CN111039187B

CN111039187B - Suspension type transport crane

Info

Publication number: CN111039187B
Application number: CN201911319258.7A
Authority: CN
Inventors: 曹小华; 刘顿; 殷婷; 白云鹏; 程浩远; 刘晓菲; 毛文智
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2020-10-02
Anticipated expiration: 2039-12-19
Also published as: CN111039187A

Abstract

The invention relates to the field of transportation, in particular to a suspended transport crane, which comprises: a displacement mechanism which can move freely on a horizontal plane and can move up and down along a vertical direction; at least one grabbing mechanism capable of hoisting the container is vertically arranged below the displacement mechanism; the top of each grabbing mechanism is connected with the displacement mechanism in a sliding mode, and the grabbing mechanism can horizontally slide along the displacement mechanism and can move along with the displacement mechanism. The invention not only has high transportation flexibility, but also can rapidly and accurately avoid the obstacle.

Description

Suspension type transport crane

Technical Field

The invention relates to the field of transportation, in particular to a suspended transport crane.

Background

Light weight and intellectualization are important trends for development of the hoisting machinery industry in China in the future. The lightweight technology reduces the self weight of the crane while ensuring the hoisting weight. The general objective of intelligent research on cranes is to break through the intelligent key technologies such as artificial intelligence, operation space identification, life cycle management of complex equipment and the like in complex environments, develop intelligent equipment with high intelligence and an operation safety management system, realize single-machine and cluster intelligent control, and enable major construction assembly and technology in China to reach the international leading level.

At present, domestic hoist for transportation mainly is gantry crane and tower crane etc. and its transportation mode is simple, and the flexibility is not high, can't carry out accurate obstacle avoidance. Moreover, the large crane is expensive in manufacturing cost and high in maintenance cost, and unnecessary economic losses can be caused by excessive arrangement.

Disclosure of Invention

The invention aims to solve the technical problem of providing a suspension type transport crane which has high transport flexibility and can rapidly and accurately avoid obstacles in view of the defects in the prior art.

The technical scheme adopted by the invention for solving the technical problems is as follows:

providing a suspended transport crane comprising: a displacement mechanism which can move freely on a horizontal plane and can move up and down along a vertical direction;

at least one grabbing mechanism capable of hoisting the container is vertically arranged below the displacement mechanism;

the top of each grabbing mechanism is connected with the displacement mechanism in a sliding mode, and the grabbing mechanism can horizontally slide along the displacement mechanism and can move along with the displacement mechanism.

Further, the displacement mechanism comprises rails with different directions, and the grabbing mechanism changes the sliding direction.

Furthermore, the displacement mechanism is freely moved on a horizontal plane through the running mechanism and can move up and down along a vertical direction;

the running mechanism is a frame structure which can freely move on a horizontal plane;

the displacement mechanism is provided inside the running mechanism and is movable up and down in the running mechanism height direction.

Still further, still include: a hoisting mechanism;

the hoisting mechanism comprises: a wire rope and at least one set of sheave assemblies;

the lifting mechanism is respectively connected with the displacement mechanism and the running mechanism, and the displacement mechanism moves up and down in the height direction of the running mechanism through the matching of the pulley assembly and the steel wire rope.

Still further, the displacement mechanism includes: the arc-shaped track, the small wire wheel, the second direct current speed reducing motor and the connecting wire are arranged on the arc-shaped track;

the top of each grabbing mechanism is connected to the arc-shaped rail in a sliding manner;

the end part of the connecting wire is wound on the small wire wheel, and the middle part of the connecting wire is connected with each grabbing mechanism;

the second direct current speed reducing motor is coaxially arranged with the small wire wheel and controls the small wire wheel to rotate clockwise or anticlockwise so as to drive the connecting wire to pull the grabbing mechanism to slide on the arc-shaped track;

and the second direct current speed reducing motor is in wireless connection with the control end and is controlled by the control end.

