CN220164184U - Electric multi-rotor wing configuration posture parameter adjusting test bed - Google Patents

Abstract

The utility model discloses an electric multi-rotor wing configuration posture parameter adjusting test bed which comprises a rack, wherein a course posture control system and a pitching posture control system are arranged on the rack; the bench is provided with a plurality of pneumatic test seats, the pneumatic test seats are provided with a tilting mechanism, a rotor mechanism and a data acquisition mechanism, and the driving assembly controls the displacement of the pneumatic test seats. The yaw and pitch postures of a plurality of rotors in the flying process can be simulated through the course posture control system and the pitch posture control system; the tilting mechanism is arranged to simulate tilting action of the rotor wing, and aerodynamic force, reactive torque and tilting moment in all directions of the rotor wing are measured through a six-component balance; the positions of the plurality of pneumatic test seats are respectively controlled by the driving assembly, so that the front-back spacing, the left-right spacing and the height spacing of the plurality of rotary wings can be changed; and the data acquisition system is matched to obtain measurement parameters, so that aerodynamic characteristics of a plurality of rotors under different flight attitudes are researched.

Description

Electric multi-rotor wing configuration posture parameter adjusting test bed

Technical Field

The utility model relates to the technical field of multi-rotor characteristic test, in particular to an electric multi-rotor configuration posture parameter adjusting test bed.

Background

The multi-rotor aircraft can rotate through the motor on each shaft to drive the rotor, thereby generating lift thrust, and the magnitude of single-shaft propulsion can be changed through changing the relative rotation speed between different rotors, so as to control the running track of the aircraft. In the manufacturing process of the multi-rotor aircraft, aerodynamic interference and parameters of the rotor under different postures need to be studied, so that the multi-rotor characteristic test bed has the function of parameter debugging in the development process.

The prior art, for example, chinese patent application No. 202210459215.4 discloses a multi-rotor unmanned aerial vehicle posture balance parameter adjustment test bed which comprises a base, a lower rotating disc, a central shaft block assembly and an unmanned aerial vehicle fixing disc; the lower rotating disc is in a circular shape, the lower rotating disc is coaxially arranged up and down, the unmanned aerial vehicle is fixed on the experiment table and freely and flexibly moves in three axial directions of pitching, rolling and heading, and the debugging of attitude control parameters under the condition that the unmanned aerial vehicle is not out of control is realized. Such a stand is single in function and cannot simulate aerodynamic interference between multiple rotors, nor can it simulate a tilt rotor.

Disclosure of Invention

The utility model aims to provide an electric multi-rotor wing configuration posture parameter adjusting test bed so as to solve the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions: an electric multi-rotor wing configuration posture parameter adjusting test bed comprises a rack, wherein a course posture control system and a pitching posture control system are arranged on the rack; the course attitude control system drives the rack to rotate on a horizontal plane, and the pitching attitude control system drives the longitudinal beam to swing on a vertical plane;

the rack is provided with a plurality of pneumatic test seats, the plurality of pneumatic test seats are provided with a tilting mechanism, a rotor wing mechanism and a data acquisition mechanism, the tilting mechanism is arranged on the pneumatic test seats, the data acquisition mechanism comprises a six-component balance, and the six-component balance captures aerodynamic force, reactive torque and tilting torque of the rotor wing mechanism in all directions; the rack also includes a drive assembly that controls the displacement of the plurality of pneumatic test seats.

Through the technical scheme, yaw and pitch postures of a plurality of rotors in the flying process can be simulated; by arranging the tilting mechanism, the rotor wing mechanism and the pneumatic test seat, the tilting action of the rotor wing is simulated, and the vertical take-off, landing, transition and flat flight posture of the rotor wing mechanism are simulated; aerodynamic force, reactive torque and tilting torque in all directions of the rotor are measured through a six-component balance; the positions of the plurality of pneumatic test seats are respectively controlled by the driving assembly, so that the front-back spacing, the left-right spacing and the height spacing of the plurality of rotary wings can be changed; and the data acquisition system is matched to obtain measurement parameters, so that aerodynamic characteristics of a plurality of rotors under different flight attitudes are researched.

