Transport robot and transit system

Abstract

The application discloses a transport robot and a transfer system, and relates to the technical field of robots, and aims to solve the technical problems that the positioning accuracy of a mobile robot is not high and the mobile robot is difficult to accurately stop or accurately dock in the prior art. The transport robot comprises a machine body, a traction component and a pressure detection component. The traction component is movably arranged in the machine body. One end of the pressure detection component is connected with the machine body, and the other end of the pressure detection component is connected with the traction component. Therefore, the application has the advantages of accurate stopping, improved work efficiency of logistics transfer and improved work quality of connection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a transport robot and a transfer system. BACKGROUND

[0002] In the prior art, mobile robots are widely used in logistics fields such as unmanned warehousing. The robot transports the goods to be transferred from the original position to the designated transfer station by traction or carrying. When the goods have hard transfer requirements such as code scanning identification, or docking charging and disinfection, the robot will assist the transfer station and the goods to be transferred to achieve accurate docking based on the environmental information detected by the radar, camera and other devices carried by the robot.

[0003] However, due to the influence of the accuracy of the radar, camera and other devices, assembly errors and environmental interference of the robot, the navigation and positioning accuracy of the existing transport robot cannot meet the accurate docking requirements of the goods to be transferred and the transfer station. For example, in the scenarios of code scanning identification of the transfer station to the goods to be transferred, charging interface docking of the transfer station and the goods to be transferred or the robot, disinfectant interface docking, the transport robot still faces the problem of difficult accurate docking after multiple position adjustments. SUMMARY

[0004] The purpose of the present application is to provide a transport robot and a transfer system which can detect the pressure value through the pressure detection component when the traction component moves under stress, and then realize the accurate parking of the transport robot according to the pressure value, effectively improving the work efficiency and the connection and docking accuracy of logistics transportation.

[0005] The embodiments of the present application are implemented as follows:

[0006] The first aspect of the embodiments of the present application provides a transport robot, comprising: a body, a traction component and a pressure detection component. The traction component is movably arranged in the body; one end of the pressure detection component is connected with the body, and the other end of the pressure detection component is connected with the traction component.

[0007] In an embodiment, the traction component comprises: a moving assembly and a telescopic assembly. The moving assembly comprises a moving support, and the moving support is movably arranged in the body; the telescopic assembly is connected with the moving support.

[0008] In an embodiment, the moving assembly further comprises: at least one first guide rail and at least one first sliding block. The first guide rail is arranged in the body; the first sliding block is movably arranged on the first guide rail, and the first sliding block is connected with the moving support.

[0009] In an embodiment, the moving assembly further comprises at least one limiting block, and one limiting block is arranged on one side of the end point of the first guide rail and close to the pressure detection component.

[0010] In one embodiment, the telescopic assembly includes at least one telescopic column, and the movable support has at least one telescopic hole, with one telescopic column housed within one telescopic hole.

[0011] In one embodiment, the movable component further includes a sealing plate disposed on the top surface of the movable support, and the sealing plate has a through hole for accommodating the telescopic column.

[0012] In one embodiment, the telescopic column extends in a direction perpendicular to the moving direction of the movable support.

[0013] In one embodiment, the telescopic assembly further includes a motor, which is fixed to the movable support, and the output shaft of the motor is connected to the telescopic column.

[0014] In one embodiment, the pressure detection component includes an elastic element and a pressure sensor. One end of the elastic element is connected to a traction component; the pressure sensor is connected to the other end of the elastic element.

[0015] In one embodiment, the pressure detection component further includes a connecting seat, which is fixed inside the machine body; the pressure sensor is connected to the connecting seat via a hinge or a spherical bearing.

[0016] A second aspect of this application provides a transfer system comprising at least one transfer station and at least one transport robot provided in the first aspect of this application and any embodiment thereof. The transfer station has a stop pin on one side; the transport robot is configured to stop moving in response to a pressure detection signal exceeding a preset pressure threshold when its traction component or the cargo to be transferred abuts against the stop pin.

[0017] In one embodiment, a connector is also provided on one side of the transfer station, and a stop pin is retractably provided on one side edge of the connector.

