The invention discloses a rotor head structure of a gyroplane. The structure comprises a support rod, a support seat and a rotor wing connecting rod, wherein the support rod is arranged vertically; the support seat is rotationally arranged on the support rod; and the rotor wing connecting rod is transversely connected to the inside of the support seat. The structure is characterized in that: the rotor wing connecting rod is rotationally connected to the support seat through a bearing; the support seat is provided with a transmission and a stepper motor connected with the transmission; an output shaft of the transmission vertically extends into the support seat, and the end head of the output shaft is provided with a bevel gear; and one end, which is positioned in the support seat, of the rotor wing connecting rod is provided with a conical gear engaged with the bevel gear. The invention also discloses a rotor head structure-based gyroplane and a method for controlling vertical take-off of the gyroplane. The structure can realize the vertical take-off of the gyroplane and enhances the flight stability and safety of the gyroplane.