Monorail type truss rail transfer device

Abstract

A plurality of fixed rails are fixedly arranged at different positions of the same height, the rail transfer device comprises a rail transfer frame, a movable rail and a rail transfer driving device, the rail transfer frame is fixedly installed between the adjacent fixed rails, and the movable rail is fixedly installed between the movable rail and the rail transfer driving device. The rail transfer frame is provided with a rail transfer slide way perpendicular to or crossed with the extending direction of the fixed rails, the movable rails are slidably installed on the rail transfer slide way, and one end or two ends of each movable rail in the length direction can be connected with one end of the adjacent fixed rail in an aligned mode. The rail transfer driving device drives the movable rail to slide back and forth along the rail transfer sliding way so as to be aligned and connected with the different fixed rails, the cotton conveying trolley used for conveying cotton rolls or bobbins can move along the movable rail and the fixed rails which are aligned and connected, and the control system controls the rail transfer driving device and the cotton conveying trolley to start and stop. According to the invention, the conveying route of the material can be flexibly changed in real time, the system adapts to a complex plant environment, and the working space of a plant is released.

Description

Technical Field

[0001] This invention relates to the combing workshop in the textile industry, and particularly to a single-rail truss track-changing device. Background Technology

[0002] The truss track is a key component for the automated conveying and handling of materials. Through program control, the lifting devices on the truss can transport raw materials along a predetermined track route. Currently, the industry commonly uses a double-track truss system, which uses two parallel, fixed tracks to support and guide the transport trolleys to move raw materials. While this structure is stable, its layout is difficult to change once determined, exhibiting extreme rigidity.

[0003] However, the inherent technical shortcomings of traditional double-track truss devices are becoming increasingly apparent when faced with different site constraints, mainly in the following aspects:

[0004] 1. Inefficient obstacle avoidance: When there are load-bearing columns of the factory building, large pipelines, or other fixed facilities on the track path, the dual-track system has difficulty in flexibly avoiding them. Usually, the only options are to significantly modify the track route or take a costly long detour. This not only increases the length and cost of the track itself, but also leads to inefficiency in the material conveying path, resulting in poor overall production efficiency.

[0005] 2. Fixed path, difficult to adjust: Once the truss track is successfully installed, the relative position and path of the two tracks are completely fixed. If it is necessary to adjust the production process, add new equipment or change the workstation layout, the dual-track device can hardly be changed accordingly. The modification project is huge, costly, or even infeasible.

[0006] 3. High initial cost and concentrated risks: The dual-track system itself has a complex structure, with high material costs for components such as tracks, supports, and drive units. Its installation and commissioning are also specialized engineering projects, requiring a high level of technical maintenance expertise from the company. Dual-track truss systems are typically continuous and centralized systems. If the main drive or critical track fails during production, it can paralyze the material transport of the entire production line or even the entire workshop, resulting in concentrated risks and a large overall initial investment.

[0007] 4. Large space occupation and affects the aesthetics of the site: The two parallel tracks and their supporting structures occupy a large space, and the intricate track routes make the work site more cluttered, seriously affecting the aesthetics of the factory production site.

[0008] Therefore, existing truss-track-based designs have gradually become a technological bottleneck in modern textile production, which prioritizes extreme flexibility, ease of expansion and upgrading, and cost and space savings. The industry urgently needs a new transmission solution that can fundamentally address these issues. Summary of the Invention

[0009] To overcome the above-mentioned defects, the present invention provides a monorail truss track changing device, which can change the material conveying route in real time and flexibly, adapt to complex factory environments, and free up working space in the factory area.

[0010] The technical solution adopted by this invention to solve its technical problem is: a single-track truss track-changing device, including fixed tracks, a track-changing device, a cotton transport trolley, and a control system. Several fixed tracks are fixedly set at different positions at the same height. The track-changing device includes a track-changing frame, a movable track, and a track-changing drive device. The track-changing frame is fixedly installed between adjacent fixed tracks. The track-changing frame is provided with a track-changing slide rail that is perpendicular to or intersects the extension direction of the fixed tracks. The movable track is slidably installed on the track-changing slide rail. One or both ends of the movable track in the length direction can be aligned and connected with one end of an adjacent fixed track. The track-changing drive device drives the movable track to slide back and forth along the track-changing slide rail and then align and connect with different fixed tracks. The cotton transport trolley used to transport cotton rolls or bobbins can move along the aligned and connected movable track and fixed track. The control system controls the track-changing drive device and the cotton transport trolley to start and stop.

