Flexible wing robot driven by cam mechanism and controlling steering

Abstract

The invention discloses a flexible wing robot driven by a cam mechanism and controlling steering, which relates to the technical field of underwater bionic robots and comprises a shell, a flexible wing, a bracket, a wing rod driving assembly, a reset elastic piece, a sliding seat driving assembly and a sealed cabin. The flexible wing comprises a wing rod and a wing surface. One end of the wing rod is connected with the wing surface, and the other end extends into the shell. The support is fixedly connected with the shell and rotationally connected with the wing rods. The wing rod driving assembly is used for periodically pushing the extending-in end of the wing rod in a one-way mode. The reset elastic piece is installed on the support and used for applying elastic force enabling the wing rod to reset. The sliding base driving assembly is used for driving the sliding base to slide in the front-back direction so as to adjust the cams corresponding to the wing rods. The sealed cabin is fixedly connected with the sliding seat and is internally provided with a power supply and a control circuit. The power source supplies power to the wing rod driving assembly and the sliding seat driving assembly, and the control circuit is used for controlling actions of the wing rod driving assembly and the sliding seat driving assembly. Compared with the prior art, the flexible wing robot can simplify a power structure and steering control.

Description

Technical Field

[0001] The invention relates to the technical field of underwater bionic robots, in particular to a soft-wing robot driven and controlled by a cam mechanism. Background Art

[0002] Manta rays have a flat, diamond-shaped body and powerful pectoral fins that can generate forward thrust through the wave motion of their pectoral fins. Manta rays not only have efficient cruising performance, but are also very maneuverable and can quickly and flexibly turn on the spot. The soft-wing robot is based on the biological prototype of manta rays, focusing on imitating the movement of its pectoral fins. It is made of a special mechanical drive structure and flexible materials. It has the advantages of strong maneuverability, high concealment, and stable cruising.

[0003] According to the way they move in water, soft-wing robots can be roughly divided into passive deformation type and fully controlled motion type, that is, passive and active. The soft wings of common active soft-wing robots are composed of multiple fins, and the surface is covered with a skin made of flexible materials such as silicone. The multiple fins are driven by motors, smart materials, etc. to swing periodically, and the skin can produce fluctuating motion by changing the motion phase of each fin. However, since each fin of this type of active soft-wing robot is driven by an independent power structure, its power structure and steering control are relatively complex. Summary of the invention

[0004] The purpose of the present invention is to provide a soft-wing robot driven and controlled by a cam mechanism to solve the problems existing in the above-mentioned related technologies and simplify the power structure and steering control.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention discloses a soft-wing robot driven and controlled by a cam mechanism, comprising:

[0007] case;

[0008] There are two flexible wings, which are symmetrically distributed on the left and right sides of the shell; the flexible wings include a wing rod and an airfoil; one end of the wing rod is connected to the airfoil, and the other end of the wing rod extends into the shell from the left or right side; the airfoil is made of a flexible material; a plurality of wing rods are arranged along the front-rear direction;

[0009] A bracket, fixedly connected to the housing and rotatably connected to the wing rod;

[0010] A wing lever driving assembly is used for periodically and unidirectionally pushing the protruding end of the wing lever; the wing lever driving assembly comprises a slide seat, a camshaft 1, a camshaft 2 and a waterproof motor 1; the camshaft 1 and the camshaft 2 are respectively rotatably installed on the left and right sides of the slide seat and are symmetrical on both sides, and the waterproof motor 1 is respectively connected to the camshaft 1 and the camshaft 2 in transmission connection; the camshaft 1 and the camshaft 2 are provided with a plurality of cam groups along their own axis directions, and the plurality of cam groups respectively and periodically and unidirectionally push the protruding ends of the plurality of wing levers; the cam group comprises at least three cams; for the left and right cam groups with the same position along the front-back direction, the pairing modes of the cams on the left and right sides include two types: the same stroke and different stroke; the plurality of cam groups of the camshaft 1 and the camshaft 2 have a phase difference, so that the wing surface swings in a wave-like manner;

[0011] A resetting elastic member, mounted on the bracket, for applying an elastic force to resetting the wing rod;

[0012] A slide drive assembly, used for driving the slide to slide in the front-rear direction to adjust the cam corresponding to the wing rod;

[0013] The sealed cabin is fixedly connected to the slide and has a built-in power supply and a control circuit; the power supply is used to supply power to the waterproof motor 1 and the slide drive assembly respectively, and the control circuit is used to control the actions of the waterproof motor 1 and the slide drive assembly.