Preferably, the rack comprises a plurality of X-axis movable beams, a plurality of Y-axis movable beams and a plurality of Z-axis movable beams, wherein the X-axis movable beams are distributed at equal intervals by taking the Y-axis movable beams as axes, the X-axis movable beams are in sliding connection with the Y-axis movable beams, the Z-axis movable beams are distributed at equal intervals by taking the Y-axis movable beams as axes, the Z-axis movable beams are respectively in sliding connection with the X-axis movable beams, and a plurality of pneumatic test seats are respectively arranged on the Z-axis movable beams; the driving assembly drives the pneumatic test seat to move in the vertical direction on the Z-axis movable beam, drives the Z-axis movable beam to move on the Y-axis movable beam and drives the X-axis movable beam to move on the Y-axis movable beam.

Through the technical scheme, the displacement of each group of rotor wing mechanisms in the X, Y, Z direction can be controlled respectively, so that the aerodynamic characteristics of each group of rotor wing mechanisms under different position relations are simulated.

Preferably, the driving assembly comprises a plurality of groups of oppositely arranged X-axis driving motors, each group of X-axis driving motors is respectively arranged at two ends of an X-axis movable beam, a plurality of mounting seats are equidistantly distributed on the Y-axis movable beam, a group of X-axis screw rods are respectively arranged between each group of X-axis driving motors and the mounting seats in a rotating way, and each group of X-axis driving motors respectively drive the Z-axis movable beam to move in a relative or far-away direction through the X-axis screw rods;

the driving assembly further comprises a plurality of groups of Y-axis driving motors, and the plurality of groups of Y-axis driving motors respectively drive the plurality of groups of X-axis movable beams to slide on the Y-axis movable beams;

the driving assembly further comprises a plurality of Z-axis driving motors, and the Z-axis driving motors respectively drive the pneumatic test seat to move in the vertical direction on the Z-axis movable beam;

the data acquisition mechanism further comprises a computer, and the X-axis driving motor, the Y-axis driving motor and the Z-axis driving motor are all in electrical connection with the computer.

Through the technical scheme, the relative positions among the rotor wing mechanisms can be automatically adjusted, and compared with a traditional manual adjusting method, the full-automatic control of the positions of the rotor wing mechanisms can be realized, so that the method is more convenient, time-saving and labor-saving.

Preferably, the rotor mechanism comprises an intermediate shaft, automatic inclinators are distributed on the intermediate shaft, the automatic inclinators comprise a fixed ring and a rotary ring, the fixed ring is arranged on the rotor shaft, and the rotary ring is coaxially and rotatably connected with the fixed ring through a bearing; the automatic tilting device also comprises a rotor hub, blades and a rotor motor, wherein the rotor motor drives the rotor hub to rotate, and the rotor hub is connected with the automatic tilting device through a linkage mechanism;

the linkage mechanism comprises a plurality of steering engines and a plurality of linkage pull rods, one ends of the linkage pull rods are fixedly connected with the output ends of the steering engines, the other ends of the linkage pull rods are connected with the fixed ring, and the steering engines drive the periodic variable pitch of the paddles through the linkage pull rods.

Preferably, the tilting mechanism comprises a linear cylinder and a worm and gear assembly, the linear cylinder drives the worm and gear assembly to drive the rotor mechanism to tilt, and the six-component balance is arranged on the pneumatic test seat and tilts synchronously with the rotor mechanism.

Through the technical scheme, when the pneumatic characteristics of the rotor wing mechanism in the vertical lifting process are required to be simulated, the rotor wing shaft is in a vertical state; when the pneumatic characteristics of the rotor mechanism in the flat flight state are required to be simulated, the linear cylinder drives the worm and gear assembly to rotate, and the rotor mechanism is driven to tilt, so that the rotor shaft is in a parallel state.

Preferably, the course attitude control system comprises an attitude control motor, the rack further comprises a bottom beam which is vertically arranged, one end of the bottom beam is fixedly connected with the output end of the attitude control motor, and the other end of the bottom beam is hinged with the center of the Y-axis movable beam.

Preferably, the pitching attitude control system comprises an electric cylinder, and the output end of the electric cylinder is hinged with one side of the Y-axis movable beam.

According to the technical scheme, the motor is controlled through the gesture to drive the rack to rotate at the center of the Y-axis movable beam, so that different flying gestures are simulated; the Y-axis activity is driven by an electric cylinder to swing in a vertical plane to simulate a pitching gesture.

Preferably, a plurality of steering engines are arranged at intervals of 90 degrees or 120 degrees.