[0018] The beneficial effects of this application compared with the prior art are as follows: The transport robot provided by this application moves the goods through the traction component, and when the traction component or the goods are blocked by the stop pin of the transfer station, it detects the thrust or pressure generated by the traction component relative to the robot body on the pressure detection component, and controls the robot to stop moving when the magnitude of the force exceeds the preset pressure threshold. This application achieves precise docking of the robot and the goods through the cooperation of the pressure detection component and the traction component, effectively improving the transfer efficiency and transfer quality of the transport robot and enhancing the user experience. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a transfer system according to an embodiment of this application;

[0021] Figure 2 This is a schematic diagram illustrating an application scenario of a transit system according to an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the overall structure of a transport robot according to an embodiment of this application;

[0023] Figure 4 This is a partial structural schematic diagram of a transport robot according to an embodiment of this application;

[0024] Figure 5 This is a schematic diagram of the structure of a moving component according to an embodiment of this application;

[0025] Figure 6 This is a schematic diagram of the structure of a telescopic component according to an embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the structure of a pressure detection component according to an embodiment of this application.

[0027] Icons: 1-Transfer system; 10-Transfer station; 101-Connector; 102-Stop pin; 103-Dock passage; 20-Transport robot; 200-Body; 201-Support plate; 202-Cover plate; 2021-Displacement elongated hole; 21-Traction component; 22-Moving component; 221-First guide rail; 222-First slider; 223-Moving support; 224-Sealing plate; 225-Telescopic hole; 226-Mounting hole; 23-Telescopic component; 231-Telescopic column; 232-Motor; 2321-Output shaft; 233-Connector; 234-Motor mounting plate; 235-Motor fixed shaft; 24-Pressure detection component; 241-Elastic element; 242-Guide column; 243-Pressure sensor; 244-Joint bearing; 245-Connecting seat; 25-Limit block; 30-Shelf; 301-Goods; 302-Interface. Detailed Implementation

[0028] The terms “first,” “second,” “third,” etc., are used only for distinguishing descriptions and do not indicate a sequence number, nor should they be interpreted as indicating or implying relative importance.

[0029] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0030] In the description of this application, it should be noted that the terms "inner", "outer", "left", "right", "upper", "lower", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0031] In the description of this application, unless otherwise expressly specified and limited, the terms “set up,” “install,” “connect,” and “link” shall be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; as a mechanical connection or an electrical connection; as a direct connection or an indirect connection through an intermediate medium; or as a connection within two components.

[0032] The technical solution of this application will now be clearly and completely described with reference to the accompanying drawings.

[0033] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a transfer system 1 according to an embodiment of this application. Figure 1 As shown, this application provides a transfer system 1, which includes at least one transfer station 10 and at least one transport robot 20. The transport robot 20 moves goods 301 or shelves 30 by carrying or towing them, and transfers them to the vicinity of the transfer station 10 for disinfection, charging or barcode scanning and identification.

[0034] Please refer to Figure 2 , Figure 2 This is a schematic diagram illustrating an application scenario of the transit system 1 according to an embodiment of this application. Figure 2As shown, a stop pin 102 and a connector 101 extend from one side of the transfer station 10. A docking passage 103 is also provided on one side of the transfer station 10 (only a portion of the docking passage 103 is shown in the attached diagram to clearly demonstrate the stop pin 102 and connector 101 within it). The docking passage 103 has an opening on the side closest to the transfer station 10 for the stop pin 102 and connector 101 to extend out. The stop pin 102 is configured to prevent the shelf 30 or the transport robot 20 from continuing to move; the connector 101 is configured to dock with the interface 302 of the shelf 30 or the robot to provide disinfectant for comprehensive spraying disinfection of the shelf 30 and the goods 301 on it.

[0035] In one embodiment, the stop pin 102 is retractably disposed on one side edge of the connector 101, and when the stop pin 102 is extended, the height of the stop pin 102 relative to the ground is higher than the lowest point height of the interface 302 relative to the ground and lower than the highest point height of the interface 302 relative to the ground, so as to ensure that the stop pin 102 can contact the edge of the interface 302 and prevent the interface 302 from continuing to move relative to the ground.

