A bionic dragonfly robot

Abstract

The present invention discloses a bionic dragonfly robot, which relates to the technical field of aircraft, and includes a dragonfly torso and a dragonfly wing group. The dragonfly wing group includes two dragonfly wings, and the two dragonfly wings are symmetrically arranged on both sides of the dragonfly torso; a wing patch is attached to the dragonfly wing, the wing patch is a piezoelectric fiber sheet, and the wing patch is also electrically connected to a driver, and the driver can drive the wing patch to work to drive the dragonfly wing to move. The present invention has a higher wing flapping frequency, and realizes lightweight and miniaturization, and has better performance.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and particularly to a bionic dragonfly robot. Background Art

[0002] In modern times when scientific and technological progress is advancing by leaps and bounds, bionic micro-aircraft are becoming the focus of the scientific community and showing their unique practicality and research value in many industrial fields. At the present stage, bionic robots are mainly used in work areas such as military reconnaissance and surveillance, exploration of high-risk areas, etc., which enables them to greatly reduce the loss of military personnel, reduce the corresponding cost losses, and protect the lives and property safety of the people. Thus, the research on bionic micro-aircraft is of great value and practical significance.

[0003] In recent years, the design models of micro-aircraft proposed can generally be divided into three types: fixed-wing, rotary-wing, and flapping-wing; among them, the research on the first two flight methods accounts for the majority, but the flight methods of birds and insects in nature are both flapping-wing, and their body sizes are often small and their flight speeds are fast, which gives inspiration to the designers of micro-aircraft that require small size and high performance.

[0004] Chinese Patent Application Document CN112937854A proposes a bionic dragonfly flapping-wing mechanism, which can achieve basic flight methods such as hovering, turning, and accelerating, and can change the amplitude of wing flapping during flight; however, the above bionic dragonfly flapping-wing mechanism drives the wing movement through a complex drive device and a gear transmission unit, its mechanical structure is complex, its self-weight is heavy, and its overall volume is large, which has a certain impact on the performance of the bionic robot. Summary of the Invention

[0005] The purpose of the present invention is to provide a bionic dragonfly robot to solve the problems existing in the above-mentioned prior art, with a higher wing flapping frequency, and realizing lightweight and miniaturization, and having better performance.

[0006] To achieve the above purpose, the present invention provides the following solutions:

[0007] The present invention provides a bionic dragonfly robot, including a dragonfly torso and a dragonfly wing group. The dragonfly wing group includes two dragonfly wings, and the two dragonfly wings are symmetrically arranged on both sides of the dragonfly torso; a wing patch is attached to the dragonfly wing, the wing patch is a piezoelectric fiber sheet, and the wing patch is also electrically connected to a driver, and the driver can drive the piezoelectric fiber sheet to work to drive the movement of the dragonfly wing.

[0008] Preferably, a head platform is further arranged at the front end of the dragonfly torso, and the head platform is used for installing detection equipment.

[0009] Preferably, the detection device includes an imaging device, which is a camera, and the camera forms the head of the bionic dragonfly robot; wherein, the camera is installed on a pan-tilt head, and the pan-tilt head is installed on the head platform.

[0010] Preferably, a dragonfly tail is further provided at the tail end of the dragonfly torso, a tail patch is attached to the dragonfly tail, the tail patch is a piezoelectric fiber sheet, and the tail patch is electrically connected to the driver.

[0011] Preferably, the dragonfly tail includes a tail keel and a tail frame, the tail keel is arranged along the extending direction of the dragonfly torso and is located in the middle of the tail frame, and a plurality of tail veins are arranged on both sides of the tail keel, and one end of the tail vein far away from the tail keel is connected to the tail frame.

[0012] Preferably, both the wing patch and the tail patch are MFC piezoelectric fiber sheets, the wing patches are attached to both the upper and lower sides of the dragonfly wing, and the tail patches are attached to both the upper and lower sides of the dragonfly tail.

[0013] Preferably, at least two groups of dragonfly wing groups are arranged on the dragonfly torso from front to back.

