Tandem double-rotor helicopter type unmanned aerial vehicle

Abstract

The invention relates to rotor aircrafts, in particular to the technical field of rotor unmanned helicopters, and discloses a tandem double-rotor helicopter unmanned aerial vehicle which comprises an unmanned aerial vehicle body, a mounting part is arranged on the unmanned aerial vehicle body, a vector adjusting part is mounted on the mounting part, a rotor part is mounted on the vector adjusting part, and a rotor is mounted on the rotor part. A coupling part is arranged on the rotor wing part, a supporting part is further installed on the vector adjusting part, the rotor wing part comprises a rotating shaft, the supporting part comprises an air film bearing seat, an air bearing is attached to the inner wall of the air film bearing seat, and a non-contact supporting structure in which the air film bearing seat is matched with the air bearing is adopted. A stable high-pressure air film is formed between the air film bearing seat and the air bearing by utilizing air flow generated by rotation of the paddle, so that the air bearing and the rotating shaft are completely suspended without contact, mechanical friction and vibration transmission of a traditional mechanical bearing are thoroughly eliminated, radial shaking of the rotating shaft and buffeting of a paddle disc are effectively inhibited, and the flight stability of the unmanned aerial vehicle is greatly improved.

Description

Technical Field

[0001] This invention relates to rotorcraft, and more specifically to the field of rotorcraft unmanned helicopter technology, specifically a tandem dual-rotor helicopter unmanned aerial vehicle. Background Technology

[0002] Tandem-rotor unmanned helicopters are widely used in logistics, power line inspection, fire rescue, geological exploration, and military reconnaissance due to their compact structure, high payload capacity, high hovering efficiency, and lack of a tail rotor. Compared to single-rotor UAVs, the tandem-rotor layout uses the counter-rotating rotors to counteract torque, resulting in a wider center of gravity range, better handling stability, and stronger maneuverability. It is particularly suitable for heavy-load, long-endurance, and complex environmental operations.

[0003] Currently, unmanned helicopters employing a tandem rotor structure, when equipped with vector thrust rotors, can achieve vertical takeoff and landing, rapid forward flight, and attitude adjustment by changing the overall rotor deflection angle, significantly improving maneuverability and flight efficiency. However, during actual flight, when the rotor deflection angle changes, the rotor disk is simultaneously subjected to a complex airflow from updrafts, forward airflow, and ambient crosswinds. This creates complex aerodynamic interference between the rotor disk and the incoming airflow, causing the rotor shaft to bear significant alternating aerodynamic loads and lateral shear forces.

[0004] Under the combined motion of high-speed rotation and vector deflection, the rotor shaft experiences increased aerodynamic drag and mechanical losses, leading to decreased power system efficiency and increased energy consumption. Uneven airflow easily induces shaft vibration, radial sway, and propeller disc flutter, reducing flight attitude control accuracy. Vibration and load fluctuations are transmitted to the fuselage structure step by step, exacerbating overall aircraft vibration. In severe cases, this can exceed the flight control stability margin, reducing flight stability and safety, and even posing a risk of loss of control and crash. Therefore, a tandem twin-rotor helicopter UAV is proposed to address the aforementioned problems. Summary of the Invention

[0005] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a tandem dual-rotor helicopter unmanned aerial vehicle (UAV) that solves the problem that existing tandem dual-rotor vector unmanned helicopters are prone to vibration and swaying of the rotor shaft due to complex aerodynamic interference when frequently changing rotor angles, thereby reducing flight stability.

[0006] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: a tandem dual-rotor helicopter unmanned aerial vehicle (UAV), comprising a UAV body, an installation part on the UAV body, a vector adjustment part mounted on the installation part, a rotor part mounted on the vector adjustment part, a coupling part on the rotor part, and a support part mounted on the vector adjustment part. The rotor part includes a rotating shaft, the support part includes a film bearing housing, an air bearing is fitted to the inner wall of the film bearing housing, the coupling part includes a wedge-shaped guide groove, the wedge-shaped guide groove is formed around the air bearing, a spiral guide groove is formed on the inner wall of the air bearing, the air bearing is movably sleeved on the outer wall of the rotating shaft, the inner wall of the air bearing is not in contact with the outer wall of the rotating shaft, and damping fluid is filled between the spiral guide groove and the outer wall of the rotating shaft. The vector adjustment part, rotor part, support part, and coupling part together form a tandem rotor assembly.

