364 results about "Extreme position" patented technology

The invention belongs to the technical field of redundant robots, and particularly relates to an inverse kinematics minimum norm solving method for a mechanical arm with redundant degrees of freedom, which comprises the following steps of: establishing a D-H coordinate system and D-H parameters according to parameters of the mechanical arm, establishing a forward kinematics model according to the D-H coordinates and the D-H parameters of the mechanical arm, and calculating the inverse kinematics minimum norm of the mechanical arm with the redundant degrees of freedom; randomly selecting a group of joint angle values as initial attitude input, converting the group of joint angles into an end effector pose matrix through forward kinematics, establishing an inverse kinematics solution model of the mechanical arm based on Jacobian pseudo-inverse, and optimizing the inverse kinematics solution model by adopting a damping least square method and a gradient projection method, so as to obtain an optimal position of the mechanical arm. And carrying out iterative calculation on the optimized model to obtain a minimum norm solution. According to the method, the singular configuration of the mechanical arm configuration in the movement process is avoided through the damping least square method, the introduced gradient projection method is matched to avoid the limiting position of the joint corner of the mechanical arm, and the obtained minimum norm solution has high resolving efficiency and accuracy.

The present invention discloses a smoke damper movement mechanism, including a smoke damper and a movement mechanism, the movement mechanism including a driving mechanism and a transmission mechanism, the transmission mechanism including: a first hinge, as a driven arm, having a first end and a second end opposite to each other, the second end of the first hinge being rotatably connected to the smoke damper; a second hinge, as a driving arm driven by the driving mechanism, having a first end and a second end opposite to each other, the second end of the second hinge being rotatably connected to the smoke damper, the connection position between the first hinge and the smoke damper being located above the connection position between the second hinge and the smoke damper; a transmission rod, connected between the driving mechanism and the first end of the second hinge, transmitting the driving force of the driving mechanism to the second hinge; an auxiliary closing mechanism, arranged at the first end of the first hinge, at the extreme position of the movement of the smoke damper, the transmission rod applies downward pressure to the auxiliary closing mechanism, so that the first hinge tightens the smoke damper. Also disclosed is a range hood having the above-mentioned smoke damper movement mechanism applied thereto.

The present invention discloses a transmission mechanism and a drive mechanism. The transmission mechanism includes a mounting seat, a drive shaft, and a first movable member. The drive shaft can rotate relative to the mounting seat. The first movable member and the drive shaft are synchronously rotated and assembled together, and the drive shaft can drive the first movable member to rotate relative to the mounting seat to two extreme positions and an intermediate position between the two extreme positions. The transmission mechanism also includes a second movable member sleeved outside the drive shaft. The second movable member can rotate relative to the mounting seat to a first position and a second position. An elastic body and a limiting structure are provided between the second movable member and the mounting seat, and the elastic body and the limiting structure cooperate to drive the second movable member to remain in or return to the first position. A transmission structure is provided between the drive shaft and the second movable member. The drive shaft rotates and drives the second movable member to rotate to a second position through the transmission structure. The second position corresponds to an extreme position. The transmission mechanism has the following advantages: a transmission mechanism can drive the two movable members to move to appropriate positions respectively to achieve three gear switching. The structure is simple, compact, and easy to operate.

The invention relates to a robot main hand control method and device, a robot main hand, a medium and a product. The robot main hand comprises at least four joints which are connected in sequence. The at least four joints comprise at least one redundant joint; the method comprises the steps that initial angles of at least four joints are obtained, and the angle variation of redundant joints is determined according to the initial angles of the at least four joints and a target function; updating the initial angle of the redundant joint according to the angle variation to obtain a target angle of the redundant joint; and according to the target angles of the redundant joints and the tail end poses of the robot main hands, the non-redundant joints and the redundant joints are controlled. When the method is adopted for redundancy control, under the condition that the tail end pose is not changed, all the joints are adjusted, connecting rod collision and human hand interference can be avoided, the main hand can be prevented from getting close to the singularity of the joints and the joint movement limit position, the operation flexibility of the main hand is improved, and then the robot control flexibility is improved.

