Drive unit, vehicle and control method of the drive unit

Abstract

The present application relates to a drive device, a vehicle, and a method for controlling the drive device. A drive device ((100)) comprises an articulated structure (1), a transmission structure (2), and a drive structure (3). The articulated structure (1) comprises a fixed end (12) and a movable end (11) hinged to the fixed end (12). The transmission structure (2) is installed on the movable end (11) and comprises a connecting rod (21) and a rocker arm (22). One end of the connecting rod (21) is rotatably connected to the rocker arm (22), and the other end of the connecting rod (21) is rotatably connected to the fixed end (12). The drive structure (3) is installed on the movable end (11) and comprises an actuator (31) and a drive shaft (32). The drive shaft (32) is fixedly connected to the end of the rocker arm (22) that is separated from the connecting rod (21). The actuator (31) drives the drive shaft (32) to cause the rocker arm (22) to rotate around the axis of the drive shaft (32).

Description

Technology Field

[0001] This application relates to the field of vehicle technology, and in particular to a drive unit, a vehicle, and a method for controlling a drive unit. Background Technology

[0002] With the rapid development of the automotive industry, consumer demand for vehicle automation is increasing. Conventional vehicle trunk doors are opened or closed manually, which currently fails to meet consumers' demands for vehicle functions.

[0003] Currently, an increasing number of vehicle trunk doors are configured with a combination of an upper tailgate and a lower tailgate. Opening the lower tailgate expands the trunk space and offers users more diverse usage options under different conditions. The problem to be solved

[0004] The present application provides a driving device, a vehicle, and a method for controlling the driving device. means of solving the problem

[0005] In a first embodiment, the present application provides a driving device comprising an articulated structure, a transmission structure, and a driving structure. The articulated structure comprises a fixed end and a movable end hinged to the fixed end. The transmission structure is installed on the movable end and comprises a connecting rod and a rocker arm. One end of the connecting rod is rotatably connected to the rocker arm, and the other end of the connecting rod is rotatably connected to the fixed end. The driving structure is installed on the movable end and comprises an actuator and a driving shaft. The driving shaft is fixedly connected to an end of the rocker arm that is separated from the connecting rod. The actuator drives the driving shaft to cause the rocker arm to rotate around the axis of the driving shaft. Since the torque output of the actuator is stable, the rocker arm is driven by the actuator to rotate non-linearly, causing the connecting rod to push the movable end and pivot, which is advantageous for overcoming the problem of the lever arm constantly changing during the process of opening and closing the drive device and improving stability during the process of opening and closing the drive device.

[0006] Additionally, the drive structure includes a driving gear and a driven gear. The driving gear is connected to the actuator. The driven gear meshes with the driving gear and is also fixedly connected to the drive shaft. Here, the diameter of the driving gear is smaller than the diameter of the driven gear. The reduction ratio between the driving gear and the driven gear causes the driven gear to amplify the torque of the actuator, and thus, compared to a technical solution where the actuator and the drive shaft are directly connected, this is advantageous for lowering the requirements for actuator parameters, thereby reducing the volume and cost of the actuator.

[0007] Additionally, the driven gear comprises a first driven gear and a second driven gear; the first driven gear meshes with the driving gear and the second driven gear; and the second driven gear is fixedly connected to the driving shaft; wherein the diameter of the first driven gear is larger than the diameter of the driving gear and smaller than the diameter of the second driven gear. Through this installation, the need for a large driven gear due to an excessive reduction ratio during first-class transmission can be avoided, and it is advantageous for optimizing the volume of the drive unit.

[0008] Additionally, the first driven gear comprises a first sub-gear and a second sub-gear; the first sub-gear is fixedly connected to the second sub-gear, and the diameter of the first sub-gear is larger than the diameter of the second sub-gear; the first sub-gear is meshed with the driving gear; and the second sub-gear is meshed with the second driven gear. Through this installation, multiple gears can be installed on different planes, and by fully utilizing the space of multiple dimensions within the drive unit, the compactness of the structure is improved and the space utilization rate is optimized.

[0009] Additionally, the driving device further includes a sealing sleeve. The sealing sleeve is positioned around a portion of the connecting rod; one end of the sealing sleeve is fixedly connected to the connecting rod, and the other end of the sealing sleeve extends to the movable end. With this installation, even if impurities enter the driving device, the sealing sleeve can block the impurities from the driving structure and the transmission structure, and prevent the impurities from affecting the driving structure and the transmission structure.

[0010] Additionally, one end of the connecting rod that approaches the rocker arm includes a first socket, and one end of the rocker arm that approaches the connecting rod includes a first ball; the first ball is installed in the first socket so as to be rotatable; and / or, one end of the connecting rod that approaches the fixed end includes a second socket, and the fixed end includes a second ball; the second ball is installed in the second socket so as to be rotatable. Through contact between the spherical surfaces, the rotation angle between the connecting rod and the rocker arm is increased, thereby enabling rotation in multiple directions, and the rotational flexibility of the rotational connection position during the process of opening and closing the driving device is improved, making the movement of the driving device smoother.

[0011] Additionally, the driving device further includes a torque sensor for detecting the torque of the actuator. Through this installation, damage to the actuator and the occurrence of personal injury and damage to goods caused by catching foreign matter during the process in which the movable end and the fixed end approach each other at the pivot can be avoided.

[0012] In a second embodiment, the present application provides a vehicle comprising a door assembly and a driving device according to the first embodiment described above, wherein the driving device is used to drive the door assembly to open or close. By installing the driving device, the automatic opening and closing of the door assembly is achieved by an actuator driving a rocker arm to cause non-linear rotation and a connecting rod pushing a movable end to pivot and move a fixed end away or closer. Additionally, since the torque output of the actuator is stable, the stability of the angle change during the opening and closing process of the door assembly can be effectively improved.

[0013] Additionally, the vehicle further includes a vehicle body, and the door assembly includes a lower tailgate; the movable end of the articulated structure of the drive unit is fixedly connected to the lower tailgate, and the fixed end of the articulated structure is fixedly connected to the vehicle body. Through this installation, the change in force is uniform during the process of the lower tailgate pivoting to open and pivoting to close, and thus the lower tailgate can open and close at a smooth and uniform speed, and the stability during the opening and closing process is improved.

[0014] Additionally, the vehicle further comprises a locking structure and a locking sensor. The locking structure comprises a vehicle body locking member and a lower tailgate locking member cooperating with the vehicle body locking member; and the locking sensor is used to detect the locking state of the vehicle body locking member and the lower tailgate locking member. By installing the locking sensor, it is possible to detect whether the lower tailgate locking member and the vehicle body locking member are locked, thereby detecting whether the drive unit pivots back into place and also transitions to a closed state, thus avoiding the lower tailgate unexpectedly opening due to the drive unit not closing properly.

