Take-off method of combined unmanned aerial vehicle and combined unmanned aerial vehicle

Abstract

The invention discloses a take-off method of a combined unmanned aerial vehicle and the combined unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles. During takeoff, the head of the mother aircraft is vertical or inclined upwards, and the son aircrafts are symmetrically arranged below the wings; the son aircraft is synchronously started to drive the whole aircraft to vertically / obliquely lift off, and the mother aircraft is started after being lifted off the ground and is shifted to level flight. When climbing to a target airspace, the ejection connecting device instantly releases the son machine through the connecting base, the torsion spring ejection plate, the plug pin and the driving mechanism, reliable separation of the mother machine and the son machine is achieved, and cooperative or independent operation can be achieved. Elastic electrodes are arranged in the ejection device, and electric energy and data are shared in the combination stage; the sub-aircrafts provide additional lift force and wind-resistant compensation, and the sub-aircrafts can be shut down in the middle of the task to prolong The whole process is runway-free, and fast climbing, endurance extension and task flexibility are taken into account.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a take-off method for a combined UAV and the combined UAV itself. Background Technology

[0002] In the existing UAV technology system, vertical takeoff and landing (VTOL) and fixed-wing aircraft each have their own limitations that are difficult to reconcile. While traditional multi-rotor UAVs possess vertical takeoff and landing capabilities, their low power efficiency and short endurance make them unsuitable for large-scale, long-duration missions. Fixed-wing UAVs, on the other hand, while offering superior cruising efficiency and range, heavily rely on runways or catapults for takeoff, significantly limiting their deployment flexibility in complex terrain, urban environments, or runway-less scenarios such as shipboard deployments. To address this contradiction, various hybrid VTOL fixed-wing UAV solutions have emerged in recent years, such as tilt rotors, lift fans, or additional rotor modules. However, these structures generally suffer from high mechanical complexity, heavy weight, low reliability, and cumbersome control logic. Especially during takeoff, the rotor's proximity to the ground makes it susceptible to dust, gravel, or vegetation accumulation, causing not only wear and tear on the power system or even failure but also potential loss of attitude control due to airflow disturbances.

[0003] Furthermore, most existing combined or modular UAVs employ static separation mechanisms, lacking active propulsion capabilities during separation. This makes them susceptible to collisions between the mother and daughter units due to aerodynamic interference, impacting flight safety. Simultaneously, daughter units typically cannot effectively utilize the mother unit's energy in the combined state, resulting in high standby power consumption and limited mission radius. In terms of collaborative operations, most systems lack the ability to dynamically allocate thrust to daughter units, making it difficult to flexibly optimize overall performance during different flight phases such as climb, wind resistance, or acceleration. These shortcomings severely restrict the practicality and reliability of combined UAVs in highly dynamic mission scenarios such as emergency response, wide-area reconnaissance, and distributed operations. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention discloses a take-off method for a combined unmanned aerial vehicle (UAV) and the combined UAV itself.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: A method for launching a combined unmanned aerial vehicle (UAV) includes: S1. Make the machine head of the mother machine vertical or tilted upwards; S2. Control the start-up of the daughter engines on the two wings of the mother machine, and use the daughter engines to drive the mother machine into the air; S3. Control the mothership to start, change the flight attitude, climb rapidly, and fly to the target airspace after climbing to the target altitude; S4. Control the mother machine to ascend, activate the ejection connection device between the mother machine and the daughter machine, and eject the daughter machine from the mother machine; after separation, the daughter machine and the mother machine can be controlled collaboratively or independently.

[0006] A combined unmanned aerial vehicle (UAV) includes: The mother machine, whose propeller is located at the nose or tail; The sub-machines are symmetrically arranged below the mother machine; The number of catapult connection devices corresponds to the number of aircraft; the catapult connection devices are installed on the wings of the mother aircraft; they are used to connect the aircraft to the mother aircraft; after reaching the designated airspace, the aircraft is ejected from the mother aircraft via the catapult connection devices.

