tasks, and place high demands on the strength of the internal motor output components.

[0003] For example, CN120862751A discloses a robotic arm and robot. The robotic arm includes a first robotic arm assembly; a connecting assembly, the first end of which is rotatably connected to the first end of the first robotic arm assembly about a first axis, the connecting assembly having a clearance space and a first opening and a second opening connecting the clearance space to the outside, wherein, during the rotation of the connecting assembly about the first axis in a first rotation direction relative to the first robotic arm assembly, at least a portion of the first robotic arm assembly can enter the clearance space through the first opening; and a second robotic arm assembly, the first end of which is rotatably connected to the second end of the connecting assembly about a second axis, the second axis being parallel to the first axis, wherein, during the rotation of the second robotic arm assembly about the second axis in a second rotation direction relative to the connecting assembly, at least a portion of the second robotic arm assembly can enter the clearance space through the second opening, the second rotation direction being opposite to the first rotation direction. While this technical solution can solve the problem of traditional robotic arms struggling to balance small size and large range of motion, it places high demands on motor torque and bending moment, as well as high strength requirements on the motor output end components. Therefore, a robotic arm and robot with multiple degrees of freedom is provided to solve the above problems. Summary of the Invention

[0004] One of the objectives of this invention is to provide a robotic arm and robot with multiple degrees of freedom, so as to solve the problem that existing robotic arms have high requirements for motor torque bending moment and the strength of motor output end parts.

[0005] This utility model discloses a multi-degree-of-freedom robotic arm and robot, which can be achieved through the following technical solutions: This utility model discloses a multi-degree-of-freedom robotic arm, comprising: a first rotary joint assembly; a first swing joint assembly horizontally connected to the first rotary joint assembly; a second rotary joint assembly longitudinally connected to the first swing joint assembly; a second swing joint assembly longitudinally connected to the second rotary joint assembly; a third rotary joint assembly longitudinally connected to the second swing joint assembly; a third swing joint assembly longitudinally connected to the third rotary joint assembly; and a fourth swing joint assembly longitudinally connected to the third swing joint assembly. The third swing joint assembly includes a second fixed cavity that is hygienically connected to the third rotary joint assembly; a second swing motor mechanism that passes through the second fixed cavity; a drive disk that is hygienically connected to the second swing motor mechanism; and a transmission rod mechanism that is hygienically connected at one end to the drive disk and at the other end to the fourth swing joint assembly.

[0006] In one embodiment, the second fixed cavity includes a second fixed cavity body that is pulsatorically connected to the third rotary joint assembly; it also includes two second connecting blocks, which are fixedly disposed on the second fixed cavity and rotatably connected to the fourth swing joint assembly respectively.

[0007] In one embodiment, the transmission rod mechanism includes a transmission rod body and two rotating bearing structures; the transmission rod body is respectively connected to the drive disk and the fourth swing joint assembly through the corresponding rotating bearing structures.

[0008] In one embodiment, mounting slots are provided at opposite ends of the transmission rod body, and the two rotating bearing structures are respectively installed through the corresponding mounting slots.

[0009] In one embodiment, the rotary bearing structure includes a second bearing disposed in the mounting slot; a rotary shaft connected to the fourth swing joint assembly, wherein the transmission rod body is able to swing relative to the fourth swing joint assembly through the cooperation of the second bearing and the rotary shaft.

[0010] In one embodiment, the fourth swing joint assembly includes a third fixed cavity, which is movably connected to the second fixed cavity and the transmission rod mechanism respectively; a third swing motor mechanism that passes through the third fixed cavity; and a swing member that is drivenly connected to the third swing motor mechanism.

[0011] In one embodiment, a third bearing is provided on the third fixed cavity, and the third fixed cavity can be movably connected to the second fixed cavity through the third bearing.

[0012] In one embodiment, both the first swing joint assembly and the second swing joint assembly include a first fixed cavity, a first swing motor mechanism, and a first bearing; the first swing motor mechanism is disposed through the first fixed cavity and is drively connected to the second rotary joint assembly or the third rotary joint assembly; the first bearing is disposed on one side of the first fixed cavity and is disposed opposite to the output shaft of the first swing motor mechanism.

[0013] In one embodiment, both the second rotary joint assembly and the third rotary joint assembly include a second mounting cavity and a second rotary motor mechanism; the second rotary motor mechanism is disposed through the second mounting cavity and is drively connected to the second swing joint assembly or the third swing joint assembly; the second mounting cavity includes a second mounting cavity body and at least one first connecting block fixedly disposed on the second mounting cavity body.

[0014] This utility model discloses a robot with multiple degrees of freedom, including the robotic arm described in any of the above-mentioned claims.