Still further, the displacement mechanism further comprises: a limiting plate;

one end of the limiting plate is fixedly connected with the arc-shaped track, and the other end of the limiting plate is provided with a limiting bearing;

the inner ring of the limiting bearing is fixedly connected with the other end of the corresponding limiting plate, and the outer ring of the limiting bearing abuts against the structure in the vertical direction of the operating mechanism.

In the above technical solution, the hoisting mechanism further includes: a worm gear speed reducing motor and a large wire wheel;

each pulley assembly includes: a fixed pulley and a movable pulley;

the movable pulley of each pulley component is fixed on the arc-shaped track, and the fixed pulley is fixed on the running mechanism;

the steel wire rope is sequentially wound around the large wire wheel and each group of pulley assemblies;

the worm turbine speed reducing motor controls the large wire wheel to rotate clockwise or anticlockwise, so that the steel wire rope is lifted or descended to a displacement mechanism;

the worm turbine speed reducing motor is in wireless connection with the control end and is controlled by the control end.

In the technical scheme, the top of the grabbing mechanism is provided with a sliding assembly sliding along the arc-shaped track, and the bottom of the grabbing mechanism is provided with a gripper used for hoisting a container;

a first steering engine which enables the gripper to rotate around a z-axis in space is arranged in the middle of the gripping mechanism;

the bottom of the grabbing mechanism is also provided with a second steering engine for controlling the grabbing hand to open or close;

first steering wheel and second steering wheel all with control end wireless connection, and be controlled by the control end.

Preferably, the longitudinal section of the arc-shaped track is I-shaped;

each grabbing mechanism comprises two groups of sliding components;

each group of sliding components comprises a sliding bearing and track pulleys respectively arranged at two sides of the sliding bearing;

the two groups of sliding components are oppositely arranged; the outer ring surface of the sliding bearing in each group of sliding assemblies is in contact with the lower surface of the upper edge of the arc-shaped track, and the curved surfaces of the two track pulleys are in contact with the upper surface of the lower edge of the arc-shaped track.

In the technical scheme, a plurality of universal wheels are arranged at the bottom of the running mechanism;

each universal wheel is correspondingly provided with a first direct current speed reducing motor;

the first direct current speed reducing motor drives the corresponding universal wheel to rotate;

each first direct current gear motor is wirelessly connected with the control end and is controlled by the control end.

In the invention, the grabbing mechanism is used for hoisting a container to be transported and then moves up and down along the vertical direction along with the free movement of the displacement mechanism on the horizontal plane. The displacement mechanism enables the container to freely move on the horizontal plane, so that the container can accurately reach a destination, the container can move up and down in the vertical direction, and the container can be prevented from obstacles at any time in the process of moving to the destination. Therefore, the invention not only has high transportation flexibility, but also can rapidly and accurately avoid the obstacles.

Drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts, wherein:

FIG. 1 is a schematic view of a viewing structure according to an embodiment of the present invention;

FIG. 2 is a schematic view of another perspective structure of an embodiment of the present invention;

FIG. 3 is a schematic view of the displacement mechanism in an embodiment of the present invention;

FIG. 4 is a schematic structural view of a grasping mechanism in the embodiment of the invention;

FIG. 5 is a schematic structural view of an operating mechanism in an embodiment of the present invention;

FIG. 6 is an enlarged schematic view at M of FIG. 1;

FIG. 7 is an enlarged schematic view at N of FIG. 2;

FIG. 8 is an enlarged schematic view at Q of FIG. 3;

FIG. 9 is an enlarged schematic view at S of FIG. 3;

fig. 10 is an enlarged schematic view of P in fig. 2.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 and 2, the overhead transport crane according to the present invention comprises: a displacement mechanism 1 which can move freely on a horizontal plane and can move up and down along a vertical direction;

at least one grabbing mechanism 2 capable of hoisting a container is vertically arranged below the displacement mechanism 1;

the top of each grabbing mechanism 2 is connected with the displacement mechanism 1 in a sliding way, and can horizontally slide along the displacement mechanism 1 and move along with the displacement mechanism 1.