[0007] Preferably, the ejection connection device includes: The connecting seat is fastened to the wing of the mother machine at its top, and the connecting seat has an internal mounting cavity with an open bottom. The ejection plates are arranged symmetrically; the two ejection plates are hinged at opposite ends to the two ends in the mounting cavity via hinge shafts; and the hinge shaft is fitted with a torsion spring for deflecting the other end of the ejection plate out of the mounting cavity; one side of the ejection plate surface is provided with a clearance slot; and the end of the ejection plate corresponding to the clearance slot is provided with an opening. The connecting plates are arranged symmetrically in two; the bottom of the connecting plates is fastened to the corresponding submachine, and the top of the connecting plates is provided with through holes that can be aligned with the openings on the catapult plate. The connecting rod is located inside the mounting cavity of the connecting seat; There are two pins, which are installed at both ends of the connecting rod respectively. When the through hole of the connecting plate is aligned with the opening on the ejector plate, a pin hole is formed, and the pin can be inserted into it to lock the connecting plate and the ejector plate accordingly. The drive unit is installed in the mounting cavity of the connector; it is used to drive the connecting rod to move, so that the connecting rod drives the pin to insert into or pull out of the pin hole.

[0008] Preferably, the mounting cavity of the connecting seat is provided with a plurality of guide rods that move through the connecting rod body.

[0009] Preferably, the submachine body is provided with connecting bosses at the positions of the free ends of the two catapult plates, and the driving device is located between the two connecting bosses; and the connecting bosses are correspondingly adapted to the mounting cavities of the connecting seats.

[0010] Preferably, the connecting boss is provided with elastic electrode plates on both sides, and the mounting cavity of the connecting seat is provided with connecting electrodes that can be electrically connected to the corresponding elastic electrode plates; when the sub-machine is connected to the ejector connecting device, the elastic electrode plates are electrically connected to the corresponding connecting electrodes, so that the mother machine and the sub-machine can share power or communicate.

[0011] Preferably, the bottom of the connecting seat corresponding to the driving device is provided with a limiting boss that can be stably inserted into the gap between the two connecting bosses; when the submachine is connected to the ejection connecting device, the limiting boss makes corresponding contact with the body of the submachine.

[0012] Preferably, the free end of the catapult plate is rotatably connected to a roller.

[0013] Preferably, the connector is provided with an observation hole at the position corresponding to the pin.

[0014] Preferably, the drive device is a telescopic rod or a linear servo.

[0015] By employing the technical solution described above, the present invention has the following beneficial effects: (1) During the takeoff preparation phase, the mother aircraft and the daughter aircraft adopt a vertically upward or forward-tilted attitude, so that the lowest point of the daughter aircraft's propeller is higher than the ground debris, while the mother aircraft's propeller is completely free from dust, vegetation and building interference; the flight control system can finely adjust the tilt angle in real time according to the on-site wind speed, obstacle height and takeoff weight, so as to ensure that the center of gravity projection of the whole aircraft always falls within the safe support surface, thereby completely getting rid of the dependence on the runway, significantly reducing the risk of foreign object inhalation, and providing stable and reliable initial conditions for subsequent vertical / tilted takeoff.

[0016] At takeoff, the flight control system sends a synchronous start command to all even-numbered slave units symmetrically arranged under the two wings of the mother aircraft via the data bus. The motors accelerate to rated power in steps within 3 seconds, and the lift is directly applied to the mother aircraft through the wing force transmission path, enabling the entire aircraft to take off vertically or tilt with a forward component. The mother aircraft's propellers only start after the altitude is greater than the safety margin to avoid ingesting foreign objects, and at the beginning of takeoff, the mother aircraft is given a controllable initial airspeed, laying the energy and speed foundation for subsequent mode switching.

[0017] When the mother aircraft's airspeed reaches the conversion threshold, the flight control system smoothly switches to fixed-wing mode, the mother aircraft's main propulsion system intervenes, the propeller speed increases, and the wing control surfaces work together to achieve a seamless transition from vertical / tilt climb to horizontal high-speed climb. In the combined state, the daughter aircraft can continue to work, providing the mother aircraft with additional climb rate and acceleration thrust through differential thrust or total thrust adjustment, and compensating for attitude disturbances in real time when encountering gusts or wind shear, significantly improving the overall aircraft's anti-interference capability and flight stability.

[0018] When the weather is stable and the mission requires more endurance than maneuverability, the flight control system can shut down the slave units in sequence, leaving only the mother unit to operate. All the saved power is used to extend the flight time. During the assembly phase, the slave units can share the mother unit's power. After separation, they can switch to their own mobile power source. This ensures efficient energy utilization during the assembly phase and effectively extends the independent flight radius of the slave units, achieving a dual optimization of mission flexibility and endurance.

