Product transfer device suitable for solar wing

Abstract

The invention relates to a product transfer device and method suitable for a solar wing. The device comprises an overturning module, a limiting module, a pressing module, a wheel train module, a posture adjusting module and a mounting frame. The overturning module is mounted on the mounting frame, is used for supporting the simulation wall module provided with the solar wing plate module, and is overturned at an angle relative to the mounting frame and braked at any position; the pressing module is used for locking and positioning the simulation wall module on the overturning module; the limiting module is used for limiting and buffering the overturning module in the horizontal direction; the attitude adjusting module is used for adjusting the attitude of transverse rolling and pitching of the simulation wall module provided with the solar wing plate module; the wheel train module is mounted at the bottom of the mounting frame and used for achieving omni-directional movement and vibration reduction of the transfer device; and the rotating shaft module is used for positioning the simulation wall module.

Description

Technical Field

[0001] The present invention relates to a product transfer device suitable for solar wings, and relates to the field of aerospace manufacturing, especially for high-precision transfer, positioning and posture adjustment of materials on automated production lines. Background Art

[0002] With the continuous advancement of science and technology, the demand for satellites and other space equipment is increasing, and the demand for solar panels is also increasing year by year. At present, the production method of solar panels in the existing market is still mainly manual production, testing, and transportation, which is far from meeting market demand.

[0003] The existing solar panel transportation process mainly relies on people and auxiliary devices. This transportation method not only affects the production progress, but also consumes a lot of manpower and material resources. In addition, the existing transportation method cannot effectively protect the solar panels during the transportation process.

[0004] After the existing solar wing panels are assembled, whether they are multiple panels or a single panel, they must be tested with other equipment. The existing testing methods not only have high requirements on the testing equipment, but also have high requirements on the overall testing personnel; the existing testing process is not only inefficient and has a long cycle, but also has certain risks in the hoisting of solar wing panels; the existing testing methods have poor adaptability, and often take a lot of time to adjust the corresponding testing and posture adjustment equipment according to different models of solar wing panels. Summary of the invention

[0005] The technical problem solved by the present invention is to overcome the deficiencies of the prior art and provide a product transfer device suitable for solar wings to achieve automatic transfer and automatic posture adjustment of solar wing panels.

[0006] The solution to the technical problem of the present invention is: a product transfer device suitable for solar wings, the device includes a flip module, a limit module, a pressing module, a gear train module, a posture adjustment module, and a mounting frame;

[0007] A flip module is installed on the mounting frame and is used to support the simulated wall module equipped with the solar wing panel module, flip from 0 to 90 degrees relative to the mounting frame and brake at any position;

[0008] A clamping module, used to lock and position the simulated wall module on the flip module;

[0009] The limit module is used for limiting and buffering the flip module in the horizontal direction;

[0010] An attitude adjustment module is used for adjusting the roll and pitch of the simulated wall module equipped with the solar wing panel module;

[0011] The gear train module is installed at the bottom of the mounting frame and is used to achieve omnidirectional movement and vibration reduction of the transfer device;

[0012] The pivot module is used to realize the positioning of the simulation wall module.

[0013] Preferably, the flip device comprises a flip connecting rod, a flip frame, a flip drive, a flip fixing frame, and a flip hinge, wherein:

[0014] A flip connecting rod, one end of which is connected to the flip fixing frame through a hinge, and the other end of which is connected to the middle part of the flip frame through a hinge;

[0015] The bottom of one side of the flip frame is connected to a flip hinge, and the flip hinge can move along the guide rail of the flip fixed frame;

[0016] The flip drive is used to drive the flip hinge to move along the guide rail to achieve 0 to 90 degree flipping of the flip frame and braking at any position.

[0017] Preferably, the flip drive is a ball screw assembly.

