Trolley capable of preventing shaking and robot

Abstract

The utility model provides an anti-shaking trolley and a robot, and relates to the technical field of medical instruments, the trolley comprises a trolley body; the wheel assembly comprises a telescopic device and wheels, the top end of the telescopic device is installed at the bottom of the trolley body, the wheels are installed at the bottom end of the telescopic device, the at least three wheels are arranged in a non-collinear mode, and the telescopic device can stretch up and down to drive the wheels to lift up and down; the supporting foot structure is arranged on the edge of the bottom of the trolley body to support the trolley body, when the telescopic device drives each wheel to descend to a first set height, the supporting foot structure is in a suspended state, and when the telescopic device drives each wheel to ascend to a second preset height, each wheel is in a suspended state. By reducing vibration sources, the probability that resonance is generated between equipment is reduced, the vibration intense degree is reduced, and therefore the service life of the robot is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and more specifically, to a trolley and a robot that can prevent shaking. Background Art

[0002] The application of robotic arms in the medical industry is becoming more and more extensive. Equipment such as upper limb training robots, massage robots, and moxibustion robots all use collaborative mechanical robots. The robotic arms are installed on a trolley with wheels on the medical equipment and can be regarded as a wheeled robot.

[0003] At present, the trolley generally adopts the form of wheels, mainly for the convenience of movement. However, during the working treatment process of the equipment, the robotic arm and the wheels will vibrate. When the vibration of the robotic arm has the same frequency as the shaking of the trolley, resonance will occur, thereby aggravating the vibration of the robotic arm. The robotic arm may even fail to work normally due to excessive vibration of the robotic arm. Summary of the invention

[0004] In view of this, the purpose of the embodiments of the present application is to provide a trolley and a robot that can prevent shaking, so as to solve the problem that resonance between the robot arm and the wheels affects the normal use of the robot arm.

[0005] In the first aspect, a technical solution for preventing a trolley from shaking provided in an embodiment of the present application is:

[0006] A trolley for preventing shaking, comprising:

[0007] Trolley body;

[0008] A wheel assembly, the wheel assembly comprising a telescopic device and at least three wheels arranged non-collinearly, the top end of the telescopic device being connected to the bottom of the trolley body, the bottom end of the telescopic device being connected to each of the wheels, the telescopic device being telescopic up and down to drive each of the wheels to move up and down;

[0009] A support leg structure is arranged at the edge of the bottom of the trolley body to vertically support the trolley body. When the telescopic device drives each of the wheels to descend to a first set height, the support leg structure is in a suspended state. When the telescopic device drives each of the wheels to rise to a second preset height, each of the wheels is in a suspended state.

[0010] The above-mentioned anti-swaying trolley, wherein the number of the wheels is an even number, the wheels are symmetrically arranged on both sides of the bottom surface of the trolley, the corresponding two wheels are connected by a connecting shaft, and the telescopic device is connected to the connecting shaft to drive the connecting shaft to rise and fall.

[0011] The above-mentioned anti-swaying trolley, wherein the telescopic device includes first telescopic rods having the same number as the connecting shafts, each first telescopic rod is hinged to the corresponding connecting shaft, and each telescopic rod is extended and retracted up and down, driving the corresponding connecting shaft to rise and fall.

[0012] The above-mentioned anti-swaying trolley, wherein the number of wheels is an odd number, and the wheels include an even number of driving wheels and one driven wheel, the even number of driving wheels are symmetrically arranged on both sides of the bottom surface of the trolley, the corresponding two driving wheels are connected by a connecting shaft, and the telescopic device is respectively connected to the connecting shaft and the driven wheel.

[0013] The above-mentioned anti-swaying trolley, wherein the telescopic device includes a first telescopic rod and a second telescopic rod, the first telescopic rod is the same in number as the connecting shaft, and the second telescopic rod is the same in number as the driven wheels; each of the first telescopic rods is hinged to the corresponding connecting shaft, the second telescopic rod is rotatably connected to the driven wheel, the first telescopic rod and the second telescopic rod are synchronously extended and retracted up and down to drive the driving wheel and the driven wheel to rise and fall.

