Swing type four-flapping-wing unmanned aerial vehicle low in resistance and variable in dip angle

The invention relates to the field of flapping wing type air vehicles and flying robots, in particular to a swing type four-flapping-wing unmanned aerial vehicle low in resistance and variable in dipangle. The swing type four-flapping-wing unmanned aerial vehicle low in resistance and variable in dip angle comprises flapping wings, swing shafts, connecting parts, first speed reducers, a steppingmotor, transmission mechanisms, second speed reducers, electric motors and a vehicle body frame. The four swing shafts in the horizontal direction are symmetrically and fixedly mounted on the periphery of the vehicle body frame, the four connecting parts are connected to the four swing shafts and relatively rotate, the four flapping wings are connected to the four connecting parts and can relatively rotate, each flapping wing comprises a flapping wing frame and a rotation wing piece mounted in the flapping wing frame, a torsion spring is arranged in each flapping wing frame and used for resetting of the wing piece, the