[0018] Preferably, the clamping module comprises a rotating shaft, a screwing handle, a pressing plate, and a fixing platform;

[0019] The fixed platform is vertically fixedly mounted on the turning frame of the turning module;

[0020] The rotating shaft includes an inner shaft and an outer ring that rotate relative to each other. One end of the inner shaft is fixedly installed on the flip frame. A bracket extends from the outer shaft perpendicular to the rotating shaft. The screw handle and the pressure plate are fixedly connected by a screw. The end of the bracket is connected to the screw between the screw handle and the pressure plate through a thread. The screw handle is turned to push the pressure plate to move, and the pressure plate cooperates with the fixed platform to tighten the simulation wall module.

[0021] Preferably, the pivot module includes a V-shaped cover plate and a V-shaped bottom; a V-shaped groove is provided in the middle of the V-shaped cover plate and the V-shaped bottom, and the V-shaped bottom is fixedly installed on the side of the flip frame; a protruding pivot is provided on the side of the simulation wall module, and the pivot is placed in the groove of the V-shaped bottom, and the V-shaped cover plate and the V-shaped bottom are installed relative to each other to position the simulation wall module.

[0022] Preferably, the limiting module comprises a guide rod, a linear bearing, a spring, a bearing mounting frame, a support frame, and a limiting frame;

[0023] The support frame is an N-type bracket, which is fixedly installed on the mounting frame. A through hole is provided in the middle of the support frame, and a limit frame is installed on the lower surface of the support frame opposite to the through hole; the bearing mounting frame is installed on the upper surface of the support frame; the guide rod is installed in the bearing mounting frame through a linear bearing, one end of the guide rod is used to support the simulated wall module, and the other end is connected to a spring. The other end of the spring extends from the through hole and is limited by the limit frame.

[0024] Preferably, the three groups of lifting mechanisms fixed on the mounting frame in the posture adjustment module are distributed in an isosceles right triangle and are used to adjust the overall posture of the flip module, the solar wing panel module and the simulated wall module.

[0025] Preferably, the gear train module includes a McDonnell wheel, a shock absorber, a driver, and a gear train mounting frame;

[0026] The wheat wheel is connected to the wheel system mounting frame through a bearing, a driver is used to drive the wheat wheel to rotate, one end of the shock absorber is connected to the mounting frame, and the other end is connected to the wheel system mounting frame.

[0027] Preferably, the above-mentioned product transfer device suitable for solar wings further includes a navigation module and an obstacle avoidance module;

[0028] The navigation module is used to calculate the location of the device in real time and perform trajectory planning;

[0029] Obstacle avoidance module, used for obstacle avoidance detection.

[0030] Another technical solution of the present invention is: a product transfer method applicable to solar wings, the method comprising the following steps:

[0031] S1. The assembled solar wing panel module is fixed on the simulation wall module;

[0032] S2, control the flip module to be in a horizontal state, and implement limit protection for the flip module through the limit module;

[0033] S3, controlling the transfer device to move to the fixed position of the solar wing panel module and the simulation wall module, and transferring the solar wing panel module and the simulation wall module to the flip module;

[0034] S4, the product transferred to the flip module is locked and positioned on the simulated wall module through the clamping module and the shaft module;

[0035] S5, under the action of the gear train module, the transfer device moves to the next station;

[0036] S6, turning the turning frame 0-90 degrees;

[0037] S7, controlling three groups of lifting mechanisms fixed on the mounting frame in the posture adjustment module to achieve vertical lifting;

[0038] S8, respectively controlling the lifting mechanisms of the two right-angled sides to adjust the overall roll and pitch directions of the flip module and the solar wing panel module to simulate the wall module, so as to provide conditions for subsequent testing;

[0039] S9. After the inspection is completed, the turning frame is controlled to turn 90-0 degrees and transfer to the next station.

[0040] The beneficial effects of the present invention compared with the prior art are:

[0041] (1) The present invention not only fully automates the process of solar panel shipment and testing by designing and optimizing the omnidirectional moving module, flipping module, pressing module, limiting module, obstacle avoidance module, navigation module, attitude adjustment module and other mechanisms, but also adjusts the attitude of the solar panel through its own attitude adjustment module.