[0015] In a third aspect, the present application provides a method for controlling a drive device, which is applied to a vehicle according to the second aspect described above, comprising the steps of: acquiring a state of the drive device; and controlling an operating mode of the actuator; wherein the operating mode comprises: a forward rotation mode for pivoting a movable end to move away from a fixed end; a reverse rotation mode for pivoting a movable end to move closer to a fixed end; and a stop mode for maintaining a relative position between the movable end and the fixed end. By first acquiring a state of the drive device and then controlling the operating mode of the actuator, the drive device is enabled to implement intelligent and automated adjustment, and the flexibility and convenience of use of the drive device are improved.

[0016] Additionally, the step of obtaining the state of the driving device includes: the step of obtaining the torque of the actuator; and the step of controlling the operating mode of the actuator includes: the step of enabling the stop mode when the torque of the actuator is greater than a preset value. Through this installation, when the torque of the actuator is greater than a preset value, the pivot movement of the driving device can be stopped in time. For example, when the driving device pivots and opens (actuator forward rotation) and there is insufficient external space, the actuator continues to rotate forward, thereby avoiding damage to the driving device, or when the driving device pivots and closes (actuator reverse rotation) and there is foreign matter between the movable end and the fixed end, the actuator continues to rotate reverse, thereby avoiding damage to the foreign matter and damage to the driving device.

[0017] Additionally, before obtaining the state of the driving device, the control method further comprises the step of obtaining an initial operating mode of the actuator; and after enabling the stop mode, the control method further comprises the step of determining whether the initial operating mode is a forward rotation mode or a reverse rotation mode; if the initial operating mode is a forward rotation mode, the step of enabling the reverse rotation mode; and if the initial operating mode is a reverse rotation mode, the step of enabling the forward rotation mode. Through this installation, if an obstacle is present during the process of opening the driving device, the actuator's reverse rotation closes the driving device, thereby avoiding a collision between the extended movable end and the obstacle, which would cause damage to the obstacle or the movable end. If an obstacle is present during the process of closing the driving device, the actuator's forward rotation opens the driving device, thereby avoiding the driving device from catching foreign matter.

[0018] Additionally, before acquiring the torque of the actuator, the control method further includes the step of: setting an ideal order N and making N equal to 0; and before determining whether the initial operating mode is a forward rotation mode or a reverse rotation mode, the control method further includes the step of: determining whether the ideal order N is greater than 0; if N is greater than 0, maintaining the stop mode; and if N is not greater than 0, increasing N by 1.

[0019] Additionally, the step of obtaining the state of the driving device includes: obtaining an angle between the fixed end and the movable end; and the step of controlling the operating mode of the actuator includes: enabling the stop mode when the angle reaches a preset value. Through this setup, the angle value between the fixed end and the movable end can be obtained in real time, and when the angle value is equal to a preset value, the operating mode of the actuator is controlled to a stop mode, thereby avoiding problems such as the actuator continuing to operate when the movable end pivots to a closed or open position, or the actuator being stuck between the movable end and the fixed end or being damaged.

[0020] It should be understood that the general description above and the details described below are illustrative and for interpretation purposes only, and are not intended to limit the invention. Brief explanation of the drawing

[0021] To more clearly explain the embodiments of the present application, a brief description of the accompanying drawings that need to be used in the embodiments is given below. Clearly, the drawings in the following description are only some of the embodiments described in the present application. To those skilled in the art, other drawings can be obtained based on these drawings without creative effort. FIG. 1 is a front view of a driving device of one embodiment of the present application. Figure 2 is a rear view of the driving device shown in Figure 1. FIG. 3 is a side view of the driving device shown in FIG. 1, where the driving device is in a closed state. FIG. 4 is a side view of the driving device shown in FIG. 1, where the driving device is in an open state. FIG. 5 is a partial schematic diagram of a vehicle according to one embodiment of the present application, wherein the lower tailgate is in a closed state. FIG. 6 is a local schematic diagram of the vehicle shown in FIG. 5, where the lower tailgate is in an open state. FIG. 7 is a flowchart of a control method for a driving device according to one embodiment of the present application. FIG. 8 is a flowchart of a control method for a driving device of another embodiment of the present application. FIG. 9 is a flowchart of a control method for a driving device of another embodiment of the present application. FIG. 10 is a flowchart of a control method for a driving device of another embodiment of the present application. FIG. 11 is a flowchart of a control method for a driving device of another embodiment of the present application. Explanation of the symbols in the drawing: 100-drive unit, 1-articulated structure, 11-movable end, 111-connecting rod hole, 12-fixed end, 13-pivot axis, 2-transmission structure, 21-connecting rod, 22-rocker arm, 3-drive structure, 31-actuator, 32-drive shaft, 33-driving gear, 34-driven gear, 341-first driven gear, 342-second driven gear, 343-first sub-gear, 344-second sub-gear, 4-sealing sleeve, 51-first fixed plate, 52-second fixed plate, 200-vehicle, 210-vehicle body, 220-lower tailgate, 230-upper tailgate, 240-trunk space. Specific details for implementing the invention

[0022] Examples will be described in detail in this specification, and such examples are illustrated in the drawings. Where the following descriptions include drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The embodiments described in the following examples do not represent all embodiments consistent with the present disclosure. Rather, they are merely examples of devices and methods consistent with some aspects of the present disclosure and as described in the appended claims.

[0023] The terms used in the embodiments of this application are merely for describing specific examples and are not intended to limit the content of this disclosure. Unless otherwise defined, technical or scientific terms used in the embodiments of this application should have the common meaning understood by those with general skills in the field to which the invention pertains. The terms “first,” “second,” and similar words used in this specification and claims are used to distinguish different components without indicating order, quantity, or importance. Likewise, similar words such as “one” or “one” indicate that at least one exists without indicating a quantitative limitation. “Multiple” or “several” indicate two and more than two. Unless otherwise indicated, similar words such as “all,” “rear,” “lower,” and / or “upper,” etc., are not limited to a single location or a single spatial direction unless otherwise specified. Words such as “include” or “include” mean that the symbols or objects and their identities listed after “include” or “include” are included in the elements or articles listed before “include” or “include,” and do not exclude other elements or articles. Words such as “connect” or “connect to one another” are not limited to physical or mechanical connections and may include electrical connections, whether direct or indirect. The singular forms (’a’, ‘said’, and ‘the’) used in this application and the appended claims are also intended to include the majority of forms unless the context clearly indicates other meanings. Additionally, the term “and / or” as used herein should be understood to refer to and include any or all possible combinations of one or more associated listed items.