[0014] Preferably, the dragonfly wing is rotationally connected to the dragonfly torso through a ball joint.

[0015] Preferably, the dragonfly wing includes a wing keel and a wing frame, the wing keel is arranged perpendicular to the extending direction of the dragonfly torso and is located in the middle of the wing frame, and a plurality of wing veins are arranged on both sides of the wing keel, and one end of the wing vein far away from the wing keel is connected to the wing frame.

[0016] Preferably, a receiving cavity is further arranged in the dragonfly torso, and the driver, the controller of the bionic dragonfly robot and the power supply are all installed in the receiving cavity.

[0017] The present invention has achieved the following beneficial technical effects compared with the prior art:

[0018] In the present invention, piezoelectric fiber sheets are attached to the dragonfly wings, the piezoelectric fiber sheets are connected to the driver, and the driver can drive the piezoelectric fiber sheets to work to drive the dragonfly wings to move. The piezoelectric fiber sheets have a high vibration frequency response and can well match the high frequency of the dragonfly's wing flapping; moreover, the complex driving device and gear transmission unit in the prior art are cancelled, effectively saving the internal components and space of the dragonfly torso, with higher space utilization rate, lighter weight, realizing the lightweight and miniaturization of the bionic dragonfly robot, being more similar to the real dragonfly, having better performance, and being more in line with the requirements of different working environments. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is the overall structure diagram of the bionic dragonfly robot in the embodiment of the present invention;

[0021] Figure 2 It is the overall structure diagram of the bionic dragonfly robot in the embodiment of the present invention after the dragonfly wing and the dragonfly tail are seen through;

[0022] Figure 3 It is the structural schematic diagram of the dragonfly head in the embodiment of the present invention;

[0023] Figure 4 It is the structural schematic diagram of the dragonfly torso in the embodiment of the present invention;

[0024] Figure 5 It is the internal structural schematic diagram of the dragonfly torso in the embodiment of the present invention;

[0025] Figure 6 It is the structural schematic diagram of the dragonfly wing in the embodiment of the present invention;

[0026] Figure 7 It is the structural schematic diagram of the wing patch in the embodiment of the present invention;

[0027] Figure 8 It is the structural schematic diagram of the dragonfly tail in the embodiment of the present invention;

[0028] Figure 9 It is the structural schematic diagram of the tail patch in the embodiment of the present invention;

[0029] Figure 10 It is the connection schematic diagram of the dragonfly wing and the ball joint in the embodiment of the present invention;

[0030] Figure 11 It is the working state schematic diagram of the dragonfly wing in the embodiment of the present invention;

[0031] Figure 12 It is the perspective view of the working state of the dragonfly wing in the embodiment of the present invention;

[0032] Figure 13 It is the working state schematic diagram of the dragonfly tail in the embodiment of the present invention;

[0033] Figure 14 It is the perspective view of the working state of the dragonfly tail in the embodiment of the present invention;

[0034] Figure 15 Schematic diagram of the upward flight of the bionic dragonfly robot in the embodiment of the present invention;

[0035] Figure 16 Schematic diagram of the downward flight of the bionic dragonfly robot in the embodiment of the present invention, in which part of the dragonfly wing is shown in perspective;

[0036] Figure 17 Schematic diagram of the left turn of the bionic dragonfly robot in the embodiment of the present invention;

[0037] Figure 18 Schematic diagram of the right turn of the bionic dragonfly robot in the embodiment of the present invention;

[0038] Among them, 1 is a camera, 2 is a pan-tilt head, 3 is the dragonfly torso, 301 is a driver, 302 is a control room, 303 is a power supply, 4 is a ball hinge seat, 5 is a dragonfly wing, 501 is the first dragonfly wing, 502 is the second dragonfly wing, 503 is the third dragonfly wing, 504 is the fourth dragonfly wing, 6 is a wing patch, 601 is the first wing patch, 602 is the second wing patch, 603 is the third wing patch, 604 is the fourth wing patch, 7 is the dragonfly tail, and 8 is the tail patch. Detailed implementation manners

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] The purpose of the present invention is to provide a bionic dragonfly robot to solve the problems existing in the above-mentioned prior art, which has a higher wing flapping frequency, realizes lightweight and miniaturization, and has better performance.