[0011] As a further improvement of the present invention, a number of fixed tracks are divided into several groups, with one end of each group of fixed tracks aligned in the length direction. The vertical distance between two adjacent groups of fixed tracks in the length direction is consistent. The track-changing device is fixedly installed directly above the gap between two adjacent groups of fixed tracks. One end of the movable track of the track-changing device can be aligned and connected with the end of the same group of fixed tracks, and the other end of the movable track of the track-changing device can be aligned and connected with the end of the adjacent group of fixed tracks.

[0012] As a further improvement of the present invention, the track-changing frame includes columns fixedly installed on the factory floor and crossbeams fixedly installed on the upper ends of the two columns. The columns and crossbeams together form a gantry structure. The crossbeam spans directly above the opposite ends of two adjacent sets of fixed tracks. A linear slide rail with an extension direction perpendicular to the extension direction of the fixed track is fixedly installed on the crossbeam. The linear slide rail is provided with a slider that can slide along its extension direction. The slider is fixedly connected to the movable track through a connecting mechanism.

[0013] As a further improvement of the present invention, at least two linear slide rails are provided parallel to each other on the crossbeam of the track-changing frame. The connecting mechanism includes a connecting plate and a hanger. The connecting plate is fixedly installed on the slider of each linear slide rail. The upper ends of several hangers are fixedly connected to the connecting plate, and the lower ends of the hangers are fixedly connected to the movable track.

[0014] As a further improvement of the present invention, the track-changing drive device includes a rack, a gear and a motor. The rack is fixedly installed on the crossbeam of the track-changing frame and is arranged parallel to the linear slide rail. The motor is fixedly installed on the connecting plate, and the gear is coaxially fixedly installed on the motor power output shaft. The gear meshes with the rack for transmission.

[0015] As a further improvement of the present invention, fixed blocks are fixedly installed at both ends of the linear slide rail, and the slider stops at both ends of the linear slide rail along the sliding direction on the opposite side walls of the two fixed blocks.

[0016] As a further improvement of the present invention, the boom has an L-shaped structure, with the upper end of one side wall of the L-shaped structure fixedly connected to the lower end of the connecting plate, and the end of the other side wall of the L-shaped structure fixedly connected to one side wall of the movable track extending vertically. The cotton transport trolley includes a trolley frame, a traveling mechanism, and a gripping mechanism. The traveling mechanism includes an inverted U-shaped traveling bracket fixedly mounted on the trolley frame, traveling wheels mounted on the traveling bracket that can rotate around a horizontal axis, and a traveling drive motor that drives the traveling wheels to rotate. The traveling bracket is sleeved on the upper and lower sides of the movable track and the fixed track, and on the outer side of the other side wall extending vertically. The traveling wheels can roll along the upper sides of the movable track and the fixed track. The traveling drive motor drives at least... A walking wheel actively rotates to enable the cotton transport trolley to move along the extension direction of the movable track and the fixed track. The gripping mechanism includes a lifting device, a lifting drive device, grippers, and a gripper drive device. The fixed end of the lifting device is fixedly installed on the trolley frame. The movable end of the lifting device is installed on the fixed end of the lifting device and can move up and down. The lifting drive device can drive the movable end of the lifting device to move up and down. Several grippers are installed on the movable end of the lifting device and can move in pairs. The relative movement of the grippers can grip or release the cotton roll or tube directly opposite them. The gripper drive device drives the relative movement of the grippers. The control system controls the walking drive motor, the lifting drive device, and the gripper drive device to start, stop, or run in both directions.

[0017] As a further improvement of the present invention, at least one set of rollers arranged in the front-to-back direction are provided on the two side walls of the U-shaped structure of the walking support. Each set of rollers includes two rollers arranged at intervals on the left and right sides that can rotate around a vertical axis. The rollers on the two side walls of the U-shaped structure of the walking support can roll close to the surface of the two side walls of the fixed track or the movable track.

