Multi-degree-of-freedom imitated dragonfly flapping-wing flying robot and brain-like control method

Abstract

The invention discloses a multi-degree-of-freedom simulated dragonfly flapping-wing flying robot and a brain-like control method, the multi-degree-of-freedom simulated dragonfly flapping-wing flying robot comprises a skeleton device, a flying device, a detection device, a tail device, a console and a leg device, the skeleton device is fixedly connected with the flying device, the detection device, the tail device, the console and the leg device, and the flying device is used for flying control of the robot. The detection device is used for detecting environment information, the tail device is used for stabilizing flight, and the console controls the skeleton device, the flight device, the detection device and the tail device to work. The dragonfly-imitating flapping wing structure design is adopted, the design scheme that four wings are independently driven is used, higher flexibility and maneuverability are provided, and the unmanned aerial vehicle can execute complex flight actions such as hovering, rapid turning and precise landing. Due to the flexibility, the robot is excellent in performance in a narrow or complex environment and can adapt to different task requirements, such as environment monitoring, indoor navigation, search and rescue and the like.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of bionic flapping-wing flying robots, and in particular to a multi-degree-of-freedom dragonfly-like flapping-wing flying robot and a brain-like control method. Background Art

[0002] The insect-like flapping-wing flying robot is an innovative research that combines bio-inspired design with advanced engineering technology, aiming to simulate the flight characteristics of insects. The flight system of insects has extremely high flexibility and adaptability, and can quickly change the flight direction in complex environments and achieve precise control. Compared with traditional fixed-wing and rotary-wing drones, this flying method has superior maneuverability and stability, and is particularly suitable for performing tasks in environments with dense obstacles such as cities and forests. By analyzing the movement patterns, aerodynamics and biological structures of insect wings, researchers have gradually developed aircraft with bionic characteristics. These robots are not only able to hover, turn quickly and fly complex paths, but also have strong wind resistance and energy utilization efficiency. Insect-like flapping-wing flying robots are gradually becoming a new direction in drone technology, heralding a wide range of application prospects in fields such as environmental monitoring, rescue operations and agricultural management.

[0003] However, existing insect-like flapping-wing flying robots often lack maneuverability in complex environments, cannot freely adjust the angles of their wings, tail and body, and cannot accurately perform complex flying maneuvers such as hovering, rapid turns and precise landings. Summary of the invention

[0004] In view of this, the technical problem to be solved by the present invention is to provide a multi-degree-of-freedom dragonfly-like flapping flying robot and a brain-like control method in view of the defects involved in the background technology.

[0005] The present invention adopts the following technical solutions to solve the above technical problems:

[0006] On the one hand, the present invention provides a multi-degree-of-freedom dragonfly-like flapping-wing flying robot, including a skeleton device, a flying device, a detection device, a tail device, a console, and a leg device.

[0007] The skeletal device includes upper body bones and lower body bones; the flying device includes four groups of flying mechanisms respectively fixed to the left front end, left rear end, right front end and right rear end of the inner cavity of the lower body bones; the detection device includes a head skeleton and an eye-like camera; the tail device includes a first tail motor, a second tail motor, a first tail connecting rod, a tail rod, and a motor fixing plate; the control console is provided with an attitude sensor, a satellite navigation sensor, a brain-like chip, and a battery; the leg device includes a left flexible leg, a right flexible leg and its driving device.

[0008] On the other hand, the present invention also includes a brain-like control method for a multi-degree-of-freedom dragonfly-like flapping-wing flying robot, including a dragonfly-like motion model based on a brain-like neural network and flight control of forward, backward, left turn, right turn, left turn on the spot, right turn on the spot, ascent, and descent motions.

[0009] The dragonfly-like motion model based on the brain-like neural network is obtained based on the pulse neural network training, which includes the following steps:

[0010] Step 1: collect the angle and flapping speed of the wings, the angle of the tail, and the inclination angle of the body when the dragonfly moves forward, backward, turns left, turns right, turns left on the spot, turns right on the spot, rises, and falls;

[0011] Step 2: construct wing angle sequence data sets, tail angle sequence data sets, and body inclination angle sequence data sets respectively, and input them into the pulse neural network to obtain wing angle sequence models, tail angle sequence models, and body inclination angle sequence models under different actions;

[0012] Step three: deploy the three models to the brain-like chip of the console, and output the wing angle sequence, tail angle sequence, and body tilt angle sequence based on different action commands.