An assembly for minimizing the disengagement of a chain from a chain ring is disclosed. The assembly includes an inboard leg and an outboard leg. Rotation of the outboard leg relative to the inboard leg locks the inboard leg in place relative to the outboard leg. Relative rotation locks the assembly onto a shaft. The assembly may include an outboard leg that snaps into place on the inboard leg and is capable of rotating between two extreme positions.

The invention discloses a hydraulic system and a stroke limiting and protecting device thereof.The hydraulic system comprises a system hydraulic source and an execution hydraulic cylinder, the execution hydraulic cylinder comprises a first hydraulic cavity, a second hydraulic cavity and a hydraulic cylinder piston rod, and the execution hydraulic cylinder is used for being connected with a rotary execution mechanism; the stroke limiting and protecting device comprises an extreme position limiting device, the extreme position limiting device comprises a stroke limiting valve and a stop check valve, and the stroke limiting valve is used for being opened when a piston rod of the hydraulic cylinder reaches an extreme position, so that a first hydraulic cavity is communicated with a second hydraulic cavity; the speed limiting device comprises a proximity switch and a range limiting signaling valve; and the zeroing device comprises a centering valve, a centering function isolation valve and a centering signal valve. According to the hydraulic system and the stroke limiting and protecting device, stroke limiting and protecting and necessary automatic control of the execution hydraulic cylinder can be achieved, and the diversified requirements of an execution tail end are met.

The present invention relates to the technical field of aluminum alloy door and window production, and in particular to a laser cutting device for aluminum alloy door and window production, comprising a base and a crossbeam, wherein the inner walls of the base on both sides are fixedly connected to the two ends of a plurality of groups of crossbeams respectively, the upper end of the base is slidably connected to a slide plate, the upper end of the slide plate is provided with a moving device, the upper end of the slide plate is symmetrically fixedly connected with a slider, through the cooperation of the moving device, the slide plate and the support plate, when the length of the aluminum alloy door and window is long, the slide plate moves to the limit position, the motor is controlled to work, so that the support plate can continue to move when the slide plate moves to the limit, so that the aluminum alloy frame can continue to move under the laser cutting machine body, so that the aluminum alloy frame can be completely cut, and after the slide plate moves to the limit position, the support plate can continue to move, so that the aluminum alloy door and window can be completely cut, thereby ensuring the cutting effect.

The utility model discloses earthwork tamping equipment for ecological restoration, and relates to the technical field of tamping machines, the earthwork tamping equipment for ecological restoration comprises a fixing frame, a shell, a hydraulic cylinder and a tamping hammer, and further comprises a dust blocking device, and the dust blocking device comprises three dust blocking plates; one side of the fixing frame is provided with a connecting part, the dust blocking plates are rotationally connected with the end, close to the tamping hammer, of the fixing frame, and the three dust blocking plates are located on the three sides, except the position where the connecting part is located, of the fixing frame correspondingly; when the dust blocking plate rotates to the limiting position in the direction close to the fixing frame, the dust blocking plate can shield the receding openings in the fixing frame. When the dust blocking plate rotates to the limiting position in the direction away from the fixing frame, the dust blocking plate can form blocking protection on the side, close to the fixing frame, of the tamping hammer. According to the tamping equipment, the probability that impurities enter the shell to influence normal use of the tamping equipment can be effectively reduced, so that the tamping efficiency and effect of the tamping equipment can be effectively guaranteed.