In this embodiment the gripping mechanism 2 is used to lift the container to be transported and then move up and down in the vertical direction as the displacement mechanism is free to move in the horizontal plane. The displacement mechanism 1 enables the container to freely move on the horizontal plane, so that the container can accurately reach a destination, the container can move up and down in the vertical direction, and the container can be ensured to avoid obstacles at any time in the process of moving to the destination. Therefore, the embodiment has high transportation flexibility and can rapidly and accurately avoid the obstacle.

The overhead transport crane further comprises: a running mechanism 3 and a hoisting mechanism 4. The lifting mechanism 4, the displacement mechanism 1 and the grabbing mechanism 2 are all arranged in the running mechanism 3; the grabbing mechanism 2 is connected to the displacement mechanism 1; the displacement mechanism 1 is connected with the running mechanism 3 through a lifting mechanism 4.

As shown in fig. 5, the frame of the running gear 3 is built up of 8 straight rods 3.6 and 4 tees 3.3. A reinforcing rod 3.5 is arranged between the straight rods 3.6 which are horizontally arranged; an inclined supporting rod 3.4 is correspondingly arranged between the vertically arranged straight rod 3.6 and the horizontally arranged straight rod 3.6. The reinforcing bar 3.5 and the diagonal bracing bar 3.4 both have the function of reinforcing the running gear 3.

The bottom end of each vertically arranged straight rod 3.6 of the running mechanism 3 is provided with 1 universal wheel 3.1; each universal wheel 3.1 is correspondingly provided with a first direct current speed reducing motor 3.2. The first direct current speed reducing motor 3.2 drives the corresponding universal wheel 3.1 to rotate; each first direct current speed reducing motor 3.2 is wirelessly connected with the control end and is controlled by the control end.

The displacement mechanism 1 is freely moved on a horizontal plane through the running mechanism 3 and can move up and down along the vertical direction; the running mechanism 3 is a frame structure which can freely move on a horizontal plane; the displacement mechanism 1 is provided inside the running mechanism 3, and is movable up and down in the height direction of the running mechanism 3.

In this embodiment, the control end may be a remote control, a smart phone, or a control center. The universal wheels 3.1 are mecanum wheels. The control end can independently control each first direct current speed reducing motor 3.2; each first dc geared motor 3.2 is in turn capable of controlling the speed and direction of the corresponding mecanum wheel, so that the four mecanum wheels can have different directions. Further, the running mechanism 3 can move freely on a horizontal plane.

As shown in fig. 3, the displacement mechanism 1 includes rails with different directions for the gripping mechanism 2 to change the sliding direction. In the present embodiment, the rails in different directions are arc rails 1.1 having an arc structure. The arc-shaped track 1.1 is composed of 3 sections of arc-shaped structural tracks and 4 sections of straight tracks. Thus, the gripping device 2 can have four directions on the curved path 1.1.

The displacement mechanism 1 includes: the device comprises an arc-shaped track 1.1, two small wire wheels 1.2, two second direct current speed reducing motors 1.3 and a connecting wire (not shown in the figure).

As shown in fig. 9, a small reel 1.2 and a second dc gear motor 1.3 are respectively disposed on both ends of the arc-shaped track 1.1. The second direct current gear motor 1.3 and the small wire wheel 1.2 are coaxially arranged. Two ends of the connecting wire are respectively wound on the two small wire wheels 1.2, and each small wire wheel 1.2 is controlled by the corresponding second direct current speed reducing motor 1.3. The second direct current gear motor 1.3 can control the corresponding small wire wheel 1.2 to rotate clockwise or anticlockwise.

The top of each grabbing mechanism 2 is connected to the arc-shaped rail 1.1 in a sliding mode and is connected with the wire body of the connecting wire. Therefore, when the small wire wheel 1.2 rotates clockwise or anticlockwise, the grabbing mechanism 2 can slide along the arc-shaped track 1.1.

