Vehicle door opening and closing device, vehicle door system and vehicle

Abstract

The present invention belongs to the technical field of automobile accessories. Disclosed are a vehicle door opening and closing device, a vehicle door system, and a vehicle. In the device, a vehicle door bolt is connected to a vehicle door member, and a vehicle body bolt is connected to a vehicle body member; a fixed plate of a mode switching device is connected to a rotating member; a first lock member, a first pawl, a second lock member and a second pawl of the mode switching device are all rotatably connected to the fixed plate; a driving device is used for driving the first pawl and the second pawl to rotate; the vehicle body bolt is located between the first lock member and the first pawl, and the vehicle door bolt is located between the second lock member and the second pawl; and the mode switching device is used for enabling the vehicle door opening and closing device to switch between a scissor door mode and a side-swing door mode. In the scissor door mode, the second pawl engages with the second lock member, while the first pawl disengages from the first lock member; and in the side-swing door mode, the first pawl engages with the first lock member, while the second pawl disengages from the second lock member. Thus, the stable switching between the scissor door mode and the side-swing door mode is achieved.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS The present disclosure claims priority of Chinese Patent Application No. 202510263717.3, filed on March 06, 2025, and entitled "VEHICLE DOOR OPENING AND CLOSING APPARATUS, VEHICLE DOOR SYSTEM, AND VEHICLE", the entire contents of which are hereby incorporated by reference and form a part of the present disclosure for all purposes. TECHNICAL FIELD The present disclosure relates to a vehicle door opening and closing apparatus, a vehicle door system, and a vehicle. BACKGROUND In conventional vehicle designs, vehicle door systems typically adopt a swing door mode or a scissor door mode for opening. To provide a spacious ingress / egress space and enhance user experience, door systems capable of both swing door and scissor door opening modes have recently been developed. Currently, a vehicle door system capable of both swing door and scissor door opening modes includes a body member, a first door member, a second door member, and a switching member. The first door member is rotatably connected to the body member, the second door member is connected to the first door member, and the switching member is provided on the second door member. The switching member is configured to switch a connection between the first door member and the second door member between a rigid connection and a rotational connection, and to switch a connection between the second door member and the body member between a rigid connection and a rotational connection, thereby enabling the vehicle door opening and closing apparatus to switch between a scissor door mode and a swing door mode. Currently, the switching member typically achieves the rigid connection and the rotational connection of the first door member and of the second door member, and of the second door member and the body member, by inserting a structural member into or withdrawing the structural member from the first door member and the body member, thereby performing mode switching of the door. This requires high assembly precision. When the door member or the structural member deforms, the structural member may not be smoothly inserted into the first door member and the body member, making it impossible to smoothly switch the door to the scissor door mode or the swing door mode, thereby resulting in unstable mode switching performance. SUMMARY Embodiments of the present disclosure provide a vehicle door opening and closing apparatus, a vehicle door system, and a vehicle, which achieve switching between a scissor door mode and a swing door mode through cooperation between pawls and latches, with stable performance and satisfying various user requirements. Specifically, the following technical solutions are provided: In a first aspect, an embodiment of the present disclosure provides a vehicle door opening and closing apparatus, comprising a door member, a body member, and a rotating member, a first end of the rotating member being rotatably connected to the door member, and a second end of the rotating member being rotatably connected to the body member; wherein the apparatus further comprises a mode switching device, a door pin, and a body pin; the door pin is connected to the door member, and the body pin is connected to the body member; the mode switching device comprises a fixed plate, a driving device, a first latch, a first pawl, a second latch, and a second pawl; the fixed plate is connected to the rotating member, and the first latch, the first pawl, the second latch, and the second pawl are each rotatably connected to the fixed plate; the driving device is configured to drive the first pawl and the second pawl to rotate; the body pin is provided between the first latch and the first pawl, and the door pin is provided between the second latch and the second pawl; the mode switching device is configured to switch the vehicle door opening and closing apparatus between a scissor door mode and a swing door mode, wherein, in the scissor door mode, the second pawl is engaged with the second latch, and the first pawl is disengaged from the first latch; and in the swing door mode, the first pawl is engaged with the first latch, and the second pawl is disengaged from the second latch. Optionally, the driving device comprises a first fork, a second fork, and a power device; the first fork and the second fork are each connected to the fixed plate, and the power device is connected to both