[0019] (2) The ejection connection device of the present invention achieves rapid locking and reliable separation of the sub-machine and the mother machine in a designated airspace through the mechanical coupling of the connecting seat, ejection plate, connecting plate, pin and drive device; the top of the connecting seat is fastened to the wing, and the ejection plates arranged symmetrically inside provide instantaneous ejection force under the action of torsion spring, avoiding mutual interference when the two machines are separated, ensuring that the sub-machine can perform tasks independently or cooperate with the mother machine for control, and significantly expanding the operating radius.

[0020] (3) The present invention further uses the axial guiding effect of the guide rod on the connecting rod to make the movement of the pin more stable when the drive device pushes and pulls the connecting rod, reducing the risk of jamming; the mating of the connecting boss and the limiting boss not only serves as a positioning device to achieve rapid assembly, but also ensures that the through hole of the connecting plate and the opening of the catapult plate are accurately aligned through the contact limitation between the limiting boss and the fuselage of the sub-machine, and the pin can be accurately inserted into the pin hole at one time, which greatly improves the efficiency of ground preparation and connection reliability. The conductive connection between the elastic electrode plates set on both sides of the connecting boss and the corresponding connecting electrodes in the connecting seat enables the mother machine and the sub-machine to achieve power sharing and real-time communication in the combined state, which not only ensures that the sub-machine obtains sufficient energy to support high-power take-off and wind resistance compensation during the combination stage, but also supports the unified management of the multiple machine states by the flight control system, providing data and energy dual guarantee for independent or cooperative flight after subsequent separation.

[0021] (4) The roller added to the free end of the catapult plate significantly reduces the friction between the catapult plate and the aircraft, making the catapult separation smoother and more efficient, and reducing mechanical impact. The observation hole opened on the connecting seat at the corresponding pin position allows the operator to visually confirm the alignment of the connecting plate through hole and the catapult plate opening and whether the pin is fully inserted into the pin hole, ensuring the visualization and reliability of the ground assembly process, and further reducing the flight risk caused by assembly errors. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention; Figure 3 This is a top view of the present invention; Figure 4 A schematic diagram showing the connection structure between the submachine gun and the catapult connection device; Figure 5 This is an internal diagram of the catapult connection device; Figure 6 This is a three-dimensional structural diagram of the catapult connection device; Figure 7 This is a schematic diagram of the installation structure of the elastic electrode sheet.

[0023] In the diagram: 1. Mother machine; 2. Daughter machine; 3. Ejection connection device; 3-1. Connecting seat; 3-2. Ejection plate; 3-3. Connecting plate; 3-4. Connecting rod; 3-5. Pin; 3-6. Drive device; 3-7. Guide rod; 3-8. Connecting boss; 3-9. Elastic electrode plate; 3-10. Limiting boss; 3-11. Roller. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0025] In the description of this invention, it should be noted that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only used to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Example 1:

[0027] Combined with appendix Figures 1-7 A method for taking off a combined unmanned aerial vehicle (UAV) and the combined UAV itself. The method for taking off the combined UAV includes the following steps: S1. During the takeoff preparation phase, the overall attitude of the mother aircraft 1 is first adjusted so that the nose is vertically upward or tilted forward and upward. The tilt angle is determined by the flight control system based on the on-site wind speed, obstacle height, and takeoff weight, ensuring that the lowest point of the propeller of the daughter aircraft 2 is higher than ground debris, while ensuring that the propeller of the mother aircraft 1 is completely free from ground dust and surrounding vegetation, buildings, and other interference. If there are local protrusions in the takeoff site, the flight control system can further fine-tune the tilt angle to keep the center of gravity projection of the entire aircraft within the safe support surface.

[0028] S2. After the flight control system completes its self-test, it sends a synchronous start command to all daughter aircraft 2 under the two wings of the mother aircraft 1 via the data bus. The motors of the daughter aircraft 2 accelerate at preset speed steps, reaching rated power within 3 seconds. The resulting lift is directly applied to the mother aircraft 1 through the wing force transmission path, causing the mother aircraft 1 to lift off the ground. The entire takeoff process can be vertical or inclined with a forward component. The specific trajectory is adjusted in real time by the flight control system according to mission requirements. This method completely eliminates the dependence on the runway and gives the mother aircraft 1 a controllable initial airspeed at the moment of takeoff. At the same time, the propeller of the mother aircraft 1 starts only when the altitude above the ground is greater than the safety margin, significantly reducing the risk of inhaling foreign objects.