And the second direct current speed reducing motor 1.3 is in wireless connection with the control end and is controlled by the control end. So that the control end can control the sliding of each gripping mechanism 2.

A limiting plate 1.4 is arranged on each section of the arc-shaped structural track of the arc-shaped track 1.1. One end of each limiting plate 1.4 is fixedly connected with the arc-shaped track 1.1, and the other end is provided with two limiting bearings 1.5.

As shown in fig. 8, a bearing fixing rod 1.6 is inserted into the inner ring of each limit bearing 1.5. One end of the bearing fixing rod 1.6 is fixed with the inner ring of the corresponding limit bearing 1.5, and the other end is fixed on the corresponding limit plate 1.4. The outer rings of the two limit bearings 1.5 on each limit plate 1.4 are all propped against the corresponding vertically arranged straight rod 3.6. The construction of the limiting plate 1.4 ensures that the displacement mechanism 1 is more stable during movement in the vertical direction and that the displacement mechanism 1 remains parallel to the horizontal at all times.

As shown in fig. 1 to 2 and 6 to 7, the hoisting mechanism 4 includes: a steel cable 4.1 and three sets of pulley assemblies.

The lifting mechanism 4 is respectively connected with the displacement mechanism 1 and the running mechanism 3, and the displacement mechanism 1 moves up and down in the height direction of the running mechanism 3 through the cooperation of the pulley component and the steel wire rope 4.1.

The hoisting mechanism 4 further comprises: a worm gear speed reducing motor 4.2 and a large wire wheel 4.3; the worm gear speed reducing motor 4.2 and the large wire wheel 4.3 are fixedly arranged on a reinforcing rod 3.5.

Each pulley assembly includes: a fixed pulley 4.4 and a movable pulley 4.5. In this embodiment, each set of pulley assemblies comprises one travelling block 4.5, but the number of fixed blocks 4.4 differs from set to set.

The movable pulley 4.5 of each pulley component is fixed on the arc-shaped structure track of the arc-shaped track 1.1, and the fixed pulleys 4.4 are fixed on the running mechanism 3;

the steel wire rope 4.1 is sequentially wound around the large wire wheel 4.3 and each group of pulley components;

the worm turbine speed reducing motor 4.2 controls the large wire wheel 4.3 to rotate clockwise or anticlockwise, so that the steel wire rope 4.1 is lifted or descended to the displacement mechanism 1;

and the worm turbine speed reducing motor 4.2 is in wireless connection with the control end and is controlled by the control end.

In the embodiment, the worm gear speed reducing motor 4.2 ensures that the displacement mechanism 1 can be self-locked in the descending or ascending process, and ensures the fixation of the displacement mechanism 1.

As shown in fig. 4, the top of the gripping mechanism 2 is provided with a sliding assembly sliding along an arc-shaped track 1.1, and the bottom is provided with a gripper 2.2 for lifting a container.

The frame structure of the gripping device 2 is formed by a base plate 2.6, a middle support 2.8 and a bottom support 2.7. The middle support 2.8 and the bottom support 2.7 are rotatably connected.

A first steering engine 2.3 which enables the gripper 2.2 to rotate around a z-axis in space is arranged in the middle of the gripping mechanism 2; first steering wheel 2.3 place in middle part support 2.8, drive tongs 2.2 through bottom support 2.7 around the rotation of z axle.

The bottom of the grabbing mechanism 2 is also provided with a second steering engine 2.4 for controlling the grabbing hand 2.2 to open or close; the second steering engine 2.4 is placed in the bottom bracket 2.7.

First steering wheel 2.3 and second steering wheel 2.4 all with control end wireless connection, and controlled by the control end.

In this embodiment, each of the first 2.3 and second 2.4 steering engines is capable of individually controlling the corresponding bottom bracket 2.7 and the control finger 2.2.