[0024] Referring to FIGS. 1 through 4, the present application provides, in a first embodiment, a driving device (100) comprising an articulated structure (1), a transmission structure (2), and a driving structure (3). The articulated structure (1) comprises a fixed end (12) and a movable end (11) hinged to the fixed end (12). Both the transmission structure (2) and the driving structure (3) are installed on the movable end (11). The transmission structure (2) comprises a connecting rod (21) and a rocker arm (22). One end of the connecting rod (21) is rotatably connected to the rocker arm (22), and the other end of the connecting rod (21) is rotatably connected to the fixed end (12). The driving structure (3) comprises an actuator (31) and a driving shaft (32). The drive shaft (32) is fixedly connected to the end of the connecting rod (21) of the rocker arm (22), and the actuator (31) drives the drive shaft (32) so that the rocker arm (22) rotates around the axis of the drive shaft (32).

[0025] The driving device (100) includes a closed state and an open state. The closed state is as shown in FIG. 3, where the angle between the movable end (11) and the fixed end (12) is relatively small and the connecting rod (21) is in a state close to vertical. The open state is as shown in FIG. 4, where the angle between the movable end (11) and the fixed end (12) is increased and the connecting rod (21) is in a state close to horizontal.

[0026] Referring to FIG. 1, the driving device (100) is in a closed state. When the driving device (100) is switched from a closed state to an open state, the actuator (31) drives the driving shaft (32) to rotate, causing the rocker arm (22) to move downward by connecting one end of the connecting rod (21). The other end of the connecting rod (21) is connected to a fixed end (12) whose position is invariable, and since the length of the connecting rod (21) is fixed, the force of the connecting rod (21) that previously acted on the fixed end (12) acts on the movable end (11) in the reverse direction, causing the movable end (11) to pivot around the pivot axis (13) and move away from the fixed end (12). In this way, the driving device (100) can be switched from a closed state to an open state.

[0027] Conversely, when the drive device (100) is in an open state, the actuator (31) drives the drive shaft (32) to rotate in the reverse direction, and the connecting rod (21) has a tendency to pull the fixed end (12), and the position of the fixed end (12) is fixed, so that the connecting rod (21) pulls up the movable end (11) in the reverse direction, so that the movable end (11) pivots around the pivot axis (13) and comes close to the fixed end (12), thereby causing the drive device (100) to switch from an open state to a closed state.

[0028] In this way, the rocker arm (22) is driven non-linearly through an actuator (31) with a stable torque output, causing the connecting rod (21) to push the movable end (11) to pivot, which is advantageous for avoiding the problem of the lever arm constantly changing during the process of opening and closing the drive device (100) and improving stability during the process of opening and closing the drive device (100). In addition, when the drive device (100) is switched between an open state and a closed state, the connecting rod (21) is switched from a state close to vertical to a state close to horizontal, and thus the movable end (11) is driven to pivot relative to the fixed end (12), so that the pivot angle is within the range greater than or equal to 0 degrees and less than or equal to 120 degrees, thereby achieving sufficient opening and closing of the drive device (100).

[0029] Additionally, referring to FIGS. 3 and 4, when the driving device (100) pivots to an extreme position where it opens, the angle change between the movable end (11) and the fixed end (12) reaches more than 100°, and the angle change of the connecting rod (21) is less than 80° or even 70°. In other words, the complete opening and complete closing of the driving device (100) can be achieved with a small range of movement of the connecting rod (21) and the rocker arm (22). Thus, the installation method of the present application can expand the range of movement of the transmission structure (2) and optimize the volume of the transmission structure (2) by not requiring a large range of movement space for the transmission structure (2).

[0030] The rocker arm (22) may have a rod-shaped structure such as the connecting rod (21). Alternatively, the rocker arm (22) may have a teardrop-shaped structure as shown in FIG. 1, and a portion with a relatively large radius may be installed on the drive shaft (32). The centerline of the rocker arm (22) intersects the axis of the drive shaft (32), so that one end of the rocker arm (22) that is close to the connecting rod (21) rotates along the drive shaft (32) to form an arc-shaped trajectory. When the connecting rod (21) applies force to the rocker arm (22) in the reverse direction, the end of the rocker arm (22) that is close to the drive shaft (32) receives a larger bending moment. Therefore, through this installation, the strength of the rocker arm (22) can be improved, and the rupture of the rocker arm (22) during the operation of the drive device (100) is avoided. In addition, compared to a structure in which the rocker arm (22) is installed with a uniform width, a teardrop-shaped structure can save material for the rocker arm (22) and also reduce the weight of the entire drive unit (100).

[0031] During the process of opening and closing the drive device (100), a change occurs in the angle between the connecting rod (21) and the rocker arm (22), and in the angle between the connecting rod (21) and the fixed end (12). To better implement the relative movement between the connecting rod (21) and the rocker arm (22), and between the connecting rod (21) and the fixed end (12), one end of the connecting rod (21) near the rocker arm (22) includes a first socket (not shown), and one end of the rocker arm (22) near the connecting rod (21) includes a first ball (not shown), and the first ball is installed in the first socket so as to be rotatable. Likewise, one end of the connecting rod (21) near the fixed end (12) includes a second socket (not shown), and the fixed end (12) includes a second ball (not shown), and the second ball is installed in the second socket so as to be rotatable. Through contact between the spherical surfaces, the rotation angle between the connecting rod (21) and the rocker arm (22) is increased, rotation can be implemented in multiple directions, and the rotational flexibility of the rotational connection position during the process of opening and closing the driving device (100) is improved, making the movement of the driving device (100) smoother.

[0032] In other embodiments, a socket may be installed on the rocker arm (22) and the fixed end (12), and a ball may be installed on the connecting rod (21). Alternatively, a ball may be installed on one of the rocker arm (22) and the connecting rod (21), and a bearing, etc. may be installed on the other of the rocker arm (22) and the connecting rod (21), and the present application is not limited thereto. It should be explained that the method of connecting the rocker arm (22) and the connecting rod (21) may be the same as or different from the method of connecting the connecting rod (21) and the fixed end (12). For example, the rocker arm (22) may include a first socket, a first ball corresponding to the connecting rod (21) may be installed, a second ball may be installed on the other end of the connecting rod (21), and a bearing, etc. may be installed on the fixed end (12), and the present application is not limited thereto.

[0033] In some embodiments, a connecting rod hole (111) is installed on the side of the movable end (11) to facilitate the connection of the connecting rod (21) to the fixed end (12) by passing through the connecting rod hole (111). When the driving device (100) is switched from an open state to a closed state or from a closed state to an open state, the connecting rod (21) can move through the connecting rod hole (111), thereby avoiding interference with the movement of the movable end (11). Additionally, the installation method in which the connecting rod (21) passes through the movable end (11) can improve the density of the structure and is advantageous for reducing the occupied volume of the driving device (100). Of course, in other embodiments, by modifying the shape of the movable end (11), the movable end (11) can be provided with an avoidance portion (not shown), thereby avoiding the overall range of activity of the connecting rod (21), and the present application is not limited thereto.

