A flexible wing robot whose steering is driven and controlled by a cam mechanism.

Abstract

This invention discloses a flexible-winged robot driven and controlled by a cam mechanism, relating to the field of underwater biomimetic robot technology. It includes a shell, a flexible wing, a support frame, a wing rod drive assembly, a reset elastic element, a slide block drive assembly, and a sealed chamber. The flexible wing includes a wing rod and a wing surface. One end of the wing rod is connected to the wing surface, and the other end extends into the shell. The support frame is fixedly connected to the shell and rotatably connected to the wing rod. The wing rod drive assembly is used to periodically push the extended end of the wing rod in one direction. The reset elastic element is mounted on the support frame and is used to apply a spring force to reset the wing rod. The slide block drive assembly is used to drive the slide block to slide in the forward and backward direction to adjust the cam corresponding to the wing rod. The sealed chamber is fixedly connected to the slide block and houses a power supply and control circuit. The power supply provides power to both the wing rod drive assembly and the slide block drive assembly, and the control circuit controls the movement of both wing rod drive assemblies. Compared to existing technologies, the flexible-winged robot of this invention simplifies the power structure and steering control.

Description

Technical Field

[0001] This invention relates to the field of underwater biomimetic robot technology, and in particular to a flexible-winged robot whose steering is driven and controlled by a cam mechanism. Background Technology

[0002] Manta rays have flat, rhomboid bodies and powerful pectoral fins, which they use to generate forward thrust. They possess not only highly efficient cruising capabilities but also exceptional maneuverability, allowing for quick and agile turning on the spot. The flexible-winged robot, based on the manta ray's biological prototype, focuses on mimicking its pectoral fin movements. Utilizing a special mechanical drive structure and flexible materials, it is a robot with advantages such as high maneuverability, stealth, and stable cruising.

[0003] Flexible-wing robots can be broadly categorized into passive deformable types and fully controlled motion types, i.e., passive and active, based on their movement in water. Common active flexible-wing robots have wings composed of multiple fins covered by a skin made of flexible materials such as silicone. These fins oscillate periodically, driven by motors and smart materials; changing the phase of each fin's movement causes the skin to undulate. However, because each fin of this type of active flexible-wing robot is driven by an independent power structure, its power structure and steering control are quite complex. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible-winged robot that uses a cam mechanism to drive and control steering, thereby solving the problems existing in the aforementioned related technologies and simplifying the power structure and steering control.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention discloses a flexible-winged robot whose steering is driven and controlled by a cam mechanism, comprising:

[0007] case;

[0008] Two flexible wings are symmetrically distributed on the left and right sides of the shell; each flexible wing includes a wing rod and a wing surface; one end of the wing rod is connected to the wing surface, and the other end of the wing rod extends into the shell from the left or right side; the wing surface is made of flexible material; multiple wing rods are arranged in the front-to-back direction;

[0009] The bracket is fixedly connected to the housing and rotatably connected to the wing rod.

[0010] A wing rod drive assembly is used to periodically and unidirectionally push the extension end of the wing rod. The wing rod drive assembly includes a slide, a first camshaft, a second camshaft, and a first waterproof motor. The first camshaft and the second camshaft are rotatably mounted on the left and right sides of the slide, respectively, and are symmetrically arranged. The first waterproof motor is connected to the first camshaft and the second camshaft in a transmission manner. The first camshaft and the second camshaft are provided with multiple cam groups along their own axial direction. The multiple cam groups periodically and unidirectionally push the extension ends of the multiple wing rods. Each cam group includes at least three cams. For two cam groups that are in the same position along the front-rear direction, the pairing method of the cams on the left and right sides has two types: the same stroke and different stroke. The multiple cam groups of the first camshaft and the second camshaft themselves have a phase difference so that the wing surface oscillates in a wave-like manner.

[0011] A reset elastic element, mounted on the bracket, is used to apply a spring force to reset the wing rod;

[0012] A slide block drive assembly is used to drive the slide block to slide in the front-to-back direction to adjust the cam corresponding to the wing rod;

[0013] The sealed chamber is fixedly connected to the slide block and has a built-in power supply and control circuit. The power supply provides power to the waterproof motor and the slide block drive assembly, and the control circuit is used to control the operation of the waterproof motor and the slide block drive assembly.