[0018] As a further improvement of the present invention, position sensors corresponding to the positions of each fixed track are arranged at intervals on the crossbeam of the track-changing frame along the extension direction of the track-changing slide. Each position sensor can sense the moving track that has moved to a specified position. The position sensors are electrically connected to the control system to communicate and output the position information of the moving track.

[0019] As a further improvement of the present invention, the movable track is provided with sensing devices at both ends and the fixed track is provided with a triggering device at the end. When the movable track is connected to the fixed track, the sensing device at the end of the movable track can be triggered by the triggering device on the fixed track. The sensing device communicates with the control system and transmits the docking information between the movable track and the fixed track to the control system.

[0020] The beneficial effects of this invention are as follows: This invention replaces the traditional double-rail truss device with a single-rail truss changing device. Compared with the prior art, this invention has the following significant advantages:

[0021] 1. Excellent site adaptability: The monorail truss track-changing device can adapt to complex factory environments. When there are obstacles such as large columns or fixed equipment in the path, the device can be designed to bypass, branch, or form a loop, easily passing through both sides of the obstacle. Therefore, this invention has great advantages in scenarios such as the renovation of old factory buildings and workshops with limited space;

[0022] 2. Achieving ultimate flexibility and adaptability, the monorail truss track-changing device avoids rigid path constraints. By controlling the variable track actuator, the material conveying route can be changed in real time and flexibly. When production demands change or need to make way for other equipment, no physical infrastructure needs to be modified; the path can be replanned solely through software programming, achieving flexible layout.

[0023] 3. Easy to expand and upgrade: The modular design of the rail-type truss rail-changing device makes system expansion very convenient. If it is necessary to add new workstations or extend the production line, only the corresponding rail modules and variable rail nodes need to be added, without the need for large-scale linear extension and recalibration, which greatly reduces the difficulty and cost of later expansion.

[0024] 4. Optimized control and maintenance: The monorail truss track-changing device enables more efficient logistics scheduling. Intelligent algorithms optimize the travel paths of multiple transport trolleys, reducing waiting time and congestion, thereby improving the throughput of the entire material handling system. Simultaneously, the main drive and electrical components can be modularly integrated near the track-changing nodes for easy maintenance.

[0025] 5. Cost and space saving: The monorail truss track changer avoids long-distance detours or factory structure modifications for obstacle avoidance, significantly reducing infrastructure modification costs and engineering complexity. At the same time, the monorail design makes its structure more compact, visually freeing up work space in the factory area. Attached Figure Description

[0026] Figure 1 This is a first perspective view of the present invention in a trajectory-changing state;

[0027] Figure 2 This is a second perspective view of the invention in a trajectory-changing state;

[0028] Figure 3 This is a perspective view of the track-changing mechanism of the present invention;

[0029] Figure 4 This is a perspective view of the connection state between the connecting plate and the slider on the linear slide rail according to the present invention;

[0030] Figure 5 This is a perspective view of the gear and rack meshing state of the track-changing drive device of the present invention. Detailed Implementation

[0031] Example: A single-track truss track-changing device includes a fixed track 1, a track-changing device, a cotton transport trolley, and a control system 2. Several fixed tracks 1 are fixedly installed at different positions at the same height. The track-changing device includes a track-changing frame 3, a movable track 4, and a track-changing drive device. The track-changing frame 3 is fixedly installed between adjacent fixed tracks 1. The track-changing frame 3 is provided with a track-changing slide rail that is perpendicular to or intersects the extension direction of the fixed track 1. The movable track 4 is slidably installed on the track-changing slide rail. One or both ends of the movable track 4 in the length direction can be aligned and connected with one end of an adjacent fixed track 1. The track-changing drive device drives the movable track 4 to slide back and forth along the track-changing slide rail and then align and connect with different fixed tracks 1. The cotton transport trolley used to transport cotton rolls 5 or bobbins can move along the aligned and connected movable track 4 and fixed track 1. The control system 2 controls the track-changing drive device and the cotton transport trolley to start and stop.