[0014] In the above-mentioned anti-swaying trolley, the telescopic device also includes a driver, and the driver is connected to each of the first telescopic rod and the second telescopic rod to drive each of the first telescopic rod and the second telescopic rod to synchronously telescope up and down.

[0015] The above-mentioned anti-swaying trolley, wherein the driver is an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

[0016] The above-mentioned anti-swaying trolley, wherein the support leg structure includes at least three support legs, the support legs are arranged on both sides of the bottom surface of the trolley body, the support legs are not arranged in a colinear manner, and both ends of each of the support legs extend up and down in the vertical direction.

[0017] The above-mentioned anti-swaying trolley, wherein a connecting arm is provided at the bottom of the trolley body, the number of the connecting arms is the same as the number of the supporting legs, each of the connecting parts extends in a horizontal direction, and the top of each supporting leg is connected to the bottom surface of the corresponding connecting arm.

[0018] In the above-mentioned anti-swaying trolley, each wheel is a universal wheel.

[0019] In the second aspect, a technical solution for preventing a trolley from shaking provided in an embodiment of the present application is:

[0020] A robot is installed on the above-mentioned anti-swaying trolley.

[0021] The embodiment of the present application provides a trolley and a robot that prevents shaking. During the operation of the robot of the present application, the wheels of the trolley are lifted upward by a telescopic device so that the wheels leave the supporting surface. At this time, the support leg structure plays the role of supporting the trolley body, reducing one of the sources of vibration or shaking, avoiding resonance and aggravating vibration or shaking, thereby playing the role of avoiding affecting the normal operation of the robot arm. At the same time, the wheels of the trolley will also drop to the supporting surface through the telescopic device, and the wheels will contact the supporting surface. During the support process, the support leg structure is lifted upward, which will not affect the normal movement of the robot.

[0022] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A three-dimensional diagram of a trolley for preventing shaking according to the present application is shown.

[0025] Figure 2 Shows Figure 1 The main view in ;

[0026] Figure 3 Shows Figure 1 Side view in;

[0027] Figure 4 Shows Figure 3 Sectional view along AA direction;

[0028] Figure 5 Shows Figure 1 Top view of .

[0029] Reference numerals

[0030] 1. Trolley body; 11. Bottom plate; 111. Connecting arm; 2. Telescopic device; 3. Wheels; 4. Support legs; 5. Connecting shaft. DETAILED DESCRIPTION

[0031] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0032] During the operation of current wheeled robots, the mechanical arm and the trolley wheels 3 are prone to vibration or shaking, and may even produce resonance, which intensifies the vibration or shaking. Over time, this may cause the internal components of the mechanical arm to loosen and affect the normal use of the mechanical arm. During the operation of the mechanical arm of the present application, the wheels 3 of the trolley will be lifted upward by the contraction of the telescopic device 2, so that the wheels 3 leave the support surface, reducing one of the sources of vibration or shaking, and avoiding resonance that intensifies vibration or shaking. At the same time, when the telescopic device 2 is extended, the wheels 3 of the trolley drop to the support surface, and the support leg structure rises to a suspended state, which will not affect the normal movement of the robot.

[0033] Example 1

[0034] A trolley for preventing shaking in this embodiment includes: a trolley body 1, a wheel assembly and a support leg structure. The wheel assembly includes a telescopic device 2 and an even number of wheels 3, the top of the telescopic device 2 is connected to the bottom of the trolley body 1, and the bottom of the telescopic device 2 is connected to each wheel 3, and the telescopic device 2 is telescoped up and down to drive each wheel 3 to rise or fall.

[0035] In combination with the above-mentioned embodiment, a trolley for preventing shaking is provided, wherein the trolley is located on a supporting surface, and the supporting surface serves to support the trolley. The supporting surface may be the ground, a floor surface, etc., and the ground is taken as an example for explanation below. The support leg structure is arranged at the edge of the bottom of the trolley body 1, and serves to vertically support the trolley body 1. When the telescopic device 2 drives each wheel 3 to descend to the first set height, each wheel 3 contacts the ground, and the support leg structure leaves the ground and is thus in a suspended state, and the trolley can now walk on the ground. When the telescopic device 2 drives each wheel 3 to rise to the second preset height, each wheel 3 is in a suspended state, and the support leg structure contacts the ground, and the trolley is in a stationary state.

