Rotor wing and fixed wing separable composite unmanned aerial vehicle

Abstract

The rotor and fixed wing separable composite unmanned aerial vehicle comprises a coaxial double-rotor system and a fixed wing system, the coaxial double-rotor system comprises rotors and a rotor body, the fixed wing system comprises wings, empennages and a fixed wing fuselage, the rotors are arranged at the front end of the rotor body, and the rotors can rotate to adjust the orientation; the rotor wing and fixed wing separable composite unmanned aerial vehicle can be folded and placed in the launching device and unfolded during flight; the wings and the empennage are connected to the fixed wing fuselage, and the fixed wing fuselage is connected to the rotor wing fuselage; the fixed wing fuselage can be separated from the rotor wing fuselage; the wings are rotationally connected to the fixed-wing fuselage and can be folded to be overlapped with the fixed-wing fuselage; the fixed wing fuselage is in sliding connection with the rotor wing fuselage, the fixed wing fuselage is fixed on the fuselage through an electric bolt, and the electric bolt is connected with a controller; the unmanned aerial vehicle is simple in structure and can prolong the sailing distance.

Description

Technical Field

[0001] The invention relates to a composite unmanned aerial vehicle, in particular to a composite unmanned aerial vehicle with detachable rotor and fixed wings. Background Art

[0002] In traditional drone design, there are usually two categories: fixed-wing drones and rotary-wing drones. Fixed-wing drones have the advantages of high flight speed, long range, and high energy efficiency, but because they need to take off and land on runways, their application is limited in complex terrain and urban environments. Rotary-wing drones have vertical take-off and landing and hovering capabilities, which are suitable for complex terrain and small spaces, but they perform poorly in terms of long-term cruising and flight efficiency.

[0003] The Chinese utility model with publication number CN212501013U discloses a detachable fixed-wing rotor UAV, including a rotor, a fixed wing and a fixed column, wherein the rotor is connected to the fixed wing through the fixed column and is located at the upper part of the fixed wing; the rotor includes a rotor motor, a rotor body and a rotor arm; the rotor motor is arranged at the end of the rotor arm, and the rotor arm is connected to the rotor body; the fixed wing includes a fixed-wing wing, a fixed-wing motor, a fixed-wing tail, a fixed-wing propeller and a fixed-wing body; the fixed-wing tail is arranged at the tail of the UAV, and the fixed-wing propeller is arranged at the front end of the UAV and connected to the fixed-wing motor. The utility model reduces the restriction of the use of the fixed wing and improves the safety during takeoff by combining the fixed wing with the rotor; increases the use range of the rotor and increases the endurance of the rotor; and allows the rotor and the fixed wing to separate in the air through a detachable structure, so as to work together and improve the utilization rate of the UAV.

[0004] Although the above-mentioned device realizes the functions of both a rotorcraft UAV and a fixed-wing UAV, and the rotor and the fixed wing can be separated during flight, separate drive devices are required for the fixed wing and the rotor, which increases the cost and makes the structure more complicated. It also increases the overall mass of the device. The increase in mass requires more energy to drive the flight, which reduces the overall flight time of the UAV. Therefore, the above-mentioned composite UAV has a complex structure and high cost on the one hand, and cannot increase the navigation distance on the other hand. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to provide a rotor-fixed-wing detachable composite UAV with a simple structure and the ability to extend the flight distance.

[0006] Technical solution: The present invention describes a detachable rotor-fixed wing composite UAV, comprising a coaxial twin-rotor system and a fixed-wing system. The coaxial twin-rotor system comprises a rotor and a rotor fuselage, and the fixed-wing system comprises a wing, a fixed-wing fuselage and a tail. The rotor is arranged at the front end of the rotor fuselage, and the rotor can be rotated to adjust the direction; the rotor, wings and tail can be folded so that the UAV is placed in a launching device and unfolded during flight; the wings and tail are connected to the fixed-wing fuselage, and the fixed-wing fuselage can be separated from the rotor fuselage.