[0015] Compared with the prior art, the beneficial effects of this utility model of a multi-degree-of-freedom robotic arm and robot are as follows: This invention discloses a quadrilateral-like connection mechanism between the third and fourth swing joint components of a multi-degree-of-freedom robotic arm and robot. This mechanism directly reduces the bending moment borne by the third swing motor mechanism and effectively reduces the torque required by the third swing motor mechanism. It also enables the robotic arm to mimic the swinging function of a human wrist. Furthermore, the third swing motor mechanism does not bear the weight or bending moment of the end-effector load; it only needs to provide the torque required for end-effector swinging. This effectively solves the problem of high requirements for motor torque, bending moment, and strength of motor output components in existing robotic arms. By using a double-sided connection method between the second, third, and fourth swing joint components and the first, second, and third swing joint components respectively, the bending moment borne by the first swing motor mechanism and the second swing motor mechanism are reduced. The bending moment borne by the swing motor mechanism and the third swing motor mechanism also solves, to some extent, the problem of high requirements for motor torque bending moment and strength of motor output end parts in existing robotic arms. At the same time, the first rotary joint assembly, the first swing joint assembly, the second rotary joint assembly, the second swing joint assembly, the third rotary joint assembly, the third swing joint assembly, and the fourth swing joint assembly are connected in sequence, thereby effectively realizing the seven degrees of freedom of the robotic arm. The use of a quadrilateral connection mechanism ensures consistent angle output, thus solving the nonlinear relationship between the motor output angle and the wrist swing angle in many existing bionic wrist structures. In addition, the center line of the central output surface of the second swing motor mechanism coincides with the center line of the fourth swing joint assembly, effectively reducing the torque required by the second swing motor mechanism, thereby reducing the structural size to some extent. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional structural diagram of a robotic arm with multiple degrees of freedom according to the present invention; Figure 2 This is a three-dimensional structural diagram of a multi-degree-of-freedom robotic arm according to another perspective, including a first swing joint assembly, a second rotary joint assembly, a third swing joint assembly, and a fourth swing joint assembly. Figure 3 This utility model provides a schematic diagram of the cross-sectional structure connection of a robotic arm with multiple degrees of freedom. Figure 4 yes Figure 2The diagram shows the connection structure of the first swing joint assembly and the second rotary joint assembly. Figure 5 yes Figure 2 The exploded structural diagram of the first swing joint assembly and the second rotary joint assembly is shown. Figure 6 yes Figure 2 The schematic diagram of the connection structure between the third and fourth swing joint assemblies shown includes a transmission rod mechanism. Figure 7 yes Figure 6 The diagram shows an exploded view of the transmission rod mechanism.

[0018] The diagram shows: 10, robotic arm; 11, first rotary joint assembly; 111, first mounting cavity; 112, first rotary motor mechanism; 12, first swing joint assembly; 121, first fixed cavity; 1211, first fixed cavity body; 1212, cover plate; 122, first swing motor mechanism; 123, first bearing; 13, second rotary joint assembly; 131, second mounting cavity; 1311, second mounting cavity body; 1312, first connecting block; 132, second rotary motor mechanism; 14, second swing joint assembly; 15, third rotary joint assembly; 16, third swing joint assembly; 161, second fixed cavity; 16 11. Second fixed cavity body; 1612. Second connecting block; 162. Second swing motor mechanism; 163. Drive disk; 164. Transmission rod mechanism; 1641. Transmission rod body; 16411. Mounting slot; 1642. Rotary bearing structure; 16421. Second bearing; 16422. Rotary shaft; 17. Fourth swing joint assembly; 171. Third fixed cavity; 1711. Third bearing; 172. Third swing motor mechanism; 173. Swing component; 1731. Mounting hole. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only one part of the embodiments of this utility model, and not all of them. The components of the embodiments of this utility model described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-7 As shown, the present invention discloses a multi-degree-of-freedom robotic arm 10 comprising a first rotary joint assembly 11, a first swing joint assembly 12, a second rotary joint assembly 13, a second swing joint assembly 14, a third rotary joint assembly 15, a third swing joint assembly 16, and a fourth swing joint assembly 17. One end of the first rotary joint assembly 11 is horizontally mounted on the robot body. The first swing joint assembly 12 is horizontally connected to the first rotary joint assembly 11, and the first rotary joint assembly 11 drives the first swing joint assembly 12 to perform rotational operations. The second rotary joint assembly 13 is longitudinally connected to the first swing joint assembly 12, and the first swing joint assembly 12 drives the second rotary joint assembly 13 to perform rotational operations. The swinging operation is as follows: The second swinging joint assembly 14 is longitudinally connected to the second rotary joint assembly 13, which drives the second swinging joint assembly 14 to rotate; the third rotary joint assembly 15 is longitudinally connected to the second swinging joint assembly 14, which drives the third rotary joint assembly 15 to swing; the third swinging joint assembly 16 is longitudinally connected to the third rotary joint assembly 15, which drives the third swinging joint assembly 16 to rotate; and the fourth swinging joint assembly 17 is longitudinally connected to the third swinging joint assembly 16, which drives the fourth swinging joint assembly 17 to swing. Specifically, the first rotary joint assembly 11, the first swinging joint assembly 12, the second rotary joint assembly 13, the second swinging joint assembly 14, the third rotary joint assembly 15, the third swinging joint assembly 16, and the fourth swinging joint assembly 17 are each sequentially provided with an origin position and a limit position, which are used for origin positioning and limit operation, respectively.