[0014] Preferably, the slide drive assembly includes a second waterproof motor, the second waterproof motor is fixedly connected to the slide, and the output shaft of the second waterproof motor extends in the front-to-back direction and is threadedly connected to the shell.

[0015] Preferably, a transmission frame and a transmission ring are arranged between the cam group and the wing rod, the transmission frame slides through the bracket, and the transmission ring is rotatably connected to the transmission frame; the transmission frame and the cam group cooperate through a cam pair, and the wing rod slides through the transmission ring; the two ends of the reset elastic member are respectively connected to the bracket and the transmission frame.

[0016] Preferably, the transmission frame includes a rod body 1 and a rod body 2, the rod body 1 is fixedly connected to the rod body 2; the rod body 1 slides through the bracket, the rod body 2 cooperates with the cam group through a cam pair; the transmission ring is rotatably connected to the rod body 1.

[0017] Preferably, the bracket includes a base, a top plate and a plurality of columns; the lower end and the upper end of the column are fixedly connected to the base and the top plate respectively, and the base is fixedly connected to the shell; one of the columns is rotatably connected to the wing rod.

[0018] Preferably, the rod body 1 includes a lower column and an upper cylinder fixedly connected, the lower column slides through the corresponding square hole on the base, and the upper cylinder slides through the corresponding round hole on the top plate; the reset elastic member is a compression spring and is sleeved on the outside of the upper cylinder, and the two ends of the reset elastic member are respectively against the end surface of the lower column and the top plate.

[0019] Preferably, gears are fixed on the output shaft of the waterproof motor 1, the camshaft 1 and the camshaft 2, and the gears on the output shaft of the waterproof motor 1 are meshed with the gears on the camshaft 1 and the camshaft 2 at the same time. The waterproof motor 1 is located between the camshaft 1 and the camshaft 2 to drive the camshaft 1 and the camshaft 2 to rotate synchronously.

[0020] Preferably, the shell comprises an upper cover and a lower cover, and the shell can be opened and closed; when the shell is in a closed state, the middle part is an elliptical cylinder, and the front end and the rear end are ellipsoidal.

[0021] Preferably, the shell further comprises a support and a sliding rod, the support is fixedly connected to the lower cover, and the sliding rod is fixedly connected to the support; the sliding rod extends in the front-rear direction and slides through the sliding seat.

[0022] Preferably, a portion of the wing rod extending out of the housing is provided with a slot, and the wing surface passes through the slot and is fixedly connected to the wing rod.

[0023] Compared with the related art, the present invention has achieved the following technical effects:

[0024] The present invention can make the wing surfaces on the left and right sides move in a wave-like manner through only one driving motor, a waterproof motor, and can realize the steering control of the entire soft-wing robot through only one structure, a slide drive assembly, thereby simplifying the power structure and steering control of the soft-wing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of a soft-wing robot driven and controlled to turn by a cam mechanism according to an embodiment of the present invention;

[0027] Figure 2 for Figure 1 Schematic diagram omitting the upper cover;

[0028] Figure 3is a schematic diagram of the lower cover;

[0029] Figure 4 is a schematic diagram of the support;

[0030] Figure 5 It is a schematic diagram of the location of the wing rod drive assembly;

[0031] Figure 6 for Figure 5 Schematic diagram omitting the support and slide bar;

[0032] Figure 7 Schematic diagram of the support plate;

[0033] Figure 8 Schematic diagram of vertical plate three;

[0034] Fig. 9 Schematic diagram of camshaft one;

[0035] Fig.10 Schematic diagram of camshaft two;

[0036] Fig.11 Schematic diagram of the motor mount;

[0037] Fig.12 It is a schematic diagram of the position of the wing rod extension end;

[0038] Fig.13 Schematic diagram of the base;

[0039] Fig.14 Schematic diagram of the top plate;

[0040] Fig.15 Schematic diagram of rod body 1;

[0041] Fig.16 Schematic diagram of the transmission ring;

[0042] Fig.17 Schematic diagram of the wing rod.