[0036] The support leg structure can be a fixed support leg or an adjustable support leg. The fixed support leg is usually made of metal (such as steel or cast iron) and is welded or bolted to the trolley body 1 to provide stable support. The right angle height of the adjustable support leg can be adjusted to match the ground that is not absolutely flat. In fact, the ground is usually not completely flat and has a slight slope or bumps.

[0037] The adjustable support leg, with a threaded rod and a locking mechanism, allows the user to adjust the height of the support leg 3 as needed, thereby improving the stability of the trolley.

[0038] The support leg structure has a suction cup shape at its lower end, and the support leg structure is used to be adsorbed on the support surface, thereby improving the support stability of the support leg structure. The suction cup-shaped structure of the support leg structure can be an electric suction cup or a manual suction cup. The electric suction cup is adsorbed on the support surface by an automatic vacuum machine by generating a pressure difference between the inner and outer sides of the suction cup, and the manual suction cup is adsorbed on the support surface by the user manually pressing the suction cup downward; the outer peripheral side wall of the upper end of the support leg structure is provided with an external thread, and each connecting arm 111 is provided with a threaded hole, and the threaded section of the support leg structure partially extends into the corresponding threaded hole, and is tightened by a nut to be threadedly connected with the connecting arm 111, thereby achieving a detachable connection while improving the connection strength.

[0039] In combination with the anti-swaying trolley of the above-mentioned embodiment, the number of wheels 3 is an even number and is not less than four. Four wheels 3 are taken as an example below. The four wheels 3 are respectively installed on both sides of the bottom edge of the trolley body 1 to support the trolley and drive the trolley to move. The telescopic device 2 is connected to the four wheels 3. When the telescopic device 2 is extended and retracted up and down, the four wheels 3 rise or fall accordingly. The support leg structure is installed on the edge of the bottom of the trolley body 1, which can also play a role in supporting the trolley body 1.

[0040] When the telescopic device 2 drives the four wheels 3 to rise to the first preset height, the four wheels 3 are in a suspended state, the support leg structure contacts the ground and supports the trolley body 1, and the trolley body 1 is in a stationary state. When the telescopic device 2 drives the four wheels 3 to descend to the second preset height, the four wheels 3 contact the ground, and the support leg structure is lifted upward under the action of the four wheels 3 and is in a suspended state. At this time, the driving device that drives the wheels 3 to rotate works, and the driving device drives the four wheels 3 to rotate, and the trolley body 1 can walk on the ground. Each wheel 3 is a universal wheel, which is conducive to the turning or falling of the trolley.

[0041] In some embodiments, at least one set of wheels 3 is provided with brake pads, and the user can stop the rotation of the wheels 3 by operating the brake pads, thereby controlling the cart to stop.

[0042] It should be noted that the brake pads are used to temporarily stop the trolley, such as taking materials during the movement of the trolley, temporary tasks of the trolley pusher, etc. At this time, the trolley pusher can easily stop the trolley temporarily by using the brake pads.

[0043] When the telescopic device 2 is controlled to drive the four wheels 3 to rise to the first preset height, the four wheels 3 are in a suspended state, and the support leg structure is in contact with the ground to support the trolley body to remain stationary. This is usually used for parking for a longer period of time, such as when the trolley reaches the target position and the robot starts working.

[0044] The telescopic device 2 drives the four wheels 3 to rise and fall. In the driving device and the first telescopic rod of the telescopic device 2, the first telescopic rod and the wheels 3 can be one-to-one or one-to-many; the driving device can be one or more; the telescopic device 2 can be a cylinder body, and the cylinder body is selected from one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder. The telescopic rod is connected to the cylinder body, and the telescopic rod is driven to extend and retract up and down by the cylinder body, thereby realizing the lifting and lowering of the wheels 3. In the anti-swaying trolley of this embodiment, the telescopic device 2 includes a driving device and two first telescopic rods, and the two opposite wheels 3 are connected by a connecting shaft, and each first telescopic rod is hinged to the corresponding connecting shaft 5, and each telescopic rod is extended and retracted up and down, driving the corresponding connecting shaft 5 to rise and fall.