[0042] (2) The present invention provides a product transfer device suitable for solar wing panels, which integrates the existing solar wing production line process flow and combines it with the actual production environment to realize the automatic transfer, automatic detection and posture adjustment of solar wing panels.

[0043] (3) The clamping module and the rotating shaft module of the product transfer device for solar wing panels of the present invention can realize the clamping and positioning of the transfer object, ensuring that the transfer object is not damaged during the transfer process.

[0044] (4) A limiting module of a product transfer device for solar wing panels according to the present invention can provide limiting and buffering for the flipping process, thereby ensuring the smooth operation of the device.

[0045] (5) The present invention provides a posture adjustment module for a product transfer device for solar wing panels, which can adjust the solar wing panels in vertical lifting, rolling, and pitching directions.

[0046] (6) The transfer device of the present invention can achieve the purpose of improving efficiency, reducing safety accidents and saving costs. It has a reasonable structure and high efficiency, and has important significance and application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic diagram of a product transfer device suitable for solar wing panels according to an embodiment of the present invention.

[0048] Figure 2 It is a schematic diagram of the structure of a compression module according to an embodiment of the present invention.

[0049] Figure 3 It is a schematic diagram of the structure of the shaft module according to an embodiment of the present invention.

[0050] Figure 4 It is a schematic diagram of the structure of the limit module according to an embodiment of the present invention.

[0051] Figure 5 Schematic diagram of the posture adjustment module structure according to an embodiment of the present invention.

[0052] Figure 6 It is a schematic diagram of the structure of the flip module according to an embodiment of the present invention.

[0053] Figure 7 Schematic diagram of the gear train module structure according to an embodiment of the present invention.

[0054] In the figure, 1. solar wing panel module; 2. simulation wall module; 3. clamping module; 4. flip module; 5. rotating shaft module; 6. limit module; 7. edge contact module; 8. gear train module; 9. control module; 10. operation module; 11. obstacle avoidance module; 12. posture adjustment module; 13. rotating shaft; 14. screw handle; 15. pressure plate; 16. fixed table; 17. flip connecting rod; 18. flip frame; 19. flip drive; 20. flip fixing frame; 21. flip hinge; 22. V-shaped cover; 23. V-shaped base; 24. guide rod; 25. linear bearing; 26. bearing mounting frame; 27. spring; 28. support frame; 29. ​​limit frame; 30. lifting mechanism; 31. mounting frame; 32. drive; 33. shock absorber; 34 gear train mounting frame; 35. wheat wheel. DETAILED DESCRIPTION

[0055] The present invention will be further described below in conjunction with the embodiments.

[0056] The present invention aims to solve the defects and shortcomings of the prior art and provides an automatic transport and automatic posture adjustment device, which has a reasonable structure and can achieve the goals of stable performance, low cost and high efficiency of solar wing panels during production and circulation.

[0057] like Figure 1 As shown, the present invention provides a product transfer device suitable for solar wings, which includes a flipping module 4, a limiting module 6, a clamping module 3, a gear train module 8, a posture adjustment module 12, a mounting frame 30, an edge contact module and main components of each device part. Through the relevant program control device, the product can automatically transfer, adjust the posture, flip and other processes.

[0058] A product transfer device suitable for solar wing, wherein the flip module is in a horizontal state under the action of a limit module and a control system, and the transfer device in this state is transferred to the storage position of the solar wing panel module and the simulation wall module, and the solar wing panel module and the simulation wall module are transferred to the transfer device through other devices. First, the shaft module realizes the positioning of the simulation wall module, and the pressing module completes the fixation of the simulation wall module. The fixed simulation wall module is transferred to the test station under the action of the navigation module, the obstacle avoidance module and the control system driving wheel train module. After arriving at the station, the transfer device completes the adjustment of the yaw angle of the solar wing panel through the action of the wheel train module. After the yaw angle adjustment is completed, the flip module is turned 90 degrees under the action of the control system, and the process turns the horizontal solar wing panel to a vertical state. In order to meet the height and posture of the entire detection, the transfer device is controlled by three groups of adjustment modules to complete the adjustment of the roll, pitch and Z-axis lifting, so as to ensure the stability of the final detection posture of the solar wing panel. Under the action of the control system, the attitude adjustment module of the solar wing panel that has completed the test is lowered and the wheel train is landed, and the simulation wall module is turned to a horizontal state. Finally, the tested solar panels are transferred to the next workstation through a transfer device.