[0043] In the figure:

[0044] 1-shell; 11-lower cover; 12-support; 13-upper cover; 14-sliding rod; 111-rib 1; 112-rib 2; 121-vertical plate 1; 122-vertical plate 2;

[0045] 2-flexible wing; 21-wing bar; 22-wing surface;

[0046] 3- bracket; 31- base; 32- top plate; 33- column 1; 34- column 2;

[0047] 4-wing rod drive assembly; 41-sliding seat; 42-camshaft one; 43-camshaft two; 44-waterproof motor one; 45-gear; 411-support plate; 412-vertical plate three; 413-vertical plate four; 414-motor seat;

[0048] 5-reset elastic member;

[0049] 6-slide drive assembly; 61-waterproof motor 2;

[0050] 7-Sealed cabin;

[0051] 8-transmission frame; 81-rod body 1; 82-rod body 2;

[0052] 9- Transmission ring. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] The purpose of the present invention is to provide a soft-wing robot driven and controlled by a cam mechanism to solve the problems existing in the above-mentioned related technologies and simplify the power structure and steering control.

[0055] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] Reference Figure 1 to Figure 17 The present embodiment provides a soft-wing robot (hereinafter referred to as the soft-wing robot) driven and controlled by a cam mechanism, including a shell 1, a soft wing 2, a bracket 3, a wing rod drive assembly 4, a reset elastic member 5, a slide drive assembly 6 and a sealed cabin 7.

[0057] There are two flexible wings 2 and they are symmetrically distributed on the left and right sides of the housing 1. The flexible wings 2 include a wing bar 21 and a wing surface 22. One end of the wing bar 21 is connected to the wing surface 22, and the other end of the wing bar 21 extends into the housing 1 from the left or right side. The wing surface 22 is made of a flexible material. Multiple wing bars 21 are arranged along the front-to-back direction.

[0058] The bracket 3 is fixedly connected to the housing 1 and is rotatably connected to the wing rod 21 .

[0059] The wing rod driving assembly 4 is used to periodically push the protruding end of the wing rod 21 in one direction. The wing rod driving assembly 4 includes a slide 41, a camshaft 1 42, a camshaft 2 43 and a waterproof motor 1 44. The camshaft 1 42 and the camshaft 2 43 are respectively rotatably mounted on the left and right sides of the slide 41 and are symmetrical on both sides. The waterproof motor 1 44 is respectively connected to the camshaft 1 42 and the camshaft 2 43 in transmission connection. The camshaft 1 42 and the camshaft 2 43 are provided with a plurality of cam groups along their own axis directions, and the plurality of cam groups respectively periodically push the protruding ends of the plurality of wing rods 21 in one direction. The cam group includes at least three cams. For the left and right cam groups with the same position along the front-back direction, the pairing modes of the cams on the left and right sides have two types: the same stroke and different stroke. The plurality of cam groups of the camshaft 1 42 and the camshaft 2 43 have a phase difference so that the wing surface 22 swings in a wave-like manner.

[0060] The resetting elastic member 5 is mounted on the bracket 3 and is used to apply elastic force to reset the wing rod 21 .

[0061] The slide drive assembly 6 is used to drive the slide 41 to slide along the front-rear direction to adjust the cam corresponding to the wing lever 21 .

[0062] The sealed cabin 7 is fixedly connected to the slide 41 and has a power supply and a control circuit built in. The power supply is used to supply power to the waterproof motor 44 and the slide drive assembly 6, and the control circuit is used to control the actions of the waterproof motor 44 and the slide drive assembly 6.

[0063] The working principle of the soft-wing robot in this embodiment is as follows:

[0064] The waterproof motor 1 44 drives the cam shaft 1 42 and the cam shaft 2 43 to rotate.