[0036] Please refer to the following examples and... Figures 2 to 4 In another embodiment, the stop pin 102 is telescopically disposed on one side of the transfer station 10, and when the stop pin 102 is extended, the height of the stop pin 102 relative to the ground is higher than the height of the cover plate 202 of the transport robot 20 relative to the ground, and lower than the height of the bottom end of the shelf 30 (i.e., the bottom surface of the bottom plate where the traction hole is located at the bottom of the shelf 30) relative to the ground, so as to ensure that when the stop pin 102 is extended, it can contact the edge of the telescopic column 231, but does not touch the body 200 of the transport robot 20 or the shelf 30, and prevents the telescopic column 231 from continuing to move relative to the ground.

[0037] Please refer to Figures 3 to 4 , Figure 3 This is a schematic diagram of the overall structure of a transport robot 20 according to an embodiment of this application; Figure 4 This is a partial structural schematic diagram of a transport robot 20 according to an embodiment of this application; as shown... Figures 3 to 4 As shown, the transport robot 20 includes a body 200, a traction component 21, a wheel hub (not shown), and a pressure detection component 24.

[0038] The traction component 21 and the pressure detection component 24 are both located within the body 200. The traction component 21 includes a moving component 22 and a telescopic component 23. Both the telescopic component 23 and the pressure detection component 24 are connected to the moving component 22. The telescopic component 23 includes at least one telescopic column 231. In one embodiment, the traction component 21 is configured to connect to the goods 301 to be transferred or the shelf 30, and to drive the goods 301 or the shelf 30 to move with the transport robot 20.

[0039] The top of the body 200 is provided with a cover plate 202, on which a displacement elongated hole 2021 is provided for the extension and movement of the telescopic column 231; a support plate 201 is provided inside the body 200, and the moving component 22 and the pressure detection component 24 are both provided on the support plate 201; a wheel hub is provided at the bottom of the body 200. In one application, when the transport robot 20 moves the traction rack 30, the telescopic column 231 extends and enters the traction hole at the bottom of the rack 30, so that the transport robot 20 can drive the rack 30 to move or stop through the extended telescopic column 231.

[0040] In one embodiment, two telescopic columns 231 are provided, respectively located at both ends of the moving component 22; correspondingly, two displacement elongated holes 2021 on the cover plate 202 and two traction holes at the bottom of the shelf 30 are also provided.

[0041] Please combine Figures 2 to 4 As shown, in one application process, the transport robot 20 pulls the shelf 30 carrying goods 301 into the docking channel 103. When the interface 302 of the shelf 30 (or a mobile robot) moves to the side of the stop pin 102, the edge of the interface 302 of the shelf 30 abuts against the stop pin 102, and the shelf 30 and its carried goods 301 no longer move. At this time, the transport robot 20 continues to move normally. The traction component 21 used to pull the shelf 30 moves relative to the robot body 200. The movement of the traction component 21 relative to the body 200 generates a thrust or pressure on the pressure detection component 24, which is detected by the pressure detection component 24. When the thrust or pressure of the traction component 21 on the pressure detection component 24 exceeds a preset pressure threshold, the robot stops moving in response to the pressure detection signal.

[0042] Please refer to Figure 5 , Figure 5 This is a schematic diagram illustrating the structure of the movable component 22 according to an embodiment of this application. Please refer to... Figures 4 to 5 As shown, the moving component 22 includes at least one first guide rail 221, at least one first slider 222, a moving support 223, and a sealing plate 224.

[0043] In one embodiment, two first guide rails 221 are provided, which are parallel to each other and disposed on the top surface of the support plate; four first sliders 222 are provided, with every two first sliders 222 movably disposed on one first guide rail 221, and the bottom surfaces of both ends of the movable support 223 are respectively connected to the top surfaces of each first slider 222. The top of the movable support 223 is provided with a protrusion, the center of which has a mounting hole 226, and the two ends of which have telescopic holes 225. The telescopic column 231 of a telescopic component 23 is accommodated in one telescopic hole 225.