[0022] Please see Figures 1-3 As shown, in this embodiment, the first rotary joint assembly 11 includes a first mounting cavity 111 and a first rotary motor mechanism 112. The first mounting cavity 111 is horizontally fixedly connected to the robot body. The first rotary motor mechanism 112 is disposed through the first mounting cavity 111, and its output shaft is drivenly connected to the first swing joint assembly 12. The first rotary motor mechanism 112 drives the first swing joint assembly 12 to perform rotational operations. Specifically, the first rotary motor mechanism 112 is a servo motor, thereby ensuring the rotational accuracy of the first rotary motor mechanism 112.

[0023] Please see Figures 1-5As shown, in this embodiment, the first swing joint assembly 12 includes a first fixed cavity 121, a first swing motor mechanism 122, and a first bearing 123. The first fixed cavity 121 is connected to the first rotary motor mechanism 112, which drives the first fixed cavity 121 to rotate in the horizontal direction. The first swing motor mechanism 122 is disposed through the first fixed cavity 121 and is connected to the second rotary joint assembly 13, which drives the second rotary joint assembly 13 to swing in the longitudinal direction. The first bearing 123 is disposed on one side of the first fixed cavity 121 and is opposite to the output shaft of the first swing motor mechanism 122. The second rotary joint assembly 13 is rotatably connected to the first fixed cavity 121 through the first bearing 123. Specifically, the first swing motor mechanism 122 is a servo motor, which ensures the swing accuracy of the first swing motor mechanism 122.

[0024] Please see Figure 4 and Figure 5 As shown, specifically, the first fixed cavity 121 includes a first fixed cavity body 1211 and a cover plate 1212; the first fixed cavity body 1211 is a T-shaped hollow cavity, which is connected to the first rotary motor mechanism 112 for transmission, and the first swing motor mechanism 122 is disposed through the first fixed cavity body 1211; the cover plate 1212 is fixedly disposed on one open end of the first fixed cavity body 1211, and the first bearing 123 is disposed in the cover plate 1212. The outer ring of the first bearing 123 is fixedly connected to the cover plate 1212, and its inner ring is fixedly connected to the second rotary joint assembly 13, so that the second rotary joint assembly 13 can rotate relative to the cover plate 1212.

[0025] Please see Figures 1-5 As shown, in this embodiment, the second rotary joint assembly 13 includes a second mounting cavity 131 and a second rotary motor mechanism 132. The two ends of the second mounting cavity 131 are respectively connected to the first swing motor mechanism 122 and the first fixed cavity 121. The first swing motor mechanism 122 drives the second mounting cavity 131 to swing relative to the first fixed cavity 121. The second rotary motor mechanism 132 is disposed through the second mounting cavity 131 and is connected to the second swing joint assembly 14. The second rotary motor mechanism 132 drives the second swing joint assembly 14 to swing in the longitudinal direction. Specifically, the second rotary motor mechanism 132 is a servo motor, which can ensure the rotational accuracy of the second rotary motor mechanism 132.

[0026] Please see Figure 4 and Figure 5As shown, specifically, the second mounting cavity 131 includes a second mounting cavity body 1311 and two first connecting blocks 1312; the second mounting cavity body 1311 is a hollow cavity; the two first connecting blocks 1312 are arranged opposite to each other and fixedly connected to the second mounting cavity body 1311, one of the first connecting blocks 1312 is drivenly connected to the first swing motor mechanism 122, and the other first connecting block 1312 is rotatably connected to the cover plate 1212 through a first bearing 123; the two first connecting blocks 1312 are respectively connected to the first swing joint assembly 12, thereby reducing the bending moment borne by the first swing motor mechanism 122. In other embodiments, when the load is small, the second mounting cavity 131 may also include only the second mounting cavity body 1311 and the first connecting blocks 1312; the second mounting cavity body 1311 is a hollow cavity; the first connecting blocks 1312 are drivenly connected to the first swing motor mechanism 122. In some other embodiments, when the load is small, the second mounting cavity 131 may only include the second mounting cavity body 1311, which is connected to the first swing motor mechanism 122 in a transmission manner.