[0065] For the two left and right cam groups with the same front-to-back position, during the push stroke of the two cam groups, the extension ends of the wing rods 21 on the left and right sides are driven to swing upward or downward (movement in the same direction to prevent the flexible-wing robot from rolling) at the same time through direct contact or transmission by an intermediate member. During the return stroke of the two left and right cam groups with the same front-to-back position, the reset elastic member 5 provides an elastic force to reset the extension end of the wing rod 21, so that the extension end of the wing rod 21 swings in the opposite direction.

[0066] The multiple cam groups of camshaft 1 42 and camshaft 2 43 have a phase difference, so that the multiple wing rods 21 on the left and right sides extend out of one end of the shell 1 and move in a wave-like manner, driving the wing surface 22 to move in a wave-like manner, thereby driving the soft-wing robot forward (waterproof motor 1 44 rotates forward) or backward (waterproof motor 1 44 rotates reversely) through the push of the wing surface 22 on the water flow.

[0067] The slide drive assembly 6 drives the slide 41 to slide in the front-to-back direction, so that the cam corresponding to the wing rod 21 changes, so the stroke of the cam changes, and then the swing angle of the wing rod 21 changes. It should be noted that the stroke of the cam is the displacement of the follower corresponding to the push stroke of the cam, which is the characteristic parameter of the cam (i.e., the distance from the cam base circle to the cam vertex), reflecting the degree of convexity of the cam. For the left and right wing rods 21 with the same front-to-back position, when the stroke of the left cam is greater than the stroke of the right cam, the swing angle of the left wing rod 21 is larger, so that the soft-wing robot turns right; when the stroke of the right cam is greater than the stroke of the left cam, the swing angle of the right wing rod 21 is larger, so that the soft-wing robot turns left; when the stroke of the right cam is equal to the stroke of the left cam, the swing angles of the left and right wing rods 21 are equal, and the soft-wing robot moves forward or backward. Therefore, by adjusting the front-to-back position of the slide 41 by the slide drive assembly 6, the soft-wing robot can switch between turning left, turning right and not turning.

[0068] In summary, in this embodiment, only one driving motor, the waterproof motor 44, can make the wing surfaces 22 on the left and right sides move in a wave-like manner, and only one structure, the slide drive assembly 6, can realize the steering control of the entire soft-wing robot, thereby simplifying the power structure and steering control of the soft-wing robot.

[0069] As a possible example, in this embodiment, the slide drive assembly 6 includes a waterproof motor 61 , which is fixedly connected to the slide 41 , and an output shaft of the waterproof motor 61 extends in the front-to-back direction and is threadedly connected to the housing 1 .

[0070] When the output shaft of the second waterproof motor 61 rotates, the second waterproof motor 61 translates along the front-rear direction, driving the slide seat 41 to translate along the front-rear direction.

[0071] However, the actual implementation is not limited thereto. For example, the slide drive assembly 6 may also be a gear rack drive mechanism or other commonly used linear drive mechanisms.

[0072] As a possible example, in this embodiment, a transmission frame 8 and a transmission ring 9 are arranged between the cam group and the wing rod 21, the transmission frame 8 slides through the bracket 3, and the transmission ring 9 is rotatably connected to the transmission frame 8. The transmission frame 8 cooperates with the cam group through a cam pair, and the wing rod 21 slides through the transmission ring 9. The two ends of the reset elastic member 5 are respectively connected to the bracket 3 and the transmission frame 8.

[0073] It is understandable that, when the opposite side remains unchanged, the shorter the adjacent side is, the greater the tangent value is. Therefore, when the vertical swing distance of a point on the wing bar 21 remains unchanged, the closer the point is to the rotation center of the wing bar 21, the greater the swing angle of the wing bar 21 is.

[0074] Obviously, the transmission ring 9 is closer to the rotation center of the wing rod 21 than the cam group. Compared with the method of making the extended end of the wing rod 21 directly cooperate with the cam group through the cam pair, this embodiment can amplify the swing angle of the wing rod 21 by setting two intermediate transmission structures, namely the transmission frame 8 and the transmission ring 9, so that the flexible-wing robot can obtain a faster swimming speed.