The present disclosure provides a walking-assist robot, which belongs to the field of human-assist technology. The walking-assist robot includes a back bar, two leg drive assemblies, two first limit assemblies and two second limit members. The leg drive assembly includes an adjusting rod. The back bar includes a middle section and two side sections, and the inner diameter of the side section is smaller than the inner diameter of the middle section. The two adjusting rods are slidably connected to the two side sections, respectively, and there is a gap between the adjusting rod and the inner wall of the middle section. The two first limit assemblies are respectively connected to the ends of the two adjusting rods located in the middle section. The two second limit members are fixed to the middle section, the two first limit assemblies are located between the two second limit members, and the two second limit members are respectively located on the sliding paths of the two first limit assemblies. In this way, when the adjusting rod slides to the outside of the back bar to the extreme position, the two first limit assemblies touch the two second limit members, respectively, so that the adjusting rod cannot be separated from the back bar.

The present invention relates to the technical field of drainage equipment, and in particular to a flexible intercepting device, comprising: a flexible intercepting device, characterized in that it comprises an outer shell, a rubber sleeve and a sealing part, wherein the rubber sleeve has a built-in water flow channel; the outer shell is arranged outside the rubber sleeve, and the inner wall of the outer shell and the outer wall of the rubber sleeve form a pressure chamber; an inlet and outlet communicated with the pressure chamber, the sealing part is arranged at the limit position of the rubber sleeve in a closed state, the sealing part is located in the flow channel and extends along the inner wall of the rubber sleeve, the sealing part is provided with a filling belt and a filling port communicated with the filling belt, after the medium is filled into the filling belt through the filling port, the sealing part is filled at the limit position of the rubber sleeve in a closed state. The present invention effectively solves the problem that the rubber sleeve cannot be sealed at the limit position, so that the rubber sleeve can achieve zero leakage sealing under a relatively small pressure.

The utility model provides an anti-collision limiting assembly and a mechanical arm. The anti-collision limiting assembly comprises a first limiting piece and a second limiting piece matched with the first limiting piece. The first limiting piece is used for being installed on a first mechanical arm body and provided with a first limiting face, the second limiting piece is used for being installed on a second mechanical arm body rotationally connected with the first mechanical arm body and provided with a second limiting face, and the second limiting face can abut against the first limiting face. And the second mechanical arm body stays at a limiting position relative to the first mechanical arm body. The first limiting piece and the second limiting piece abut against each other to limit the rotating angle of the mechanical arm, the limiting pieces are prevented from making direct contact with the surface of the mechanical arm, and the risk that the mechanical arm is damaged is reduced; in addition, the situation that the limiting structure occupies too much joint space, so that the joint space becomes small, and therefore when an operator rotates the second mechanical arm, the hands are prone to being clamped, and personal injuries are caused is avoided.

The invention belongs to the technical field of semiconductor equipment manufacturing, and provides an alignment device and an alignment method.The alignment device comprises a first motion platform, a second motion platform and a mass center adjusting assembly.The first motion platform comprises a first base, a first bearing table and a first motion module; the second motion platform comprises a second base, a second bearing table and a second motion module, the first motion module can drive the first bearing table to move on the first base, the second motion module can drive the second bearing table to move on the second base, and when the first bearing table moves to the limit position, the second bearing table moves on the second base. The second bearing table can perform supplementary and compensation movement, the adjustable stroke in the alignment process is increased, large-stroke adjustment is achieved, and the mass center adjusting assembly at least comprises two mass center adjusting parts symmetrically connected to the upper portion of the first base and used for adjusting the mass center of the alignment device. The centroid stability and the alignment accuracy of the alignment device are improved, and the alignment method adopts the alignment device to carry out alignment operation.

The embodiment of the invention relates to the technical field of new energy automobile part production, and discloses a cold header in-die knocking device which is composed of a first female die sleeve and a second female die sleeve, and a punching rod, a cavity position for containing a part and a marble B used for preventing the part from moving are arranged in the first female die sleeve; a cavity structure combined with an ejector pipe on the cold header is arranged in the second female die sleeve, and a sliding heavy punch is further arranged in the cavity and located on the left side of the ejector pipe. When the ejection pipe moves to the extreme position of the leftmost end, the left end face of the ejection pipe makes contact with the A plane of the second female die sleeve. A spring is arranged in the second female die sleeve, the two ends of the spring are connected with the sliding heavy punch and the left end face of the ejection pipe respectively, and the spring is arranged on a pipe of the sliding heavy punch in a sleeving mode. By means of the device, when some aluminum alloy parts in special shapes are produced on a cold header, a circle of pits are rapidly printed on the small end faces of the aluminum alloy parts and used for marking and recognizing the parts.