[0007] Preferably, the damping fluid is silicone oil, and flexible damping rings are fixedly connected to both ends of the inner wall of the air bearing, with the inner wall of the flexible damping rings in contact with the outer wall of the shaft.

[0008] Preferably, the rotor also includes a brushless motor, the output shaft of which is fixedly connected to the rotating shaft, a hub is mounted on the end of the rotating shaft away from the brushless motor, blades are fixedly connected to the hub, and a wedge-shaped block is connected around the hub.

[0009] Preferably, the coupling part further includes a second wedge block corresponding to the first wedge block, the second wedge block being connected around one end of the air bearing, and the first wedge block and the second wedge block being disposed opposite to each other.

[0010] Preferably, the vector adjustment unit includes a servo motor and a positioning arm. The output shaft of the servo motor is rotatably connected to the positioning arm. A turntable is fixedly connected to the output shaft of the servo motor. Two positioning plates are symmetrically installed on the turntable. A servo motor is installed on one of the positioning plates. The output shaft of the servo motor is rotatably connected to the other positioning plate. A turntable is fixedly connected to the output shaft of the servo motor. The brushless motor is installed on the turntable.

[0011] Preferably, the support part further includes a support plate, which is fixedly connected to the turntable two, the air film bearing seat is fixedly connected to the support plate, and the outer walls of both ends of the air bearing are fixedly connected with limiting protrusions.

[0012] Preferably, the mounting part includes a mounting slot 1, which is located at the tail of the UAV body. A machine slot 1 is formed on one side of the mounting slot 1, and a positioning slot 1 is formed on the other side of the mounting slot 1. A servo motor 1 is mounted on the inner wall of the machine slot 1, a positioning arm is mounted on the inner wall of the positioning slot 1, and a turntable 1 is located on the inner wall of the mounting slot 1.

[0013] Preferably, the drone body has a second mounting groove on its nose, an organic groove on one side of the second mounting groove, and a second positioning groove on the other side of the second mounting groove.

[0014] Preferably, there are two tandem rotor assemblies. The servo motor of the vector adjustment unit in the other tandem rotor assembly is installed on the inner wall of the slot two, and the positioning arm is installed on the inner wall of the positioning slot two.

[0015] Preferably, the UAV body is embedded with a main control console, the UAV body is equipped with tires, and the main control console includes a flight control main control module, a sensor module, a power management module, a motor drive module, a servo drive module, a communication module and a positioning module, and the flight control main control module has a built-in central processing unit.

[0016] (III) Beneficial Effects Compared with the prior art, the present invention provides a tandem dual-rotor helicopter unmanned aerial vehicle (UAV) with the following advantages: 1. This tandem dual-rotor helicopter drone adopts a non-contact support structure that combines a film bearing housing with an air bearing. The airflow generated by the rotation of the propellers forms a stable high-pressure air film between the film bearing housing and the air bearing. There is no contact between the air bearing and the shaft, which completely eliminates the mechanical friction and vibration transmission of traditional mechanical bearings, effectively suppresses radial sway of the shaft and propeller disc jitter, and greatly improves the flight stability of the drone.

[0017] 2. This tandem dual-rotor helicopter uses an air bearing with a spiral guide groove on the inner wall filled with silicone oil damping fluid. Combined with flexible damping rings at both ends of the inner wall, when the air bearing is driven to rotate by airflow, the silicone oil viscous shear force and the flexible friction of the flexible damping rings provide a co-directional auxiliary driving force to the shaft, reducing the drive load of the brushless motor, improving the working efficiency of the power system, reducing energy consumption and extending the drone's endurance.

[0018] 3. This tandem dual-rotor helicopter uses a wedge block one on the rotor hub and a wedge block two on the air bearing, which are positioned opposite each other. When the UAV completes vector adjustment actions such as turning and large-arc motion, the shaft generates a strong centrifugal force due to attitude changes. The air bearing is lifted along the shaft axis by the centrifugal force, so that wedge block two and wedge block one are precisely engaged, forming a brief rigid connection. This allows the air bearing and the shaft to rotate coaxially and at the same speed, instantly strengthening the overall structural strength of the shaft. This effectively avoids the risk of shaft breakage due to the superposition of aerodynamic alternating loads, lateral shear forces, and centrifugal forces, and improves the reliability of the shaft structure.