[0059] The flip module 4 is mounted on the mounting frame 30 and is used to support the simulated wall module 2 equipped with the solar wing panel module 1, flipping from 0 to 90 degrees relative to the mounting frame and braking at any position;

[0060] The pressing module 3 is used to lock and position the simulated wall module 2 on the flip module 4;

[0061] The limiting module 6 is used for limiting and buffering the flip module 4 in the horizontal direction;

[0062] The posture adjustment module 12 is used for adjusting the roll and pitch of the simulated wall module 2 equipped with the solar wing panel module 1;

[0063] The gear train module 8 is mounted at the bottom of the mounting frame 30 and is used to achieve omnidirectional movement and vibration reduction of the transfer device;

[0064] The pivot module is used to realize the positioning of the simulation wall module.

[0065] The flip module is used to achieve a 0 to 90 degree flip of the solar wing panel module and the simulated wall module fixed on the flip module through a ball screw, a drive, and a linear guide. In addition, it can also effectively protect the transported solar wing panels. Figure 6 As shown, the flip device 4 includes a flip connecting rod 17, a flip frame 18, a flip drive 19, a flip fixing frame 20, and a flip hinge 21, wherein:

[0066] A flip connecting rod 17, one end of which is connected to the flip fixing frame 20 through a hinge, and the other end of which is connected to the middle of the flip frame 18 through a hinge;

[0067] The bottom of one side of the flip frame 18 is connected to a flip hinge 21, and the flip hinge 21 can move along the guide rail of the flip fixed frame 20;

[0068] The flip drive 19 is used to drive the flip hinge 21 to move along the guide rail to achieve a 180 to 90 degree flip of the flip frame and braking at any position.

[0069] Preferably, the flip drive 19 is a ball screw assembly.

[0070] Preferably, the pressing module 3 includes a rotating shaft 13, a screwing handle 14, a pressing plate 15, and a fixing platform 16;

[0071] The fixing platform 16 is vertically fixedly mounted on the turning frame 18 of the turning module 4;

[0072] The rotating shaft 13 includes an inner shaft and an outer ring that rotate relative to each other. One end of the inner shaft is fixedly installed on the flip frame 18. A bracket extends from the outer shaft perpendicular to the rotating shaft 13. The screw handle 14 is fixedly connected to the pressure plate 15 by a screw. The end of the bracket is connected to the screw between the screw handle 14 and the pressure plate 15 by a thread. The screw handle 14 is turned to push the pressure plate 15 to move, and the pressure plate 15 cooperates with the fixed platform 16 to tighten the simulation wall module 2.

[0073] The purpose of the rotating shaft module and the clamping module is to realize the positioning and clamping of the simulated wall module in X, Y, and Z through the rotating shaft module with a V structure and the clamping module with a 360-degree rotation function.

[0074] like Figure 3 As shown, the pivot module includes a V-shaped cover plate 22 and a V-shaped bottom 23; a V-shaped groove is provided in the middle of the V-shaped cover plate 22 and the V-shaped bottom 23, and the V-shaped bottom 23 is fixedly installed on the side of the flip frame 18; a protruding pivot is provided on the side of the simulation wall module 2, and the pivot is placed in the groove of the V-shaped bottom 23, and the V-shaped cover plate 22 and the V-shaped bottom 23 are installed relatively to position the simulation wall module 2.

[0075] The purpose of the limiting module is to limit the flip module in the horizontal direction through the buffer spring and to provide buffering for the flip module.

