The invention discloses a hovering four-wing
flapping-wing aircraft, and relates to the technical field of aircrafts, the hovering four-wing
flapping-wing aircraft comprises a fixed rack, a power source and a gear set located in the middle of the fixed rack, two pairs of wings arranged at the two ends of the fixed rack, a connecting gear set and a connecting rod mechanism of the two pairs of wings, and an
attitude control structure movably connected with the two pairs of wings respectively; one end, far away from the transmission shaft, of the
crank is hinged to a connecting rod, one end, far away from the
crank, of the connecting rod is hinged to a rocker, the middle of the rocker is bent and rotates on the outer side of the fixed rack, one end of the rocker is connected with the connecting rod, the other end of the rocker is movably connected with a
flapping wing rod, and the
tail end of the
flapping wing rod is fixedly connected with a wing; the connecting rod mechanism is a five-connecting-rod mechanism composed of a
crank, a connecting rod, a rocker, a fixed rack and a
flapping wing rod. The performance is improved by simplifying a
transmission system and an
attitude control structure of an existing ornithopter and optimizing a connecting rod mechanism, better
attitude control and bionic flight effects are achieved, and the performance of the ornithopter is greatly improved.