Preferably, the pneumatic test seat is further provided with a sensor.

Through the technical scheme, parameters such as rotation speed, current and voltage are measured through the sensor, and the periodic variable pitch angle, the total pitch angle, the tilting angle, the yaw angle, the pitching angle and the like are obtained through steering engine calibration calculation.

The beneficial effects are that:

the yaw and pitch postures of a plurality of rotors in the flying process can be simulated through the course posture control system and the pitch posture control system; by arranging the tilting mechanism, the rotor wing mechanism and the pneumatic test seat, the tilting action of the rotor wing is simulated, and the vertical take-off, landing, transition and flat flight posture of the rotor wing mechanism are simulated; aerodynamic forces, reactive torque and tilting torque in each direction of the rotor are measured by a six-component balance.

According to the utility model, by arranging the tilting mechanism, the rotor wing mechanism and the pneumatic test seat, the tilting action of the rotor wing is simulated, and the vertical take-off, landing, transition and flat flight posture of the rotor wing mechanism are simulated; aerodynamic force, reactive torque and tilting torque in all directions of the rotor are measured through a six-component balance; the positions of the plurality of pneumatic test seats are respectively controlled by the driving assembly, so that the front-back spacing, the left-right spacing and the height spacing of the plurality of rotary wings can be changed; and the data acquisition system is matched to obtain measurement parameters, so that aerodynamic characteristics of a plurality of rotors under different flight attitudes are researched.

According to the utility model, the computer is arranged, and the position relation of each rotor wing mechanism is set by the computer, so that the relative position between each rotor wing mechanism can be automatically adjusted; parameters such as rotation speed, current and voltage are measured through a sensor, and the periodic variable pitch angle, the total pitch angle, the tilting angle, the yaw angle, the pitching angle and the like are obtained through steering engine calibration calculation.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an electric multi-rotor-wing configuration attitude-adjustment test stand;

FIG. 2 is a schematic view of the structure of the gantry of the present utility model;

FIG. 3 is a schematic view of a pneumatic test socket according to the present utility model;

fig. 4 is a schematic structural view of the tilting mechanism of the present utility model.

In the figure: 1. a stand; 11. an X-axis movable beam; 12. a Y-axis movable beam; 13. a Z-axis movable beam; 14. a bottom beam; 2. a pneumatic test seat; 3. a tilting mechanism; 31. a straight line cylinder; 32. a worm gear assembly; 4. a rotor mechanism; 41. a rotor motor; 42. an automatic inclinator; 43. a fixing ring; 44. a rotating ring; 45. a hub; 46. a paddle; 5. a six-component balance; 6. an X-axis driving motor; 7. a Y-axis driving motor; 8. a linkage pull rod; 9. a posture control motor; 10. and (5) an electric cylinder.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The following describes embodiments of the present utility model in detail:

an electric multi-rotor-wing configuration posture parameter adjustment test bed is shown in fig. 1 and 2, and comprises a rack 1, wherein a course posture control system and a pitching posture control system are arranged on the rack 1; the course attitude control system drives the rack 1 to rotate on a horizontal plane, and the pitching attitude control system drives the longitudinal beam to swing on a vertical plane; the multifunctional intelligent power generation system is characterized in that a plurality of pneumatic test seats 2 are arranged on the bench 1, a tilting mechanism 3, a rotor wing mechanism 4 and a data acquisition mechanism are arranged on the plurality of pneumatic test seats 2, the tilting mechanism 3 is arranged on the pneumatic test seats 2, the data acquisition mechanism comprises a six-component balance 5, and the six-component balance 5 captures aerodynamic force, reactive torque and tilting torque of the rotor wing mechanism 4 in all directions; the gantry 1 further comprises a drive assembly which controls the displacement of the plurality of pneumatic test seats 2.

The yaw and pitch postures of a plurality of rotors in the flying process can be simulated through the course posture control system and the pitch posture control system; by arranging the tilting mechanism 3, the rotor mechanism 4 and the pneumatic test seat 2, the tilting action of the rotor is simulated, and the vertical lifting, transition and flat flying postures of the rotor mechanism 4 are simulated; aerodynamic forces, reactive torque and tilting torque in all directions of the rotor are measured by a six-component balance 5; the front-back spacing, left-right spacing and height spacing of a plurality of rotary wings can be changed by respectively controlling the positions of a plurality of pneumatic test seats 2 through the driving assembly; and the data acquisition system is matched to obtain measurement parameters, so that aerodynamic characteristics of a plurality of rotors under different flight attitudes are researched.