[0044] Two sealing plates 224 are provided for waterproofing. Each sealing plate 224 is located above the location of the telescopic hole 225 and is disposed on the top surface of the movable support 223. Each sealing plate 224 has a through hole aligned with the axis of the telescopic hole 225 to accommodate the telescopic column 231. In one embodiment, the diameter of the through hole on each sealing plate 224 is equal to the diameter of the telescopic hole 225.

[0045] The moving component 22 also includes at least one limiting block 25, all of which are disposed on the top surface of the support plate 201. In one embodiment, there are two limiting blocks 25: one limiting block 25 is disposed on one side near the end of the first guide rail 221 of the pressure detection component 24; the other limiting block 25 is disposed on the other side away from the other end of the first guide rail 221 of the pressure detection component 24. The limiting blocks 25 are used to limit the displacement stroke of the moving support 223 along the extension direction of the first guide rail 221, and both limiting blocks 25 are disposed between the two first guide rails 221. The height of the top surface of the limiting block 25 relative to the top surface of the support plate 201 should be higher than the height of the bottom surface of the moving support 223 relative to the top surface of the support plate 201, so that when the moving support 223 moves to the position of either limiting block 25, the side wall of the moving support 223 abuts against the limiting block 25 and no longer moves, preventing the first slider 222 from disengaging from the first guide rail 221 when the moving support 223 moves.

[0046] In other embodiments of this application, the moving component 22 further includes a second guide rail and a second slider. Two second guide rails are provided, each resting on multiple sliders on the same side of each first guide rail 221, and the extension direction of the second guide rail is perpendicular to the extension direction of the first guide rail 221. At least one second slider is slidably mounted on one second guide rail, and the two ends of the bottom surface of the moving support 223 are respectively connected to the respective second sliders on the two second guide rails. Thus, the moving support 223 and the telescopic component 23 can simultaneously achieve displacement in two sets of horizontal linear directions relative to the top surface of the support plate 201 (for example, considering the extension direction of the first guide rail 221 as the X-axis direction and the second guide rail as the Y-axis direction, the moving component 22, after adding the second guide rail and the second slider, can simultaneously achieve displacement along both the positive and negative X-axis directions and the positive and negative Y-axis directions). Correspondingly, two additional limiting blocks 25 are added, and the mounting elongated holes on the cover plate 202 are changed to square or rectangular holes based on the addition of the second guide rail in the movable component 22. The side lengths of the square or rectangular holes are related to the maximum displacement stroke of the movable support 223 in two horizontal straight directions. In one embodiment, the side lengths of the square or rectangular holes are equal to the maximum displacement stroke of the movable support 223 in two horizontal straight directions.

[0047] Please refer to Figure 6 , Figure 6 This is a schematic diagram of the structure of the telescopic component 23 according to an embodiment of this application.Figures 4 to 6 As shown, the telescopic assembly 23 includes telescopic columns 231, a motor 232, a connector 233, a motor mounting plate 234, and a motor fixing shaft 235. There are two motor mounting plates 234 and two motor fixing shafts 235. Each side of the motor 232 is fixed to a motor mounting plate 234 via a motor fixing shaft 235. The top ends of the motor mounting plates 234 on both sides of the motor 232 are fixed into the mounting holes 226 of the movable support 223. There are two telescopic columns 231. The motor 232 has an output shaft 2321. The two telescopic columns 231 are respectively located at both ends of a connector 233, and the middle part of the connector 233 is connected to the output shaft 2321.

[0048] The motor mounting plate 234 in the telescopic assembly 23 extends from the bottom end of the movable support 223 into the mounting hole 226 and is connected to the movable support 223. Similarly, the telescopic column 231 in the telescopic assembly 23 extends from the bottom end of the movable support 223 into the telescopic hole 225. In one embodiment, the telescopic direction of the telescopic column 231 is perpendicular to the moving direction of the movable support 223.