[0019] 4. This tandem dual-rotor helicopter uses a vector control unit composed of dual servo mechanisms. Through the coordinated action of servo one and servo two, the rotor can achieve multi-angle vector deflection in space, with high adjustment accuracy and fast response speed. Combined with the counter-rotation design of the two sets of tandem rotor assemblies, it can automatically cancel out the anti-torque, eliminating the need for an additional tail rotor. This simplifies the fuselage structure while improving the hovering efficiency and maneuverability of the UAV.

[0020] 5. This tandem dual-rotor helicopter adopts a modular structure design. The mounting section, vector adjustment section, rotor section, support section and coupling section are mutually coordinated and easy to assemble and disassemble. The limiting protrusion of the air bearing can effectively limit its axial movement, ensure the matching accuracy of each component, reduce the difficulty and cost of equipment maintenance, and improve the overall practicality. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the mounting part of the present invention; Figure 3 This is a schematic diagram of the tandem rotor assembly of the present invention; Figure 4 This is a schematic diagram of the vector adjustment unit of the present invention; Figure 5 This is a schematic diagram of the blade structure of the present invention; Figure 6 This is a schematic diagram of the structure of the support part and the coupling part of the present invention; Figure 7 This is a schematic diagram of the air bearing structure of the present invention.

[0022] In the diagram: 1. UAV body; 2. Mounting section; 21. Mounting slot one; 22. Machine slot one; 23. Positioning slot one; 24. Mounting slot two; 25. Machine slot two; 26. Positioning slot two; 3. Vector adjustment section; 31. Servo one; 32. Positioning arm; 33. Turntable one; 34. Positioning plate; 35. Servo two; 36. Turntable two; 4. Rotor section; 41. Brushless motor; 42. Rotary shaft; 43. Propeller blade; 44. Wedge block one; 5. Support section; 51. Support plate; 52. Air film bearing seat; 53. Air bearing; 54. Limiting protrusion; 6. Coupling section; 61. Wedge-shaped guide channel; 62. Wedge block two; 63. Flexible damping ring; 64. Spiral guide channel; 7. Main control console. Detailed Implementation

[0023] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Please see Figures 1-7 This invention provides a tandem dual-rotor helicopter unmanned aerial vehicle (UAV), comprising a UAV body 1, a mounting part 2 on the UAV body 1, a vector adjustment part 3 mounted on the mounting part 2, a rotor part 4 mounted on the vector adjustment part 3, a coupling part 6 on the rotor part 4, and a support part 5 mounted on the vector adjustment part 3. The rotor part 4 includes a rotating shaft 42, the support part 5 includes a film bearing seat 52, and an air bearing 53 is attached to the inner wall of the film bearing seat 52. The coupling part 6 includes a wedge-shaped guide groove 61, which is formed around the air bearing 53. The inner wall of the rotor is provided with a spiral guide groove 64. The air bearing 53 is movably sleeved on the outer wall of the rotating shaft 42. The inner wall of the air bearing 53 does not contact the outer wall of the rotating shaft 42. The space between the spiral guide groove 64 and the outer wall of the rotating shaft 42 is filled with damping fluid. The vector adjustment part 3, the rotor part 4, the support part 5 and the coupling part 6 together form a tandem rotor assembly. The damping fluid is silicone oil (201-100cs methyl silicone oil). Flexible damping rings 63 (fluororubber material) are fixedly connected to both ends of the inner wall of the air bearing 53. The inner wall of the flexible damping ring 63 is in contact with the outer wall of the rotating shaft 42.

[0025] In this invention, the rotor part 4 also includes a brushless motor 41, the output shaft of the brushless motor 41 is fixedly connected to the rotating shaft 42, a rotor hub is installed at the end of the rotating shaft 42 away from the brushless motor 41, a blade 43 is fixedly connected to the rotor hub, and a wedge block 44 is connected around the rotor hub. The coupling part 6 also includes a wedge block 62 corresponding to the wedge block 44, the wedge block 62 is connected around one end of the air bearing 53, and the wedge block 44 and the wedge block 62 are arranged opposite to each other.

[0026] In use, the coupling part 6 is the power coupling between the air bearing 53 and the rotor part 4, and the force transmission mechanism between the air bearing 53 and the rotating shaft 42, realizing the pneumatic drive rotation of the air bearing 53 and the flexible auxiliary drive of the rotating shaft 42.