[0013] Furthermore, the brain-like control method of the multi-degree-of-freedom dragonfly-like flapping-wing flying robot of the present invention includes the following flight control methods for forward, backward, left turn, right turn, left turn on the spot, right turn on the spot, ascent, and descent actions:

[0014] The forward, backward, left turn, right turn, left turn in place, right turn in place, ascending, and descending actions are that the console 5 inputs the command into the brain-like chip to obtain the wing angle sequence, tail angle sequence, and body inclination angle sequence, which are converted into motor angle data. The console 5 controls the left front end, left rear end, right front end, and right rear end of the multi-degree-of-freedom dragonfly-like flapping-wing flying robot to rotate the second flight motor, the second flight motor drives the first flight connecting rod to rotate, the first flight connecting rod drives the second flight connecting rod to rotate, the second flight connecting rod drives the third flight connecting rod to rotate, the third connecting rod drives the fourth flight connecting rod to rotate through the flight synchronous belt, and the fourth flight connecting rod drives the wings to flap. The console controls the third flight motor and the fourth flight motor to control the wings to rotate to the specified angle. The console 5 controls the first tail motor and the second tail motor to control the tail rod to rotate to the specified angle.

[0015] The console 5 controls the rotation of the first momentum wheel motor, the second momentum wheel motor, the third momentum wheel motor of the stabilization box and the first flight motor of the left front end, the left rear end, the right front end and the right rear end of the multi-degree-of-freedom dragonfly-like flapping-wing flying robot based on the posture sensor and the body inclination sequence, thereby controlling the rotation of the first momentum wheel, the second momentum wheel, the third momentum wheel and the steering momentum wheel, and according to the conservation of angular momentum, ensuring that the body reaches the desired position faster.

[0016] The multi-degree-of-freedom dragonfly-like flapping-wing flying robot provided by the present invention has the following beneficial effects:

[0017] 1. The dragonfly-like flapping-wing flying robot structure can improve energy efficiency, extend flight time, and reduce the noise and impact of the aircraft, meeting diverse practical needs.

[0018] 2. The combination of brain-like control methods and bionic flapping-wing flying robots enables the robots to more naturally simulate the flight behavior of dragonflies and demonstrate higher flexibility and maneuverability.

[0019] The invention solves the problem of insufficient maneuverability of traditional aircraft in complex environments. Through the dragonfly-like flapping wing structure and four independently driven wings, the robot has excellent flexibility and can perform complex flight maneuvers such as hovering, rapid turns and precise landings. This flexibility enables it to efficiently adapt to different mission requirements in narrow spaces, such as environmental monitoring, indoor navigation and search and rescue, improves execution efficiency and operational reliability, and greatly expands the application field of drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 It is a schematic structural diagram of a multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to the present invention;

[0022] Figure 2 It is a schematic structural diagram of a skeleton device of a multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to the present invention;

[0023] Figure 3 It is a schematic diagram of the structure of the flight device of a multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to the present invention;

[0024] Figure 4 The present invention is a schematic diagram of the structure of the flight mechanism and wing connection of a multi-degree-of-freedom dragonfly-like flapping-wing flying robot.