[0041] In order to make the above-mentioned objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners. Embodiment

[0042] As Figures 1-18As shown in the figure, this embodiment provides a bionic dragonfly robot, which is mainly applied to work fields such as military reconnaissance and surveillance, exploration of high-risk areas, etc. It includes a dragonfly torso 3 and a dragonfly wing group. Among them, the dragonfly wing group includes two dragonfly wings 5, and the two dragonfly wings 5 are symmetrically arranged on both sides of the dragonfly torso 3; a wing patch 6 is attached to the dragonfly wing 5. The wing patch 6 is a piezoelectric fiber sheet, and the wing patch 6 is also electrically connected to a driver 301. The driver 301 can drive the piezoelectric fiber sheet to work to drive the movement of the dragonfly wing 5. Further, it should be noted that the shape of the wing patch 6 matches the shape of the dragonfly wing 5, and the wing patch 6 covers the dragonfly wing 5.

[0043] In this embodiment, the driver 301 can drive the piezoelectric fiber sheet to work to drive the movement of the dragonfly wing 5. The piezoelectric fiber sheet has a high vibration frequency response and can drive the dragonfly wing 5 to vibrate at a high frequency, which can well match the high frequency of the dragonfly's wing flapping; moreover, the complex driving device and gear transmission unit in the prior art are cancelled, the mass is lighter, the space utilization rate is higher, the overall structure is compact, the lightweight and miniaturization of the bionic dragonfly robot are realized, it is more similar to a real dragonfly, has better performance, and better meets the requirements of different working environments.

[0044] In this embodiment, a head platform is further provided at the front end of the dragonfly torso 3. The head platform is used to install detection equipment; among them, as Figure 3 shown, the detection equipment includes an imaging device. The imaging device is preferably a camera 1, and the camera 1 forms the dragonfly head of the bionic dragonfly robot; further, the camera 1 is installed on a pan-tilt 2 and can rotate at multiple angles, so that the detection direction can be switched or the detection target can be changed during the work process, so as to better complete the detection task. The pan-tilt 2 is installed at the front end of the dragonfly torso 3. Specifically, a threaded hole is opened at the bottom of the pan-tilt 2, and a corresponding threaded hole is provided on the head platform at the front end of the dragonfly torso 3. The pan-tilt 2 is fixedly connected to the front end of the dragonfly torso 3 through a stud, or the pan-tilt 2 can also be installed at the front end of the dragonfly torso 3 by means of clamping, bolt connection, etc. Further, other small detection equipment can be freely mounted on the threaded hole at the front end of the dragonfly torso 3, and the threaded hole can also be replaced by mounting holes of other shapes, such as polygonal holes, or mounting holes formed by combining light holes and threaded holes.

[0045] In this embodiment, the camera 1 is preferably a temperature measurement camera, which can capture information such as images and temperatures required during the working process of the bionic dragonfly robot, and can assist the bionic dragonfly robot to avoid risks, collect information, extend the battery life, and be more suitable for tasks such as reconnaissance of high-risk areas.

[0046] In this embodiment, a dragonfly tail 7 is further provided at the tail end of the dragonfly torso 3, as Figure 8 and Figure 9As shown in the figure, a tail patch 8 is attached to the tail 7 of the dragonfly. The tail patch 8 is a piezoelectric fiber sheet, and the tail patch 8 is electrically connected to the driver 301. By driving the tail patch 8 to vibrate through the driver 301, the tail 7 of the dragonfly is driven to vibrate, enabling the bionic dragonfly robot to maintain balance in the normal flight working state. Moreover, by driving the movement of the tail 7 of the dragonfly through the tail patch 8, the bionic dragonfly robot can be made lighter in weight, and the function of maintaining the overall balance of the tail 7 of the dragonfly is more obvious and powerful.