[0076] like Figure 4 As shown, the limit module 6 includes a guide rod 24, a linear bearing 25, a spring 27, a bearing mounting frame 26, a support frame 28, and a limit frame 29;

[0077] The support frame 28 is an N-type bracket, which is fixedly installed on the mounting frame 31. A through hole is provided in the middle of the support frame 28, and a limit frame 29 is installed on the lower surface of the support frame 28 opposite the through hole; the bearing mounting frame is installed on the upper surface of the support frame 28; the guide rod 24 is installed in the bearing mounting frame through a linear bearing 25, one end of the guide rod 24 is used to support the simulated wall module 2, and the other end is connected to the spring 27, and the other end of the spring 27 extends from the through hole and is limited by the limit frame 29.

[0078] The purpose of the posture adjustment module is to realize the roll, pitch and Z-axis posture adjustment functions of the transfer device through the lifting mechanism distributed in a right-angled triangle and the corresponding mounting plate.

[0079] like Figure 5 As shown, three groups of lifting mechanisms 30 are fixed on the mounting frame 31 in the posture adjustment module 12. The three groups of lifting mechanisms 30 are distributed in an isosceles right triangle and are used to adjust the overall roll, pitch and Z-axis posture of the flip module 4 and the solar wing panel module 1 simulating the wall module 2, where the Z-axis is the vertical direction.

[0080] The purpose of the wheel train module is to realize the omnidirectional movement and shock absorption function of the transfer device through the wheat wheel, shock absorber and drive.

[0081] like Figure 7 As shown, the gear train module 8 includes a wheat wheel 35, a shock absorber 33, a driver 32, and a gear train mounting frame 34;

[0082] The wheat wheel 35 is connected to the gear train mounting frame 34 through a bearing. The driver 32 is used to drive the wheat wheel 35 to rotate. One end of the shock absorber 33 is connected to the mounting frame 31, and the other end is connected to the gear train mounting frame 34.

[0083] Preferably, the above-mentioned product transfer device applicable to solar wings further includes a navigation module and an obstacle avoidance module;

[0084] The navigation module is used to calculate the location of the device in real time and perform trajectory planning;

[0085] Obstacle avoidance module, used for obstacle avoidance detection.

[0086] The edge contact module 7 has an anti-collision function.

[0087] Another technical solution of the present invention is: a product transfer method applicable to solar wings, the method comprising the following steps:

[0088] S1, the assembled solar wing panel module 1 is fixed on the simulation wall module 2;

[0089] S2, control the flip module 4 to be in a horizontal state, and realize the limit protection of the flip module 4 through the action of the guide rod 24 and the spring 27 in the limit module 6;

[0090] S3, control the transfer device to move to the fixed position of the solar wing panel module 1 and the simulated wall module 2, and transfer the solar wing panel module 1 and the simulated wall module 2 to the flip module 4;

[0091] S4, the product transferred to the flip module 4 is locked and positioned on the simulated wall module 2 through the combined action of the rotating shaft 13, the screwing handle 14, the pressing plate 15 in the pressing module 3 and the V-shaped cover plate 22 and the V-shaped base 23 in the rotating shaft module 5;

[0092] S5, under the action of the gear train module 8, the transfer device moves to the next station;

[0093] S6, the flip frame 18 is flipped 0-90 degrees under the joint action of the flip connecting rod 17, the flip driving 19, the flip fixing frame 20 and the flip hinge 21;

[0094] S7, controlling the three lifting mechanisms 30 fixed on the mounting frame 31 in the posture adjustment module 12 to achieve vertical lifting;

[0095] S8, respectively controlling the lifting mechanisms 30 of the two right-angled sides to adjust the product in the rolling and pitching directions, providing conditions for subsequent testing;

[0096] S9. After the inspection is completed, the device controls the turning frame 18 with the product to turn 90-0 degrees and transfer to the next station.