[0007] Based on the above technical solution, the rotor, wings and tail can all be folded to place the drone in a launching device, which can then shoot the drone out as the initial power for the drone's navigation. The wings and tail can be unfolded during flight to provide lift for gliding, thus playing the role of a fixed-wing system and extending the navigation distance. During the flight, the rotor of the drone can also be unfolded and rotated to supplement power. In the appropriate position, the fixed-wing system can be separated from the coaxial twin-rotor system. The coaxial twin-rotor system separated from the fixed-wing system greatly reduces the weight and can further increase the navigation distance. The rotor can also adjust its direction and can adjust the flight direction with the fuselage. While extending the navigation distance, it can also accurately reach the destination.

[0008] Preferably, the wing is rotatably connected to the fixed-wing fuselage and can be folded to overlap with the fixed-wing fuselage; the fixed-wing fuselage is slidably connected to the rotor fuselage, the fixed-wing fuselage is fixed to the rotor fuselage by an electric latch, and the electric latch is connected to a controller.

[0009] The wings can be folded to overlap with the fixed-wing fuselage, which is convenient for placement into the launch device and for storage; the fixed-wing fuselage is fixed to the rotor fuselage by an electric latch, and a controller controls whether the electric latch is inserted into the connecting hole to control whether the fixed-wing fuselage and the rotor fuselage remain connected, and the structure is simple.

[0010] Preferably, the wing comprises a front wing and a rear wing respectively connected to the front and rear ends of the fixed-wing fuselage, and the front wing and the rear wing are respectively arranged on the upper and lower sides of the fixed-wing fuselage.

[0011] The wings use front wings and rear wings, which increase the number of wings and can provide more lift to increase the gliding distance and extend the overall flying distance of the UAV; the front wings and rear wings are arranged on the upper and lower sides of the fixed-wing fuselage to avoid mutual obstruction between the two when folded, which can also reduce the overall length of the fixed-wing fuselage. Otherwise, in order to avoid mutual interference between the front wings and the rear wings when folded, the fixed-wing fuselage needs to be set longer.

[0012] Preferably, the front wing and the rear wing each include two sub-wings, and the two sub-wings can be unfolded to both sides of the fixed-wing fuselage and folded toward the fixed-wing fuselage.

[0013] Using two split wings for both the front wing and the rear wing can reduce the overall volume of the device with the same wing size. Because if only a single wing is used for both the front wing and the rear wing, in order to be able to fold to overlap with the fixed-wing fuselage, the distance between the front end of the fixed-wing fuselage and the connection between the front wing must be at least half the length of the front wing, that is, the middle of the front wing is rotated and connected to the fixed-wing fuselage. When folded, the length direction of the front wing is parallel to the length direction of the fixed-wing fuselage. When unfolded, the length direction of the front wing is perpendicular to the length direction of the fixed-wing fuselage. The same is true for the rear wing. In this way, the front and rear ends of the fixed-wing fuselage must each reserve space for half the length of the front and rear wings. If two split wings are used, the connection between the front wing and the fixed-wing fuselage can be directly set at the edge near the front end, and no space needs to be reserved, which reduces the length of the fixed-wing fuselage, and then reduces the overall volume of the device, which also reduces the weight and can increase the flying distance of the UAV.

[0014] Preferably, the connection between the two sub-wings is staggered up and down, and the sub-wing and the fixed-wing fuselage are provided with matching limiting devices for limiting the expansion angle of the sub-wing and resetting devices for keeping the sub-wing in the expanded state.

[0015] The connection between the two wings is staggered up and down, which can reduce the width of the fixed-wing fuselage and eliminate the need to reserve space for the two wings for connection; matching limit devices are provided on the wings and the fixed-wing fuselage to limit the unfolding angle of the wings, ensuring that the wings can be perpendicular to the length of the fuselage after unfolding, providing lift in a more balanced manner; a reset device is provided to ensure that the wings can remain in the unfolded state when there is no external force, so that the fixed-wing system can remain in the unfolded state to provide lift during flight.

[0016] Preferably, the limiting device includes a limiting column arranged on the sub-wing and an arc-shaped limiting groove on the sub-wing and the fixed-wing fuselage, and the limiting column is slidably connected in the arc-shaped limiting groove; the reset device includes a spring, one end of which is fixed, and the other end is connected to the limiting column and is used to pull the limiting column to remain at one end of the arc-shaped limiting groove so that the upper and lower wings remain in the unfolded state.