[0075] As a possible example, in this embodiment, the transmission frame 8 includes a rod body 1 81 and a rod body 2 82, and the rod body 1 81 is fixedly connected to the rod body 2 82. The rod body 1 81 slides through the bracket 3, and the rod body 2 82 cooperates with the cam group through a cam pair. The transmission ring 9 is rotatably connected to the rod body 1 81.

[0076] Exemplarily, the rod body 1 81 and the rod body 2 82 are perpendicular to each other, the rod body 1 81 is vertically arranged, and the rod body 2 82 is horizontally arranged in the left and right direction. The end of the rod body 2 82 away from the cam group passes through the corresponding through hole on the rod body 1 81 and is threadedly connected with a nut, so that the shaft shoulder of the rod body 2 82 and the nut clamp the rod body 1 81 from the left and right sides.

[0077] As a possible example, in this embodiment, the bracket 3 includes a base 31, a top plate 32 and a plurality of columns. The lower end and the upper end of the column are fixedly connected to the base 31 and the top plate 32 respectively, and the base 31 is fixedly connected to the housing 1. One of the columns is rotatably connected to the wing rod 21.

[0078] Exemplarily, the base 31 is a π-shaped symmetrical structure, and its symmetry plane is perpendicular to the front-to-back direction. The columns are vertically arranged, including two columns 1 33 and one column 2 34. The two columns 1 33 are symmetrical about the symmetry plane, and the axis of the column 2 34 is on the symmetry plane. The column 2 34 is located on the side of the column 1 33 away from the cam group, and the column 2 34 is rotatably connected to the wing rod 21, and the rotation center of the wing rod 21 extends along the front-to-back direction.

[0079] As a possible example, in this embodiment, the rod body 81 includes a lower column and an upper cylinder that are fixedly connected, the lower column slides through the corresponding square hole on the base 31, and the upper cylinder slides through the corresponding round hole on the top plate 32. The reset elastic member 5 is a compression spring and is sleeved on the outer side of the upper cylinder. The two ends of the reset elastic member 5 are respectively against the end surface of the lower column and the top plate 32.

[0080] The sliding fit between the lower column and the square hole limits the rotation of the rod body 1 81. The downward elastic thrust provided by the resetting elastic member 5 presses the rod body 2 82 onto the cam group, so that the rod body 2 82 always keeps in contact with the cam group.

[0081] However, the actual implementation is not limited thereto. For example, the resetting elastic member 5 can also be a tension spring or an elastic rope, the lower end of the resetting elastic member 5 is connected to the base 31, and the upper end is against the end surface of the lower column, and the resetting elastic member 5 can also provide downward elastic force.

[0082] As a possible example, in this embodiment, gears 45 are fixed on the output shaft of the waterproof motor 44, the camshaft 1 42 and the camshaft 2 43. The gear 45 on the output shaft of the waterproof motor 44 is meshed with the gears 45 on the camshaft 1 42 and the camshaft 2 43 at the same time. The waterproof motor 44 is located between the camshaft 1 42 and the camshaft 2 43 to drive the camshaft 1 42 and the camshaft 2 43 to rotate synchronously.

[0083] However, the actual implementation is not limited thereto. For example, the three gears 45 are replaced with sprockets, and two adjacent sprockets are driven by a chain, so that the camshaft 1 42 and the camshaft 2 43 can also rotate synchronously.

[0084] As a possible example, in this embodiment, the housing 1 includes an upper cover 13 and a lower cover 11, and the housing 1 can be opened and closed. When the housing 1 is in a closed state, the middle part is an elliptical cylinder, and the front and rear ends are ellipsoidal.

[0085] Exemplarily, the upper cover 13 and the lower cover 11 are detachably fixedly connected by screws. Multiple notches are set at the left and right edge positions of the upper cover 13 and the lower cover 11, and the notches are for the wing rod 21 to pass through and provide swing space for the wing rod 21. Multiple ribs 111 are set on the left and right sides of the upper surface of the lower cover 11, and the lower surface of the front end of the base 31 and the lower surface of the rear end of the base 31 are respectively supported by two adjacent ribs 111 in front and back, and are fixed to the corresponding ribs 111 by screws.