As shown in fig. 10, the longitudinal section of the arc-shaped track 1.1 is i-shaped;

each grabbing mechanism 2 comprises two groups of sliding components;

each group of sliding components comprises a sliding bearing 2.5 and track pulleys 2.1 which are respectively arranged at two sides of the sliding bearing 2.5;

the two groups of sliding components are oppositely arranged; the outer ring surface of the sliding bearing 2.5 in each group of sliding components is contacted with the lower surface of the upper edge of the arc-shaped track 1.1, and the curved surface of the two track pulleys 2.1 is contacted with the upper surface of the lower edge of the arc-shaped track 1.1.

In this embodiment, each group of sliding assemblies forms a triangle for the arc-shaped rail 1.1, thereby ensuring the stability of the grabbing mechanism 2 in the sliding process along the arc-shaped rail 1.1 and preventing the grabbing mechanism 2 from swinging.

The working process of the embodiment is as follows:

for each gripping mechanism 2:

step 1, a control end controls each first direct current speed reducing motor 3.2 to enable the operating mechanism 3 to reach a storage position of a container to be conveyed;

step 2, controlling a worm gear and worm reduction motor 4.2 to drive a large wire wheel 4.3 to rotate, and moving the displacement mechanism 1 downwards under the action of the sliding assembly;

step 3, controlling the second direct current speed reducing motor 1.3 to rotate, so that each grabbing mechanism 2 reaches a target position capable of grabbing a container;

step 4, controlling the first steering engine 2.3 to adjust the direction of the hand grip 2.2, so that the hand grip 2.2 is matched with a handle of the target container;

step 5, controlling a second steering engine 2.4 to open the gripper 2.2, and then controlling the second steering engine 2.4 to close the gripper 2.2, so that the gripper 2.2 grips the handle of the target container;

repeating the steps until each grabbing mechanism 2 lifts the corresponding target container;

step 6, controlling each first direct current speed reducing motor 3.2 to enable the running mechanism 3 to move to a target position;

step 7, if an obstacle is encountered, controlling a worm gear speed reducing motor 4.2, and enabling the grabbing mechanism 2 to avoid the obstacle in the vertical direction by pulling up and putting down the lifting mechanism 4;

and/or controlling the second direct current speed reducing motor 1.3 to rotate, so that the grabbing mechanism 2 avoids the obstacle in the horizontal direction;

step 8, after the mechanism to be transported 3 reaches the target position, controlling the worm gear speed reducing motor 4.2 to enable the operation mechanism 4 to control the displacement mechanism to descend until each container reaches the ground;

and 9, controlling each second steering engine 2.4 to open the corresponding hand grab 2.2 so as to separate from the target container.

In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. To those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A suspended transport crane, comprising: a displacement mechanism (1) which can move freely on a horizontal plane and can move up and down along a vertical direction;

at least one grabbing mechanism (2) capable of hoisting a container is vertically arranged below the displacement mechanism (1);

the top of each grabbing mechanism (2) is connected with the displacement mechanism (1) in a sliding way, can horizontally slide along the displacement mechanism (1) and can move along with the displacement mechanism (1);

the displacement mechanism (1) comprises: the device comprises an arc-shaped track (1.1), a small wire wheel (1.2), a second direct current speed reducing motor (1.3) and a connecting wire;

the top of each grabbing mechanism (2) is connected to the arc-shaped track (1.1) in a sliding manner;

the end part of the connecting wire is wound on the small wire wheel (1.2), and the middle part of the connecting wire is connected with each grabbing mechanism (2);

the second direct current gear motor (1.3) and the small wire wheel (1.2) are coaxially arranged, and the small wire wheel (1.2) is controlled to rotate clockwise or anticlockwise, so that the connecting wire is driven to pull the grabbing mechanism (2) to slide on the arc-shaped track (1.1).

2. A suspended transport crane according to claim 1, characterized in that the displacement mechanism (1) comprises rails of different directions for the gripping mechanism (2) to change the direction of sliding.