[0029] S3. When the airspeed of mother aircraft 1 reaches the conversion threshold, the flight control system switches to fixed-wing mode, and the main propulsion system of mother aircraft 1 begins to intervene. The propeller speed increases, and the wing control surfaces work together to transition mother aircraft 1 from vertical / tilt climb to horizontal high-speed climb. During the climb and subsequent cruise phases, daughter aircraft 2 can choose to continue working, providing additional climb rate or acceleration thrust to mother aircraft 1 through differential thrust or total thrust adjustment, and compensating for attitude disturbances in real time when encountering gusts or wind shear, enhancing the overall anti-interference capability. If the weather is stable and the mission requires more endurance than maneuverability, the flight control system can order daughter aircraft 2 to shut down sequentially, leaving only mother aircraft 1 working. All the saved power is used to extend the flight time of mother aircraft 1.

[0030] It should be noted that when the slave unit 2 and the mother unit 1 are in a combined state, the slave unit 2 can utilize the mother unit 1's electrical energy. After the slave unit 2 separates from the mother unit 1, it uses its own portable power source for power. This effectively increases the flight radius of the slave unit 2.

[0031] S4. When the slave unit 2 needs to separate from the mother unit 1, control the mother unit 1 to ascend and activate the ejection connection device 3 between the mother unit 1 and the slave unit 2 to eject the slave unit 2 from the mother unit 1; this avoids interference between the slave unit 2 and the mother unit 1. After separation, the slave unit 2 and the mother unit 1 can be controlled collaboratively or independently, effectively expanding the operating radius of the task.

[0032] The aforementioned combined UAV includes a mother unit 1, a daughter unit 2, and a catapult connection device 3. The propeller of the mother unit 1 is located at the nose or tail, thus reserving installation space for the daughter unit 2 on the wings of the mother unit 1. The daughter unit 2 is symmetrically arranged below the two wings of the mother unit 1, and its propeller is located at the nose or tail end of its fuselage, facilitating connection between the daughter unit 2 and the mother unit 1. The daughter unit 2 is designed for single use, meaning it can be discarded after completing its mission. Both the mother unit 1 and the daughter unit 2 are commercially available mature devices; therefore, their structure and working principle will not be described in detail in this embodiment.

[0033] The catapult connection device 3 is installed on the wing of the mother aircraft 1, and the number of these devices corresponds to that of the daughter aircraft 2. The daughter aircraft 2 is connected to the mother aircraft 1 via the catapult connection device 3. After reaching the designated airspace, the daughter aircraft 2 is ejected from the mother aircraft 1 via the catapult connection device 3.

[0034] Specifically, the ejection connection device 3 includes a connecting seat 3-1, an ejection plate 3-2, a connecting plate 3-3, and a pin 3-5. The top of the connecting seat 3-1 is fastened to the wing of the mother machine 1. The connecting seat 3-1 has an internal mounting cavity with an open bottom. Ejection plates 3-2 are respectively provided at both ends of the mounting cavity, and two ejection plates 3-2 are symmetrically arranged. The opposite ends of the two ejection plates 3-2 are hinged to the connecting seat 3-1 via a hinge shaft; and a torsion spring is fitted on the hinge shaft to deflect the other end of the ejection plate 3-2 outward from the mounting cavity. A clearance slot is provided on one side of the ejection plate 3-2; an opening is provided at the end of the ejection plate 3-2 corresponding to the clearance slot.

[0035] The connecting plates 3-3 are also arranged symmetrically. The bottom of the two connecting plates 3-3 are fastened to the corresponding submachine 2, and the top of the connecting plates 3-3 is provided with a through hole that can be aligned with the opening on the catapult plate 3-2; when the through hole of the connecting plate 3-3 is aligned with the opening on the catapult plate 3-2, a pin hole is formed.

[0036] A connecting rod 3-4 is provided in the mounting cavity of the connecting seat 3-1. Pins 3-5 are installed at both ends of the connecting rod 3-4, and the two pins 3-5 can be inserted into the two pin holes respectively, thereby locking the connecting plate 3-3 and the ejection plate 3-2 accordingly.

[0037] A drive device 3-6 is also installed within the mounting cavity of the connecting seat 3-1. The drive device 3-6 is used to drive the connecting rod 3-4 to move, causing the connecting rod 3-4 to drive the pin 3-5 to insert into or pull out of the pin hole. Depending on actual needs, the drive device 3-6 can be a telescopic rod or a linear servo.