[0032] When the cotton transport trolley is running on a fixed track 1, and needs to change tracks to another fixed track 1 for work purposes, the control system 2 starts the track-changing drive device, which in turn drives the movable track 4 of the track-changing device to slide along the track-changing slide on the track-changing frame 3 to connect with a fixed track 1. The track-changing drive device stops, and the cotton transport trolley smoothly moves from a fixed track 1 to the movable track 4. The cotton transport trolley stops running and then starts again. The control system 2 controls the direction of the track-changing drive device as needed, so that the movable track 4 slides along the track-changing slide to the position of another fixed track 1. At this time, the movable track 4 is aligned and connected with the other fixed track 1. The track-changing drive device stops again, and the cotton transport trolley starts running along the movable track 4 to the other fixed track 1. This realizes the change of the cotton transport trolley from one fixed track 1 to another. The workshop only needs to arrange several fixed tracks 1 above the equipment and set track-changing devices between adjacent fixed tracks 1 to allow the cotton transport trolley to transport along different fixed tracks 1 according to transportation needs, thereby changing the material conveying route in real time and flexibly. When production demands change or need to make way for other equipment, the layout can be flexible by replanning the path through software programming without altering any physical infrastructure.

[0033] Several fixed tracks 1 are divided into several groups. One end of each group of fixed tracks 1 is aligned along its length. The vertical distance between two adjacent groups of fixed tracks 1 along the length is the same. A track-changing device is fixedly installed directly above the gap between two adjacent groups of fixed tracks 1. One end of the movable track 4 of the track-changing device can be aligned and connected with the end of the same group of fixed tracks 1, and the other end of the movable track 4 of the track-changing device can be aligned and connected with the end of the adjacent group of fixed tracks 1. By grouping the tracks, track changing is possible between fixed tracks 1 within the same group, and track changing is also possible between adjacent groups of fixed tracks 1, thus forming a large number of cotton transport path combinations to meet various material transport needs.

[0034] The variable track frame 3 includes columns fixedly installed on the factory floor and crossbeams fixedly installed on the upper ends of the two columns. The columns and crossbeams together form a gantry structure. The crossbeams span directly above the opposite ends of two adjacent sets of fixed tracks 1. A linear slide rail 6 with an extension direction perpendicular to the extension direction of the fixed track 1 is fixedly installed on the crossbeam. The linear slide rail 6 is equipped with a slider 7 that can slide along its extension direction. The slider 7 is fixedly connected to the movable track 4 through a connecting mechanism. By using a gantry frame to install the linear slide rail 6, the movable track 4 can be slidably suspended between each fixed track 1. The structure is simple and easy to construct. Old factory buildings can also be renovated. The slider 7 and the linear slide rail 6 are optimally connected by ball bearings or rollers to reduce friction.

[0035] At least two parallel linear slide rails 6 are arranged on the crossbeam of the track-changing frame 3. The connecting mechanism includes a connecting plate 8 and hangers 9. The connecting plate 8 is fixedly installed on the sliders 7 of each linear slide rail 6. The upper ends of several hangers 9 are fixedly connected to the connecting plate 8, and the lower ends of the hangers 9 are fixedly connected to the movable track 4. Ideally, two parallel linear slide rails 6 are arranged on the crossbeam of the track-changing frame 3. The two ends of the connecting plate 8 are fixedly connected to the sliders 7 on the two linear slide rails 6, respectively. The hangers 9 are fixedly installed on both ends of the connecting plate 8, and the two hangers 9 are respectively connected to the two ends of the movable track 4. This can maintain the movement stability of the movable track 4. A drag chain can also be installed on one side of the crossbeam of the connecting plate 8 for placing the wiring of the track-changing drive device.

[0036] The track-changing drive device includes a rack 10, a gear 11, and a motor 12. The rack 10 is fixedly installed on the crossbeam of the track-changing frame 3 and is arranged parallel to the linear slide rail 6. The motor 12 is fixedly installed on the connecting plate 8, and the gear 11 is coaxially fixedly installed on the power output shaft of the motor 12. The gear 11 meshes with the rack 10 for transmission. The forward rotation of the motor 12 drives the rotation of the gear 11, which meshes with the rack 10, driving the movement of the connecting plate 8. The movement of the connecting plate 8 drives the movement of one end of the drag chain, and the connecting plate 8 drives the slider 7 to slide on the linear guide rail. The connecting plate 8 drives the movable track 4 to dock with different fixed tracks 1 through the hanger 9. In addition to the transmission mechanism of the motor 12 and the gear 11 and rack 10 to drive the connecting plate 8, the motor 12 can also be used in conjunction with a lead screw and nut mechanism, or a piston extension mechanism driven by a hydraulic cylinder, etc. These are equivalent replacement structures that are easily conceived by those skilled in the art based on this patent, and all fall within the scope of protection of this patent.