[0025] Description of reference numerals:

[0026] 1-skeletal device, 2-flight device, 3-detection device, 4-tail device, 5-console, 6-leg device, 100-upper body skeleton, 101-lower body skeleton, 102-stabilizing box, 103-first momentum wheel, 104-second momentum wheel, 105-third momentum wheel, 106-fixed beam, 201 first disc, 202-first flight motor, 203-steering momentum wheel, 204-second disc, 205-second flight motor, 206-first flight connecting rod, 207-first Second flight connecting rod, 208-third flight connecting rod, 209-flight synchronous belt, 210-fourth flight connecting rod, 211-third flight motor, 212-fifth flight connecting rod, 213-fourth flight motor, 214-sixth flight connecting rod, 215-wings, 301-head skeleton, 302-eye-like camera, 401-first tail motor, 402-second tail motor, 403-first tail connecting rod, 404-tail rod, 601-first linear drive motor, 602-second linear drive motor. DETAILED DESCRIPTION

[0027] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings:

[0028] The present invention may be implemented in many different forms and should not be considered limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0029] In the following description, terms such as "inside", "outside", "up", "down", "left", "right", etc. that indicate directions or positional relationships are only used to facilitate the description of the embodiments and simplify the description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operate in a specific direction. Therefore, it should not be understood as a limitation of the present invention.

[0030] Embodiment 1:

[0031] like Figure 1-2 As shown, the present invention discloses a multi-degree-of-freedom dragonfly-like flapping-wing flying robot, comprising a skeleton device 1, a flying device 2, a detection device 3, a tail device 4, a console 5, and a leg device 6.

[0032] The above-mentioned flying device 2 , detection device 3 , tail device 4 , control console 5 , and leg device 6 are all fixed on the skeleton device 1 , and the control console 5 is used to control the skeleton device 1 , flying device 2 , detection device 3 , tail device 4 , and leg device 6 .

[0033] The skeleton device 1 includes an upper body skeleton 100 and a lower body skeleton 101. The lower body skeleton is also provided with a stabilizing box 102, a first momentum wheel 103, a second momentum wheel 104, a third momentum wheel 105, and a fixing beam 106. The upper body skeleton 100 is fixed to the lower body skeleton 101, and the upper body skeleton 100 or the lower body skeleton 101 is provided with a through hole for the smooth operation of the flying device 2, and the upper body skeleton 100 or the lower body skeleton 101 is provided with a through hole for the smooth operation of the tail device 4.

[0034] The interior of the lower body skeleton 101 is a hollow structure, the stabilizing box 102 is fixed inside the lower body skeleton 101, and the first momentum wheel 103, the second momentum wheel 104, and the third momentum wheel 105 are rotatably connected to the stabilizing box 102. The fixed beam 106 is fixed to the inner cavity of the lower body skeleton 101, and bosses for connecting rods to be rotatably connected are provided at both ends of the fixed beam 106. The upper body skeleton 100 is provided with a groove for connecting the flying device 2 to be rotatably connected. The lower body skeleton 101 is provided with a boss for fixing the detection device 3. The lower body skeleton 101 is provided with a through hole for setting a driving line for driving the leg device 6.

[0035] The detection device 3 includes a head skeleton 301 and an eye-like camera 302. The head skeleton 301 is fixedly connected to the lower body skeleton 101, the head skeleton 301 is a hollow structure, and the eye-like camera 302 is fixed to the head skeleton 301.

[0036] The tail device 4 includes a first tail motor 401, a second tail motor 402, a first tail connecting rod 402, a tail rod 404, and a motor fixing plate. The first tail motor 401 is fixed to the end of the lower body skeleton 101, the first tail motor 401 is rotatably connected to the motor fixing plate, and the motor fixing plate is fixedly connected to the second tail motor 402. The first tail connecting rod 402 is provided with a boss and is rotatably connected to the second tail motor 402, and the first tail connecting rod 402 is fixedly connected to the tail rod 404.

[0037] The leg device 6 includes a left flexible leg, a right flexible leg, a first drive line, a second drive line, a first line drive motor 601, and a second line drive motor 602. The left flexible leg and the right flexible leg are respectively located at the left and right ends of the lower body skeleton 101, and are fixedly connected to the bottom end of the lower body skeleton 101. The left flexible leg and the right flexible leg are provided with through holes for respectively being fixedly connected to one end of the first drive line and the second drive line, and the first line drive motor 601 and the second line drive motor 602 are fixed to the lower body skeleton 101. The rotating shafts of the first line drive motor 601 and the second line drive motor 602 are provided with a turntable for respectively fixing the first drive line and the second drive line, and the extension and retraction of the left flexible leg and the right flexible leg are achieved by rotating the rotating shafts of the first line drive motor 601 and the second line drive motor 602.