3. A suspended transport crane according to claim 1, characterized in that the displacement mechanism (1) is freely movable in the horizontal plane by means of a running mechanism (3) and is movable up and down in the vertical direction;

the running mechanism (3) is a frame structure which can freely move on a horizontal plane;

the displacement mechanism (1) is arranged inside the running mechanism (3) and can move up and down in the height direction of the running mechanism (3).

4. The overhead transport crane of claim 3, further comprising: a hoisting mechanism (4);

the hoisting mechanism (4) comprises: a steel wire rope (4.1) and at least one group of pulley components;

the lifting mechanism (4) is respectively connected with the displacement mechanism (1) and the running mechanism (3), and the displacement mechanism (1) moves up and down in the height direction of the running mechanism (3) through the matching of the pulley component and the steel wire rope (4.1).

5. The overhead transport crane of claim 4,

and the second direct current speed reducing motor (1.3) is in wireless connection with the control end and is controlled by the control end.

6. A suspension transport crane according to claim 5, characterized in that the displacement mechanism (1) further comprises: a limiting plate (1.4);

one end of the limiting plate (1.4) is fixedly connected with the arc-shaped track (1.1), and the other end is provided with a limiting bearing (1.5);

the inner ring of the limiting bearing (1.5) is fixedly connected with the other end of the corresponding limiting plate (1.4), and the outer ring abuts against the structure of the running mechanism (3) in the vertical direction.

7. A suspended transport crane according to claim 5, characterized in that the hoisting mechanism (4) further comprises: a worm and worm gear speed reducing motor (4.2) and a large wire wheel (4.3);

each pulley assembly includes: a fixed pulley (4.4) and a movable pulley (4.5);

a movable pulley (4.5) of each group of pulley components is fixed on the arc-shaped track (1.1), and a fixed pulley (4.4) is fixed on the running mechanism (3);

the steel wire rope (4.1) is sequentially wound around the large wire wheel (4.3) and each group of pulley components;

the worm and worm gear speed reducing motor (4.2) controls the large wire wheel (4.3) to rotate clockwise or anticlockwise, so that the steel wire rope (4.1) is lifted or lowered to the displacement mechanism (1);

the worm and worm gear speed reducing motor (4.2) is in wireless connection with the control end and is controlled by the control end.

8. A suspended transport crane according to claim 5, characterized in that the gripping means (2) is provided at the top with a sliding assembly sliding along an arc-shaped rail (1.1) and at the bottom with a gripper (2.2) for lifting a container;

a first steering engine (2.3) which enables the gripper (2.2) to rotate around a z-axis in space is arranged in the middle of the gripping mechanism (2);

the bottom of the grabbing mechanism (2) is also provided with a second steering engine (2.4) for controlling the grabbing hand (2.2) to open or close;

first steering wheel (2.3) and second steering wheel (2.4) all with control end wireless connection, and controlled by the control end.

9. A suspended transport crane according to claim 8, characterized in that the longitudinal section of the curved track (1.1) is "I" -shaped;

each grabbing mechanism (2) comprises two groups of sliding components;

each group of sliding components comprises a sliding bearing (2.5) and track pulleys (2.1) which are respectively arranged at two sides of the sliding bearing (2.5);

the two groups of sliding components are oppositely arranged; the surface of the outer ring of the sliding bearing (2.5) in each group of sliding components is contacted with the lower surface of the upper edge of the arc-shaped track (1.1), and the curved surfaces of the two track pulleys (2.1) are contacted with the upper surface of the lower edge of the arc-shaped track (1.1).

10. A suspended transport crane according to claim 3, characterized in that the bottom of the running gear (3) is provided with a plurality of universal wheels (3.1);

each universal wheel (3.1) is correspondingly provided with a first direct current speed reducing motor (3.2);

the first direct current speed reducing motor (3.2) drives the corresponding universal wheel (3.1) to rotate;

each first direct current speed reducing motor (3.2) is wirelessly connected with the control end and is controlled by the control end.