[0017] The limit column can only slide in the arc-shaped limit groove, and the curvature of the arc-shaped limit groove actually limits the rotation angle of the split wing; and the limit column is pulled by the spring to keep it at one end of the arc-shaped limit groove, which is the position of the limit column when the split wing is unfolded, so the spring can keep the split wing in the unfolded state.

[0018] Preferably, the fixed-wing fuselage is wrapped around the rotor fuselage.

[0019] The fixed-wing fuselage is wrapped around the rotor fuselage, protecting it from damage during launch and flight.

[0020] Preferably, a vector deflection mechanism capable of driving the rotor to adjust its direction is provided between the rotor and the rotor fuselage.

[0021] Preferably, the vector deflection mechanism comprises an outer ring seat and an inner ring seat which are hinged to each other, the rotor is fixedly connected to the outer ring seat, the rotor fuselage is hinged to the inner ring seat, and the hinge axis between the outer ring seat and the inner ring seat is perpendicular to the hinge axis between the rotor fuselage and the inner ring seat; both the outer ring seat and the inner ring seat are provided with a power device for driving them to rotate.

[0022] The vector deflection mechanism adopts an outer ring seat and an inner ring seat. The hinge axis of the outer ring seat and the inner ring seat is perpendicular to the hinge axis of the rotor fuselage and the inner ring seat. In this way, the outer ring seat can drive the rotor to rotate in a first plane through the power device, and the inner ring seat can drive the outer ring seat and the rotor to rotate in a second plane perpendicular to the first plane. In this way, the rotor can be adjusted to various angles through the power device and the two ring seats, which can drive the drone to fly in various directions.

[0023] Preferably, a tail wing is hingedly connected to each side of the tail portion of the fixed-wing fuselage, and a limiting device for limiting the unfolding angle of the tail wing is provided on the fixed-wing fuselage.

[0024] A limit device is set on the fixed-wing fuselage to limit the expansion angle of the tail wing, which can keep the tail wing at a suitable angle to achieve better navigation.

[0025] Beneficial effects: Compared with the prior art, the present invention has the following significant effects: through the cooperation of the coaxial dual-rotor system and the fixed-wing system, the rotors, wings and tail are arranged to be foldable so that the UAV can be placed in the launching device, which is not only convenient for storage, but also provides initial power for the UAV. The wings and tail are unfolded during flight to provide lift, and the unfolding of the rotor can further supplement the power; the fixed-wing system can be separated from the rotor fuselage, and can further reduce the overall weight of the UAV after gliding a sufficient distance, so that the rotor drives the rotor fuselage to fly farther, and the rotor can adjust its direction, which increases the UAV's heading adjustment capability, so that it can accurately reach its destination. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of the UAV when it is unfolded; Figure 2 This is a schematic diagram of the overall structure of the drone when folded; Figure 3 It is a structural schematic diagram of a coaxial twin-rotor system; Figure 4 It is a schematic diagram of the rotor structure; Figure 5 It is a structural schematic diagram of the vector deflection mechanism and the partial rotor fuselage; Figure 6 It is a schematic diagram of the explosion mechanism of the vector deflection mechanism; Figure 7 It is a schematic diagram of the explosion structure of the rotor fuselage and fixed-wing system; Figure 8 It is a schematic diagram of the structure of the electric bolt; Fig. 9 It is a schematic diagram of the front end structure of the fixed-wing fuselage; Fig.10 It is a schematic diagram of the local structure of the lower wing connected to the fixed-wing fuselage; Fig.11 It is a schematic diagram of the partial explosion structure where the upper and lower wings are connected to the fixed-wing fuselage; Fig.12 It is a schematic diagram of the local structure of the upper and lower wings connected to the fixed-wing fuselage. DETAILED DESCRIPTION

[0027] As shown in the figure, a rotor-fixed wing detachable composite UAV described in the present invention includes a coaxial twin-rotor system 1 and a fixed-wing system 2. The coaxial twin-rotor system 1 includes a rotor 1-1 and a rotor fuselage 1-2, and the fixed-wing system 2 includes a wing 2-1, a fixed-wing fuselage 2-2 and a tail 2-3. The rotor 1-1 is arranged at the front end of the rotor fuselage 1-2, and the rotor 1-1 can rotate to adjust the direction; the rotor 1-1, the wing 2-1 and the tail 2-3 can be folded so that the UAV is placed in a launching device and unfolded during flight; the wing 2-1 and the tail 2-3 are connected to the fixed-wing fuselage 2-2, and the fixed-wing fuselage 2-2 can be separated from the rotor fuselage 1-2.