Specifically, the rack 1 includes a plurality of X-axis movable beams 11, Y-axis movable beams 12, and a plurality of Z-axis movable beams 13, wherein the plurality of X-axis movable beams 11 are equidistantly distributed with the Y-axis movable beams 12 as axes, the plurality of X-axis movable beams 11 are slidably connected with the Y-axis movable beams 12, the plurality of Z-axis movable beams 13 are equidistantly distributed with the Y-axis movable beams 12 as axes, the plurality of Z-axis movable beams 13 are slidably connected with the X-axis movable beams 11, and the plurality of pneumatic test seats 2 are respectively arranged on the Z-axis movable beams 13; the driving assembly drives the pneumatic test seat 2 to move in the vertical direction on the Z-axis movable beam 13, drives the Z-axis movable beam 13 to move on the Y-axis movable beam 12 and drives the X-axis movable beam 11 to move on the Y-axis movable beam 12. By arranging the driving component, the X-axis movable beam 11, the Y-axis movable beam 12 and the Z-axis movable beam 13, the displacement of each group of rotor mechanisms 4 in the X, Y, Z direction can be controlled respectively, so that the aerodynamic characteristics of each group of rotor mechanisms 4 under different positional relationships can be simulated.

As a preferred embodiment, the driving assembly includes several sets of oppositely disposed X-axis driving motors 6, each set of X-axis driving motors 6 is disposed at two ends of the X-axis movable beam 11, several mounting seats are equidistantly distributed on the Y-axis movable beam 12, a set of X-axis screws are rotatably disposed between each set of X-axis driving motors 6 and the mounting seat, and each set of X-axis driving motors 6 drives the Z-axis movable beam 13 to move in opposite or distant directions through the X-axis screws; the driving assembly further comprises a plurality of groups of Y-axis driving motors 7, and the plurality of groups of Y-axis driving motors 7 respectively drive a plurality of groups of X-axis movable beams 11 to slide on the Y-axis movable beams 12; the driving assembly further comprises a plurality of Z-axis driving motors, and the Z-axis driving motors respectively drive the pneumatic test seat 2 to move in the vertical direction on the Z-axis movable beam 13; the data acquisition mechanism further comprises a computer, the X-axis driving motor 6, the Y-axis driving motor 7 and the Z-axis driving motor are electrically connected with the computer, the position relation of each rotor mechanism 4 is set through the computer, the relative position between each rotor mechanism 4 can be automatically adjusted, and compared with a traditional manual adjustment method, the full-automatic control of the position of each rotor mechanism 4 can be realized, and the data acquisition mechanism is more convenient, time-saving and labor-saving.

Specifically, as shown in fig. 3 and fig. 4, the rotor mechanism 4 includes an intermediate shaft, on which an automatic inclinator 42 is distributed, the automatic inclinator 42 includes a fixed ring 43 and a rotating ring 44, the fixed ring 43 is mounted on the rotor shaft, and the rotating ring 44 is coaxially and rotatably connected with the fixed ring 43 through a bearing; the automatic tilting device further comprises a rotor hub 45, blades 46 and a rotor motor 41, wherein the rotor motor 41 drives the rotor hub 45 to rotate, and the rotor hub 45 is connected with the automatic tilting device 42 through a linkage mechanism; the linkage mechanism comprises a plurality of steering gears and a plurality of linkage pull rods 8, one ends of the linkage pull rods 8 are fixedly connected with the output ends of the steering gears, the other ends of the linkage pull rods 8 are connected with the fixed ring 43, and when the linkage mechanism works, the steering gears drive the periodic variable pitch of the paddles 46 through the linkage pull rods 8, and the automatic inclinator 42 moves upwards or downwards along the rotor shaft to realize total pitch adjustment. As a preferred embodiment, a plurality of steering engines are arranged at intervals of 90 degrees or 120 degrees, the linkage pull rods 8 are arranged at least 3, and the steering engines are electrically connected with one another, so that the pneumatic characteristics of the blades 46 under the periodic variable pitch are conveniently obtained.