[0038] Furthermore, the multi-degree-of-freedom dragonfly-like flapping-wing flying robot of the present invention also includes a stabilizing box 102 , which includes a first momentum wheel motor and a first momentum wheel 103 , a second momentum wheel motor and a second momentum wheel 104 , and a third momentum wheel motor and a third momentum wheel 105 .

[0039] The stabilizing box 102 is a hollow structure, and the first momentum wheel motor is fixed inside the stabilizing box 102 and is rotatably connected to the first momentum wheel 103. The second momentum wheel motor is fixed inside the stabilizing box 102 and is rotatably connected to the second momentum wheel 104. The third momentum wheel motor is fixed inside the stabilizing box 102 and is rotatably connected to the third momentum wheel 105.

[0040] Furthermore, the control console 5 of the multi-degree-of-freedom dragonfly-like flapping-wing flying robot of the present invention is provided with a posture sensor, a satellite navigation sensor, a brain-like chip, and a battery.

[0041] The eye-like camera 302 is provided with 5 cameras for detecting and imaging the surrounding environment information, which are respectively arranged at the upper end, left end, right end, lower end and middle end of the eye-like camera 302.

[0042] The tail rod 404 of the multi-degree-of-freedom dragonfly-like flapping-wing flying robot of the present invention is a long strip structure and is flexible.

[0043] Embodiment 2:

[0044] like Figure 3-4 As shown, the flying device 2 includes four sets of flying structures respectively fixed to the left front end, left rear end, right front end and right rear end of the inner cavity of the lower body skeleton 101.

[0045] Each flight structure includes a first disc 201, a first flight motor 202, a steering momentum wheel 203, a second disc 204, a second flight motor 205, a first flight link 206, a second flight link 207, a third flight link 208, a flight timing belt 209, a fourth flight link 210, a third flight motor 211, a fifth flight link 212, a fourth flight motor 213, a sixth flight link 214, and wings 215.

[0046] The first disc 201 is fixed to the inner cavity of the lower body skeleton 101, the first flight motor 202 is fixed to the first disc 201, the first flight motor 202 is rotationally connected to the steering momentum wheel 203, the second disc 204 is fixedly connected to the steering momentum wheel 203, the second flight motor 205 is fixed to the second disc 204, the second flight motor 205 is rotationally connected to one end of the first flight link 206, one end of the first flight link 206 is rotationally connected to one end of the second flight link 207, one end of the second flight link 207 is rotationally connected to one end of the third flight link 208, and one end of the third flight link 208 is provided with a synchronous gear and is rotationally connected to the boss of the fixed beam 106.

[0047] A synchronous gear is provided at one end of the fourth flight link 210 and synchronously connected with the third flight link 208 through the flight synchronous belt 209. The fourth flight link 210 is provided with a boss and is rotatably connected with the groove of the upper body skeleton 100. The third flight motor 211 is fixed to the fourth flight link 210, the third flight motor 211 is rotatably connected with the fifth flight link 212, the fifth flight link 212 is provided with a groove and is fixedly connected with the fourth flight motor 213, the fourth flight motor 213 is rotatably connected with the sixth flight link 214, and the sixth flight link 214 is fixedly connected with the wing 215.

[0048] Furthermore, the multi-degree-of-freedom dragonfly-like flapping-wing flying robot of the present invention has wings 215 that are thin-film-covered flexible structures. The shape of the wings 215 is a broken line type. The wings 215 are provided with textures for stable flight. The outermost end is provided with wing moles that have no texture and are thick film-like structures.

[0049] Embodiment three:

[0050] The brain-like control method of the multi-degree-of-freedom dragonfly-like flapping-wing flying robot of the present invention includes a dragonfly-like motion model based on a brain-like neural network and flight control of forward, backward, left turn, right turn, left turn on the spot, right turn on the spot, ascent, and descent motions.