[0047] In this embodiment, both the wing patch 6 and the tail patch 8 are preferably MFC piezoelectric fiber sheets, which are made of a new type of piezoelectric fiber composite material MFC (Macro Fiber Composite), enabling them to have a higher wing flapping frequency, lighter weight, higher space utilization rate, better fit with real dragonflies, and better meet the requirements of different working environments. Specifically, MFC is an advanced functional composite material that can be used as an actuator and a sensor. The piezoelectric effect it possesses can achieve driving and sensing functions. Its vibration frequency response is high and can well match the high frequency of dragonfly wing flapping. Its weight is light, which can save unnecessary structures and achieve miniaturization. The working modes such as elongation, bending, and torsion possessed by the MFC piezoelectric fiber sheet can meet the requirements of different working states of the bionic dragonfly robot, and can change the flight direction, flight speed, etc. during the working process. MFC has the characteristics of strong performance, good flexibility, and high reliability, and can be customized and improved to meet the requirements of different usage situations.

[0048] This embodiment combines the working modes such as elongation, bending, and torsion possessed by the MFC piezoelectric fiber sheet, enabling the bionic dragonfly robot to work normally in the flight state, and can adjust the flight inclination angle and the amplitude of wing flapping, enabling the bionic dragonfly robot to achieve four motion modes: hovering, moving forward and backward, moving up and down, and moving left and right, and can adjust the swing amplitude of the dragonfly wings 5 during the working process, thereby controlling the flight speed.

[0049] In this embodiment, the piezoelectric fiber sheet adopts the inverse piezoelectric effect, and its equation is:

[0050] Among them, is the inverse piezoelectric effect force; represents the elastic stiffness when the electric field is constant; is the piezoelectric stress constant; is the strain displacement; E is the electric field strength.

[0051] In this embodiment, wing patches 6 are attached to both the upper and lower sides of the dragonfly wings 5, and tail patches 8 are attached to both the upper and lower sides of the dragonfly tail 7, forming a double-layer motion structure; the working frequency and working mode of the MFC piezoelectric fiber sheet can be arbitrarily adjusted to achieve various flight postures.

[0052] In this embodiment, as Figure 10As shown, the dragonfly wing 5 is rotatably connected to the dragonfly body 3 through a ball joint; specifically, ball joint seats 4 are threadedly installed on both sides of the dragonfly body 3 through threaded holes. One end of the dragonfly wing 5 close to the dragonfly body 3 is provided with a ball head, and the ball head is installed in the corresponding ball joint seat 4 to realize the connection between the dragonfly wing 5 and the dragonfly body 3. When the piezoelectric fiber sheet drives the dragonfly wing 5 to perform variable-frequency vibration or torsional movement, the dragonfly wing 5 can rotate with multiple degrees of freedom around the ball joint. In compound movements such as forward torsion while vibrating at high frequency, the ball joint can also play a role in well superimposing the two movements.

[0053] In this embodiment, as Figure 4 and Figure 5 shown, the dragonfly body 3 is a hollow shell structure, and the outer shell can be made of lightweight metals (such as aluminum alloy, titanium alloy, etc.) or other materials (such as carbon fiber, etc.); a receiving cavity is also provided inside the dragonfly body 3, and the driver 301, the controller of the bionic dragonfly robot, and the power supply 303 are all installed in the receiving cavity; among them, the controller is installed in the control room 302 provided in the receiving cavity, and the power supply 303 is a battery. The driver 301 and the camera 1 are both electrically connected to the controller and the power supply 303.

[0054] In this embodiment, the dragonfly body 3 is a rigid structure and plays a role in transitional connection; the front end of the dragonfly body 3 is tightly connected to the pan-tilt 2 through threads, and both sides are fixedly connected to the ball joint through evenly distributed threaded holes, and then connected to the dragonfly wing 5 through the ball joint structure, so as to realize the rotational movement of the dragonfly wing 5 with multiple degrees of freedom. In this embodiment, the driver 301 that can be accommodated in the dragonfly body 3 provides power for the normal operation of the bionic dragonfly robot, and the power supply 303 that can be accommodated provides electrical energy for the camera 1 on the dragonfly head, etc.; during the working process, the power output by the driver 301 is transmitted to the dragonfly wing 5 connected thereto by the wing patch 6, realizing different working states of the bionic dragonfly robot.

