Flapping wing driving mechanism of two-level parallel gear reduction

The invention discloses a flapping wing driving mechanism of two-level parallel gear reduction. The mechanism comprises a rack, a motor, a two-level parallel gear reducer and a four-bar mechanism, wherein a micro motor is fixed on the rack, which drives the two-level parallel gear reducer and the two rocker arms of the four-bar mechanism and converts the high-speed rotation of the micro motor into the up-down flapping of the rocker arm of the four-bar mechanism at proper frequency. The flapping wing driving mechanism disclosed by the invention has the advantages of simple structure, light weight, small space, high reliability, long service life and the like, and is suitable for micro flapping wing aircraft.