The application discloses a four-
stroke free piston engine, which comprises two groups of oppositely arranged cylinders, a swing gear, a first one-way
clutch, a second one-way
clutch, a first
power output and a second
power output, wherein the swing gear is arranged in a fixed shaft rotation mode, the pistons of two cylinders in each group are connected through push rods, the swing gear is engaged with the racks on the two push rods, each cylinder sequentially completes an intake
stroke, a compression
stroke, a working stroke and an exhaust stroke, four strokes form one working cycle, and the
piston of one cylinder is always working, and the other three cylinders are synchronously driven to complete an intake stroke, a compression stroke and an exhaust stroke respectively, so that the complicated parts such as the push rod, the
crankshaft, the high-pressure oil bearing and the high-pressure
oil pump in the prior art can be cancelled, the linear
reciprocating motion of the
piston is converted into rotary motion, the power in a rotary mode is output, the
engine efficiency is improved, and the engine is suitable for being used as the engine of HEV, PHEV and REEV vehicles.