[0086] As a possible example, in this embodiment, the housing 1 further includes a support 12 and a slide bar 14, the support 12 is fixedly connected to the lower cover 11, and the slide bar 14 is fixedly connected to the support 12. The slide bar 14 extends in the front-to-back direction and slides through the slide seat 41.

[0087] Exemplarily, a plurality of ribs 112 are provided on the upper surface of the lower cover 11, and the lower surface of the support 12 is supported by the plurality of ribs 112 and fixed to the corresponding ribs 112 by screws. The front end and the rear end of the support 12 are the vertical plate 121 and the vertical plate 122 respectively, the front end of the slide rod 14 passes through the vertical plate 121 and is locked by a nut, and the rear end of the slide rod 14 passes through the vertical plate 122 and is locked by a nut. There are two slide rods 14, and they are bilaterally symmetrical. The slide 41 includes a support plate 411, a vertical plate 3 412 and a vertical plate 413, the front end of the support plate 411 is fixedly connected to the vertical plate 3 412, and the rear end of the support plate 411 is fixedly connected to the vertical plate 413. The front ends of the camshaft 1 42 and the camshaft 2 43 are rotatably connected to the vertical plate 3 412, and the rear ends of the camshaft 1 42 and the camshaft 2 43 are rotatably connected to the vertical plate 413. Two front and rear motor seats 414 are fixed on the upper surface of the support plate 411 . The front motor seat 414 is fixedly connected to the waterproof motor 1 44 , and the rear motor seat 414 is fixedly connected to the waterproof motor 2 61 .

[0088] As a possible example, in this embodiment, a portion of the wing rod 21 extending out of the housing 1 is provided with a slot, and the wing surface 22 passes through the slot and is fixedly connected to the wing rod 21. The fixed connection method may be bonding.

[0089] As a possible example, in this embodiment, the position of the above-mentioned rotational connection is axially positioned by a retaining spring.

[0090] As a possible example, in this embodiment, the cam group includes three cams, namely, a rear cam, a middle cam and a front cam. For the cam group on the left, the stroke of the rear cam is equal to the stroke of the middle cam, and the stroke of the middle cam is greater than the stroke of the front cam. For the cam group on the right, the stroke of the rear cam is equal to the stroke of the front cam, and the stroke of the rear cam is greater than the stroke of the middle cam. The stroke of the rear cam of the left cam group is equal to the stroke of the rear cam of the right cam group.

[0091] Therefore, for the two cam groups with the same front-to-back position, the strokes of the two rear cams are matched to be equal on the left and right, the strokes of the two middle cams are matched to be larger on the left and smaller on the right, and the strokes of the two front cams are matched to be smaller on the left and larger on the right. When the rear cam of each cam group forms a cam pair with the second rod body 82, the flexible-wing robot moves forward or backward. When the middle cam of each cam group forms a cam pair with the second rod body 82, the flexible-wing robot turns right front or right back. When the front cam of each cam group forms a cam pair with the second rod body 82, the flexible-wing robot turns left front or left back.