Disclosed in the present invention are a hybrid anti-falling beam device and a use method therefor. The anti-falling beam device comprises: a first connecting member, a second connecting member, a limiting component and an energy dissipation component, wherein the first connecting member is fixedly arranged on one side of a bridge pier; the second connecting member is fixedly arranged at the bottom end of an upper structure of a bridge; and the limiting component and the energy dissipation component are each connected to the first connecting member and the second connecting member by means of a first pin and a second pin, respectively. The limiting component and the energy dissipation component are arranged at suitable positions of the bridge by means of the first connecting member and the second connecting member. Moreover, when encountering small and medium-level earthquakes, the first connecting member and the second connecting member move relative to each other, such that internal components of the energy dissipation component rotate relative to each other to dissipate seismic vibration energy; and when encountering a large-level earthquake, the energy dissipation component moves to an extreme position in the limiting component, and the limiting component provides an extreme bearing capacity, thereby further achieving the function of preventing a beam from falling.

The utility model discloses cleaning equipment, which belongs to the technical field of household appliances, and comprises a machine body provided with a driving device, a mounting cavity and a dust suction port, a rolling brush driven by the driving device is arranged in the mounting cavity, the bottom side of the rolling brush protrudes out of the mounting cavity downwards and is in contact with a surface to be cleaned, the dust suction port is communicated with the mounting cavity, and the dust suction port is communicated with the mounting cavity. And the driving device drives the rolling brush to rotate back and forth between two limit positions by taking the central axis of the rolling brush as a rotating central line. The capability of hair winding on the reciprocating rotary rolling brush is greatly reduced, so that the hair brought up by the reciprocating rotary rolling brush can be smoothly sucked away through the dust suction port, and the use experience of a user is improved while the cleaning capability of the rolling brush is ensured.

The invention discloses a precise steel pipe welding seam processing device and method, and belongs to the technical field of welding seam polishing. The welding seam processing device comprises a base for fixing a steel pipe, a guide rail extending along a steel pipe welding seam is arranged on the base, a sliding seat is slidably mounted on the guide rail, and a turbine rack concentric with the steel pipe is slidably connected into the sliding seat in an arc shape; a first driving mechanism used for driving the worm to reciprocate is arranged at one end of the worm, a supporting block is fixed to the worm gear rack, a supporting rod is movably connected into the supporting block in a limiting mode, a grinding disc is fixed to the end, close to the steel pipe, of the supporting rod, and the supporting rod moves to the limiting position in the direction close to the steel pipe so that the grinding disc can be attached to the steel pipe; second driving mechanisms are fixed to the ends, away from the steel pipes, of the supporting rods. The sliding seat slides along the guide rail, so that a steel pipe welding seam is polished through reciprocating motion of the grinding disc, and poor stability and cost increase caused by reciprocating rotation of the steel pipe are avoided.

A hip joint assembly, a waist-hip mechanism and a humanoid robot, wherein the hip joint assembly includes a bracket, a pitch drive, a roll drive and a yaw drive. The bracket is provided with an avoidance groove, the pitch drive is connected to the bracket, the pitch drive is used to drive the bracket to rotate around a first axis, the roll drive is connected to the bracket, the yaw drive is connected to the roll drive, the yaw drive is used to drive the lower limb mechanism to rotate around a second axis, and the roll drive is used to drive the lower limb mechanism to swing around a third axis, so as to drive the lower limb mechanism to swing in the left and right directions of the humanoid robot, and when the lower limb mechanism swings inward to an extreme position, the yaw drive is at least partially accommodated in the avoidance groove. The technical solution of the present application is provided with an avoidance groove, and the setting of the avoidance groove can further avoid the movement of the yaw drive, thereby further increasing the swing angle of the lower limb mechanism along the left and right directions, and improving the degree of anthropomorphism of the humanoid robot.