[0028] The rotor 1-1 includes an upper rotor device and a lower rotor device, both of which include a hub 1-1-1 and blades 1-1-2. The blades 1-1-2 are hinged on both sides of the hub 1-1-1. When the rotor 1-1 is not rotating, the blades 1-1-2 naturally sag, shrink and fold under the action of gravity. When the rotor 1-1 is running, the blades 1-1-2 are unfolded under the action of centrifugal force. A limiting device can be set on the hub 1-1-1, such as a limiting plate, so that the blades 1-1-2 can be unfolded to an angle perpendicular to the axis of the hub 1-1-1 at most; the upper rotor device and The lower rotor device is respectively provided with a first motor 1-1-3 and a second motor 1-1-4, and the two motors are located below all the hubs 1-1-1. The second motor 1-1-4 adopts shaftless output and is connected to the hub 1-1 of the lower rotor device through the mounting hole on the motor rotor housing; the first motor 1-1-3 is provided with an output shaft 1-1-5, and the output shaft 1-1-5 passes through the second motor 1-1-4 and is connected to the hub 1-1-1 of the upper rotor device. The two motors are coaxially arranged, and a motor fixing seat 1-1-6 can be set between the two motors for connection and fixation.

[0029] The rotor 1-1 is connected to the rotor fuselage 1-2 through a vector deflection mechanism, which includes a circular outer ring seat 3 and an inner ring seat 4. The outer ring seat 3 has a larger diameter than the inner ring seat 4. Connectors are symmetrically arranged on both sides of the edge of the outer ring seat 3, and the connectors are hinged on both sides of the inner ring seat 4; connectors are also symmetrically arranged on both sides of the inner ring seat 4, and the connectors are hinged on the rotor fuselage 1-2. The hinge axes of the two support seats are perpendicular to the hinge axes of the inner ring seat 4 and the rotor fuselage 1-2. For example, the hinge axes of the inner ring seat 4 and the rotor fuselage 1-2 are parallel to the X-axis, and the hinge axes of the two support seats are parallel to the Y-axis. In this way, the outer ring seat 3 can rotate in the XZ plane, and the inner ring seat 4 can rotate in the YZ plane, that is, the two support seats can rotate in planes perpendicular to each other.

[0030] The motor fixing seat 1-1-6 is fixedly connected to the outer ring seat 3 through the connecting column, thereby realizing the fixed connection between the rotor 1-1 and the outer ring seat 3, so that the outer ring seat 3 can rotate with the rotor 1-1 in the XZ plane; and the inner ring seat 4 can rotate with the outer ring seat 3 and the rotor 1-1 in the YZ plane, that is, the rotor 1-1 can rotate in two mutually perpendicular planes. In this way, through the cooperation of the two support seats, the rotor 1-1 can be driven to rotate in all directions, thereby generating a torque around the center of gravity to control the flight attitude of the aircraft.

[0031] An upper servo 1-2-1 and a lower servo 1-2-2 which are matched with the outer ring seat 3 and the inner ring seat 4 respectively are provided on the rotor fuselage 1-2, and the two servos are connected to the corresponding support seat through an independent rocker arm pull rod mechanism 1-2-3 respectively; the upper servo 1-2-1 is controlled by a controller, and the upper servo 1-2-1 drives the rocker arm pull rod mechanism 1-2-3 to drive the outer ring seat 3 to deflect in the XZ plane. Similarly, the lower servo 1-2-2 drives the inner ring seat 4 to deflect in the YZ plane; the rocker arm pull rod mechanism 1-2-3 includes a rocker arm 1-2-3-1 and a pull rod 1-2-3-2, the rocker arm 1-2-3-1 is connected to the output shaft of the servo, and the two ends of the pull rod 1-2-3-2 are respectively ball-jointed on the rocker arm 1-2-3-1 and the corresponding support seat, and the rocker arm pull rod mechanism 1-2-3 as a whole is a connecting rod mechanism.