[0092] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A soft-wing robot driven and controlled by a cam mechanism, characterized in that: include: case; There are two flexible wings, which are symmetrically distributed on the left and right sides of the shell; the flexible wings include a wing rod and an airfoil; one end of the wing rod is connected to the airfoil, and the other end of the wing rod extends into the shell from the left or right side; the airfoil is made of a flexible material; a plurality of wing rods are arranged along the front-rear direction; A bracket, fixedly connected to the housing and rotatably connected to the wing rod; A wing lever driving assembly is used for periodically and unidirectionally pushing the protruding end of the wing lever; the wing lever driving assembly comprises a slide seat, a camshaft 1, a camshaft 2 and a waterproof motor 1; the camshaft 1 and the camshaft 2 are respectively rotatably installed on the left and right sides of the slide seat and are symmetrical on both sides, and the waterproof motor 1 is respectively connected to the camshaft 1 and the camshaft 2 in transmission connection; the camshaft 1 and the camshaft 2 are provided with a plurality of cam groups along their own axis directions, and the plurality of cam groups respectively and periodically and unidirectionally push the protruding ends of the plurality of wing levers; the cam group comprises at least three cams; for the left and right cam groups with the same position along the front-back direction, the pairing modes of the cams on the left and right sides include two types: the same stroke and different stroke; the plurality of cam groups of the camshaft 1 and the camshaft 2 have a phase difference, so that the wing surface swings in a wave-like manner; A resetting elastic member, mounted on the bracket, for applying an elastic force to resetting the wing rod; A slide drive assembly, used for driving the slide to slide in the front-rear direction to adjust the cam corresponding to the wing rod; The sealed cabin is fixedly connected to the slide and has a built-in power supply and a control circuit; the power supply is used to supply power to the waterproof motor 1 and the slide drive assembly respectively, and the control circuit is used to control the actions of the waterproof motor 1 and the slide drive assembly.

2. The soft-wing robot driven and controlled by a cam mechanism according to claim 1, characterized in that: The slide drive assembly includes a second waterproof motor, the second waterproof motor is fixedly connected to the slide, and the output shaft of the second waterproof motor extends in the front-to-back direction and is threadedly connected to the housing.

3. The soft-wing robot driven and controlled by a cam mechanism according to claim 1, characterized in that: A transmission frame and a transmission ring are arranged between the cam group and the wing rod, the transmission frame slides through the bracket, and the transmission ring is rotatably connected to the transmission frame; the transmission frame and the cam group cooperate through a cam pair, and the wing rod slides through the transmission ring; the two ends of the reset elastic member are respectively connected to the bracket and the transmission frame.

4. The soft-wing robot driven and controlled by a cam mechanism according to claim 3, characterized in that: The transmission frame includes a rod body 1 and a rod body 2, wherein the rod body 1 is fixedly connected to the rod body 2; the rod body 1 slides through the bracket, and the rod body 2 cooperates with the cam group through a cam pair; the transmission ring is rotatably connected to the rod body 1.

5. The soft-wing robot driven and controlled by a cam mechanism according to claim 4, characterized in that: The bracket includes a base, a top plate and a plurality of columns; the lower end and the upper end of the column are fixedly connected to the base and the top plate respectively, and the base is fixedly connected to the shell; one of the columns is rotatably connected to the wing rod.

6. The soft-wing robot driven and controlled by the cam mechanism according to claim 5, characterized in that: The rod body 1 includes a lower column and an upper cylinder which are fixedly connected, the lower column slides through the corresponding square hole on the base, and the upper cylinder slides through the corresponding round hole on the top plate; the reset elastic member is a compression spring and is sleeved on the outside of the upper cylinder, and the two ends of the reset elastic member are respectively against the end surface of the lower column and the top plate.

7. The soft-wing robot driven and controlled by a cam mechanism according to claim 1, characterized in that: Gears are fixed on the output shaft of the waterproof motor 1, the camshaft 1 and the camshaft 2. The gears on the output shaft of the waterproof motor 1 are meshed with the gears on the camshaft 1 and the camshaft 2 at the same time. The waterproof motor 1 is located between the camshaft 1 and the camshaft 2 to drive the camshaft 1 and the camshaft 2 to rotate synchronously.

8. The soft-wing robot driven and controlled by a cam mechanism according to claim 1, characterized in that: The shell comprises an upper cover and a lower cover, and the shell can be opened and closed; when the shell is in a closed state, the middle part is an elliptical cylinder, and the front end and the rear end are ellipsoidal.

9. The soft-wing robot driven and controlled by the cam mechanism according to claim 8, characterized in that: The shell also includes a support and a slide rod, the support is fixedly connected to the lower cover, and the slide rod is fixedly connected to the support; the slide rod extends along the front-back direction and slides through the slide rod.

10. The soft-wing robot driven and controlled by a cam mechanism according to claim 1, characterized in that: The portion of the wing rod extending out of the housing is provided with a slot, and the wing surface passes through the slot and is fixedly connected to the wing rod.

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