The invention provides an electromagnetic valve. The electromagnetic valve comprises a valve seat, a sliding block and core iron. Wherein the valve seat is provided with two channels and is arranged between the inlet connecting pipe and the outlet connecting pipe. The sliding block is arranged on the valve seat in a sealed mode, and the core iron drives the sliding block to slide to switch blocked channels. The channel includes a first sub-channel and a second sub-channel. When the sliding block is used for blocking the second sub-channels and no leakage exists between the sliding block and the second sub-channels, the minimum distance value needed by the outer edge of the sliding block blocking face and the inner side walls of the second sub-channels is the sliding block outer side sealing width H, the distance between the limiting position of vertical movement of the core iron is the core iron stroke G, the width of the two second sub-channels in the sliding block movement direction is J, and G is larger than or equal to H + J; the distance between the center lines of the two second sub-channels in the moving direction of the sliding block is F, the size of the blocking face in the moving direction of the sliding block is T, and T is smaller than or equal to F + H and larger than or equal to J + 2H. Switching of the fluid channels is achieved through sliding of the sliding block along the surface of the valve seat, large switching pulling force is not needed, and the stroke of the core iron needed for switching of the fluid channels is short.

The invention relates to an automobile body door hinge strength detection device, and relates to the technical field of automobile body door hinge strength detection, the automobile body door hinge strength detection device comprises a detection table, a fixed seat is installed on the detection table, one side of a hinge is installed on the fixed seat, and a lateral pressure applying structure and a vertical pressure applying structure are installed on the detection table. The lateral pressing structure comprises a lateral pressing seat, a rotating piece and a first pressing rod, the pressure measuring seat is installed on the detection table through an adjusting assembly, the position of the pressure measuring seat is adjusted through the adjusting assembly to correspond to the rotating axis of the hinge, the rotating piece is installed on the pressure measuring seat, and the first pressing rod is installed on the rotating piece; the first pressing rod is driven by the rotating piece to rotate to apply lateral pressure to the hinge to perform transverse load measurement and application and longitudinal load measurement and application, and the vertical pressure applying structure is installed on the detection table, is installed corresponding to the rotation limit position of the hinge and is used for applying vertical pressure to the hinge to perform vertical load measurement and application. The method has the effect of further improving the accuracy of the detection structure of the hinge.

A knob type locking buckle comprises a middle shaft sleeve, a clamping groove end piece and a clamp end piece, the clamping groove end piece and the clamp end piece are correspondingly arranged at the two ends of the middle shaft sleeve respectively and inserted into the middle shaft sleeve to be in butt joint with a lock catch, a clamping groove is formed in the end of the clamping groove end piece, a spirally-coiled sliding groove is formed in the circumferential wall of the clamping groove end piece, and a protruding column corresponding to the spirally-coiled sliding groove is arranged on the inner wall of the middle shaft sleeve. When the clamping groove end piece is inserted into the middle shaft sleeve, the protruding column on the inner wall of the middle shaft sleeve is clamped into the sliding groove to limit the limiting position where the clamping groove end piece extends out of the middle shaft sleeve to be exposed out of the clamping groove and retreat from the middle shaft sleeve, and the end, facing the middle shaft sleeve, of the clamp end piece is provided with a clamping end structure clamped into the clamping groove. According to the knob type locking buckle disclosed by the utility model, the clamping groove end piece can be switched between two different states of exposing the clamping groove part and folding and shielding the clamping groove part through the rotary progressive sliding groove and the bulge structure, so that the matched clip end piece is clamped into the clamping groove to realize opening and closing of a jewelry rope chain, and the knob type locking buckle is simple in structure and convenient to use. Fatigue failure is effectively prevented, and connection is stable and reliable. And the product quality and the use experience are improved.