[0097] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7. The assembled solar wing panel module 1 is fixed on the simulated wall module 2 under the action of manual labor. The transfer device makes the flip module 4 in a horizontal state through the action of the control system, and realizes the limit protection of the flip module 4 through the action of the guide rod 24 and the spring 27 in the limit module 6. The transfer device moves to the fixed position of the solar wing panel module 1 and the simulated wall module 2, and transfers the solar wing panel module 1 and the simulated wall module 2 to the flip module 4 with the assistance of other equipment. The product transferred to the flip module 4 is locked and positioned on the simulated wall module 2 through the joint action of the rotating shaft 13, the screwing handle 14, the pressing plate 15 in the pressing module 3, and the V-shaped cover plate 22 and the V-shaped base 23 in the rotating shaft module 5. The fixed product moves the transfer device to the next station under the action of the gear train module 8. The transfer device that arrives at the designated station makes the flip frame 18 with the product complete the 0-90 degree flip under the joint action of the flip connecting rod 17, the flip drive 19, the flip fixing frame 20 and the flip hinge 21 through the action of the control system. After the product is turned over, the three groups of lifting mechanisms 30 fixed on the mounting frame 31 in the posture adjustment module 12 are simultaneously controlled to realize the lifting and lowering in the Z-axis direction; the product's roll and pitch posture are adjusted by controlling the lifting mechanisms 30 of the two right-angled sides respectively. The transfer, turning, and posture adjustment of the product are realized through the joint action of the turning module 4, the gear train module 8, the posture adjustment module 12, etc., and the conditions for subsequent inspection are provided. After the inspection is completed, the device uses the control system to make the turning frame 18 with the product turn 90-0 degrees and transfer it to the next station.

[0098] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A product transfer device suitable for solar wings, characterized in that It comprises a flip module (4), a limit module (6), a pressing module (3), a gear train module (8), a posture adjustment module (12), and a mounting frame (30); A flip module (4) is mounted on a mounting frame (30) and is used to support a simulated wall module (2) equipped with a solar wing panel module (1), flip from 0 to 90 degrees relative to the mounting frame, and brake at any position; A pressing module (3) is used to lock and position the simulated wall module (2) on the flip module (4); A limiting module (6), used for limiting and buffering the flip module (4) in the horizontal direction; A posture adjustment module (12) is used for adjusting the roll and pitch of a simulation wall module (2) equipped with a solar wing panel module (1); A gear train module (8) is mounted on the bottom of the mounting frame (30) and is used to achieve omnidirectional movement and vibration reduction of the transfer device; The pivot module is used to realize the positioning of the simulation wall module.

2. A product transfer device suitable for solar wings according to claim 1, characterized in that: The flip device (4) comprises a flip connecting rod (17), a flip frame (18), a flip drive (19), a flip fixing frame (20), and a flip hinge (21), wherein: A flip connecting rod (17), one end of which is connected to the flip fixing frame (20) through a hinge, and the other end of which is connected to the middle of the flip frame (18) through a hinge; The bottom of one side of the flip frame (18) is connected to a flip hinge (21), and the flip hinge (21) can move along the guide rail of the flip fixed frame (20); The flip drive (19) is used to drive the flip hinge (21) to move along the guide rail, so as to realize the flipping of the flip frame (18) from 0 to 90 degrees and braking at any position.

3. A product transfer device suitable for solar wings according to claim 1, characterized in that: The flip drive (19) is a ball screw assembly.

4. A product transfer device suitable for solar wings according to claim 1, characterized in that: The pressing module (3) comprises a rotating shaft (13), a screwing handle (14), a pressing plate (15), and a fixing platform (16); The fixed platform (16) is vertically fixedly mounted on the turning frame (18) of the turning module (4); The rotating shaft (13) includes an inner shaft and an outer ring that rotate relative to each other. One end of the inner shaft is fixedly mounted on a flip frame (18). A bracket extends from the outer shaft perpendicular to the rotating shaft (13). The screw handle (14) and the pressure plate (15) are fixedly connected via a screw. The end of the bracket is connected to the screw between the screw handle (14) and the pressure plate (15) via a thread. The screw handle (14) is rotated to push the pressure plate (15) to move. The pressure plate (15) cooperates with the fixed platform (16) to tighten the simulated wall module (2).