[0051] The dragonfly-like motion model based on the brain-like neural network is obtained based on the pulse neural network training, which includes the following steps:

[0052] Step 1: collect the angle and flapping speed of the wings, the angle of the tail, and the inclination angle of the body when the dragonfly moves forward, backward, turns left, turns right, turns left on the spot, turns right on the spot, rises, and falls;

[0053] Step 2: construct wing angle sequence data sets, tail angle sequence data sets, and body inclination angle sequence data sets respectively, and input them into the pulse neural network to obtain wing angle sequence models, tail angle sequence models, and body inclination angle sequence models under different actions;

[0054] Step three, deploy the three models to the brain-like chip of console 5, and output the wing angle sequence, tail angle sequence, and body tilt angle sequence based on different action commands.

[0055] Furthermore, the brain-like control method of the multi-degree-of-freedom dragonfly-like flapping-wing flying robot of the present invention includes the following flight control methods for forward, backward, left turn, right turn, left turn on the spot, right turn on the spot, ascent, and descent actions:

[0056] The forward, backward, left turn, right turn, left turn in place, right turn in place, ascending, and descending actions are that the console 5 inputs the command into the brain-like chip to obtain the wing angle sequence, tail angle sequence, and body tilt angle sequence, which are converted into motor angle data, and the console 5 controls the left front end, left rear end, right front end, and right rear end of the multi-degree-of-freedom dragonfly-like flapping-wing flying robot to rotate the second flight motor 205, the second flight motor 205 drives the first flight link 206 to rotate, the first flight link 206 drives the second flight link 207 to rotate, the second flight link 207 drives the third flight link 208 to rotate, the third link drives the fourth flight link 210 to rotate through the flight synchronous belt 209, the fourth flight link 210 drives the wings 215 to flap, and the console 5 controls the third flight motor 211 and the fourth flight motor 213 to control the wings to rotate to the specified angle. The console 5 controls the first tail motor 401 and the second tail motor 402 to control the tail rod 404 to rotate to the specified angle.

[0057] The console 5 controls the rotation of the first momentum wheel motor, the second momentum wheel motor, the third momentum wheel motor of the stabilization box 102 and the first flight motor 202 of the left front end, the left rear end, the right front end and the right rear end of the multi-degree-of-freedom dragonfly-like flapping-wing flying robot based on the posture sensor and the body inclination sequence, thereby controlling the rotation of the first momentum wheel 103, the second momentum wheel 104, the third momentum wheel 105 and the steering momentum wheel 203, and according to the conservation of angular momentum, ensuring that the body reaches the desired position faster.

[0058] When the robot moves forward, backward, ascending, or descending, the first momentum wheel 103, the second momentum wheel 104, and the third momentum wheel 105 rotate and the steering momentum wheel 203 rotates stably to keep the robot balanced. When the robot turns left or right, the steering momentum wheel 203 and the second momentum wheel 104 accelerate to the left or right, and the first momentum wheel 103 and the third momentum wheel 105 keep the robot balanced. When the robot turns left or right in place, the steering momentum wheel 203 accelerates to the left or right, and the first momentum wheel 103, the second momentum wheel 104, and the third momentum wheel 105 keep the robot balanced.

[0059] When controlling the dragonfly-like flapping-wing flying robot to move forward, backward, turn left, turn right, turn left on the spot, and turn right on the spot, in addition to the above control method, in order to improve the maneuverability of the dragonfly flapping-wing flying robot, the following steps may also be included:

[0060] Step 1: Add a counterweight to the leg device 6 of the dragonfly-like flapping-wing flying robot, where the weight of a single counterweight is between 10g and 100g;

[0061] Step 2, controlling the leg device 6 to move according to the action command sent by the console;