[0045] In combination with the anti-swaying trolley of the above-mentioned embodiment, the two wheels 3 are connected by a connecting shaft 5, and the transmission of the two wheels is realized by the two connecting shafts 5. The two telescopic rods are respectively hinged with the corresponding connecting shafts 5. When the driving device drives the two telescopic rods to retract, the two telescopic rods move upward, thereby driving the corresponding connecting shafts 5 to move upward, thereby driving the wheels 3 to rise; when the two telescopic rods are driven to extend, the two telescopic rods move downward, thereby driving the corresponding connecting shafts 5 to move downward, thereby driving the wheels 3 to move downward. In the anti-swaying trolley of this embodiment, the support leg structure includes support legs 4, the number of support legs 4 is at least three, and the support legs 4 cannot be arranged in a collinear manner (the four collinear support legs 4 cannot achieve the function of stable support), so that the support legs 4 can play the role of supporting the trolley body 1. The following takes the support leg structure including four support legs 4 as an example, the four support legs 4 are arranged on both sides of the bottom surface of the trolley body 1, and the two ends of each support leg 4 extend up and down in the vertical direction. The bottom of the trolley body 1 is in the shape of a rectangular plate, and the four support legs 4 are respectively installed at the four corners of the bottom of the trolley body 1.

[0046] When the four wheels 3 are in a suspended state, the four legs 4 are in contact with the ground, thereby supporting the trolley body 1 through the four legs 4. When the entire robot device is in a stationary state, the robot is working. Since the wheels 3 leave the supporting surface, one of the sources of vibration or shaking is reduced, avoiding resonance and aggravating vibration or shaking, thereby extending the service life of the robot.

[0047] like Figures 1 to 5 As shown, the anti-swaying trolley of this embodiment includes: a trolley body 1, a wheel assembly and a support leg structure, the wheel assembly includes a telescopic device 2 and at least three wheels 3, the top of the telescopic device 2 is installed at the bottom of the trolley body 1, and at least three wheels 3 are installed at the bottom, the three wheels 3 are not arranged in a colinear manner (colinear wheels cannot play a role in stable support), and the telescopic device 2 can be telescoped up and down to drive the wheels 3 to move up and down. The support leg structure is arranged at the edge of the bottom of the trolley body 1 to support the trolley body 1, and when the wheels 3 are lowered, the four legs 4 of the support leg structure are in a suspended state.

[0048] The bottom surface of the trolley body 1 is horizontally provided with a bottom plate 11, and the number of wheels 3 is an even number. Taking four wheels 3 as an example, the four wheels 3 are symmetrically distributed on both sides of the bottom plate 11, so as to play a role in supporting the trolley body 1. The support leg structure is arranged on the edge of the bottom of the bottom plate 11, which can also play a role in supporting the trolley body 1. The telescopic device 2 is installed on the bottom surface of the bottom plate of the trolley body 1, and drives the four wheels 3 to rise and fall synchronously through telescoping. When the robot is in a stationary state, the four wheels 3 are lifted up to a certain height, so that the four wheels 3 leave the supporting surface, and the support leg structure plays a supporting role at this time. During the movement of the robot, the four wheels 3 drop to a certain height, so that the four support legs 4 leave the bottom surface, and at this time the four wheels 3 play a supporting role and can move normally.

[0049] Furthermore, the bottom plate 11 is arranged in the horizontal direction, and the bottom plate 11 is a rectangular plate. The four corners of the bottom plate 11 are respectively provided with connecting arms 111 . The four connecting arms 111 extend horizontally, and a supporting foot 4 is arranged on the bottom surface of each connecting arm 111 .

[0050] Taking the travel direction of the trolley as a reference, the two wheels 3 at the front and rear ends of the base plate 11 are connected by a connecting shaft 5, and the two connecting shafts 5 are driven by a drive assembly. The drive assembly can be a cylinder assembly or a motor assembly, etc. The motor assembly is usually realized by a motor and a transmission device (such as a gear, a rack or a screw); the cylinder assembly uses the pressure of liquid or gas to drive the movement of the telescopic body; since the drive assembly is a prior art and is not the focus of the present application, it will not be repeated here.

