Bionic miniature flapping wing air vehicle

The invention relates to an air vehicle, in particular to a bionic miniature flapping wing air vehicle. The bionic miniature flapping wing air vehicle comprises a first supporting machine frame, a second supporting machine frame, a third supporting machine frame, an actuator, a flexible transmission mechanism, a first cicada wing imitating flapping wing and a second cicada wing imitating flapping wing, wherein the third supporting machine frame is connected with the first supporting machine frame and the second supporting machine frame in a sticking manner through glue; the flexible transmission mechanism is connected with the first supporting machine frame and the second supporting machine frame in the sticking manner through the glue; the flexible transmission mechanism comprises a flexible part, a carbon fibre strengthening part and a connecting pin; the first cicada wing imitating flapping wing and the second cicada wing imitating flapping wing are connected with the flexible transmitting mechanism in the sticking manner through the glue; one end of the actuator is connected with the third supporting machine frame in the sticking manner through the glue; the carbon fiber strengthening part of the other end of the actuator is connected with the connecting pin in the sticking manner through the glue. According to the bionic miniature flapping wing air vehicle disclosed by the invention, the adopted actuator PTZ is directly connected with the flexible transmission mechanism, an intermediate transmission mechanism link is omitted, and the bionic miniature flapping wing air vehicle has the characteristics of being small in size, light in weight and the like. In addition, the bionic flexible transmission mechanism imitates the structure of flapping wing insects, and the improvement of the transmission efficiency and the controlling characteristics is facilitated.