[0034] Additionally, based on the above description, the driving device (100) of the present application can expand the range of movement of the transmission structure (2), and the driving device (100) can achieve complete opening and complete closing with only a small range of movement of the connecting rod (21) and the rocker arm (22). Accordingly, the range of movement of the connecting rod (21) is relatively small, and a relatively small connecting rod hole (111) or avoidance part can be installed in the driving device (100) of the present application, thereby reducing the overall size of the movable end (11) while allowing the movable end (11) to have higher strength.

[0035] In some embodiments, the actuator (31) may be directly connected to the drive shaft (32), so that the actuator (31) directly drives the drive shaft (32) to rotate, thereby simplifying the structure of the drive unit (100) and avoiding the drive unit (100) occupying too much space. In other embodiments, the drive structure (3) includes a driving gear (33) connected to the actuator (31) and a driven gear (34) meshed with the driving gear (33). The driven gear (34) is fixedly connected to the drive shaft (32), and the diameter of the driven gear (34) is larger than the diameter of the driving gear (33). In this way, the drive shaft (32) and the actuator (31) are indirectly connected. By causing the actuator (31) to drive the driving gear (33) to rotate, the driven gear (34), which meshes with the driving gear (33), drives the driving shaft (32) to rotate. The reduction ratio between the driving gear (33) and the driven gear (34) causes the driven gear (34) to amplify the torque of the actuator (31), and thus, compared to a technical solution in which the actuator (31) and the driving shaft (32) are directly connected, it is advantageous to lower the requirements for the actuator (31) parameters, thereby reducing the volume and cost of the actuator (31) and indirectly optimizing the volume and cost of the driving device (100).

[0036] In order to optimize the volume of the device (100) by controlling the size of the driven gear (34) and the driving gear (33), in some embodiments, the driven gear (34) includes a first driven gear (341) and a second driven gear (342). The first driven gear (341) is meshed with the driving gear (33) and the second driven gear (342), respectively, and the second driven gear (342) is fixedly connected to the drive shaft (32). Here, the diameter of the first driven gear (341) is larger than the diameter of the driving gear (33) and smaller than the diameter of the second driven gear (342). Through a multi-level gear transmission method, a first level reduction is completed between the driving gear (33) and the first driven gear (341) to achieve a first torque increase, and a second level reduction is completed between the first driven gear (341) and the second driven gear (342) to achieve a second torque increase. With this installation, the need for a large driven gear (34) due to an excessive reduction ratio during first-level transmission can be avoided, and it is advantageous for optimizing the volume of the drive unit (100).

[0037] Additionally, to perform spatial optimization for the drive unit (100), in some embodiments, the first driven gear (341) includes a first sub-gear (343) and a second sub-gear (344). The first sub-gear (343) is fixedly connected to the second sub-gear (344), and the diameter of the first sub-gear (343) is larger than the diameter of the second sub-gear (344). Here, the first sub-gear (343) is meshed with the driving gear (33), and the second sub-gear (344) is meshed with the second driven gear (342). Since the first sub-gear (343) is fixedly connected to the second sub-gear (344), and thus the driving gear (33) is meshed with the first sub-gear (343) and rotates, the second sub-gear (344) also rotates synchronously, thereby driving the second driven gear (342) to rotate. By installing the first sub-gear (343) and the second sub-gear (344), the reduction ratio between the driving gear (33) and the first driven gear (341), and the reduction ratio between the first driven gear (341) and the second driven gear (342) are both kept constant. However, the second driven gear (342) is meshed with the smaller second sub-gear (344), and thus the distance between the rotation axis of the second driven gear (342) and the rotation axis of the first driven gear (341) is reduced. In other words, the orthogonal projection portions in the rotation plane of the gears, such as the driving gear (33) of the second driven gear (342) and the first driven gear (341), overlap. Therefore, instead of simply placing multiple gears on the same plane, multiple gears can be installed on different planes, and the space of multiple dimensions within the driving device (100) is fully utilized to improve the density of the structure and also optimize the utilization rate of space.

[0038] Of course, in other embodiments, the transmission structure (2) may be a chain transmission or a transmission method such as a belt transmission, and the present application is not limited thereto.

[0039] Additionally, the driving device (100) may further include a lubricating layer (not shown). The lubricating layer may be installed in the transmission structure (2), for example, on the teeth of the driving gear (33) and the driven gear (34), or on the connection position of the connecting rod (21) and the rocker arm (22), etc., and the present application is not limited thereto. By installing a lubricating layer between two parts that need to come into contact with each other and generate relative movement, the smoothness during the process of opening and closing the driving device (100) can be improved, sharp noise generated due to friction between parts can be avoided affecting the user's sense of use, and friction loss of parts due to long-term friction can be avoided, thereby extending the service life of the driving device (100) to some extent.

[0040] In some embodiments, the driving device (100) further includes a first fixed plate (51) for fixing the driving structure (3), and the first fixed plate (51) is connected to a movable end (11) so as to indirectly connect the driving structure (3) and the movable end (11). An actuator (31) is installed on one side of the first fixed plate (51), a rocker arm (22) is installed on the other side of the first fixed plate (51), and a driving shaft (32) is provided to pass through the first fixed plate (51) to connect the actuator (31) and the rocker arm (22). The installation of the first fixed plate (51) can be conveniently assembled, and the driving structure (3) and the transmission structure (2) are first assembled to the first fixed plate (51), and then the first fixed plate (51) and the movable end (11) are connected to realize the connection between the structures. Of course, in other embodiments, the first fixed plate (51) and the movable end (11) may be integral, and the present application is not limited thereto.

[0041] In an embodiment in which the driving device (100) includes a driven gear (34) and a driving gear (33), or a chain transmission structure and a belt transmission structure, to further implement fixation for the driving structure (3), the driving device (100) may further include a second fixed plate (52) that is installed parallel to and connected to the first fixed plate (51). An actuator (31) is installed on one side of the first fixed plate (51) away from the second fixed plate (52), and a structure such as the driven gear (34) and the driving gear (33) is installed between the first fixed plate (51) and the second fixed plate (52). In this way, the driven gear (34) and the driving gear (33) are maintained in a fixed position through the first fixed plate (51) and the second fixed plate (52), so that even if a change occurs in the angle of the movable end (11) and the driven gear (34) and the driving gear (33) tend to deviate from their positions due to the influence of gravity, the first fixed plate (51) and the second fixed plate (52) can support the driven gear (34) and the driving gear (33).