[0032] Components such as batteries and controllers can be set on the rotor fuselage 1-2. If the main task of the drone is to go to the destination for shooting, cameras and other devices can also be set on the rotor fuselage 1-2; in this embodiment, the rotor fuselage 1-2 is Y-shaped, and the overall shape is long and narrow. A U-shaped forked structure is provided on the top for connection with the inner ring seat 4; the rotor fuselage 1-2 can also adopt other shapes. No matter what shape it is, its volume should be reduced as much as possible to reduce the overall weight of the drone as long as the necessary components can be installed.

[0033] The fixed-wing fuselage 2-2 can be configured to wrap the rotor fuselage 1-2. Specifically, a slide groove matching the rotor fuselage 1-2 is provided in the fixed-wing fuselage 2-2, and the rotor fuselage 1-2 is inserted into the fixed-wing fuselage 2-2 through the slide groove, and the two are slidably connected. An electric latch is provided on the rotor fuselage 1-2, and a pin hole matching the electric latch is provided on the fixed-wing fuselage 2-2. The two are connected through the electric latch, and the electric latch is connected to the controller on the rotor fuselage 1-2. The controller can control the electric latch to pull out the pin hole according to program settings or remote signals, so that the fixed-wing system 2 can be separated from the rotor fuselage 1-2, and the fixed-wing system 2 can continue to glide for a distance after separation; the electric latch can adopt existing devices. In addition to the electric latch, an electric telescopic rod is also acceptable. The electric latch used in this embodiment is a latch servo 1-2-4 connected to a crank rocker mechanism 1-2-5 to drive the latch to slide in the pin hole. The specific structure can be seen Figure 8 .

[0034] In this embodiment, the wing 2-1 is composed of two groups, namely, the front wing 2-1-1 and the rear wing 2-1-2, but only one group may be used. The front wing 2-1-1 is arranged on the upper side of the front end of the fixed-wing fuselage 2-2, i.e., the top of the front end, and the rear wing 2-1-2 is arranged on the lower side of the rear end of the fixed-wing fuselage 2-2, i.e., the bottom of the rear end. The front wing 2-1-1 and the rear wing 2-1-2 each include two split wings, and the other split wings are of the same size and symmetrically arranged on the left and right sides of the fixed-wing fuselage 2-2. For the convenience of description, the two split wings are respectively referred to as the upper split wing 2-1-3 and the lower split wing 2-1-4. , the two wings can be rotated independently and connected to the fixed-wing fuselage 2-2, but in this embodiment, the two wings are staggered up and down at the connection points. Specifically, the two wings are provided with a circular connecting plate at one end close to the fixed-wing fuselage 2-2, and the circular connecting plate of the upper wing 2-1-3 is located at the top, and the circular connecting plate of the lower wing 2-1-4 is located at the bottom; the two wings can be flush with their respective circular connecting plates and staggered up and down, or the upper wing 2-1-3 and its circular connecting plate can be arranged to be uneven, and the upper wing 2-1-3 is located below its circular connecting plate and flush with the lower wing 2-1-4.

[0035] The connection structure between the two wings of the front wing 2-1-1 and the fixed-wing fuselage 2-2 is described in detail below. The same applies to the two wings of the rear wing 2-1-2. For the sake of convenience, the circular connecting plate of the upper wing 2-1-3 is referred to as the left connection, and the circular connecting plate of the lower wing 2-1-4 is referred to as the lower connecting plate. A first bolt 2-1-5 is provided to penetrate the upper and lower connecting plates and the fixed-wing fuselage 2-2, and the two connecting plates are bolted to the fixed-wing fuselage 2-2 so that the two connecting plates can rotate; a second bolt 2-1-6 is provided at the bottom of the upper connecting plate to penetrate the lower connecting plate and the fixed-wing fuselage 2-2, and the lower connecting plate and the fixed-wing fuselage 2-2 are respectively provided with a first arc groove 2-1-6-1 and a first arc groove 2-1-6-2 matching the second bolt 2-1-6; a third bolt 2-1-7 is provided at the bottom of the lower connecting plate to penetrate the fixed-wing fuselage 2-2, and the fixed-wing fuselage 2-2 is provided with a third arc groove 2-1-7-1 matching the third bolt 2-1-7; the first arc The arc groove 2-1-6-2 and the third arc groove 2-1-7-1 are symmetrically arranged on the left and right sides of the fixed-wing fuselage 2-2, and the central angles of the two arc grooves are both 90°, and the circular angle of the first arc groove 2-1-6-1 is 180°, so that the two sub-wings can each rotate 90°, from a state perpendicular to the length direction of the fixed-wing fuselage 2-2 to a state parallel to the length direction of the fixed-wing fuselage 2-2 to complete folding and stowing. After folding and stowing, the two sub-wings overlap with the fixed-wing fuselage 2-2, and no part of the edge of the fixed-wing fuselage 2-2 is exposed; the two sub-wings can be unfolded by rotating in the opposite direction; the three bolts are equivalent to limit columns, and the three arc grooves are equivalent to arc limit grooves.