[0027] Please see Figures 1-3 As shown, in this embodiment, the structures of the second swing joint assembly 14 and the third rotary joint assembly 15 are similar to those of the first swing joint assembly 12 and the second rotary joint assembly 13, respectively, so their specific structures will not be described in detail here.

[0028] Please see Figure 1 , Figure 2 , Figure 3 and Figure 6 As shown, in this embodiment, the third swing joint assembly 16 includes a second fixed cavity 161, a second swing motor mechanism 162, a drive disk 163, and a transmission rod mechanism 164. The second fixed cavity 161 is a hollow cavity, which is connected to the third rotary joint assembly 15. The third rotary joint assembly 15 drives the second fixed cavity 161 to rotate in the longitudinal direction. The second swing motor mechanism 162 is disposed through the second fixed cavity 161. The drive disk 163 is connected to the second swing motor mechanism 162, and the second swing motor mechanism 162 drives the drive disk 163 to rotate. One end of the transmission rod mechanism 164 is connected to the drive disk 163, and the other end is connected to the fourth swing joint assembly 17. Specifically, the second swing motor mechanism 162 is a servo motor, which ensures the swing accuracy of the second swing motor mechanism 162. Specifically, the center line of the center output surface of the second swing motor mechanism 162 coincides with the center line of the fourth swing joint assembly 17, which effectively reduces the torque required by the second swing motor mechanism 162, thereby reducing the structural size to a certain extent.

[0029] Please see Figure 6As shown, in this embodiment, the second fixed cavity 161 includes a second fixed cavity body 1611 and two second connecting blocks 1612; the second fixed cavity body 1611 is connected to the third rotary joint assembly 15 in a transmission manner; the two second connecting blocks 1612 are relatively fixedly disposed on the second fixed cavity 161 and are respectively rotatably connected to the fourth swing joint assembly 17.

[0030] Please see Figure 6 and Figure 7 As shown, in this embodiment, the transmission rod mechanism 164 includes a transmission rod body 1641 and two rotating bearing structures 1642. The transmission rod body 1641 is connected to the drive disk 163 and the fourth swing joint assembly 17 via the corresponding rotating bearing structures 1642. Specifically, mounting slots 16411 are provided at opposite ends of the transmission rod body 1641, and the two rotating bearing structures 1642 are respectively disposed in the corresponding mounting slots 16411. The rotating bearing structure 1642 includes a second bearing 16421 and a rotating shaft 16422. The second bearing 16421 is disposed in the mounting slot 16411. The rotating shaft 16422 is connected to the fourth swing joint assembly 17, and the transmission rod body 1641 can swing relative to the fourth swing joint assembly 17 through the cooperation of the second bearing 16421 and the rotating shaft 16422.

[0031] Please see Figure 1 , Figure 2 , Figure 3 and Figure 6 As shown, in this embodiment, the fourth swing joint assembly 17 includes a third fixed cavity 171, a third swing motor mechanism 172, and a swing member 173; the third fixed cavity 171 is movably connected to the second fixed cavity 161 and the transmission rod mechanism 164 respectively; the third swing motor mechanism 172 is disposed through the third fixed cavity 171; the swing member 173 is drivenly connected to the third swing motor mechanism 172, and the clamping mechanism is detachably disposed on the swing member 173, thereby performing a clamping operation on the item.

[0032] Please see Figure 6 As shown, specifically, a third bearing 1711 is provided on the third fixed cavity 171, and the third fixed cavity 171 can swing relative to the second fixed cavity 161 through the third bearing 1711; a mounting hole 1731 is provided on the swing member 173, and the clamping mechanism is detachably mounted on the swing member 173 through the mounting hole 1731, and moves with the movement of the swing member 173.

[0033] This utility model discloses a robot with multiple degrees of freedom, including the robotic arm 10 described above.