[0042] The first fixed plate (51) and the second fixed plate (52) may be flat plates. Alternatively, in some embodiments, one of the first fixed plate (51) and the second fixed plate (52) is a flat plate, and the other of the first fixed plate (51) and the second fixed plate (52) is a plate with a receiving cavity (not shown) installed in the middle. In this way, the sides of the first fixed plate (51) and the second fixed plate (52) are connected in a tight fit, and the receiving cavity is used to accommodate the driven gear (34) and the driving gear (33). Through this installation, a sealed space is provided for the driven gear (34) and the driving gear (33), thereby preventing foreign matter from being easily drawn in due to rotation during the period when the gear is meshed, which would otherwise cause abnormalities in the drive. Additionally, it is possible to avoid external impurities such as dust and water affecting the lubrication layer and mesh of the gear. Of course, in other embodiments, a receiving half cavity corresponding to both the first fixed plate (51) and the second fixed plate (52) may be installed, and after the four sides of the first fixed plate (51) and the second fixed plate (52) are fitted together, the two receiving half cavities form a complete receiving cavity, and the present application is not limited thereto.

[0043] After the drive unit (100) is opened, the angle between the movable end (11) and the fixed end (12) increases, and at this time, impurities can easily enter the actuator (31) and the transmission structure (2) through the gap between the connecting rod (21) and the movable end (11), which can have a negative effect on the drive unit (100). To improve sealing protection for the actuator (31) and the transmission structure (2) and to avoid problems such as loss of lubrication effect and short circuit of the actuator (31) caused by impurities such as water and dust entering the drive structure (3) during the process of opening and closing the drive unit (100), the drive unit (100) of the present application further includes a sealing sleeve (4). A sealing sleeve (4) is positioned around a part of the connecting rod (21), and one end of the sealing sleeve (4) is fixedly connected to the connecting rod (21), while the other end of the sealing sleeve (4) extends to the movable end (11). Through this installation, even if impurities enter the driving device (100), the sealing sleeve (4) blocks the impurities from the driving structure (3) and the transmission structure (2), thereby preventing the impurities from affecting the driving structure (3) and the transmission structure (2). The sealing sleeve (4) is also fixedly connected to the movable end (11), for example through bonding, to seal the gap between the movable end (11) and the sealing sleeve (4), thereby further improving the sealing performance of the sealing sleeve (4).

[0044] In some embodiments, the sealing sleeve (4) may be made of an elastic material so that stretching and retraction can be achieved during the movement of the connecting rod (21). In other embodiments, the sealing sleeve (4) may be installed in a multi-layer folding structure so that the sealing sleeve (4) can be extended and retracted through the unfolding and folding of the multi-layer folding structure during the movement of the connecting rod (21), and the present application is not limited thereto.

[0045] During the process of the driving device (100) transitioning from an open state to a closed state or from a closed state to an open state, a change occurs in the angle between the movable end (11) and the fixed end (12). In order to avoid causing damage to the actuator (31) and causing personal injury and damage to goods by catching foreign matter during the process of the movable end (11) and the fixed end (12) pivoting to come closer to each other, in some embodiments, the driving device (100) further includes a torque sensor for detecting the torque of the actuator (31). When the torque of the actuator (31) increases, the driving device (100) can determine that it is catching foreign matter, and thus, by subsequently stopping the operation of the actuator (31), damage to personal injury and goods of the driving device (100) can be avoided, and in this way, the safety performance of the driving device (100) can be improved.

[0046] Based on each of the embodiments described above, with reference to FIGS. 5 and 6, the present application provides, in a second embodiment, a vehicle (200) comprising a door assembly and a driving device (100) according to the first embodiment described above, wherein the driving device (100) is used to drive the door assembly to open or close. The driving device (100) may be installed on the door assembly, such as a car door, trunk door, or front cover, and the present application is not limited thereto. By installing the driving device (100), an actuator (31) drives a rocker arm (22) to rotate non-linearly, and a connecting rod (21) pushes a movable end (11) to pivot and move a fixed end (12) away or closer, thereby enabling automatic opening and closing of the door assembly. Additionally, the torque output of the actuator (31) is stable, so the stability of the angle change during the opening and closing process of the door assembly can be effectively improved.

[0047] In some embodiments, a vehicle body (210) is installed on a vehicle (200), and the door assembly includes a lower tailgate (220). A movable end (11) of a driving device (100) is fixedly connected to the lower tailgate (220), and a fixed end (12) is fixedly connected to the vehicle body (210). Thus, when an actuator (31) drives the rocker arm (22) to rotate and a connecting rod (21) pushes the fixed end (12), the fixed end (12) is fixed to the vehicle body (210) and is difficult to move. Therefore, the force of the connecting rod (21) acts on the movable end (11) in the reverse direction, causing the movable end (11) to drive the lower tailgate (220) to pivot and move away from the vehicle body (210), thereby opening the lower tailgate (220). Conversely, when the actuator (31) drives the rocker arm (22) to rotate in the reverse direction, the connecting rod (21) applies a pull-up to the fixed end (12). Since the fixed end (12) is fixed and does not move, the pull-up of the connecting rod (21) acts on the movable end (11) in the reverse direction, causing the movable end (11) to drive the lower tailgate (220) to pivot and come closer to the vehicle body (210), thereby closing the lower tailgate (220).

[0048] With this installation, the change in force is uniform during the process of the lower tailgate (220) pivoting to open and pivoting to close, so the lower tailgate (220) can open and close at a smooth and uniform speed, and improves stability during the opening and closing process. Additionally, since the pivot angle range for the fixed end (12) of the movable end (11) is between 0° and 120°, the lower tailgate (220) can be fully opened. When the lower tailgate (220) is opened, the usable space of the trunk is expanded, providing more usability for the user, thereby satisfying the user's usage needs under different usage scenarios.

[0049] In some embodiments, the drive unit (100) may be partially exposed to the lower tailgate (220), making assembly and maintenance convenient. In other embodiments, the entire drive unit (100) is concealed within the lower tailgate (220), thereby achieving a seal on the drive unit (100) through the shell of the lower tailgate (220) to a certain extent, so that impurities may not come into direct contact with the drive structure (3) and the transmission structure (2) and negatively affect the operation of the drive unit (100). Additionally, the concealment of the drive unit (100) can not only improve the aesthetic sense of the lower tailgate (220), but also avoid the poor visual impression created by the drive unit (100) being directly exposed to the outside, and also avoid occupying the trunk space.