[0062] A specific example is as follows: when performing a left turn, the second line drive motor 602 is controlled to rotate, driving the second drive line to retract, and then driving the right flexible leg to contract. At this time, the center of gravity of the dragonfly flapping flying robot moves to the left, thereby accelerating the execution of the left turn.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom dragonfly-like flapping-wing flying robot, characterized in that: The invention comprises a skeleton device (1), a flight device (2), a detection device (3), a tail device (4), a control console (5), and a leg device (6), wherein: the skeleton device (1) comprises an upper body skeleton (100) and a lower body skeleton (101); the flight device (2) comprises four sets of flight mechanisms respectively fixed to the left front end, left rear end, right front end, and right rear end of the inner cavity of the lower body skeleton (101); Each group of the flight mechanism comprises a first disc (201), a first flight motor (202), a steering momentum wheel (203), a second disc (204), a second flight motor (205), a first flight connecting rod (206), a second flight connecting rod (207), a third flight connecting rod (208), a flight synchronous belt (209), a fourth flight connecting rod (210), a third flight motor (211), a fifth flight connecting rod (212), a fourth flight motor (213), a sixth flight connecting rod (214), and wings (215); The inner cavity of the lower body skeleton (101) is provided with a stabilizing box (102) and a fixed beam (106); the stabilizing box (102) comprises a first momentum wheel motor and a first momentum wheel (103), a second momentum wheel motor and a second momentum wheel (104), and a third momentum wheel motor and a third momentum wheel (105); the fixed beam (106) is fixed to the inner cavity of the lower body skeleton (101), and bosses for connecting rods to be rotatably connected are provided at both ends of the fixed beam (106).

2. A multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to claim 1, characterized in that: The first disc (201) is fixed to the inner cavity of the lower body skeleton (101), the first flight motor (202) is fixed to the first disc (201), the first flight motor (202) is rotationally connected to the steering momentum wheel (203), the second disc (204) is fixedly connected to the steering momentum wheel (203), the second flight motor (205) is fixed to the second disc (204), the second flight motor (205) is rotationally connected to one end of the first flight link (206), the other end of the first flight link (206) is rotationally connected to one end of the second flight link (207), the other end of the second flight link (207) is rotationally connected to one end of the third flight link (208), and the other end of the third flight link (208) is provided with The fourth flight link (210) has a synchronous gear and is rotatably connected to the boss of the fixed beam (106); one end of the fourth flight link (210) is provided with a synchronous gear and is synchronously connected to the third flight link (208) through the flight synchronous belt (209); the fourth flight link (210) is provided with a boss and is rotatably connected to the groove of the upper body skeleton (100); the third flight motor (211) is fixed to the fourth flight link (210), the third flight motor (211) is rotatably connected to the fifth flight link (212), the fifth flight link (212) is provided with a groove and is fixedly connected to the fourth flight motor (213), the fourth flight motor (213) is rotatably connected to the sixth flight link (214), and the sixth flight link (214) is fixedly connected to the wing (215).

3. The multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to claim 1, characterized in that: The stabilizing box (102) is a hollow structure; the first momentum wheel motor is fixed inside the stabilizing box (102) and is rotationally connected to the first momentum wheel (103); the second momentum wheel motor is fixed inside the stabilizing box (102) and is rotationally connected to the second momentum wheel (104); and the third momentum wheel motor is fixed inside the stabilizing box (102) and is rotationally connected to the third momentum wheel (105).

4. The multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to claim 1, characterized in that: The console (5) is provided with a posture sensor, a satellite navigation sensor, a brain-like chip, and a battery.

5. The multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to claim 1, characterized in that: The detection device (3) comprises a head skeleton (301) and an eye-like camera (302); the head skeleton (301) is fixedly connected to the lower body skeleton (101), the interior of the head skeleton (301) is a hollow structure, and the eye-like camera (302) is fixed to the head skeleton (301).

6. The multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to claim 1, characterized in that: The tail device (4) comprises a first tail motor (401), a second tail motor (402), a first tail connecting rod (403), a tail rod (404), and a motor fixing plate; the first tail motor (401) is fixed to the end of the lower body skeleton (101), the first tail motor (401) is rotationally connected to the motor fixing plate, and the motor fixing plate is fixedly connected to the second tail motor (402); the first tail connecting rod (403) is provided with a boss and is rotationally connected to the second tail motor (402), and the first tail connecting rod (403) is fixedly connected to the tail rod (404).