As a preferred embodiment, the tilting mechanism 3 includes a linear cylinder 31 and a worm and gear assembly 32, the linear cylinder 31 drives the worm and gear assembly 32 to drive the rotor mechanism 4 to tilt, and the six-component balance 5 is disposed on the pneumatic test stand 2 and tilts synchronously with the rotor mechanism 4. When the aerodynamic characteristics of the rotor mechanism 4 in the vertical take-off and landing process are required to be simulated, the rotor shaft is in a vertical state; when the aerodynamic characteristics of the rotor mechanism 4 in the flat flight state are required to be simulated, the linear cylinder 31 drives the worm gear component 32 to rotate, and drives the rotor mechanism 4 to tilt, so that the rotor shafts are in a parallel state.

As a preferred embodiment, the heading gesture control system includes a gesture control motor 9, the rack 1 further includes a vertically disposed bottom beam 14, one end of the bottom beam 14 is fixedly connected to an output end of the gesture control motor 9, and the other end is connected to a center of the Y-axis movable beam 12. The gantry 1 is driven to rotate with the center of the Y-axis movable beam 12 by the attitude control motor 9, thereby simulating different flying attitudes.

As a preferred embodiment, the pitch attitude control system includes an electric cylinder 10, and an output end of the electric cylinder 10 is hinged to one side of a Y-axis movable beam 12. The Y-axis activity is driven by the electric cylinder 10 to swing in the vertical plane to simulate a pitching attitude.

As a preferred embodiment, the pneumatic test seat 2 is further provided with a sensor. Parameters such as rotation speed, current and voltage are measured through a sensor, and the periodic variable pitch angle, the total pitch angle, the tilting angle, the yaw angle, the pitching angle and the like are obtained through steering engine calibration calculation.

Working principle:

when the device works, the rack 1 is driven to rotate by the center of the Y-axis movable beam 12 through the gesture control motor 9, so that different flying gestures are simulated; the Y-axis activity is driven by the electric cylinder 10 to swing in the vertical plane to simulate a pitching attitude. The steering engines drive the periodic pitch variation of the blades 46 through the linkage pull rods 8, and the automatic inclinator 42 moves upwards or downwards along the rotor shaft to realize total pitch adjustment; when the aerodynamic characteristics of the rotor mechanism 4 in the vertical take-off and landing process are required to be simulated, the rotor shaft is in a vertical state; when the aerodynamic characteristics of the rotor mechanism 4 in the flat flight state are required to be simulated, the linear cylinder 31 drives the worm gear component 32 to rotate, and drives the rotor mechanism 4 to tilt, so that the rotor shafts are in a parallel state.

The position relation of each rotor wing mechanism is set through a computer, the relative position between each rotor wing mechanism can be automatically adjusted, and compared with a traditional manual adjustment method, the full-automatic control of the position of each rotor wing mechanism can be realized, and the method is more convenient, time-saving and labor-saving. Aerodynamic force, reactive torque and tilting moment in all directions of the rotor wing are measured through a six-component balance, and the periodic variable pitch angle, the total pitch angle, the tilting angle, the yaw angle, the pitching angle and the like are obtained through steering engine calibration calculation. Through setting up drive assembly and X axle fly beam, Y axle fly beam and Z axle fly beam, can control the displacement of every rotor mechanism of group in X, Y, Z direction respectively to simulate the pneumatic characteristics of every rotor mechanism of group under different positional relationship.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (9)

1. An electronic many rotor configuration gesture transfers to take advantage of test bench which characterized in that: the intelligent robot comprises a rack (1), wherein a course gesture control system and a pitching gesture control system are arranged on the rack (1); the course attitude control system drives the bench (1) to rotate on a horizontal plane, and the pitching attitude control system drives the longitudinal beam to swing on a vertical plane;

the device is characterized in that a plurality of pneumatic test seats (2) are arranged on the bench (1), a tilting mechanism (3), a rotor wing mechanism (4) and a data acquisition mechanism are arranged on the plurality of pneumatic test seats (2), the tilting mechanism (3) is arranged on the pneumatic test seats (2), the data acquisition mechanism comprises a six-component balance (5), and the six-component balance (5) captures aerodynamic force, reactive torque and tilting torque of the rotor wing mechanism (4) in all directions; the rack (1) further comprises a driving assembly which controls the displacement of the plurality of pneumatic test seats (2).