[0050] In an embodiment in which the drive unit (100) includes a sealing sleeve (4), the shell of the lower tailgate (220) may be clamped to one end that is close to the movable end (11) of the sealing sleeve (4). In this way, even if impurities enter the drive unit (100) through the gap between the movable end (11) and the sealing sleeve (4), the flexible connection between the lower tailgate (220) and the sealing sleeve (4) can prevent further impurities from entering the drive unit (100), thereby serving as a second insurance.

[0051] Additionally, the driving device (100) may include a plurality of articulated structures (1). Taking the embodiment of the lower tailgate (220) as an example, a plurality of articulated structures (1) may be uniformly distributed along the pivot axis (13), and a driving structure (3) may be connected to one of the articulated structures (1). When the driving structure (3) drives the articulated structure (1) to pivot, the movable end (11) drives the lower tailgate (220) to pivot, causing the movable end (11) of the other articulated structure (1) to pivot together. By installing a plurality of articulated structures (1), the supporting force for the lower tailgate (220) and the stability of receiving force during the process of opening and closing the lower tailgate (220) can be improved.

[0052] It should be explained that the vehicle (200) may include a lower tailgate (220) and an upper tailgate (230) as illustrated in FIGS. 5 and 6, thereby enabling the opening and closing of the trunk space (240). Additionally, the driving device (100) of the present application may be installed in the upper tailgate (230), and the present application is not limited thereto. Of course, the vehicle (200) may be a vehicle that includes only the lower tailgate (220), such as a pickup truck or a cargo truck, and the present application is not limited thereto.

[0053] In some embodiments, the vehicle (200) further includes a locking structure (not shown) and a locking sensor (not shown). The locking structure includes a vehicle body locking member and a lower tailgate locking member that cooperates with the vehicle body locking member. The locking sensor is used to detect the locking state of the vehicle body locking member and the lower tailgate locking member. By installing the locking sensor, it is possible to detect whether the lower tailgate locking member and the vehicle body locking member are locked, thereby detecting whether the drive unit (100) pivots back into place and also transitions to a closed state, so that the drive unit (100) is not properly closed and the lower tailgate is not opened unexpectedly. In addition, when the lower tailgate locking member and the vehicle body locking member are locked back into place, the actuator (31) stops operating, thereby preventing the actuator (31) from operating abnormally and causing the lower tailgate to open unexpectedly.

[0054] In an embodiment in which the drive device (100) includes a torque sensor, if the lower tailgate opens abnormally due to a lack of external space during the period when the lower tailgate is open, or if an item or person is clamped during the period when the lower tailgate is closed, detection and alarm are performed in time, thereby avoiding affecting the lower tailgate, the item, the person, and the actuator (31).

[0055] Referring to FIG. 7, a third embodiment of the present application further provides a method for controlling a driving device, which can be applied to a vehicle (200) according to the second embodiment described above. The control method includes the following steps 310 and 320.

[0056] In step 310, the status of the driving device is obtained.

[0057] In this embodiment, the state of the driving device may be the torque of the actuator, the angle between the movable end and the fixed end, etc., and the present application is not limited thereto.

[0058] In step 320, the operating mode of the actuator is controlled.

[0059] In this embodiment, the operating modes of the actuator include: a forward rotation mode for pivoting the movable end to move the fixed end away; a reverse rotation mode for pivoting the movable end to move the fixed end closer; and a stop mode for maintaining the relative position between the movable end and the fixed end.

[0060] In other words, when the actuator is in a forward rotation mode, the drive unit can be switched from a closed state to an open state. When the actuator is in a reverse rotation mode, the drive unit can be switched from an open state to a closed state. When the actuator does not need to perform any operation, the actuator is in a stop mode. The stop mode can be used to keep the drive unit in an open or closed state, or to keep the drive unit in any desired state between an open state and a closed state.

[0061] By first acquiring the status of the drive unit and then controlling the actuator's operating mode, it enables intelligent and automated adjustment of the drive unit, thereby enhancing the flexibility and convenience of its use. Furthermore, by adjusting the actuator's operating mode based on the drive unit's status and performing targeted adjustments, it is advantageous for ensuring the normal operation of the drive unit.

[0062] The state of the driving device below is described as an example where it is an angle between a movable end and a fixed end. Referring to FIG. 8, the control method of the driving device includes the following steps 410 to 430.

[0063] In step 410, obtain the angle between the fixed end and the movable end.

[0064] In step 420, determine whether the angle is equal to a preset value. If "No," return to perform step 410; if "Yes," perform the next step.

[0065] In this embodiment, the preset value may be a first preset value, i.e., an angle value between the movable end and the fixed end when the driving device is in a closed state, or a second preset value, i.e., an angle value between the movable end and the fixed end when the driving device is in an open state. By determining whether the acquired angle is equal to the preset value, it can be indirectly determined whether the driving device is in a closed state or an open state. If the acquired angle does not correspond to the preset value, it can be determined that the driving device is still in the pivoting process, and thus return to step 410 to continue acquiring the angle between the fixed end and the movable end. If the acquired angle is equal to the preset value, it can be determined that the driving device has already pivoted to an open state or a closed state, and the next step can be performed.

[0066] In step 430, enable stop mode.

[0067] Through this installation, an angle value between the fixed end and the movable end can be obtained in real time. Additionally, by controlling the actuator's operating mode to a stop mode when the angle value is equal to a first preset value, problems such as the actuator continuing to operate when the movable end pivots to a closed position or the actuator being damaged can be avoided. Furthermore, by controlling the actuator's operating mode to a stop mode when the angle value is equal to a second preset value, problems such as the movable end pivoting beyond its movement path and the movable end pivoting in the reverse direction to return to a closed position can be avoided.

[0068] Of course, the preset value may simultaneously include a first preset value and a second preset value, thereby allowing the actuator's operation to be stopped in time when the driving device pivots to a completely closed state and a completely open state, and the present application is not limited thereto.

[0069] In FIG. 8, one embodiment of a control method for a driving device is described. The following example describes a state of the driving device that is the torque of an actuator. Referring to FIG. 9, the control method for a driving device includes the following steps 510 to 530.

[0070] In step 510, the torque of the actuator is obtained.

[0071] In this embodiment, the torque of the actuator can be used to determine whether the actuator is in a normal operating state.

[0072] In step 520, determine whether the actuator torque is greater than a preset value. If "No," return to perform step 510; if "Yes," perform the next step.

[0073] In this embodiment, the preset value may be the torque value when the actuator is operating normally. If the torque of the actuator is greater than the preset value, it can be determined that there is an obstacle when the movable end pivots away from or towards the fixed end, and thus indirectly, it can be determined that foreign matter or an obstacle is preventing the normal operation of the driving device.

[0074] In step 530, enable stop mode.

