The invention discloses a double-ball joint combined motion type bird-imitating flapping wing device and belongs to the field of bird-imitating flapping wings. The device comprises a connecting wing rod, an upper edge rib, a lower edge rib and multiple intermediate ribs. The upper edge rib, the intermediate ribs and the lower edge rib are aligned and stacked in one row, a pin shaft penetrates through one end of the upper edge rib, one end of each intermediate rib and one end of the lower edge rib to fix the ends, the other ends are movably expanded in a bundle shape, a foldable wing film covers the upper edge rib, the intermediate ribs and the lower edge rib to form a wing face, the fixed ends of the lower edge rib and the upper edge rib extend, the extending ends are each provided with aball joint, the two ball joints are connected through a spring, any ball joint is coaxially and fixedly connected with a motor, and the motor is coaxially fixed to the connecting wing rod. The force moment is applied to the first ball joint through the motor, and the second ball joint and the lower edge rib are driven by the spring to rotate. The device is simple in structure, convenient to use and control, good in stability and particularly suitable for upper-air flight of a bird-imitating flapping wing robot.