[0036] Two fixing columns 2-1-8 can also be set on the fixed-wing fuselage 2-2. The two fixing columns 2-1-8 are respectively connected to the second bolt 2-1-6 and the third bolt 2-1-7 through springs. The springs can pull the two bolts to rotate in the corresponding arc grooves to keep the two wings in the unfolded state. In this way, after the drone is launched, the two wings can automatically unfold to provide lift for the drone. In order to better display the theme structure and avoid obstruction, Figure 9-12 The spring is not drawn; if folding and gathering is required, an external force needs to be applied to the separation; if the two wings are staggered up and down, then the two wings can overlap partially or completely after folding and gathering, which can further reduce the width of the fixed-wing fuselage 2-2 and thus reduce the overall volume of the device.

[0037] In addition to the above-mentioned structure, the connection between the upper wing 2-1-3 and the lower wing 2-1-4 and the fixed-wing fuselage 2-2 can be independently arranged, that is, the upper and lower connecting plates are separately arranged on both sides of the fixed-wing fuselage 2-2, and corresponding arc grooves and bolts can be arranged on the connecting plates and the fixed-wing fuselage 2-2, as well as structures such as fixed columns and springs to realize the rotation limit and self-reset functions.

[0038] The two sides of the tail of the fixed-wing fuselage 2-2 are each hinged with a tail 2-3 through a hinge. A raised plate 2-3-1 is also provided on both sides of the tail of the fixed-wing fuselage 2-2 to limit the expansion angle of the tail 2-3. Specifically, the tail 2-3 rotates forward to fold and fit on the fixed-wing fuselage 2-2, and rotates backward, that is, rotates backward at an obtuse angle, and fits with the raised plate 2-3-1, and cannot continue to rotate backward, thereby achieving relative fixation of the posture. After the UAV is launched, under the action of air resistance, the tail 2-3 will automatically rotate backward to expand.

[0039] The control principle of the attitude of the rotor-fixed-wing detachable composite UAV during flight: Pitch control principle: by controlling the outer ring seat 3 in the vector coaxial twin-rotor system to deflect inward in the XZ plane around the hinge axis with the inner ring seat 4; specifically, by driving the rocker arm pull rod mechanism 1-2-3 connected to it through the upper servo 1-2-1, the outer ring seat 3 swings relative to the inner ring seat 4 in the XZ plane, thereby changing the pitch angle of the UAV and realizing pitch control; Yaw control principle: by controlling the inner ring seat 4 in the vector coaxial twin-rotor system to deflect in the YZ plane around the hinge axis between it and the rotor fuselage 1-2; specifically, by driving the rocker arm pull rod mechanism 1-2-3 connected to it through the lower servo 1-2-2, the inner ring seat 4 swings relative to the rotor fuselage 1-2 in the YZ plane, thereby changing the yaw angle of the UAV and realizing yaw control; Roll control principle: It is achieved by adjusting the speed difference of the rotor 1-1 in the vector coaxial twin-rotor system 1; specifically, by increasing or decreasing the speed of the first motor 1-1-3 and the second motor 1-1-4, the speed difference of the blades 1-1-2 connected to the two motors changes, thereby generating different reverse torques, so that the drone rotates around the axes of the two motors (parallel to the Z axis) in the XY plane to achieve roll control.