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

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

[0016] Preferably, the transmission frame includes a first rod and a second rod, the first rod and the second rod being fixedly connected; the first rod slides through the bracket, the second rod engages with the cam assembly via a cam pair; and the transmission ring is rotatably connected to the first rod.

[0017] Preferably, the support includes a base, a top plate, and multiple columns; the lower and upper ends of the columns are respectively fixedly connected to the base and the top plate, and the base is fixedly connected to the housing; one of the columns is rotatably connected to the wing rod.

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

[0019] Preferably, gears are fixed on the output shaft of the waterproof motor, the camshaft, and the camshaft, and the gear on the output shaft of the waterproof motor meshes with the gears on the camshaft and the camshaft. The waterproof motor is located between the camshaft and the camshaft to drive the camshaft and the camshaft to rotate synchronously.

[0020] Preferably, the housing includes an upper cover and a lower cover, and the housing is capable of being opened and closed; when the housing is in the closed state, the middle part is elliptical cylindrical, and the front and rear ends are ellipsoidal.

[0021] Preferably, the housing further includes a support and a slide rod, the support being fixedly connected to the lower cover, and the slide rod being fixedly connected to the support; the slide rod extends in the front-rear direction and slides through the slide block.

[0022] Preferably, 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.

[0023] Compared with related technologies, the present invention achieves the following technical effects:

[0024] This invention enables the left and right wings to move in a wave-like motion using only a single waterproof motor, and achieves the steering control of the entire flexible-wing robot using only a single slide drive assembly, thus simplifying the power structure and steering control of the flexible-wing robot. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of a flexible-winged robot driven and controlled by a cam mechanism according to an embodiment of the present invention;

[0027] Figure 2 for Figure 1 The diagram of the top cover is omitted;

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

[0029] Figure 4 A schematic diagram of the support;

[0030] Figure 5 A schematic diagram showing the location of the wing rod drive assembly;

[0031] Figure 6 for Figure 5 A diagram omitting the supports and sliding rods;

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

[0033] Figure 8 Schematic diagram of panel three;

[0034] Figure 9 Schematic diagram of camshaft one;

[0035] Figure 10 Schematic diagram of camshaft two;

[0036] Figure 11 Schematic diagram of the motor mount;

[0037] Figure 12 This is a schematic diagram showing the location of the extended end of the wing rod;

[0038] Figure 13 A schematic diagram of the base;

[0039] Figure 14 Schematic diagram of the top slab;

[0040] Figure 15 Schematic diagram of rod one;

[0041] Figure 16 Schematic diagram of the transmission ring;

[0042] Figure 17 A schematic diagram of the wing rod.

[0043] In the picture:

[0044] 1-Shell; 11-Lower cover; 12-Support; 13-Upper cover; 14-Slide rod; 111-Rib 1; 112-Rib 2; 121-Upright plate 1; 122-Upright plate 2;

[0045] 2-Flexible wing; 21-Wing rod; 22-Wing surface;

[0046] 3-Bracket; 31-Base; 32-Top plate; 33-Column 1; 34-Column 2;

[0047] 4-Wing rod drive assembly; 41-Slide; 42-Camshaft 1; 43-Camshaft 2; 44-Waterproof motor 1; 45-Gear; 411-Support plate; 412-Upright plate 3; 413-Upright plate 4; 414-Motor mount;

[0048] 5-Reset elastic element;

[0049] 6-Slide drive assembly; 61-Waterproof motor II;

[0050] 7-Sealed compartment;

[0051] 8-Transmission frame; 81-Ring 1; 82-Ring 2;

[0052] 9-Transmission ring. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] The purpose of this invention is to provide a flexible-winged robot that uses a cam mechanism to drive and control steering, thereby solving the problems existing in the aforementioned related technologies and simplifying the power structure and steering control.

[0055] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] Reference Figures 1 to 17 This embodiment provides a flexible wing robot (hereinafter referred to as flexible wing robot) driven and controlled by a cam mechanism, including a shell 1, a flexible wing 2, a support 3, a wing rod drive assembly 4, a reset elastic element 5, a slide drive assembly 6, and a sealed chamber 7.