[0037] Fixed blocks 13 are fixedly installed at both ends of the linear slide rail 6, and the slider 7 stops at both ends of the linear slide rail 6 along the sliding direction on the opposite side walls of the two fixed blocks 13. During the docking process, the fixed blocks 13 at both ends of the linear slide rail 6 play a limiting role, preventing the slider 7 from derailing.

[0038] The boom 9 has an L-shaped structure. The upper end of one side wall of the L-shaped structure is fixedly connected to the lower end of the connecting plate 8, and the end of the other side wall of the L-shaped structure is fixedly connected to one side wall of the movable track 4 extending vertically. The cotton transport trolley includes a trolley frame 14, a traveling mechanism, and a gripping mechanism. The traveling mechanism includes an inverted U-shaped traveling bracket 15 fixedly installed on the trolley frame 14, a traveling wheel 16 mounted on the traveling bracket 15 that can rotate around a horizontal axis, and a traveling drive motor 17 that drives the traveling wheel 16 to rotate. The traveling bracket 15 is sleeved on the upper and lower sides of the movable track 4 and the fixed track 1 and on the outer side of the other side wall extending vertically. The traveling wheel 16 can roll along the upper side of the movable track 4 and the fixed track 1. The traveling drive motor 17 drives at least one traveling wheel 16 to rotate actively. The cotton transport trolley moves along the extension direction of the movable track 4 and the fixed track 1. The gripping mechanism includes a lifting device 18, a lifting drive device 19, grippers 20, and a gripper drive device. The fixed end of the lifting device 18 is fixedly installed on the trolley frame 14. The movable end of the lifting device 18 is installed on the fixed end of the lifting device 18 and can move up and down. The lifting drive device 19 can drive the movable end of the lifting device 18 to move up and down. Several grippers 20 are movable and installed on the movable end of the lifting device 18. The relative movement of the pairs of grippers 20 can grip or release the cotton roll 5 or bobbin directly opposite them. The gripper drive device drives the grippers 20 to move relative to each other. The control system 2 controls the start and stop or forward and reverse operation of the walking drive motor 17, the lifting drive device 19, and the gripper drive device.The optimal type of drive motor 17 is a three-phase asynchronous motor 12. The walking wheels 16 press firmly against the sides of the movable track 4 and the fixed track 1. The movable track 4 and the fixed track 1 can be I-shaped tracks. Multiple walking wheels 16 can be installed on the trolley frame 14. The drive motor 17 drives one walking wheel 16 to move actively, while the remaining walking wheels 16 move passively, improving stability. The movement of the cotton transport trolley along the movable track 4 and the fixed track 1 is achieved by the rolling of the walking wheels 16, thus enabling track changing and material transport. The boom 9 has an L-shaped structure, and the walking support 15 has an inverted U-shaped structure. This ensures that the walking support 15 will not interfere with or collide with the boom 9 when running on the movable track 4 and the fixed track 1. After the gripping mechanism moves directly above the material to be transported along with the cotton transport trolley, the lifting drive device 19 drives the lifting device. The moving end of the lifting device 18 descends, allowing the material to fall to the placement position. Then, the gripper drive device drives the gripper 20 to move and release the cotton roll 5 or the tube, thus lowering the material. Then, the lifting drive device 19 drives the moving end of the lifting device 18 to rise. Similarly, the lifting drive device 19 drives the moving end of the lifting device 18 to descend, allowing the gripper 20 to reach both ends of the cotton roll 5 or the tube to be gripped. The gripper drive device drives the gripper 20 to move and grip the cotton roll 5 or the tube, thus gripping the material. Then, the lifting drive device 19 drives the moving end of the lifting device 18 to rise. The lifting device 18 can be a belt wound on the roller, a gear 11 and rack 10 mechanism, or a screw and nut mechanism. The gripper 20 can be an L-shaped hook that can rotate around a vertical axis, or a movable block that can extend and retract along the axial direction of the cotton roll 5 or the copper tube. Those skilled in the art can choose according to their needs.