Claims

1. A rotor-fixed wing detachable composite unmanned aerial vehicle, comprising a coaxial twin-rotor system (1) and a fixed-wing system (2), wherein the coaxial twin-rotor system (1) comprises a rotor (1-1) and a rotor fuselage (1-2), and the fixed-wing system (2) comprises a wing (2-1), a fixed-wing fuselage (2-2), and a tail wing (2-3), characterized in that: The rotor (1-1) is arranged at the front end of the rotor fuselage (1-2), and the rotor (1-1) can be rotated to adjust the direction; the rotor (1-1), the wing (2-1) and the tail wing (2-3) can be folded so that the UAV is placed in a launching device and unfolded during flight; the wing (2-1) and the tail wing (2-3) are connected to the fixed-wing fuselage (2-2), and the fixed-wing fuselage (2-2) can be separated from the rotor fuselage (1-2).

2. The rotary-fixed-wing detachable composite UAV according to claim 1, characterized in that: The wing (2-1) is rotatably connected to the fixed-wing fuselage (2-2) and can be folded to overlap with the fixed-wing fuselage (2-2); the fixed-wing fuselage (2-2) is slidably connected to the rotary-wing fuselage (1-2); the fixed-wing fuselage (2-2) is fixed to the rotary-wing fuselage (1-2) via an electric latch; the electric latch is connected to a controller.

3. The rotary-fixed-wing detachable composite UAV according to claim 2, characterized in that: The wing (2-1) comprises a front wing (2-1-1) and a rear wing (2-1-2) respectively connected to the front and rear ends of the fixed-wing fuselage (2-2); the front wing (2-1-1) and the rear wing (2-1-2) are respectively arranged on the upper and lower sides of the fixed-wing fuselage (2-2).

4. The rotary-fixed-wing detachable composite UAV according to claim 3, characterized in that: The front wing (2-1-1) and the rear wing (2-1-2) each comprise two sub-wings, and the two sub-wings can be unfolded toward both sides of the fixed-wing fuselage (2-2) and folded toward the fixed-wing fuselage (2-2).

5. The rotary-fixed-wing detachable composite UAV according to claim 4, characterized in that: The connection points of the two sub-wings are arranged in an up-and-down staggered manner, and the sub-wings and the fixed-wing fuselage (2-2) are provided with matching limiting devices for limiting the expansion angle of the sub-wings and resetting devices for keeping the sub-wings in an expanded state.

6. The rotary-fixed-wing detachable composite UAV according to claim 5, characterized in that: The limiting device comprises a limiting column arranged on the sub-wing and an arc-shaped limiting groove on the sub-wing and the fixed-wing fuselage (2-2), wherein the limiting column is slidably connected in the arc-shaped limiting groove; and the resetting device comprises a spring, wherein one end of the spring is fixed and the other end is connected to the limiting column and is used to pull the limiting column to remain at one end of the arc-shaped limiting groove so that the upper and lower wings remain in an unfolded state.

7. The rotary-fixed-wing detachable composite UAV according to claim 2, characterized in that: The fixed-wing fuselage (2-2) is wrapped outside the rotary-wing fuselage (1-2).

8. The rotary-fixed-wing detachable composite UAV according to claim 1, characterized in that: A vector deflection mechanism capable of driving the rotor (1-1) to adjust its direction is provided between the rotor (1-1) and the rotor fuselage (1-2).

9. The rotary-fixed-wing detachable composite UAV according to claim 8, characterized in that: The vector deflection mechanism comprises an outer ring seat (6) and an inner ring seat (7) which are hinged to each other; the rotor (1-1) is fixedly connected to the outer ring seat (6); the rotor fuselage (1-2) is hinged to the inner ring seat (7); the hinge axis between the outer ring seat (6) and the inner ring seat (7) is perpendicular to the hinge axis between the rotor fuselage (1-2) and the inner ring seat (7); and the outer ring seat (6) and the inner ring seat (7) are both provided with a power device for driving them to rotate.

10. The rotary-fixed-wing detachable composite UAV according to claim 1, characterized in that: A tail wing (2-3) is hingedly connected to each of the two sides of the tail of the fixed-wing fuselage (2-2), and a limiting device for limiting the unfolding angle of the tail wing (2-3) is provided on the fixed-wing fuselage (2-2).

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