[0049] Please refer to Figure 7 , Figure 7 This is a schematic diagram of the structure of the pressure detection component 24 shown in one embodiment of this application. Figures 4 to 7 As shown, the pressure detection component 24 includes an elastic element 241, a guide post 242, a pressure sensor 243, and a connecting seat 245. The connecting seat 245 is located on the top surface of the support plate 201, and the pressure sensor 243 is connected to the connecting seat 245 via a spherical bearing 244 or a hinge. One end of the elastic element 241 is connected to the movable support 223, and the other end of the elastic element 241 is connected to the pressure sensor 243 via the guide post 242.

[0050] When the traction component 21 moves relative to the body 200 of the transport robot 20, the movable support 223 is displaced relative to the support plate 201. As the movable support 223 moves along the first guide rail 221 toward the connecting seat 245 and presses against the elastic member 241, the elastic member 241 converts the pressure received into a thrust through the guide post 242 and transmits this thrust to the pressure sensor 243. The pressure sensor 243 detects the pressure value and sends the corresponding pressure detection signal to the controller that controls the movement of the transport robot 20. In one embodiment, the elastic member 241 is a spring. In other embodiments of this application, the elastic member 241 may also be other elastic elements capable of transmitting thrust.

[0051] In one embodiment, after the pressure detection component 24 is connected and assembled, the axial extension direction of the elastic element 241 and the guide post 242 is parallel to the top surface of the support plate 201. This is so that when the movable support 223, which moves horizontally relative to the support plate 201, transmits pressure to the pressure sensor 243, the direction of the applied force is as consistent as possible with the axial extension direction of the elastic element 241 and the guide post 242, and the pressure value detected by the pressure sensor 243 is more accurate.

[0052] Please combine Figures 2 to 7 The transport robot 20 first controls the wheel hub to rotate, moving to the bottom of the shelf 30. When the transport robot 20 determines the location of each telescopic column 231 based on environmental information detected by cameras or infrared radar and is located directly below each traction hole at the bottom of the shelf 30, the transport robot 20 controls the motor 232 in the telescopic assembly 23 to work. The output shaft 2321 of the motor 232 drives the telescopic column 231 to extend out of the cover plate 202 from the telescopic hole 225 of the movable support 223, through the through hole of the sealing plate 224 and the displacement elongated hole 2021 of the cover plate 202, and into the traction hole. Thus, when the transport robot 20 moves, the telescopic column 231 extending into the traction hole at the bottom of the shelf 30 will drive the shelf 30 to move with the transport robot 20.

[0053] The transport robot is configured to stop moving in response to a pressure detection signal exceeding a preset pressure threshold when the traction component or the cargo to be transferred comes into contact with the stop pin.

[0054] When the transport robot 20 pulls the shelf 30 into the parking channel 103, the disinfectant interface 302 extending from one side of the shelf 30 comes into contact with the stop pin 102 extending from the side of the transfer station 10 during the movement of the shelf 30. The shelf 30 stops moving due to the obstruction of the stop pin 102, and then the moving support 223 stops moving relative to the ground through the telescopic column 231 housed in the traction hole.

[0055] Alternatively, when the transport robot 20 pulls the shelf 30 into the parking aisle 103, the telescopic column 231 in the traction component 21 stops moving after contacting the stop pin 102 extending from the side of the transfer station 10 as it moves with the transport robot 20. The shelf 30 also stops moving with the telescopic column 231, and the movable support 223 connected to the telescopic component 23 also stops moving relative to the ground.

[0056] At this time, the body 200 of the transport robot 20 continues to move relative to the ground at its normal speed and direction of movement, thereby causing the movable support 223 to move relative to the body 200. Since one end of the pressure sensor 243 in the pressure detection component 24 is connected to the connecting seat 245 fixed to the support plate 201 (or body 200) via a joint bearing 244, and the other end is connected to the movable support 223 via a guide post 242 and a deformable elastic element 241, when the movable support 223 moves relative to the body 200, the movable support 223 will compress the elastic element 241, causing it to elastically deform. The elastic element 241, undergoing elastic deformation, transmits the thrust received near one end of the movable support 223 to the other end, and then transmits the thrust to the pressure sensor 243 via the guide post 242, whereby the pressure sensor 243 detects the corresponding pressure value (thrust value).