[0034] It should be noted that the specific working process of the multi-degree-of-freedom robotic arm and robot of this utility model is as follows: the first rotary joint assembly 11 drives the first swing joint assembly 12 to perform a rotation operation; the first swing joint assembly 12 drives the second rotary joint assembly 13 to perform a longitudinal swing operation; the second rotary joint assembly 13 drives the second swing joint assembly 14 to perform a longitudinal rotation operation; the second swing joint assembly 14 drives the third rotary joint assembly 15 to perform a longitudinal swing operation; the third rotary joint assembly 15 drives the third swing joint assembly 16 to perform a longitudinal rotation operation; the third swing joint assembly 16 drives the fourth swing joint assembly 17 to perform a longitudinal swing operation; through the first The second rotary joint assembly 13, the third rotary joint assembly 15, and the fourth swing joint assembly 17 are respectively connected to the first swing joint assembly 12, the second swing joint assembly 14, and the third swing joint assembly 16 on both sides, thereby reducing the bending moment borne by the first swing motor mechanism 122, the second swing motor mechanism 142, and the third swing motor mechanism 162. At the same time, the third swing joint assembly 16 and the fourth swing joint assembly 17 adopt a quadrilateral-like connection mechanism, which can directly reduce the bending moment borne by the third swing motor mechanism 162, effectively reduce the torque required by the third swing motor mechanism 162, and enable the robotic arm 10 to mimic the swing function of the human wrist.

[0035] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0036] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A robotic arm with multiple degrees of freedom, characterized in that, include: First rotary joint assembly; The first swing joint assembly is horizontally driven connected to the first rotary joint assembly; The second rotary joint assembly is longitudinally driven to the first swing joint assembly; The second swing joint assembly is longitudinally driven to the second rotary joint assembly; The third rotary joint assembly is longitudinally driven to the second swing joint assembly; The third swing joint assembly is longitudinally driven and connected to the third rotary joint assembly; The fourth swing joint assembly is longitudinally driven and connected to the third swing joint assembly; The third swing joint assembly includes a second fixed cavity that is hygienically connected to the third rotary joint assembly; a second swing motor mechanism that passes through the second fixed cavity; a drive disk that is hygienically connected to the second swing motor mechanism; and a transmission rod mechanism that is hygienically connected at one end to the drive disk and at the other end to the fourth swing joint assembly.

2. The robotic arm with multiple degrees of freedom according to claim 1, characterized in that, The second fixed cavity includes a second fixed cavity body that is drively connected to the third rotary joint assembly; it also includes two second connecting blocks, which are fixedly disposed on the second fixed cavity and respectively rotatably connected to the fourth swing joint assembly.

3. A robotic arm with multiple degrees of freedom according to claim 2, characterized in that, The transmission rod mechanism includes a transmission rod body and two rotating bearing structures; the transmission rod body is respectively connected to the drive disk and the fourth swing joint assembly through the corresponding rotating bearing structures.

4. A robotic arm with multiple degrees of freedom according to claim 3, characterized in that, The transmission rod body has mounting slots at its two opposite ends, and the two rotating bearing structures are respectively installed through the corresponding mounting slots.

5. A robotic arm with multiple degrees of freedom according to claim 4, characterized in that, The rotating bearing structure includes a second bearing disposed in the mounting slot; and a rotating shaft connected to the fourth swing joint assembly. The transmission rod body can swing relative to the fourth swing joint assembly through the cooperation of the second bearing and the rotating shaft.

6. A robotic arm with multiple degrees of freedom according to claim 1, characterized in that, The fourth swing joint assembly includes a third fixed cavity, which is movably connected to the second fixed cavity and the transmission rod mechanism respectively; a third swing motor mechanism that passes through the third fixed cavity; and a swing member that is drivenly connected to the third swing motor mechanism.

7. A robotic arm with multiple degrees of freedom according to claim 6, characterized in that, The third fixed cavity is provided with a third bearing, and the third fixed cavity can be movably connected to the second fixed cavity through the third bearing.

8. A robotic arm with multiple degrees of freedom according to claim 1, characterized in that, Both the first swing joint assembly and the second swing joint assembly include a first fixed cavity, a first swing motor mechanism, and a first bearing; the first swing motor mechanism is disposed through the first fixed cavity and is connected to the second rotary joint assembly or the third rotary joint assembly in a transmission manner; the first bearing is disposed on one side of the first fixed cavity and is disposed opposite to the output shaft of the first swing motor mechanism.

9. A robotic arm with multiple degrees of freedom according to claim 1, characterized in that, Both the second rotary joint assembly and the third rotary joint assembly include a second mounting cavity and a second rotary motor mechanism; the second rotary motor mechanism is disposed through the second mounting cavity and is drively connected to the second swing joint assembly or the third swing joint assembly; the second mounting cavity includes a second mounting cavity body and at least one first connecting block fixedly disposed on the second mounting cavity body.

10. A robot with multiple degrees of freedom, characterized in that, Includes the robotic arm described in any one of claims 1-9.

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