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

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

[0059] The wing rod drive assembly 4 is used to periodically push the extension end of the wing rod 21 in one direction. The wing rod drive assembly 4 includes a slide 41, a first camshaft 42, a second camshaft 43, and a waterproof motor 44. The first camshaft 42 and the second camshaft 43 are rotatably mounted on the left and right sides of the slide 41, respectively, and are symmetrically arranged. The waterproof motor 44 is connected to the first camshaft 42 and the second camshaft 43 for transmission. The first camshaft 42 and the second camshaft 43 are provided with multiple cam groups along their own axis, and the multiple cam groups periodically push the extension end of the multiple wing rods 21 in one direction. The cam group includes at least three cams. For two left and right cam groups that are in the same position in the front-rear direction, the pairing of the cams on the left and right sides can be of two types: the same stroke and different stroke. The multiple cam groups of the first camshaft 42 and the second camshaft 43 themselves have a phase difference, so that the wing surface 22 oscillates in a wave-like manner.

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

[0061] The slide drive assembly 6 is used to drive the slide 41 to slide in the front-to-back direction to adjust the cam corresponding to the wing rod 21.

[0062] The sealed chamber 7 is fixedly connected to the slide 41 and contains a power supply and control circuit. The power supply provides power to the waterproof motor 44 and the slide drive assembly 6, and the control circuit is used to control the operation of the waterproof motor 44 and the slide drive assembly 6.

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

[0064] Waterproof motor 44 drives camshaft 42 and camshaft 43 to rotate.

[0065] For the two cam groups that are in the same forward and backward position, during the push stroke of the two cam groups, the extension ends of the left and right wing rods 21 are driven to swing upward or downward simultaneously (moving in the same direction to avoid rolling of the flexible wing robot) through direct contact or intermediate transmission. During the return stroke of the two cam groups that are in the same forward and backward position, the reset elastic element 5 provides a spring force to reset the extension ends of the wing rods 21, causing the extension ends of the wing rods 21 to swing in opposite directions.

[0066] The multiple cam groups of camshaft 1 42 and camshaft 2 43 have a phase difference, which causes the multiple wing rods 21 on the left and right sides to extend out of the housing 1 in a wave-like motion, driving the wing surface 22 to move in a wave-like motion. Thus, the wing surface 22 pushes the water flow, driving the flexible wing robot forward (waterproof motor 1 44 rotates forward) or backward (waterproof motor 1 44 rotates backward).

[0067] The slide drive assembly 6 drives the slide 41 to slide in the front-to-back direction, causing a change in the cam corresponding to the wing rod 21. This change in the cam's stroke, in turn, alters the swing angle of the wing rod 21. It should be noted that the cam's stroke is the displacement of the follower corresponding to the cam's push stroke; it is a characteristic parameter of the cam (i.e., the distance from the cam base circle to the cam apex), reflecting the degree of cam convexity. For two wing rods 21 in the same front-to-back position, when the stroke of the left cam is greater than that of the right cam, the swing angle of the left wing rod 21 is larger, causing the flexible-wing robot to turn right; when the stroke of the right cam is greater than that of the left cam, the swing angle of the right wing rod 21 is larger, causing the flexible-wing robot to turn left; when the stroke of the right cam is equal to that of the left cam, the swing angles of the two wing rods 21 are equal, and the flexible-wing robot moves forward or backward. Therefore, by adjusting the front-to-back position of the slide 41 through the slide drive assembly 6, the flexible-wing robot can switch between turning left, turning right, and not turning.

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

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

[0070] When the output shaft of the waterproof motor 61 rotates, the waterproof motor 61 moves in the front-back direction, which in turn drives the slide 41 to move in the front-back direction.

[0071] However, the actual implementation is not limited to this. For example, the slide drive assembly 6 can also be other commonly used linear drive mechanisms such as a rack and pinion drive mechanism.

[0072] As a possible example, in this embodiment, a transmission frame 8 and a transmission ring 9 are provided between the cam assembly 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 and the cam assembly cooperate 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, with opposite sides unchanged, the shorter the adjacent side, the larger the tangent value. Therefore, if the vertical swing distance of a point on the wing rod 21 remains constant, the closer that point is to the rotation center of the wing rod 21, the larger the swing angle of the wing rod 21.

