Multi-shaft reciprocating mechanism and multi-shaft manipulator

The utility model discloses a multi-shaft reciprocating mechanism and a multi-shaft manipulator, and the multi-shaft reciprocating mechanism comprises a mechanism mounting frame, a first rotating sleeve, a second rotating sleeve, a middle rotating shaft, a first driving module, a second driving module, a third driving module, a first flange plate, a mounting cavity, a swing arm mechanism and a second flange plate, a first driving assembly is arranged between the lower end of the second rotating sleeve and the swing arm mechanism, and the swing arm mechanism can be driven by the first driving assembly to swing on the mounting cavity; a second driving assembly is arranged between the middle rotating shaft and the second flange plate, and the second flange plate can be driven by the second driving assembly to rotate at the free end of the swing arm mechanism. The multi-shaft reciprocating mechanism and the multi-shaft manipulator have the advantages of simple structure and small occupied space, and are more flex