[0075] Through this installation, if the torque of the actuator exceeds a preset value, the pivot movement of the drive unit can be stopped in time. This prevents damage to the drive unit by preventing the actuator from continuing to rotate in the forward direction when the drive unit pivots and opens (actuator forward rotation) and there is insufficient external space, or by preventing damage to the foreign object and the drive unit by preventing the actuator from continuing to rotate in the reverse direction when the drive unit pivots and closes (actuator reverse rotation) and foreign matter is present between the movable end and the fixed end. Since the foreign matter may be an item unexpectedly dropped from the outside between the movable end and the fixed end, continued reverse rotation in this case may cause damage to the item. The foreign matter may even be the limbs of children, in which case continued reverse rotation may cause personal injury. Therefore, the control method can improve the safety performance of the drive unit to some extent.

[0076] It should be explained that step 520 may be merged into step 510 or step 530. Likewise, step 420 may also be merged into step 410 or step 430, and the present application is not limited thereto. Furthermore, in the same control method, the acquisition of the torque of the actuator and the acquisition of the angle between the fixed end and the movable end can be performed simultaneously, thereby enabling the control method to simultaneously monitor the torque of the actuator and the relative position between the movable end and the fixed end.

[0077] Referring to FIG. 10, the present application further provides a method for controlling a driving device, comprising steps 610 to 662 below.

[0078] In step 610, the initial operating mode of the actuator is obtained.

[0079] In this embodiment, the initial operating mode of the actuator may be a forward rotation mode, a reverse rotation mode, or a stop mode.

[0080] In step 620, the torque of the actuator is obtained.

[0081] In step 630, determine whether the actuator torque is greater than a preset value. If "No," return to perform step 620; if "Yes," perform the next step.

[0082] In this embodiment, the preset value may be the torque value when the actuator is operating normally. If the torque of the actuator is greater than the preset value, it can be determined that there is a fault when the movable end pivots away from or towards the fixed end, and thus indirectly, it can be determined that foreign matter or a fault is preventing the normal operation of the driving device.

[0083] In step 640, enable stop mode.

[0084] In this embodiment, after determining that the torque of the actuator is greater than a preset value, the actuator is controlled to stop mode in time, thereby preventing the continued pivot movement of the movable end from causing damage to the actuator, the drive device, and other structures.

[0085] In step 650, determine whether the initial operating mode is a forward rotation mode.

[0086] In this embodiment, before enabling the stop mode, the torque of the actuator is greater than a preset value, meaning that the actuator is in a forward rotation mode or a reverse rotation mode. In other words, the movable end pivots away from the fixed end, or pivots towards the fixed end. By determining the operating state of the initial operating mode, it is possible to determine whether an abnormality occurred during the closing process of the driving device or during the opening process.

[0087] If the initial operating mode is forward rotation mode, perform step 661, and during step 661, enable reverse rotation mode.

[0088] In this embodiment, if the initial operating mode is a forward rotation mode, a reverse rotation mode is enabled. In other words, if the torque of the actuator is greater than a preset value during the process of the movable end pivoting away from the fixed end, the movable end stops pivoting, and the actuator also reverses rotation so that the movable end pivots to bring the fixed end closer.

[0089] In this way, it is possible to determine whether there is an obstacle in the pivot direction of the movable end during the process of opening the drive device. If an obstacle is present, the actuator rotates in reverse to close the drive device, thereby preventing the extended movable end from colliding with the obstacle and causing damage to the obstacle or the movable end.

[0090] If the initial operating mode is not the forward rotation mode, perform step 662, and in step 662, enable the forward rotation mode.

[0091] In this embodiment, before enabling the stop mode, the torque of the actuator is greater than a preset value, which means that the initial operating mode of the actuator is either a forward rotation mode or a reverse rotation mode. If the initial operating mode of the actuator is not a forward rotation mode, it means that the initial operating mode of the actuator is a reverse rotation mode, and in this case, the forward rotation mode is enabled. In other words, if the torque of the actuator is greater than a preset value during the process of the movable end pivoting toward the fixed end, the movable end stops pivoting, and the actuator also rotates forward, causing the movable end to pivot toward the fixed end.

[0092] In this way, it is possible to determine whether foreign matter is present in the pivot direction of the movable end during the process of closing the drive unit. If foreign matter is present, the actuator rotates forward to open the drive unit, thereby preventing the drive unit from holding the foreign matter. In particular, if the drive unit clamps a human body in the event of an accident, the drive unit is opened via the pivot, thereby preventing difficulty in extracting the human body from between the movable end and the fixed end, thereby improving the safety performance of the drive unit.

[0093] In the present embodiment, after performing step 661 or step 662, the process may return to step 620 and, by determining whether there is an abnormality in the operation under the operating mode after the actuator is switched, real-time monitoring of the actuator's torque may be maintained, thereby avoiding an abnormality in the actuator's operation under the operating mode after the switch.

[0094] It should be explained that in step 650, it may be determined whether the initial operating mode is a reverse rotation mode. Correspondingly, if "yes," step 662 is performed; if "no," step 661 is performed. Alternatively, in step 650, it may be determined whether the initial operating mode is a reverse rotation mode or a forward rotation mode, and if it is a reverse rotation mode, step 662 is performed; if it is a forward rotation mode, step 661 is performed.

[0095] Based on the embodiment illustrated in FIG. 10 and referring to FIG. 11, the present application further provides a method for controlling a driving device, comprising steps 710 to 792 below.

[0096] In step 710, the initial operating mode of the actuator is obtained.

[0097] In step 720, set the order N and also make N equal to 0.

[0098] In this embodiment, the abnormal order is used to record the abnormal order of the actuator's torque.

[0099] In step 730, the torque of the actuator is obtained.

[0100] In step 740, determine whether the actuator torque is greater than a preset value; if "No," return to perform step 730; if "Yes," perform the next step.

[0101] In step 750, enable stop mode.

[0102] In step 760, determine whether the anomalous order N is greater than 0.

[0103] If N is greater than 0, perform step 761, and in step 761, maintain stop mode.

[0104] If N is not greater than 0, perform step 770, and in step 770, set N=N+1 and also perform the next step.

[0105] In this embodiment, if the abnormality order is 0, it means that the actuator has not yet switched from the initial operating mode to the forward rotation mode or the reverse rotation mode, that is, it means that there has been no previous case of an abnormal operation of the actuator. At this time, by setting the value of N to N+1, the situation of an abnormal operation of the actuator can be recorded, and the next step is subsequently performed.

[0106] If the abnormality order is greater than 0, it means that there has already been an abnormal operation of the actuator. For example, the actuator may be hindered during the opening process, in which case N is 0. Because it is hindered, the actuator performs reverse rotation to close the actuator, in which case N is 1. It is hindered again during the closing process, and since N is greater than 0, the actuator performs a command stop.