[0055] In this embodiment, as Figure 6 and Figure 7 shown, the dragonfly wing 5 mainly includes a wing keel and a wing frame. The wing keel is arranged perpendicular to the extending direction of the dragonfly body 3 and is located in the middle of the wing frame. A plurality of wing veins are obliquely arranged on both sides of the wing keel, forming a tree-like structure. One end of the wing vein far from the wing keel is connected to the wing frame. Among them, the wing keel and the wing frame can be made of lightweight metals (such as aluminum alloy, titanium alloy, etc.) or other materials (such as carbon fiber, etc.). And adopting the above-mentioned hollow structure can achieve lightweight and weight reduction, and the modal frequency of the wing keel is relatively high, which can maintain stiffness and is convenient for attaching the MFC piezoelectric fiber sheet.

[0056] In this embodiment, the structure of the dragonfly tail 7 is similar to that of the dragonfly wing 5, mainly including a tail keel and a tail frame. The tail keel is arranged along the extension direction of the dragonfly trunk 3 and is located in the middle of the tail frame. A plurality of tail veins are vertically arranged on both sides of the tail keel to form a grid structure, and one end of the tail vein away from the tail keel is connected to the tail frame.

[0057] In this embodiment, at least two groups of dragonfly wing groups are evenly distributed on the dragonfly trunk 3 from front to back, and preferably two groups are provided; among them, as Figures 1-2 shown, the first group of dragonfly wing groups includes a symmetrically arranged first dragonfly wing 501 and a third dragonfly wing 503, and the second group of dragonfly wing groups includes a symmetrically arranged second dragonfly wing 502 and a fourth dragonfly wing 504. A first wing patch 601, a second wing patch 602, a third wing patch 603, and a fourth wing patch 604 are respectively attached to the first dragonfly wing 501, the second dragonfly wing 502, the third dragonfly wing 503, and the fourth dragonfly wing 504.

[0058] The working principle of the dragonfly wing 5 in this embodiment is as follows:

[0059] As Figures 11-12 shown, the dragonfly wing 5 in this embodiment is controlled by an MFC piezoelectric fiber sheet, and can realize the up and down vibration and torsional movement of the dragonfly wing 5. Instructions are sent from the controller in the dragonfly trunk 3 to control the driver 301 to drive the MFC piezoelectric fiber sheet to vibrate. At this time, the MFC piezoelectric fiber sheet attached to the dragonfly wing 5 can drive the dragonfly wing 5 to vibrate up and down, and control the up and down, yaw and other actions of the dragonfly robot.

[0060] The working principle of the dragonfly tail 7 in this embodiment is as follows:

[0061] As Figures 13-14 shown, the dragonfly tail 7 in this embodiment is controlled by an MFC piezoelectric fiber sheet, and can realize the up and down swing and torsional movement of the dragonfly tail 7, and is convenient for balance actions during flight; instructions are sent from the controller in the dragonfly trunk 3 to control the driver to drive the MFC piezoelectric fiber sheet to swing up and down. At this time, the MFC piezoelectric fiber sheet attached to the dragonfly tail 7 can drive the dragonfly tail 7 to swing up and down to maintain the balance of the dragonfly robot during flight.

[0062] In this embodiment, the bionic dragonfly robot can change the vibration frequency and vibration direction of the dragonfly wing 5 by controlling the given voltage of the MFC piezoelectric fiber sheet during flight, thereby changing the actions of the bionic dragonfly robot and controlling the flight attitude of the fuselage for up and down, yaw and other controls; the specific implementation process is as follows:

[0063] Up and down movement: As Figure 15As shown, the MFC piezoelectric fiber sheets on the dragonfly wing 5 drive the first dragonfly wing 501, the second dragonfly wing 502, the third dragonfly wing 503, and the fourth dragonfly wing 504 to twist forward clockwise, and increase their vibration frequency, so that the bionic dragonfly robot obtains lift force obliquely upward; conversely, as Figure 16 shown, the MFC piezoelectric fiber sheets on the dragonfly wing 5 drive the first dragonfly wing 501, the second dragonfly wing 502, the third dragonfly wing 503, and the fourth dragonfly wing 504 to twist forward clockwise at a larger angle, so that the dragonfly wing 5 flaps downward during vibration, and increases its vibration frequency, and the bionic dragonfly robot flies obliquely downward.