[0051] The telescopic device 2 is provided with two first telescopic rods, the bottom ends of the two first telescopic rods are respectively hinged to the middle of the connecting shaft 5, and the two first telescopic rods are driven to extend and retract through the cylinder body. During the process of synchronously driving the two first telescopic rods to extend and retract, the four wheels are lifted and lowered through the two connecting shafts 5. The two first telescopic rods are arranged crosswise, so as to fully and reasonably utilize the space between the bottom plate 11 and the ground, and reduce the overall volume of the trolley.

[0052] Furthermore, the drive assembly is connected to a processor, and the processor is used to control the drive assembly to drive, thereby driving the two first telescopic rods to extend and retract. When the processor controls the drive assembly to drive upward, the drive assembly drives the two first telescopic rods to retract upward, so that the wheel 3 rises and leaves the bottom surface. When the processor controls the drive assembly to drive downward, the drive assembly drives the two first telescopic rods to extend downward, so that the wheel 3 contacts the ground. At the same time, as the wheel 3 contacts the ground, the four legs 4 are gradually lifted by the wheel 3, so that the four legs 4 are suspended in the air.

[0053] Example 2

[0054] The difference from the first embodiment is that the number of wheels 3 in the present embodiment is an odd number, for example, three wheels 3 are provided at the front end of the bottom surface of the bottom plate 11, and the remaining two wheels 3 are symmetrically provided at the rear end of the bottom surface of the bottom plate 11, and the two wheels 3 are connected by a connecting shaft 5. The first telescopic rod of the telescopic device 2 is hinged to the connecting shaft, and the second telescopic rod is directly connected to the two sides of the front wheel 3 for rotation. The first telescopic rod and the second telescopic rod can be synchronously extended and retracted through the cylinder body, thereby driving the three wheels 3 to rise and fall synchronously. When the trolley is moving, the driving assembly drives the two wheels 3 at the rear end to rotate and acts as a driving wheel, and the front wheel 3 is pushed or pulled by the two wheels 3 at the rear end and acts as a driven wheel.

[0055] The anti-swaying trolley of this embodiment has an odd number of wheels 3, and the odd-numbered wheels 3 include an even number of driving wheels and one driven wheel. The even number of driving wheels are symmetrically arranged on both sides of the bottom surface of the trolley body 1, and the corresponding two driving wheels are connected by a connecting shaft 5. The telescopic device 2 is respectively connected to the connecting shaft 5 and the driven wheel.

[0056] The anti-swaying trolley of this embodiment has a telescopic device 2 including a first telescopic rod and a second telescopic rod. The number of the first telescopic rod and the connecting shaft 5 is the same, and the number of the second telescopic rod and the driven wheel is the same. For example, when there are three wheels 3, two of which are driving wheels, and one wheel 3 is a driven wheel. The two driving wheels are connected by a connecting shaft 5. The first telescopic rod is provided with one, and the first telescopic rod is hinged on the connecting shaft 5. The second telescopic rod is provided with one, and the second telescopic rod is rotatably connected to the driven wheel. Each first telescopic rod is hinged to the corresponding connecting shaft 5, and the second telescopic rod is rotatably connected to the driven wheel. The first telescopic rod and the second telescopic rod are synchronously extended and retracted up and down, thereby driving an even number of driving wheels and driven wheels to rise and fall synchronously.

[0057] In the anti-swaying trolley of this embodiment, the telescopic device also includes a driver, and the driver is connected to each of the first telescopic rods and the second telescopic rods to drive each of the first telescopic rods and the second telescopic rods to telescope up and down synchronously.

[0058] The anti-swaying trolley of this embodiment has two drivers, that is, one driver is corresponding to the first telescopic rod and the second telescopic rod. When the driving assembly is a cylinder assembly, the driver includes a cylinder and a telescopic arm, the cylinder is connected to the telescopic arm and drives the telescopic arm to move up and down, and the telescopic arm is also hinged to the first telescopic rod or the second telescopic rod, thereby driving the connecting shaft or the driven wheel to rise or fall.