[0027] In this embodiment, the vector adjustment unit 3 is an actuator for rotor vector deflection, used to adjust the angle of the rotor 4 in the horizontal and vertical directions, thereby changing the direction of rotor thrust to adapt to different flight attitude requirements of the UAV, such as vertical take-off and landing, forward flight, and side flight. It includes a servo motor 31 (MG996R metal gear servo) and a positioning arm 32. The output shaft of the servo motor 31 is rotatably connected to the positioning arm 32. A turntable 33 is fixedly connected to the output shaft of the servo motor 31. Two positioning plates 34 are symmetrically installed on the turntable 33. A servo motor 35 (same model as servo motor 31) is installed on one of the positioning plates 34. The output shaft of the servo motor 35 is rotatably connected to the other positioning plate 34. A turntable 36 is fixedly connected to the output shaft of the servo motor 35. A brushless motor 41 is installed on the turntable 36.

[0028] Furthermore, the support part 5 also includes a support plate 51, which is fixedly connected to the turntable 36. The air film bearing seat 52 is fixedly connected to the support plate 51, and the outer walls of both ends of the air bearing 53 are fixedly connected to limit protrusions 54.

[0029] It is worth noting that the mounting section 2 is the connection base between the UAV body 1 and the tandem rotor assembly, used to realize the fixed installation and positioning of the vector adjustment section 3. It includes a mounting slot 21, which is opened at the tail of the UAV body 1. A machine slot 22 is opened on one side of the mounting slot 21, and a positioning slot 23 is opened on the other side of the mounting slot 21. A servo motor 31 is installed on the inner wall of the machine slot 22, and a positioning arm 32 is installed on the inner wall of the positioning slot 23. A turntable 33 is located on the inner wall of the mounting slot 21. A mounting slot 24 is opened on the nose of the UAV body 1. A machine slot 25 is opened on one side of the mounting slot 24, and a positioning slot 26 is opened on the other side of the mounting slot 24. There are two tandem rotor assemblies. The servo motor 31 of the vector adjustment section 3 in the other tandem rotor assembly is installed on the inner wall of the machine slot 25, and the other positioning arm 32 is installed on the inner wall of the positioning slot 26.

[0030] In use, the UAV body 1 is equipped with two sets of tandem rotor assemblies, distributed along the front and rear of the fuselage. The two sets of rotor assemblies rotate in opposite directions when working, canceling each other out. The UAV body 1 does not need to be equipped with an additional tail rotor structure. The main control console 7 can independently adjust the rotation speed and vector deflection angle of the two sets of tandem rotor assemblies. By adjusting the difference in rotation speed and vector deflection angle between the two sets of assemblies, various flight actions of the UAV can be achieved. The two rotor assemblies work together to adapt to changes in the drone's center of gravity through coordinated lift adjustment, thereby improving the drone's attitude stability during flight. When the drone performs various vector adjustment maneuvers, the shafts 42 of the two rotor assemblies can be strengthened simultaneously. The air bearings 53 are used to offset the aerodynamic alternating loads and lateral shear forces, avoiding structural problems caused by stress concentration on a single shaft 42. The dual-shaft 42 structure in the tandem layout can improve the overall structural reliability of the drone.

[0031] It is worth noting that the UAV body 1 is embedded with a main control console 7, which integrates functions such as flight attitude calculation, power output control, vector angle adjustment, status monitoring and safety protection. The UAV body 1 is equipped with tires. The main control console 7 includes a flight control main control module (with built-in PID attitude control algorithm), a sensor module (MPU6050 six-axis sensor and MS5611 barometric altimeter and HMC5883L magnetometer combination), a power management module (CN3722 lithium battery charging management chip and DW01 lithium battery protection chip combination), a motor drive module (ESC40A brushless ESC), a servo drive module (PCA9685-16-channel PWM servo drive board), a communication module (SI4432 wireless data transmission module and 5.8G image transmission module combination), and a positioning module (UBLOXNEO-M8N-GPS). The flight control main control module has a built-in central processing unit (STM32H743VIT6 microcontroller). All modules are electrically connected to the central processing unit, adopting a centralized control architecture, which has fast control response speed and good coordination.