[0064] Left and right movement: As Figure 17 shown, the MFC piezoelectric fiber sheets are controlled to drive the third dragonfly wing 503 and the fourth dragonfly wing 504 on the left side of the dragonfly torso 3 to twist forward clockwise, and reduce their vibration frequency. At the same time, the first dragonfly wing 501 and the second dragonfly wing 502 are driven to twist forward clockwise, increasing their vibration frequency, so that the bionic dragonfly robot obtains a torsional moment to the left; conversely, as Figure 18 shown, the MFC piezoelectric fiber sheets are controlled to drive the first dragonfly wing 501 and the second dragonfly wing 502 on the right side of the dragonfly torso 3 to twist forward clockwise, and reduce their vibration frequency. At the same time, the third dragonfly wing 503 and the fourth dragonfly wing 504 are driven to twist forward clockwise, increasing their vibration frequency, so that the bionic dragonfly robot obtains a torsional moment to the right, thereby realizing the left and right yaw movement of the bionic dragonfly robot.

[0065] It should be noted that for those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention, and any reference signs in the claims should not be regarded as limiting the claims involved.

[0066] Specific examples are used in the present invention to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A bionic dragonfly robot, comprising a dragonfly torso and a dragonfly wing group. The dragonfly wing group includes two dragonfly wings, and the two dragonfly wings are symmetrically arranged on both sides of the dragonfly torso; characterized in that: Wing patches are attached to both the upper and lower sides of the dragonfly wing. The wing patches are also electrically connected to a driver, which can drive the wing patches to work, so as to drive the dragonfly wing to move. Among them, the wing patches are MFC piezoelectric fiber sheets, and the dragonfly wing is rotatably connected to the dragonfly body through a ball joint. The MFC piezoelectric fiber sheet has elongation, bending, and torsion working modes, and can drive the dragonfly wing to perform multi-degree-of-freedom rotation around the corresponding ball joint. A dragonfly tail is also provided at the tail end of the dragonfly body. Tail patches are attached to both the upper and lower sides of the dragonfly tail. The tail patches are MFC piezoelectric fiber sheets, and the tail patches are electrically connected to the driver.

2. The bionic dragonfly robot according to claim 1, characterized in that: A head platform is also provided at the front end of the dragonfly body, and the head platform is used to install detection equipment.

3. The bionic dragonfly robot according to claim 2, characterized in that: The detection equipment includes an imaging device, and the imaging device is a camera. The camera forms the dragonfly head of the bionic dragonfly robot. Among them, the camera is installed on a pan-tilt, and the pan-tilt is installed on the head platform.

4. The bionic dragonfly robot according to claim 1, characterized in that: The dragonfly tail includes a tail keel and a tail frame. The tail keel is arranged along the extension direction of the dragonfly body and is located in the middle of the tail frame. A plurality of tail veins are arranged on both sides of the tail keel, and the ends of the tail veins away from the tail keel are connected to the tail frame.

5. The bionic dragonfly robot according to claim 1, characterized in that: At least two groups of dragonfly wing groups are arranged on the dragonfly body from front to back.

6. The bionic dragonfly robot according to claim 1 or 5, characterized in that: The dragonfly wing includes a wing keel and a wing frame. The wing keel is arranged perpendicular to the extension direction of the dragonfly body and is located in the middle of the wing frame. A plurality of wing veins are arranged on both sides of the wing keel, and the ends of the wing veins away from the wing keel are connected to the wing frame.

7. The bionic dragonfly robot according to claim 1, characterized in that: An accommodation cavity is also provided inside the dragonfly body, and the driver, the controller of the bionic dragonfly robot, and the power supply are all installed in the accommodation cavity.

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