7. The multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to claim 1, characterized in that: The leg device (6) comprises a left flexible leg, a right flexible leg, a first driving line, a second driving line, a first line driving motor (601), and a second line driving motor (602); the left flexible leg and the right flexible leg are provided with through holes for fixedly connecting with one end of the first driving line and the second driving line respectively, and the first line driving motor (601) and the second line driving motor (602) are fixed to the lower body skeleton (101); the rotating shafts of the first line driving motor (601) and the second line driving motor (602) are provided with a turntable for fixing the first driving line and the second driving line, and the extension and retraction of the left flexible leg and the right flexible leg are achieved by rotating the rotating shafts of the first line driving motor (601) and the second line driving motor (602).

8. A brain-like control method for a multi-degree-of-freedom dragonfly-like flapping-wing flying robot, the method being applied to the multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to any one of claims 1 to 7, characterized in that: It includes a dragonfly-like motion model based on a brain-like neural network and flight control for forward, backward, left turn, right turn, left turn on the spot, right turn on the spot, ascent and descent.

9. The brain-like control method for a multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to claim 8, characterized in that: The dragonfly-like motion model based on brain-like neural network is obtained based on pulse neural network training, which includes the following steps: Step 1, collecting the angle and flapping speed of the wings (215), the angle of the tail, and the inclination angle of the body when the dragonfly moves forward, backward, turns left, turns right, turns left on the spot, turns right on the spot, rises, and falls; Step 2, respectively constructing a wing (215) angle sequence data set, a tail angle sequence data set, and a body inclination angle sequence data set, and inputting them into a pulse neural network to obtain a wing (215) angle sequence model, a tail angle sequence model, and a body inclination angle sequence model under different actions; Step three, deploy the three models to the brain-like chip of the console (5), and output the wing (215) angle sequence, tail angle sequence, and body tilt angle sequence based on different action commands.

10. The brain-like control method for a multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to claim 8, characterized in that: The flight control method for the forward, backward, left turn, right turn, left turn on the spot, right turn on the spot, ascending and descending actions is: Step 1, the control console (5) inputs commands into the brain-like chip to obtain a wing (215) angle sequence, a tail angle sequence, and a body tilt angle sequence and converts them into motor angle data; Step 2: The control console (5) controls the second flight motors (205) at the left front end, the left rear end, the right front end and the right rear end of the multi-degree-of-freedom dragonfly-like flapping-wing flying robot to rotate; the second flight motor (205) drives the first flight link (206) to rotate; the first flight link (206) drives the second flight link (207) to rotate; the second flight link (207) drives the third flight link (208) to rotate; the third flight link (208) drives the fourth flight link (210) to rotate through the flight synchronous belt (209); and the fourth flight link (210) drives the wings (215) to flap; Step 3: the control console (5) controls the third flight motor (211) and the fourth flight motor (213) to control the wings (215) to rotate to a specified angle; the control console (5) controls the first tail motor (401) and the second tail motor (402) to drive the tail rod (404) to rotate to a specified angle; Step 4: The control console (5) controls the rotation of the first momentum wheel motor, the second momentum wheel motor, the third momentum wheel motor of the stabilizing box (102) and the first flight motor (202) of the left front end, the left rear end, the right front end and the right rear end of the multi-degree-of-freedom dragonfly-like flapping-wing flying robot based on the posture sensor and the body inclination sequence, thereby controlling the rotation of the first momentum wheel (103), the second momentum wheel (104), the third momentum wheel (105) and the steering momentum wheel (203), and ensuring that the body reaches the desired position faster according to the conservation of angular momentum; When executing the forward / backward / ascending / descending action, the first momentum wheel (103), the second momentum wheel (104) and the third momentum wheel (105) rotate, and the steering momentum wheel (203) rotates stably to keep the robot body balanced; when executing the left turn / right turn action, the steering momentum wheel (203) and the second momentum wheel (104) accelerate to the left / right, and the first momentum wheel (103) and the third momentum wheel (105) keep the body balanced; when executing the left turn / right turn action in place, the steering momentum wheel (203) accelerates to the left / right, and the first momentum wheel (103), the second momentum wheel (104) and the third momentum wheel (105) keep the body balanced.

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