[0057] When the pressure value detected by the pressure sensor 243 exceeds the preset pressure threshold, the transport robot 20 responds to the pressure detection signal exceeding the preset pressure threshold by controlling the wheel hub to stop rotating and confirming that the shelf 30 has moved to the designated position for docking with the disinfectant interface 302. At this time, the disinfectant interface 302 of the shelf 30 or the disinfectant connector 101 of the transfer station 10 pops out airbags or other sealing components to seal the docking edge of the interface 302 of the shelf 30 and the connector 101 of the transfer station 10. The disinfectant in the transfer station 10 flows through the connector 101, interface 302 and the pipeline on the shelf 30 to the designated spraying position to spray disinfectant on the goods 301 on the shelf 30 and the shelf 30.

[0058] After disinfection, the retractable stop 102 retracts from inside the docking channel 103 to outside the docking channel 103. The transport robot 20 then uses the telescopic column 231 to pull the shelf 30 to continue moving away from the docking channel 103 in the original direction and move to the next target location. When the stop 102 is not telescopic, the transport robot 20 can also use the telescopic column 231 to pull the shelf 30 backward and out of the docking channel 103.

[0059] The transport robot 20 provided in this application moves the cargo 301 via a traction component 21. When the traction component 21 or the cargo 301 is blocked by the stop pin 102 of the transfer station 10, the application detects the thrust or pressure generated by the traction component 21 relative to the robot body 200 on the pressure detection component 24. When the magnitude of the force exceeds a preset pressure threshold, the application controls the robot to stop moving. This application achieves precise docking of the robot and the cargo 301 through the cooperation of the pressure detection component 24 and the traction component 21, effectively improving the transfer efficiency and quality of the transport robot 20 and enhancing the user experience.

[0060] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A transit system, characterized in that, The transit system includes: At least one transfer station, with a stop pin on one side of the transfer station; At least one transport robot, said transport robot comprising: Organism; A traction component, which is movably disposed within the body of the machine; A pressure detection component, one end of which is connected to the machine body and the other end of which is connected to the traction component; The pressure detection component includes: An elastic element, one end of which is connected to the traction component; A pressure sensor, which is connected to the other end of the elastic element; The transport robot is configured to stop moving in response to a pressure detection signal exceeding a preset pressure threshold when the traction component or the cargo to be transferred comes into contact with the stop pin. The transfer station is also provided with a connector on one side, and the stop pin is retractably provided on one side edge of the connector. The connector is configured to mate with the interface of the rack. The connector or the interface is provided with an airbag, which deploys to seal the mating edge of the interface and the connector. Both the connector and the interface are provided with pipes, which are used to contain disinfectant.

2. The transit system according to claim 1, characterized in that, The traction component includes: A movable component, the movable component including a movable support, the movable support being movably disposed within the body; A telescopic assembly, which is connected to the movable support.

3. The transit system according to claim 2, characterized in that, The moving component also includes: At least one first guide rail is disposed within the body of the machine; At least one first slider is movably disposed on the first guide rail and is connected to the movable support.

4. The transit system according to claim 3, characterized in that, The moving component further includes at least one limiting block, one of which is located on one side of the end of the first guide rail and close to the pressure detection component.

5. The transit system according to claim 2, characterized in that, The telescopic assembly includes at least one telescopic column, the movable support has at least one telescopic hole, and one of the telescopic columns is received within one of the telescopic holes.

6. The transit system according to claim 5, characterized in that, The movable component further includes a sealing plate disposed on the top surface of the movable support, and the sealing plate has a through hole for accommodating the telescopic column.

7. The transit system according to claim 5, characterized in that, The telescopic column extends in a direction perpendicular to the moving direction of the movable support.

8. The transit system according to claim 5, characterized in that, The telescopic assembly also includes a motor, which is fixed to the movable support, and the output shaft of the motor is connected to the telescopic column.

9. The transit system according to claim 1, characterized in that, The pressure detection component also includes a connecting seat, which is fixed to the body of the machine; the pressure sensor is connected to the connecting seat via a hinge or a spherical bearing.

10. The transit system according to claim 1, characterized in that, The stop pin is retractably located on one side edge of the connector.

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