[0039] The U-shaped structure of the traveling support 15 is provided with at least one set of rollers 21 arranged in the front-to-back direction on each of its two side walls. Each set of rollers 21 includes two rollers 21 arranged at intervals on the left and right sides, which can rotate around a vertical axis. The rollers 21 on the two side walls of the U-shaped structure of the traveling support 15 can roll tightly against the side wall surfaces of the fixed track 1 or the movable track 4. The upper and lower sets of rollers 21 hold the sides of the fixed track 1 and the movable track 4, restricting the cotton transport trolley from swaying left and right and preventing the cotton transport trolley from derailing.

[0040] Position sensors 22, corresponding to the positions of each fixed track 1, are spaced at intervals along the extension direction of the track-changing slide on the crossbeam of the track-changing frame 3. Each position sensor 22 can sense the movement of the movable track 4 to a designated position. The position sensors 22 are electrically connected to the control system 2 to communicate and output the position information of the movable track 4. By sensing whether the position of the movable track 4 has slid into place as designed, the control system 2 can control the start and stop of the track-changing drive device.

[0041] The movable track 4 is equipped with sensing devices 23 at both ends, and the fixed track 1 is equipped with a triggering device at its end. When the movable track 4 is docked with the fixed track 1, the sensing device 23 at the end of the movable track 4 can be triggered by the triggering device on the fixed track 1. The sensing device 23 communicates with the control system 2 and transmits docking information between the movable track 4 and the fixed track 1 to the control system 2. The sensing device 23 senses whether the movable track 4 is fully aligned with the fixed track 1 to prevent track changing failure due to incomplete alignment. The ends of the movable track 4 and the fixed track 1 can also be equipped with an automatic alignment connection structure, such as a groove and a spring ball mechanism. When the movable track 4 is aligned with the fixed track 1, the spring ball mechanism on the movable track 4 elastically inserts into the groove at the end of the fixed track 1, realizing automatic alignment and connection between the movable track 4 and the fixed track 1, ensuring precise alignment and stable connection between the fixed track 1 and the movable track 4 during track changing. When the movable track 4 moves horizontally, the spring ball mechanism will compress the spring and disengage from the groove, realizing automatic separation.

Claims

1. A monorail truss track-changing device, characterized in that: The system includes a fixed track (1), a track-changing device, a cotton transport trolley, and a control system (2). Several fixed tracks are fixedly installed at different positions at the same height. The track-changing device includes a track-changing frame (3), a movable track (4), and a track-changing drive device. The track-changing frame is fixedly installed between adjacent fixed tracks. The track-changing frame is provided with a track-changing slide that is perpendicular to or intersects with the extension direction of the fixed track. The movable track is slidably installed on the track-changing slide. One or both ends of the movable track in the length direction can be aligned and connected with one end of the adjacent fixed track. The track-changing drive device drives the movable track to slide back and forth along the track-changing slide and then align and connect with different fixed tracks. The cotton transport trolley used to transport cotton rolls (5) or bobbins can move along the aligned and connected movable track and fixed track. The control system controls the track-changing drive device and the cotton transport trolley to start and stop.

2. The monorail truss track-changing device according to claim 1, characterized in that: Several fixed tracks are divided into several groups. One end of each group of fixed tracks is aligned in the length direction. The vertical distance between two adjacent groups of fixed tracks in the length direction is the same. The track changing device is fixedly installed directly above the gap between two adjacent groups of fixed tracks. One end of the movable track of the track changing device can be aligned and connected with the end of the same group of fixed tracks, and the other end of the movable track of the track changing device can be aligned and connected with the end of the adjacent group of fixed tracks.