A support device (SD) equips a piece of equipment and comprises: - an arm (BE) having a first end (E1) rotationally coupled to a base (ED) and a second end (E2) adapted to receive an object, and - a first electrical mechanism (M1) adapted to translate relative to the base (ED), along a first direction, a support piece (PS) supporting an intermediate part (PI) of the arm (BE) at least in certain positions of the latter, to rotate the arm (BE) around a second direction, perpendicular to the first direction, between first and second extreme positions. Figure 2

The invention relates to a wiping system for a vehicle component comprising a surface to be cleaned, characterized in that said wiping system comprises: - an actuator configured to move a wiping element between a rest position and an extreme position, - said wiping element extending in a longitudinal direction, comprising a wiping support, a first wiping blade and a second wiping blade mounted on the wiping support and configured to come into contact with the surface to be cleaned so as to be able to wipe it, said wiping element being configured to occupy at least: - a first position when the actuator moves it from the rest position to the extreme position in which the first wiping blade is in contact with the surface to be cleaned,and - a second position when the actuator moves it from the extreme position to the rest position in which the second wiping blade is in contact with the surface to be cleaned, - a positioning element configured to move said wiping member between at least said first position and said second position.

The present invention discloses an exploratory auxiliary docking and welding device, which relates to the technical field of pipeline welding, and includes a pipeline, a receiving workpiece, and a truss. The truss is used to provide the ability of multi-axis movement, including a hoisting mechanism and an action mechanism. The present invention can freely adjust the position in the horizontal position and the vertical position through the cooperation of the hoisting mechanism and the action mechanism, and can adjust the pitch angle and the deflection angle relative to the hoisting mechanism to achieve multi-angle free docking, and can support the inner wall of the pipeline and assist in welding. The truss carries a 3D camera to take multi-position photos of the port of the pipeline to obtain more point cloud information of the pipeline for three-dimensional reconstruction, build a model of the pipeline as accurately as possible, determine the docking position, and transmit the coordinate information of the extreme position of the other end of the pipeline to the truss to complete the docking, and complete the welding of the pipeline and the receiving workpiece through external welding equipment.

A capping machine for applying pre-threaded caps to containers, comprising: one or more capping heads (1) in which a linear actuator (4) and a rotary actuator (5) exert a rotational movement about its axis and a translational movement along said axis to a shaft (2); also included is a safety assembly (10) for maintaining the lifting of the shaft (2) of the capping head in the event of a failure of the linear actuator (4). The safety assembly (10) comprises: a cam (11); and, arranged on each capping head (1): a cam driven roller (14); a first stop member (16, 17) carried by the first translation assembly (31); and a second stop member (18) mounted on a second translation assembly (19) associated with the linear actuator (4) and integral with the shaft (2) for translational movement and arranged to engage with the first stop member to prevent downward translation of the shaft when the shaft (2) reaches a limit position indicating the occurrence of a fault.

This device for detecting the position of a movable piece able to move between a first extreme position, a second extreme position and at least one intermediate position, comprises a fixed antenna and a plurality of radio-frequency identification tags arranged along the path of the movable piece between said extreme and intermediate positions, the device further comprising a mechanical contactor configured to establish an electrical connection between the antenna and a unique combination of at least one radio-frequency identification tag for each position of the movable piece.

The utility model relates to a clock movement and a timer. The timepiece movement comprises: a winding arbor having at least two pull-out positions with respect to a neutral advanced position; a time gear train; the calendar mechanism comprises a calendar ring which is gradually driven by a time gear train and one step per day; an in-year-cycle period display mechanism driven by the calendar ring in a jumping manner, comprising an in-year-cycle period indicator member and an in-year-cycle gear train directly driven by the calendar ring, the gear train being configured to rotationally drive the in-year-cycle period indicator member on each step of the calendar ring; the bidirectional correction mechanism is used for independently correcting the calendar mechanism or the display mechanism according to the rotation direction of the winding handle shaft at the first pull-out position; the bi-directional correction mechanism has a sliding gear movable between two extreme positions for engaging with the calendar ring or the indicator member of the period in the year cycle depending on the direction of rotation of the winding stem in order to correct the calendar mechanism or the display mechanism, respectively.

