Miniature vertical take-off and landing flapping wing aircraft

The invention discloses a miniature vertical take-off and landing flapping-wing aircraft, and belongs to the technical field of flapping-wing aircrafts. The aircraft comprises an aircraft body, a flight control system, a steering engine, a double-wing flapping wing device and a tail vane. The double-wing flapping wing device is arranged at the upper part of the aircraft body, and the tail vane isarranged at the lower part of the aircraft body. The double-wing flapping wing device comprises a flapping wing driving part and a flapping wing synchronous movement mechanism which are mounted on a rack. The flapping wing driving part comprises a motor and a reduction gear set, the motor is in meshed connection with an input end gear of the reduction gear set through a motor shaft gear arranged on a rotating shaft of the motor, and the flapping wing synchronous movement mechanism comprises a flapping wing and a pair of flapping wing driving structures of the same structure. The flapping wingcomprises a flapping wing