3. The monorail truss track-changing device according to claim 1 or 2, characterized in that: The track-changing frame includes columns fixedly installed on the factory floor and crossbeams fixedly installed on the upper ends of the two columns. The columns and crossbeams together form a gantry structure. The crossbeam spans directly above the opposite ends of two adjacent sets of fixed tracks. A linear slide rail (6) with an extension direction perpendicular to the extension direction of the fixed track is fixedly installed on the crossbeam. A slider (7) that can slide along its extension direction is provided on the linear slide rail. The slider is fixedly connected to the movable track through a connecting mechanism.

4. The monorail truss track-changing device according to claim 3, characterized in that: At least two linear slide rails are provided parallel to each other on the crossbeam of the track-changing frame. The connecting mechanism includes a connecting plate (8) and a hanger (9). The connecting plate is fixedly installed on the slider of each linear slide rail. The upper ends of several hangers are fixedly connected to the connecting plate, and the lower ends of the hangers are fixedly connected to the movable track.

5. The monorail truss track-changing device according to claim 4, characterized in that: The track-changing drive device includes a rack (10), a gear (11) and a motor (12). The rack is fixedly installed on the crossbeam of the track-changing frame and is arranged parallel to the linear slide rail. The motor is fixedly installed on the connecting plate, and the gear is coaxially fixedly installed on the motor power output shaft. The gear meshes with the rack for transmission.

6. The monorail truss track-changing device according to claim 3, characterized in that: Fixed blocks (13) are fixedly installed at both ends of the linear slide rail, and the slider stops at both ends of the linear slide rail along the sliding direction on the opposite side walls of the two fixed blocks.

7. The monorail truss track-changing device according to claim 4, characterized in that: The boom is an L-shaped structure, with the upper end of one side wall of the L-shaped structure fixedly connected to the lower end of the connecting plate, and the end of the other side wall of the L-shaped structure fixedly connected to the side wall of the movable track extending vertically. The cotton transport trolley includes a trolley frame (14), a walking mechanism, and a gripping mechanism. The walking mechanism includes an inverted U-shaped walking bracket (15) fixedly installed on the trolley frame, a walking wheel (16) mounted on the walking bracket and capable of rotating around a horizontal axis, and a walking drive motor (17) that drives the walking wheel to rotate. The walking bracket is sleeved on the upper and lower sides of the movable track and the fixed track and on the outer side of the other side wall extending vertically. The walking wheel can roll along the upper side of the movable track and the fixed track. The walking drive motor drives at least one walking wheel. The active rotation of the wheel enables the cotton transport trolley to move along the extension direction of the movable track and the fixed track. The gripping mechanism includes a lifting device (18), a lifting drive device (19), a gripper (20), and a gripper drive device. The fixed end of the lifting device is fixedly installed on the trolley frame. The movable end of the lifting device is installed on the fixed end of the lifting device. The lifting drive device can drive the movable end of the lifting device to move up and down. Several grippers are installed on the movable end of the lifting device. The relative movement of the pairs of grippers can grip or release the cotton roll or tube directly opposite them. The gripper drive device drives the relative movement of the grippers. The control system controls the start and stop or forward and reverse operation of the walking drive motor, the lifting drive device, and the gripper drive device.

8. The monorail truss track-changing device according to claim 7, characterized in that: The walking support U-shaped structure has at least one set of rollers arranged in the front-back direction on each side wall. Each set of rollers includes two rollers (21) arranged at intervals on the left and right sides that can rotate around a vertical axis. The rollers on the side walls of the walking support U-shaped structure can roll close to the surface of the side walls of the fixed track or the movable track.

9. The monorail truss track-changing device according to claim 1, characterized in that: Position sensors (22) corresponding to the positions of each fixed track are spaced apart on the crossbeam of the track-changing frame along the extension direction of the track-changing slide. Each position sensor can sense the moving track to the specified position. The position sensors are electrically connected to the control system to communicate and output the position information of the moving track.

10. The monorail truss track-changing device according to claim 1, characterized in that: The movable track is equipped with sensing devices (23) at both ends, and the fixed track is equipped with a triggering device at the end. When the movable track is connected to the fixed track, the sensing device at the end of the movable track can be triggered by the triggering device on the fixed track. The sensing device communicates with the control system and transmits the docking information between the movable track and the fixed track to the control system.

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