[0032] In use, the flight control main module features fast computing speed, large storage capacity, and rich peripheral interfaces, which can meet the operational requirements of UAV multi-sensor data fusion, attitude calculation, and complex control algorithms. The PID attitude control algorithm can perform real-time calculation and closed-loop control of the UAV's pitch, roll, and yaw attitude. The sensor module integrates a three-axis gyroscope and a three-axis accelerometer, which can collect the UAV's angular velocity and acceleration data in real time for real-time acquisition of the UAV's flight altitude and heading angle data, providing a basis for the UAV's directional control. The collected data is transmitted to the flight control main module in real time to provide raw data for attitude calculation. The motor drive module receives the control signals from the flight control main module to realize the speed adjustment of the brushless motor 41. The servo drive module receives the angle control signals from the flight control main module, converts them into PWM signals and outputs them to servo motor 31 and servo motor 35 to achieve precise control of the servo motor angle. The communication module is used to realize the transmission of control signals and status data between the UAV and the ground remote controller.

[0033] Working principle: When the tandem dual-rotor helicopter is working, the brushless motor 41 is first started by the main control panel 7. The brushless motor 41 drives the rotating shaft 42 to rotate at high speed, which in turn drives the rotor hub and blades 43 to rotate, generating an upward airflow and thrust. The two sets of tandem rotor assemblies rotate in opposite directions to cancel out the counter-torque, providing basic lift for the drone. Part of the airflow generated by the rotation of the blades 43 enters the air bearing 53 through the wedge-shaped guide groove 61 to form a high-pressure stable air film, so that the air bearing 53 and the rotating shaft 42 rotate in the same direction without contact, eliminating mechanical friction and vibration transmission.

[0034] When the air bearing 53 rotates, the silicone oil damping fluid in the spiral guide groove 64 on its inner wall generates a viscous shear force with the outer wall of the shaft 42. At the same time, the flexible damping ring 63 generates a flexible friction force with the outer wall of the shaft 42. The two forces act on the shaft 42 in the same direction, providing auxiliary driving force for the shaft 42, reducing the driving load of the brushless motor 41, and improving power efficiency.

[0035] When the UAV needs to perform vertical take-off and landing, forward and backward flight, turning, and large-arc motion, the flight control main control module of the main control console 7 sends commands to the servo drive module. Servo 1 31 and servo 2 35 work together to drive turntable 1 33 and turntable 2 36 to rotate, thereby adjusting the vector angle of the rotor 4 and changing the direction of rotor thrust. When the UAV completes large-angle vector adjustment actions such as turning and large-arc motion, the rotating shaft 42 generates strong centrifugal force due to sudden attitude change. Under the action of centrifugal force, the air bearing 53 climbs along the axial direction of the rotating shaft 42, so that the wedge block 2 62 on the air bearing 53 precisely meshes with the wedge block 1 44 on the rotor hub, forming a brief rigid connection. At this time, the air bearing 53 and the rotating shaft 42 rotate coaxially and at the same speed, instantly strengthening the overall structural strength of the rotating shaft 42, effectively offsetting the aerodynamic alternating load and lateral shear force on the rotating shaft 42, and avoiding the risk of fracture of the rotating shaft 42 due to stress superposition.

[0036] Once the drone resumes stable flight, the centrifugal force weakens, the air bearing 53 resets, wedge block 44 disengages from wedge block 62, and the air bearing 53 resumes non-contact rotation, continuing to provide auxiliary drive for the shaft 42 and absorb vibration through the viscous shear force of silicone oil and the flexible damping friction.

[0037] Throughout the flight, the sensor module of the main control console 7 collects real-time data on the drone's attitude, altitude, and heading. The positioning module achieves precise positioning, and the power management module monitors the battery status in real time and provides overvoltage, overcurrent, and overtemperature protection. All modules work together to ensure the drone's flight stability and safety. When the drone lands, the main control console 7 gradually reduces the speed of the brushless motor 41 to reduce lift, and the aviation tires at the bottom of the fuselage buffer the landing impact, completing the entire flight operation process.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A tandem dual-rotor helicopter unmanned aerial vehicle (UAV), comprising the UAV body (1), characterized in that: The UAV body (1) is provided with an installation part (2), a vector adjustment part (3) is installed on the installation part (2), a rotor part (4) is installed on the vector adjustment part (3), a coupling part (6) is provided on the rotor part (4), and a support part (5) is also installed on the vector adjustment part (3). The rotor part (4) includes a rotating shaft (42), the support part (5) includes a film bearing seat (52), and an air bearing (53) is attached to the inner wall of the film bearing seat (52). The coupling part (6) includes a wedge-shaped guide groove ( 61), the wedge-shaped guide groove (61) is opened around the air bearing (53), the inner wall of the air bearing (53) is provided with a spiral guide groove (64), the air bearing (53) is movably sleeved on the outer wall of the rotating shaft (42), the inner wall of the air bearing (53) does not contact the outer wall of the rotating shaft (42), the spiral guide groove (64) and the outer wall of the rotating shaft (42) are filled with damping fluid, the vector adjustment part (3), the rotor part (4), the support part (5) and the coupling part (6) together form a tandem rotor assembly.