[0059] Based on the same concept, a robot corresponding to the anti-swaying trolley is also provided in the embodiment of the present application. Since the principle of solving the problem by the robot in the embodiment of the present application is similar to that of the anti-swaying trolley in the embodiment of the present application, the implementation of the robot can refer to the implementation of the anti-swaying trolley, and the repeated parts will not be repeated.

[0060] The present application also provides a robot, which is installed on the above-mentioned trolley for preventing shaking. When the four wheels 3 are in a suspended state, the four legs 4 are in contact with the ground, thereby supporting the trolley body 1 through the four legs 4. When the entire robot device is in a stationary state, the robot is working. Since the wheels 3 leave the supporting surface, one of the sources of vibration or shaking is reduced, avoiding resonance and aggravating vibration or shaking, thereby extending the service life of the robot.

[0061] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

Claims

1. A trolley for preventing shaking, characterized in that: include: Trolley body; A wheel assembly, the wheel assembly comprising a telescopic device and at least three wheels arranged non-collinearly, the top end of the telescopic device being connected to the bottom of the trolley body, the bottom end of the telescopic device being connected to each of the wheels, the telescopic device being telescopic up and down to drive each of the wheels to move up and down; A support leg structure is arranged at the edge of the bottom of the trolley body to vertically support the trolley body. When the telescopic device drives each of the wheels to descend to a first set height, the support leg structure is in a suspended state. When the telescopic device drives each of the wheels to rise to a second preset height, each of the wheels is in a suspended state.

2. The anti-swaying trolley according to claim 1, characterized in that: The number of the wheels is an even number, and the wheels are symmetrically arranged on both sides of the bottom surface of the trolley. The corresponding two wheels are connected by a connecting shaft, and the telescopic device is connected to the connecting shaft to drive the connecting shaft to move up and down.

3. The anti-swaying trolley according to claim 2, characterized in that: The telescopic device includes the same number of first telescopic rods as the connecting shafts, each of the first telescopic rods is hinged to the corresponding connecting shaft, and each of the telescopic rods is telescoped up and down to drive the corresponding connecting shaft to move up and down.

4. The anti-swaying trolley according to claim 1, characterized in that: The number of the wheels is an odd number, and the wheels include an even number of driving wheels and one driven wheel. The even number of driving wheels are symmetrically arranged on both sides of the bottom surface of the trolley, and the corresponding two driving wheels are connected through a connecting shaft. The telescopic device is respectively connected to the connecting shaft and the driven wheel.

5. The anti-swaying trolley according to claim 4, characterized in that: The telescopic device includes a first telescopic rod and a second telescopic rod, the number of the first telescopic rod and the connecting shaft is the same, and the number of the second telescopic rod and the driven wheel is the same; each of the first telescopic rods is hinged to the corresponding connecting shaft, and the second telescopic rod is rotationally connected to the driven wheel, and the first telescopic rod and the second telescopic rod are synchronously extended and retracted up and down to drive the driving wheel and the driven wheel to rise and fall.

6. The anti-swaying trolley according to claim 5, characterized in that: The telescopic device further includes a driver, and the driver is connected to each of the first telescopic rod and the second telescopic rod to drive each of the first telescopic rod and the second telescopic rod to synchronously telescope up and down.

7. The anti-swaying trolley according to claim 6, characterized in that: The driver is an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

8. The anti-swaying trolley according to claim 1, characterized in that: The support leg structure includes at least three support legs, which are arranged on both sides of the bottom surface of the trolley body, are not arranged in a colinear manner, and both ends of each support leg extend up and down in the vertical direction.

9. The anti-swaying trolley according to claim 8, characterized in that: A connecting arm is provided at the bottom of the trolley body, the number of the connecting arms is the same as the number of the supporting legs, each of the connecting arms extends in a horizontal direction, and the top end of each supporting leg is connected to the bottom surface of the corresponding connecting arm.

10. A robot, characterized in that: Installed on the anti-swaying trolley as described in any one of claims 1 to 9.

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