[0074] Obviously, the transmission ring 9 is closer to the rotation center of the wing rod 21 than the cam assembly. Compared with the method of making the extension end of the wing rod 21 directly cooperate with the cam assembly through the cam pair, this embodiment can amplify the swing angle of the wing rod 21 by setting the transmission frame 8 and the transmission ring 9 as two intermediate transmission structures, 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 first rod 81 and a second rod 82, which are fixedly connected. The first rod 81 slides through the bracket 3, and the second rod 82 engages with the cam assembly via a cam pair. The transmission ring 9 is rotatably connected to the first rod 81.

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

[0077] As one possible example, in this embodiment, the support 3 includes a base 31, a top plate 32, and multiple columns. The lower and upper ends of the columns 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] For example, the base 31 has a π-shaped symmetrical structure, with its symmetry plane perpendicular to the front-back direction. The columns are vertically arranged and include two columns 33 and one column 34. The two columns 33 are symmetrical about the symmetry plane, and the axis of column 34 lies on the symmetry plane. Column 34 is located on the side of column 33 opposite to the cam assembly, and is rotatably connected to the wing rod 21, the rotation center of which extends in the front-back direction.

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

[0080] The rotation of rod 81 is restricted by the sliding fit between the lower post and the square hole. The downward elastic thrust provided by the reset elastic element 5 presses rod 82 against the cam assembly, ensuring that rod 82 remains in contact with the cam assembly at all times.

[0081] However, the actual implementation is not limited to this. For example, the reset elastic element 5 can also be a tension spring or an elastic rope. The lower end of the reset elastic element 5 is connected to the base 31, and the upper end abuts against the end face of the lower column. In this case, the reset elastic element 5 can also provide a 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 42, and the camshaft 43. The gears 45 on the output shaft of the waterproof motor 44 mesh with the gears 45 on the camshaft 42 and the camshaft 43. The waterproof motor 44 is located between the camshaft 42 and the camshaft 43 to drive the camshaft 42 and the camshaft 43 to rotate synchronously.

[0083] However, the actual implementation is not limited to this. For example, by replacing the three gears 45 with sprockets and driving adjacent sprockets with a chain, the synchronous rotation of camshaft 42 and camshaft 43 can also be achieved.

[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 is capable of being opened and closed. When the housing 1 is in the closed state, the middle part is elliptical cylindrical, and the front and rear ends are ellipsoidal.

[0085] For example, the upper cover 13 and the lower cover 11 are detachably fixedly connected by screws. Multiple notches are provided on the left and right edges of both the upper cover 13 and the lower cover 11, allowing the wing rod 21 to pass through and providing space for its swing. Multiple ribs 111 are provided on the left and right sides of the upper surface of the lower cover 11. The lower surface of the front end and the lower surface of the rear end of the base 31 are each supported by two adjacent ribs 111 and 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 rod 14. The support 12 is fixedly connected to the lower cover 11, and the slide rod 14 is fixedly connected to the support 12. The slide rod 14 extends in the front-rear direction and slides through the slide block 41.

[0087] For example, the upper surface of the lower cover 11 is provided with multiple ribs 112, and the lower surface of the support 12 is supported by multiple ribs 112 and fixed to the corresponding ribs 112 with screws. The front end and rear end of the support 12 are respectively the upright plate 121 and the upright plate 122. The front end of the slide rod 14 passes through the upright plate 121 and is locked with a nut, and the rear end of the slide rod 14 passes through the upright plate 122 and is locked with a nut. There are two slide rods 14, which are symmetrical from left to right. The slide block 41 includes a support plate 411, an upright plate 412, and an upright plate 413. The front end of the support plate 411 is fixedly connected to the upright plate 412, and the rear end of the support plate 411 is fixedly connected to the upright plate 413. The front ends of the camshaft 1 42 and the camshaft 2 43 are rotatably connected to the upright plate 3 412, and the rear ends of the camshaft 1 42 and the camshaft 2 43 are rotatably connected to the upright plate 413. Two motor mounts 414 are fixed on the upper surface of the support plate 411. A waterproof motor 44 is fixedly connected to the front motor mount 414, and a waterproof motor 61 is fixedly connected to the rear motor mount 414.

[0088] As one possible example, in this embodiment, the 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. This fixed connection can be achieved by adhesive bonding.