2. The tandem dual-rotor helicopter unmanned aerial vehicle according to claim 1, characterized in that: The damping fluid is silicone oil, and flexible damping rings (63) are fixedly connected to both ends of the inner wall of the air bearing (53). The inner wall of the flexible damping ring (63) is in contact with the outer wall of the rotating shaft (42).

3. The tandem dual-rotor helicopter unmanned aerial vehicle according to claim 1, characterized in that: The rotor (4) also includes a brushless motor (41), the output shaft of which is fixedly connected to the rotating shaft (42). A hub is installed at one end of the rotating shaft (42) away from the brushless motor (41), and blades (43) are fixedly connected to the hub. A wedge block (44) is connected around the hub.

4. A tandem dual-rotor helicopter unmanned aerial vehicle according to claim 3, characterized in that: The coupling part (6) also includes a second wedge block (62) corresponding to the first wedge block (44), the second wedge block (62) being connected around one end of the air bearing (53), and the first wedge block (44) and the second wedge block (62) being arranged opposite to each other.

5. A tandem dual-rotor helicopter unmanned aerial vehicle according to claim 3, characterized in that: The vector adjustment unit (3) includes a servo motor (31) and a positioning arm (32). The output shaft of the servo motor (31) is rotatably connected to the positioning arm (32). A turntable (33) is fixedly connected to the output shaft of the servo motor (31). Two positioning plates (34) are symmetrically installed on the turntable (33). A servo motor (35) is installed on one of the positioning plates (34). The output shaft of the servo motor (35) is rotatably connected to the other positioning plate (34). A turntable (36) is fixedly connected to the output shaft of the servo motor (35). The brushless motor (41) is installed on the turntable (36).

6. A tandem dual-rotor helicopter unmanned aerial vehicle according to claim 5, characterized in that: The support part (5) also includes a support plate (51), which is fixedly connected to the turntable (36). The air film bearing seat (52) is fixedly connected to the support plate (51), and the outer walls of both ends of the air bearing (53) are fixedly connected to limit protrusions (54).

7. A tandem dual-rotor helicopter unmanned aerial vehicle according to claim 5, characterized in that: The mounting part (2) includes a mounting slot (21), which is located at the tail of the UAV body (1). A machine slot (22) is provided on one side of the mounting slot (21), and a positioning slot (23) is provided on the other side of the mounting slot (21). A servo motor (31) is installed on the inner wall of the machine slot (22), and a positioning arm (32) is installed on the inner wall of the positioning slot (23). A turntable (33) is located on the inner wall of the mounting slot (21).

8. A tandem dual-rotor helicopter unmanned aerial vehicle according to claim 7, characterized in that: The drone body (1) has a mounting slot 2 (24) on its nose, an organic slot 2 (25) on one side of the mounting slot 2 (24), and a positioning slot 2 (26) on the other side of the mounting slot 2 (24).

9. A tandem dual-rotor helicopter unmanned aerial vehicle according to claim 8, characterized in that: There are two tandem rotor assemblies. The servo motor (31) of the vector adjustment unit (3) in the other tandem rotor assembly is installed on the inner wall of the slot (25), and the positioning arm (32) is installed on the inner wall of the positioning slot (26).

10. A tandem dual-rotor helicopter unmanned aerial vehicle according to claim 1, characterized in that: The UAV body (1) is embedded with a main control console (7), and the UAV body (1) is equipped with tires. The main control console (7) includes a flight control main control module, a sensor module, a power management module, a motor drive module, a servo drive module, a communication module and a positioning module. The flight control main control module has a built-in central processing unit.

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