2. The electric multi-rotor configuration attitude tuning rig of claim 1, wherein: the rack (1) comprises a plurality of X-axis movable beams (11), Y-axis movable beams (12) and a plurality of Z-axis movable beams (13), wherein the X-axis movable beams (11) are distributed at equal intervals by taking the Y-axis movable beams (12) as axes, the X-axis movable beams (11) are in sliding connection with the Y-axis movable beams (12), the Z-axis movable beams (13) are distributed at equal intervals by taking the Y-axis movable beams (12) as axes, the Z-axis movable beams (13) are respectively in sliding connection with the X-axis movable beams (11), and a plurality of pneumatic test seats (2) are respectively arranged on the Z-axis movable beams (13); the driving assembly drives the pneumatic test seat (2) to move in the vertical direction on the Z-axis movable beam (13), drives the Z-axis movable beam (13) to move on the Y-axis movable beam (12) and drives the X-axis movable beam (11) to move on the Y-axis movable beam (12) respectively.

3. The electric multi-rotor configuration attitude tuning rig of claim 2, wherein:

the driving assembly comprises a plurality of groups of oppositely arranged X-axis driving motors (6), each group of X-axis driving motors (6) is respectively arranged at two ends of an X-axis movable beam (11), a plurality of mounting seats are equidistantly distributed on the Y-axis movable beam (12), a group of X-axis lead screws are respectively arranged between each group of X-axis driving motors (6) and the mounting seats in a rotating way, and each group of X-axis driving motors (6) respectively drive a Z-axis movable beam (13) to move in a relative or far-away direction through the X-axis lead screws;

the driving assembly further comprises a plurality of groups of Y-axis driving motors (7), and the groups of Y-axis driving motors (7) respectively drive the groups of X-axis movable beams (11) to slide on the Y-axis movable beams (12);

the driving assembly further comprises a plurality of Z-axis driving motors, and the Z-axis driving motors respectively drive the pneumatic test seat (2) to move in the vertical direction on the Z-axis movable beam (13);

the data acquisition mechanism further comprises a computer, and the X-axis driving motor (6), the Y-axis driving motor (7) and the Z-axis driving motor are all electrically connected with the computer.

4. The electric multi-rotor configuration attitude tuning rig of claim 1, wherein: the rotor wing mechanism (4) comprises an intermediate shaft, automatic inclinators (42) are distributed on the intermediate shaft, the automatic inclinators (42) comprise a fixed ring (43) and a rotary ring (44), the fixed ring (43) is arranged on the rotor wing shaft, and the rotary ring (44) is coaxially and rotatably connected with the fixed ring (43) through a bearing; the automatic tilting device further comprises a rotor hub (45), blades (46) and a rotor motor (41), wherein the rotor motor (41) drives the rotor hub (45) to rotate, and the rotor hub (45) is connected with the automatic tilting device (42) through a linkage mechanism;

the linkage mechanism comprises a plurality of steering engines and a plurality of linkage pull rods (8), one ends of the linkage pull rods (8) are fixedly connected with the output ends of the steering engines, the other ends of the linkage pull rods are connected with the fixing rings (43), and the steering engines drive the periodic variable pitch of the paddles (46) through the linkage pull rods (8).

5. The electric multi-rotor configuration attitude adjustment test stand of claim 4, wherein: the tilting mechanism (3) comprises a linear air cylinder (31) and a worm and gear component (32), the linear air cylinder (31) drives the worm and gear component (32) to drive the rotor mechanism (4) to tilt, and the six-component balance (5) is arranged on the pneumatic test seat (2) and tilts synchronously with the rotor mechanism (4).

6. The electric multi-rotor configuration attitude tuning rig of claim 1, wherein: the course attitude control system comprises an attitude control motor (9), the rack (1) further comprises a bottom beam (14) which is vertically arranged, one end of the bottom beam (14) is fixedly connected with the output end of the attitude control motor (9), and the other end of the bottom beam is hinged with the center of the Y-axis movable beam (12).

7. The electric multi-rotor configuration attitude tuning rig of claim 1, wherein:

the pitching attitude control system comprises an electric cylinder (10), and the output end of the electric cylinder (10) is hinged with one side of a Y-axis movable beam (12).

8. The electric multi-rotor configuration attitude adjustment test stand of claim 4, wherein:

the steering engines are arranged at intervals of 90 degrees or 120 degrees.

9. The electric multi-rotor configuration attitude tuning rig of claim 1, wherein:

and a sensor is also arranged on the pneumatic test seat (2).