[0089] As a possible example, in this embodiment, the position of the aforementioned rotary connection is axially positioned by a snap ring.

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

[0091] Therefore, for two cam groups with the same forward and backward position, the strokes of the two rear cams are equal on both sides, the strokes of the two middle cams are greater on the left and less on the right, and the strokes of the two front cams are less on the left and greater on the right. When the rear cam of each cam group forms a cam pair with link 82, the flexible-wing robot moves forward or backward. When the middle cam of each cam group forms a cam pair with link 82, the flexible-wing robot turns to the right front or right rear. When the front cam of each cam group forms a cam pair with link 82, the flexible-wing robot turns to the left front or left rear.

[0092] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A flexible-winged robot whose steering is driven and controlled by a cam mechanism, characterized in that, include: case; Two flexible wings are symmetrically distributed on the left and right sides of the shell; each flexible wing includes a wing rod and a wing surface; one end of the wing rod is connected to the wing surface, and the other end of the wing rod extends into the shell from the left or right side; the wing surface is made of flexible material; multiple wing rods are arranged in the front-to-back direction; The bracket is fixedly connected to the housing and rotatably connected to the wing rod. A wing rod drive assembly is used to periodically and unidirectionally push the extension end of the wing rod. The wing rod drive assembly includes a slide, a first camshaft, a second camshaft, and a first waterproof motor. The first camshaft and the second camshaft are rotatably mounted on the left and right sides of the slide, respectively, and are symmetrically arranged. The first waterproof motor is connected to the first camshaft and the second camshaft in a transmission manner. The first camshaft and the second camshaft are provided with multiple cam groups along their own axial direction. The multiple cam groups periodically and unidirectionally push the extension ends of the multiple wing rods. Each cam group includes at least three cams. For two cam groups that are in the same position along the front-rear direction, the pairing method of the cams on the left and right sides has two types: the same stroke and different stroke. The multiple cam groups of the first camshaft and the second camshaft themselves have a phase difference so that the wing surface oscillates in a wave-like manner. A reset elastic element, mounted on the bracket, is used to apply a spring force to reset the wing rod; A slide block drive assembly is used to drive the slide block to slide in the front-to-back direction to adjust the cam corresponding to the wing rod; The sealed chamber is fixedly connected to the slide block and has a built-in power supply and control circuit. The power supply provides power to the waterproof motor and the slide block drive assembly, and the control circuit is used to control the operation of the waterproof motor and the slide block drive assembly.

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

3. The flexible-winged robot driven and controlled by a cam mechanism according to claim 1, characterized in that: A transmission frame and a transmission ring are provided between the cam assembly and the wing rod. The transmission frame slides through the support, and the transmission ring is rotatably connected to the transmission frame. The transmission frame and the cam assembly cooperate through a cam pair, and the wing rod slides through the transmission ring. The two ends of the reset elastic element are respectively connected to the support and the transmission frame.

4. The flexible-winged robot driven and controlled by the cam mechanism according to claim 3, characterized in that: The transmission frame includes a first rod and a second rod, the first rod and the second rod being fixedly connected; the first rod slides through the bracket, and the second rod engages with the cam assembly via a cam pair; the transmission ring is rotatably connected to the first rod.

5. The flexible-winged robot driven and controlled by a cam mechanism according to claim 4, characterized in that: The support includes a base, a top plate, and multiple columns; the lower and upper ends of the columns are fixedly connected to the base and the top plate, respectively, and the base is fixedly connected to the housing; one of the columns is rotatably connected to the wing rod.

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

7. The flexible-winged 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, the camshaft, and the camshaft. The gear on the output shaft of the waterproof motor meshes with the gears on the camshaft and the camshaft. The waterproof motor is located between the camshaft and the camshaft to drive the camshaft and the camshaft to rotate synchronously.

8. The flexible-winged robot driven and controlled by a cam mechanism according to claim 1, characterized in that: The housing includes an upper cover and a lower cover, and the housing can be opened and closed; when the housing is closed, the middle part is elliptical cylindrical, and the front and rear ends are ellipsoidal.

9. The flexible-winged robot driven and controlled by a cam mechanism according to claim 8, characterized in that: The housing 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 in the front-rear direction and slides through the slide block.

10. The flexible-winged robot driven and controlled by the 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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