A gripping gripper (30), particularly suitable for controlling contamination of a surface (112) by smear, comprises: a gripper body (22); a mechanical interface (18) for its connection to a modular effector (16) of a robotic arm (12); two jaws (24); a transmission mechanism (26) for connecting the jaws (24) to the gripper body (22) and converting commands from the mechanical interface (18) into movements of the jaws (24) between a mutually separating configuration and a mutually approaching configuration; two pads (32, 34) mounted on the jaws (24) by means of support mechanisms (38) configured to allow movement of the pads (32, 34) relative to the jaws (24) along trajectories parallel to each other, independently of the position of the jaws (24);and elastic return means (36) configured to stress each of the pads (32, 34) towards an extreme position on its trajectory, on the same side. Figure for the abbreviation: Figure 7;

The present invention discloses a hammer and a pneumatic down-the-hole hammer with a lifting hammer airtight structure, belonging to the technical field of pneumatic down-the-hole hammers. The present invention includes an impactor and a bit, the bit is slidably connected to the lower end of the impactor, and there is a limiting device for the bit inside the impactor. The bit has two extreme positions of full extension and full retraction. It is characterized in that an air path control device is provided, which disconnects the air supply air path of the impactor when the bit is in the full extension position and connects the air supply air path of the impactor when the bit is in the full retraction position. The present invention solves the special technical problems of the cluster pneumatic down-the-hole hammer when dealing with inclined rocks, half rocks, karst caves and other strata, solves the problem of a large amount of air jet from the non-ringing sub-hammer, prevents the sudden drop of the air pressure of the whole system, and ensures the hitting force of the ringing hammer part on the rock; improves the construction efficiency in special strata, reduces energy consumption waste, and improves safety.

The invention relates to the technical field of automobile accessories, in particular to an automobile door lock unlocking structure, driving equipment and a method, the automobile door lock unlocking structure comprises a base, a switch assembly and a driving mechanism, the driving mechanism comprises a pin shaft, a handle, a torsion spring, a pull wire and a damping assembly, a user pulls the handle through external force, the handle rotates around the pin shaft, the torsion spring is compressed, and energy is stored; meanwhile, the pull wire generates pulling force due to rotation of the handle, rotation motion is converted into linear motion, driving force is transmitted to the switch assembly, the damping assembly controls the motion speed of the handle through the damping effect, and when the handle rotates to the limiting position, the switch assembly is triggered to achieve unlocking action. After a user releases the handle, the torsion spring releases compression energy to drive the handle to reversely rotate around the pin shaft to reset. The damping assembly intervenes again, and the reset speed of the handle is delayed through damping force. Therefore, the problems that an existing vehicle door handle is long in operation stroke and large in springback impact, and consequently parts are prone to damage are solved.

The present invention relates to the technical field of anastomosis devices, and in particular to a swinging mechanism for anastomosis devices and an anastomosis device thereof, the swinging mechanism comprising an actuator seat, an extension tube, a push rod and a swinging seat; the rear end of the swinging seat has a left groove and a right groove, the front end end of the left push rod has a left hook, and the front end end of the right push rod has a right hook; the present invention utilizes the left hook and the right hook to cooperate with the left groove and the right groove respectively, on the one hand, so that during the swinging of the actuator seat from the center position to the left extreme position or the right extreme position, only a single push rod applies force to the actuator seat, so as to prevent the extension tube from being bent and deformed due to excessive force on the actuator seat at the left extreme position and the right extreme position, thereby improving the operation accuracy during surgery; on the other hand, the two push rods always keep in contact with the swinging seat, so that the actuator seat will be constrained by the two push rods during the swinging process between the left extreme position and the right extreme position, thereby ensuring the stability of the actuator seat during the rotation process.