[0038] When the submachine 2 is connected to the ejection connection device 3, the connecting rod 3-4 drives the pin 3-5 to insert into the pin hole. At this time, the submachine 2 is combined with the mother machine 1 into a single structure through the ejection connection device 3. After reaching the designated airspace, the drive device 3-6 drives the connecting rod 3-4 to move, causing the connecting rod 3-4 to pull the pin 3-5 out of the pin hole. The submachine 2 is unlocked from the ejection connection device 3, and the two ejection plates 3-2 deflect under the action of the torsion spring, pushing the submachine 2 to be ejected and separated from the ejection connection device 3. Example 2:

[0039] Combined with appendix Figures 5-7A takeoff method for a combined unmanned aerial vehicle (UAV) and the combined UAV are disclosed. The difference from Embodiment 1 is that, based on Embodiment 1, the mounting cavity of the connecting seat 3-1 is provided with multiple guide rods 3-7 that movably penetrate the body of the connecting rod 3-4. When the driving device 3-6 pushes or pulls the connecting rod 3-4, the connecting rod 3-4 can move along the guide rods 3-7, effectively improving the stability of the connecting rod 3-4.

[0040] Furthermore, as shown in the appendix Figure 5 and 7 As shown, the submachine 2 has connecting bosses 3-8 at the free ends of the two catapult plates 3-2, and the drive device 3-6 is located between the two connecting bosses 3-8; the connecting bosses 3-8 are adapted to the mounting cavity of the connecting seat 3-1. The connecting bosses 3-8 can serve as positioning devices, thereby facilitating the quick assembly and connection of the submachine 2 and the catapult connection device 3. The bottom of the connecting seat 3-1 corresponding to the drive device 3-6 has a limiting boss 3-10 that can stably insert into the gap between the two connecting bosses 3-8; when the submachine 2 is connected to the catapult connection device 3, the limiting boss 3-10 contacts the submachine 2. By interlocking the limiting boss 3-10 with the two connecting bosses 3-8, and limiting the body of the submachine 2 with the limiting boss 3-10, the through hole at the top of the connecting plate 3-3 and the opening on the catapult plate 3-2 can be quickly aligned to form a pin hole, so that the pin 3-5 can be accurately inserted into the pin hole, and the submachine 2 and the catapult connection device 3 can be quickly and accurately docked. Example 3:

[0041] Combined with appendix Figures 5-7 A takeoff method for a combined unmanned aerial vehicle (UAV) and the combined UAV, based on Embodiment 2, wherein elastic electrode plates 3-9 are provided on both sides of the connecting boss 3-8, and a connecting electrode that can be electrically connected to the elastic electrode plates 3-9 is provided in the mounting cavity of the connecting seat 3-1. When the sub-unit 2 is connected to the ejection connecting device 3, the elastic electrode plates 3-9 are electrically connected to the corresponding connecting electrodes, so that the mother unit 1 and the sub-unit 2 can share power or communicate. Example 4:

[0042] Combined with appendix Figures 4-5 A takeoff method for a combined unmanned aerial vehicle (UAV) and the combined UAV, based on any one of embodiments one to three, wherein the free end of the catapult plate 3-2 is rotatably connected to a roller 3-11. This effectively reduces the friction between the catapult plate 3-2 and the sub-unit 2, enabling the sub-unit 2 to be efficiently ejected and separated from the catapult connection device 3.

[0043] The connecting seat 3-1 is provided with an observation hole at the position corresponding to the pin 3-5, as shown in the attached figure. Figure 4As shown. When assembling the submachine 2 with the catapult connection device 3, the operator can observe through the observation hole whether the through hole on the top of the connecting plate 3-3 is aligned with the opening on the catapult plate 3-2, and whether the pin 3-5 is inserted into the pin hole, thereby determining whether the submachine 2 and the catapult connection device 3 are reliably connected.

[0044] The parts of this invention not described in detail are prior art. It will be apparent to those skilled in the art that this invention is not limited to the details of the above exemplary embodiments, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and are intended to encompass all changes falling within the meaning and scope of equivalents within this invention.

Claims

1. A method for take-off of a combined unmanned aerial vehicle, characterized in that, The method comprises the following steps: S1, making the nose of the mother machine (1) vertical or inclined upward; S2, controlling the sub-machine (2) on the two wings of the mother machine (1) to start, and driving the mother machine (1) to ascend by the sub-machine (2); S3, controlling the mother machine (1) to start, changing the flight attitude, and rapidly climbing to the target height and then flying to the target airspace; S4, controlling the mother machine (1) to assume a climbing attitude, starting the ejection connecting device (3) between the mother machine (1) and the sub-machine (2), and ejecting and separating the sub-machine (2) from the mother machine (1); after the sub-machine (2) is separated from the mother machine (1), the sub-machine (2) and the mother machine (1) can be cooperatively controlled or independently controlled.