[0107] In complex environments with many items, failures may occur during the process of the drive unit being fully closed and fully opened. Through this installation, the drive unit can continuously switch between the open and closed states, thereby avoiding damage to the actuator. Additionally, by setting the abnormal order N, the intelligence of the control method can be enhanced, and the control method can avoid getting stuck in a loop and unable to stop.

[0108] In step 780, determine whether the initial operating mode is reverse rotation mode.

[0109] If the initial operating mode is reverse rotation mode, perform step 791, and in step 791, enable forward rotation mode.

[0110] If the initial operating mode is not reverse rotation mode, perform step 792, and in step 792, enable reverse rotation mode.

[0111] In the present embodiment, after performing step 791 or step 792, the process may return to step 730, and by determining whether there is an abnormality in operation under the operating mode after the new actuator switch, real-time monitoring of the actuator's torque may be maintained, thereby avoiding an abnormality in operation of the actuator under the operating mode after the switch.

[0112] It must be explained that in step 780, it is determined whether the initial operating mode is a forward rotation mode. Correspondingly, if "yes," step 792 is performed; if "no," step 791 is performed. Alternatively, in step 780, it may be determined whether the initial operating mode is a reverse rotation mode or a forward rotation mode, and if it is a reverse rotation mode, step 791 is performed; if it is a forward rotation mode, step 792 is performed, and the present application is not limited thereto.

[0113] The specific embodiments described in the text are merely illustrative of the concept of this application. Those skilled in the art may substitute the described specific embodiments with various modifications, supplements, or similar methods, provided that they do not go beyond the concept of this application or the limited scope of the appended claims.

[0114] Each technical feature of the embodiments described above may be combined arbitrarily, and for the sake of brevity, not all possible combinations of each technical feature among the embodiments described above are described. However, unless there is a contradiction in such combinations of technical features, they should all be considered to be within the scope described herein.

Claims

Claim 1 An articulated structure comprising a fixed end and a movable end hinged to the fixed end, wherein the fixed end is fixedly connected to the vehicle body of a vehicle and the movable end is fixedly connected to the door assembly of the vehicle; a transmission structure installed on the movable end and comprising a connecting rod and a rocker arm, wherein one end of the connecting rod is rotatably connected to the rocker arm and the other end of the connecting rod is rotatably connected to the fixed end; A driving device characterized by comprising: a driving structure installed on the movable end and including an actuator and a driving shaft— wherein the driving shaft is fixedly connected to an end that moves away from the connecting rod of the rocker arm, and the actuator drives the driving shaft to cause the rocker arm to rotate around the axis of the driving shaft, and the axis of the driving shaft and the axis of the pivot of the articulated structure are located in different planes. Claim 2 A driving device according to claim 1, wherein the driving structure comprises: a driving gear connected to the actuator; and a driven gear, wherein the driven gear is meshed with the driving gear and is also fixedly connected to the driving shaft; and wherein the diameter of the driving gear is smaller than the diameter of the driven gear. Claim 3 A driving device according to claim 2, wherein the driven gear comprises a first driven gear and a second driven gear; the first driven gear is meshed with the driving gear and the second driven gear; the second driven gear is fixedly connected to the driving shaft; and the diameter of the first driven gear is larger than the diameter of the driving gear and smaller than the diameter of the second driven gear. Claim 4 A driving device according to claim 3, wherein the first driven gear comprises a first sub-gear and a second sub-gear; the first sub-gear is fixedly connected to the second sub-gear, and the diameter of the first sub-gear is larger than the diameter of the second sub-gear; the first sub-gear meshes with the driving gear; and the second sub-gear meshes with the second driven gear. Claim 5 The driving device according to claim 1, further comprising: a sealing sleeve disposed around a part of the connecting rod—one end of the sealing sleeve being fixedly connected to the connecting rod and the other end of the sealing sleeve extending to the movable end—; and a torque sensor for detecting the torque of the actuator. Claim 6 A driving device according to claim 1, wherein one end of the connecting rod approaching the rocker arm includes a first socket, and one end of the rocker arm approaching the connecting rod includes a first ball; and the first ball is installed in the first socket so as to be rotatable; and / or, one end of the connecting rod approaching the fixed end includes a second socket, and the fixed end includes a second ball; and the second ball is installed in the second socket so as to be rotatable. Claim 7 A vehicle comprising a door assembly and a driving device according to any one of claims 1 to 6, wherein the driving device is used to drive the door assembly to open or close it; and wherein the door assembly comprises a lower tailgate. Claim 8 A vehicle according to claim 7, characterized in that the vehicle comprises: a locking structure including a vehicle body locking member and a lower tailgate locking member cooperating with the vehicle body locking member; and further comprises a locking sensor for detecting the locking state of the vehicle body locking member and the lower tailgate locking member. Claim 9 A method for controlling a drive device, applied to a vehicle according to claim 8, wherein the control method comprises: a step of obtaining a state of the drive device; and a step of controlling an operating mode of the actuator; wherein the operating mode comprises: a forward rotation mode for pivoting the movable end away from the fixed end; a reverse rotation mode for pivoting the movable end closer to the fixed end; and a stop mode for maintaining a relative position between the movable end and the fixed end. Claim 10 A method for controlling a driving device according to claim 9, wherein the step of obtaining the state of the driving device includes: the step of obtaining the torque of the actuator; and the step of controlling the operating mode of the actuator includes: the step of enabling the stop mode when the torque of the actuator is greater than a preset value; or, the step of obtaining the state of the driving device includes: the step of obtaining the angle between the fixed end and the movable end; and the step of controlling the operating mode of the actuator includes: the step of enabling the stop mode when the angle reaches a preset value. Claim 11 A control method for a driving device according to claim 10, wherein, before obtaining the state of the driving device, the control method further comprises the step of obtaining an initial operating mode of the actuator; and after enabling the stop mode, the control method further comprises the step of determining whether the initial operating mode is a forward rotation mode or a reverse rotation mode; if the initial operating mode is a forward rotation mode, the step of enabling the reverse rotation mode; and if the initial operating mode is a reverse rotation mode, the step of enabling the forward rotation mode. Claim 12 A control method for a driving device according to claim 11, wherein, before acquiring the torque of the actuator, the control method further comprises the step of: setting an ideal order N and making the initial value of N equal to 0; and before determining whether the initial operating mode is a forward rotation mode or a reverse rotation mode, the control method comprises the step of: determining whether the current value of N is greater than 0; if the current value of N is greater than 0, maintaining the stop mode; and if the current value of N is not greater than 0, increasing the current value of N by 1. Claim 13 delete Claim 14 delete Claim 15 delete

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