5. A product transfer device suitable for solar wings according to claim 1, characterized in that: The rotating shaft module comprises a V-shaped cover plate (22) and a V-shaped bottom (23); a V-shaped groove is provided in the middle of the V-shaped cover plate (22) and the V-shaped bottom (23); the V-shaped bottom (23) is fixedly mounted on the side of the flip frame (18); a protruding rotating shaft is provided on the side of the simulation wall module (2), and the rotating shaft is placed in the groove of the V-shaped bottom (23); the V-shaped cover plate (22) and the V-shaped bottom (23) are relatively mounted to position the simulation wall module (2).

6. A product transfer device suitable for solar wings according to claim 1, characterized in that: The limiting module (6) comprises a guide rod (24), a linear bearing (25), a spring (27), a bearing mounting frame (26), a supporting frame (28), and a limiting frame (29); The support frame (28) is an N-shaped bracket, which is fixedly mounted on the mounting frame (31). A through hole is provided in the middle of the support frame (28). The limit frame (29) is mounted on the lower surface of the support frame (28) opposite to the through hole. The bearing mounting frame is mounted on the upper surface of the support frame (28). The guide rod (24) is mounted in the bearing mounting frame through a linear bearing (25). One end of the guide rod (24) is used to support the simulated wall module (2), and the other end is connected to the spring (27). The other end of the spring (27) extends out of the through hole and is limited by the limit frame (29).

7. A product transfer device suitable for solar wings according to claim 1, characterized in that: The three groups of lifting mechanisms (30) in the posture adjustment module (12) are fixed on the mounting frame (31), and the three groups of lifting mechanisms (30) are distributed in the form of an isosceles right triangle, and are used to adjust the overall posture of the flip module (4) and the solar wing panel module (1) to simulate the wall module (2).

8. A product transfer device suitable for solar wings according to claim 1, characterized in that: The gear train module (8) comprises a McDonnell wheel (35), a shock absorber (33), a driver (32), and a gear train mounting frame (34); The wheat wheel (35) is connected to the wheel system mounting frame (34) through a bearing, and the driver (32) is used to drive the wheat wheel (35) to rotate. One end of the shock absorber (33) is connected to the mounting frame (31), and the other end is connected to the wheel system mounting frame (34).

9. A product transfer device suitable for solar wings according to claim 1, characterized in that: It also includes a navigation module and an obstacle avoidance module; The navigation module is used to calculate the location of the device in real time and perform trajectory planning; Obstacle avoidance module, used for obstacle avoidance detection.

10. A product transfer method suitable for solar wings based on the device of claim 1, characterized in that The steps include: S1, fixing the assembled solar wing panel module (1) on the simulated wall module (2); S2, controlling the flip module (4) to be in a horizontal state, and implementing position limiting protection for the flip module (4) through the position limiting module (6); S3, controlling the transfer device to move to the fixed position of the solar wing panel module (1) and the simulated wall module (2), and transferring the solar wing panel module (1) and the simulated wall module (2) to the flip module (4); S4, the product transferred to the flip module (4) is locked and positioned on the simulated wall module (2) through the pressing module (3) and the rotating shaft module (5); S5, under the action of the gear train module (8), the transfer device moves to the next station; S6, turning the turning frame (18) by 0-90 degrees; S7, controlling three groups of lifting mechanisms (30) fixed on the mounting frame (31) in the posture adjustment module (12) to achieve lifting in the vertical direction; S8, respectively controlling the lifting mechanisms (30) of the two right-angled sides to adjust the overall roll and pitch directions of the flip module (4), the solar wing panel module (1) and the simulated wall module (2), so as to provide conditions for subsequent detection; S9, after the inspection is completed, the turning frame (18) is controlled to turn 90-0 degrees and transfer to the next station.

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