2. A combined drone, characterized in that, It comprises: The mother machine (1) has propellers at the nose or tail; The sub-machine (2) is symmetrically arranged below the mother machine (1); The number of the ejection connecting device (3) corresponds to that of the sub-machine (2); the ejection connecting device (3) is installed on the wing of the mother machine (1); it is used for connecting the sub-machine (2) and the mother machine (1) correspondingly; after reaching the specified airspace, the ejection connecting device (3) is used for ejecting and separating the sub-machine (2) from the mother machine (1).

3. The modular drone of claim 2, wherein, The ejection connecting device (3) comprises: The top of the connecting seat (3-1) is fastened to the wing of the mother machine (1), the inside of the connecting seat (3-1) is provided with an installation cavity, and the bottom of the installation cavity is open; The ejection plate (3-2) is symmetrically provided with two; the opposite ends of the two ejection plates (3-2) are hingedly connected in the installation cavity through a hinge shaft; the shaft body of the hinge shaft is sleeved with a torsion spring for deflecting the other end of the ejection plate (3-2) out of the installation cavity; one side of the plate surface of the ejection plate (3-2) is provided with a clearance slot; one end of the ejection plate (3-2) corresponding to the clearance slot is provided with an opening; The connecting plate (3-3) is symmetrically provided with two; the bottom of the connecting plate (3-3) is fastened to the sub-machine (2) correspondingly, and the top of the connecting plate (3-3) is provided with a through hole which can be aligned with the opening on the ejection plate (3-2); The connecting rod (3-4) is arranged in the installation cavity of the connecting seat (3-1); The latch (3-5) is two, respectively installed at both ends of the connecting rod (3-4); when the through hole of the connecting plate (3-3) is aligned with the opening on the ejection plate (3-2), the latch hole is formed, and the latch (3-5) can be inserted into the latch hole to correspondingly lock the connecting plate (3-3) and the ejection plate (3-2); The driving device (3-6) is installed in the installation cavity of the connecting seat (3-1); it is used for driving the connecting rod (3-4) to move, so that the connecting rod (3-4) drives the latch (3-5) to insert into or pull out of the latch hole.

4. The combined unmanned aerial vehicle according to claim 3, wherein: A plurality of guide rods (3-7) which can pass through the rod body of the connecting rod (3-4) are arranged in the installation cavity of the connecting seat (3-1).

5. The combined unmanned aerial vehicle according to claim 3, wherein: The sub-machine (2) is provided with a connecting boss (3-8) at the position corresponding to the free end of the two ejection plates (3-2), the driving device (3-6) is located between the two connecting bosses (3-8), and the connecting boss (3-8) is correspondingly adapted to the installation cavity of the connecting seat (3-1).

6. The combined unmanned aerial vehicle according to claim 5, characterized in that: The elastic electrode sheet (3-9) is arranged on both sides of the connecting boss (3-8), and the connecting seat (3-1) is provided with a connecting electrode capable of conducting electricity with the elastic electrode sheet (3-9); when the sub-machine (2) is connected with the ejection connecting device (3), the elastic electrode sheet (3-9) is in corresponding conductive connection with the corresponding connecting electrode, so that the parent machine (1) and the sub-machine (2) can share electric energy or communicate.

7. The combined unmanned aerial vehicle according to claim 5, characterized in that: The connecting seat (3-1) is provided with a limiting boss (3-10) capable of being stably inserted into the gap between the two connecting bosses (3-8) at the bottom corresponding to the driving device (3-6); when the sub-machine (2) is connected with the ejection connecting device (3), the limiting boss (3-10) is in corresponding contact with the fuselage of the sub-machine (2).

8. The combined unmanned aerial vehicle according to claim 3, characterized in that: The free end of the ejection plate (3-2) is rotatably connected with a roller (3-11).

9. The combined unmanned aerial vehicle according to claim 3, characterized in that: The connecting seat (3-1) is provided with an observation hole at a position corresponding to the bolt (3-5).

10. The combined unmanned aerial vehicle according to claim 3, characterized in that: The driving device (3-6) is a telescopic rod or a linear steering engine.

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