The invention discloses a cam rope drive robotic fishtail swing device with a shaft replacement door type mechanism. The device comprises the shaft replacement door type mechanism, a door frame A, a door frame B, a disc-shaped cam drive mechanism, springs and pull ropes. The door frame A is installed on one side of the shaft replacement door type mechanism and the door frame B is installed on the other side of the shaft replacement door type mechanism. The springs and the pull ropes are installed on the two sides of a first door. Under the condition that a direct-current motor drives a disc-shaped cam to rotate, the profile of a flange of the disc-shaped cam makes contact with a sliding block B sleeved with the corresponding pull rope, meanwhile, the profile of a base circle of the disc-shaped cam does not make contact with a sliding block A sleeved with the corresponding pull rope, and therefore the first door swings in a reciprocating manner under the effect of a sliding bearing. By the adoption of the device, the variable structure of the disc-shaped cam is combined with the springs and the pull ropes, so that rotary shaft movement of the shaft replacement door type mechanism is achieved. By the adoption of the device, a complex robotic fish fin control problem is converted into a structure and appearance design problem of the disc-shaped cam, so that the complexity of a robotic fish control system is effectively reduced.