the first fork and the second fork, and is capable of driving the first fork and the second fork to move in opposite directions; the first fork is configured to push the first pawl to rotate, and the second fork is configured to push the second pawl to rotate. Optionally, the second fork is connected to an elastic member, the elastic member is connected to an end plate, and the end plate is connected to the fixed plate; when the second pawl is engaged with the second latch, the elastic member is in a compressed state. Optionally, the power device comprises a power output member, a gear, a first rack, and a second rack; the power output member is connected to the gear, the gear is engaged with the first rack and the second rack, the first rack is connected to the first fork, and the second rack is connected to the second fork. Optionally, the first rack and the second rack are symmetrically arranged. Optionally, the first latch is provided above the first pawl; and after the first pawl is disengaged from the first latch, an end portion of the first pawl abuts against an end portion of the first latch, and a rotational axis of the first latch is offset from a center of gravity of the first latch. Optionally, the second latch is provided above the second pawl; and after the second pawl is disengaged from the second latch, an end portion of the second pawl abuts against an end portion of the second latch, and a rotational axis of the second latch is offset from a center of gravity of the second latch. Optionally, the rotating member comprises a horizontal rotation assembly, a vertical rotation assembly, an outward-swing assembly, and a connection assembly; the horizontal rotation assembly is connected to the body member, the vertical rotation assembly is mounted on the horizontal rotation assembly, and the connection assembly is connected to the vertical rotation assembly; the connection assembly is rotatably connected to the door member; the outward-swing assembly is provided between the connection assembly and the body member; and the fixed plate is connected to the connection assembly. Optionally, the horizontal rotation assembly comprises a first shaft and a link; the first shaft is connected to the body member; the link is rotatably connected to the first shaft; the vertical rotation assembly comprises a second shaft connected to the link; the connection assembly comprises a door connecting plate and a fifth shaft; the door connecting plate is rotatably connected to the second shaft; the fifth shaft is connected to the door connecting plate; the fifth shaft is rotatably connected to the door member; and the fixed plate is connected to the door connecting plate. Optionally, the outward-swing assembly comprises a third shaft, a fourth shaft, a rotating rod, and a joint bearing; the fourth shaft is connected to the body member, the joint bearing is sleeved on the fourth shaft, the third shaft is connected to the door connecting plate, a first end of the rotating rod is connected to the joint bearing, and a second end of the rotating rod is rotatably connected to the third shaft. In a second aspect, an embodiment of the present disclosure provides a vehicle door system, comprising a vehicle door and the vehicle door opening and closing apparatus of the first aspect, wherein the door member of the vehicle door opening and closing apparatus is connected to the vehicle door. In a third aspect, an embodiment of the present disclosure provides a vehicle, comprising a vehicle door, a body, and the vehicle door opening and closing apparatus of the first aspect, wherein the body member of the vehicle door opening and closing apparatus is connected to the body, and the door member of the vehicle door opening and closing apparatus is connected to the vehicle door. The beneficial effects of the technical solutions provided by the embodiments of the present disclosure include at least the following: The embodiments of the present disclosure provide a vehicle door opening and closing apparatus, a vehicle door system, and a vehicle. In the apparatus, the door pin is provided on the door member, the body pin is provided on the body member, and the mode switching device is provided on the rotating member. The mode switching device is provided with the first latch, first pawl, second latch, and second pawl, each of which is rotatable. The body pin is provided between the first latch and the first pawl, and the door pin is provided between the second latch and the second pawl. When the first pawl is engaged with the first latch, the body member and the rotating member cannot rotate relative to each other; when the first pawl is disengaged from the first latch, the body member and the rotating member can rotate relative to each other. When the second pawl is engaged with the second latch, the rotating member and the door member cannot rotate relative to each other; when the second pawl is disengaged from the second latch, the door member and the rotating member can rotate relative to each other. Through the cooperation between the first pawl and the first latch, and between the second pawl and the second latch, switching between the swing door mode and the scissor door mode of the door opening and closing apparatus is achieved, satisfying various user requirements, enriching the door opening / closing modes of the vehicle, and improving the vehicle's practicality and user experience. Moreover, even if the pawls or latches undergo partial deformation, as long as the pawls and latches can still rotate, the engagement of the pawls with the latches is not affected, and the rigid connection between the rotating member and the door member or between the rotating member and the body member can still be achieved to realize mode switching, thereby improving the stability of mode switching. BRIEF DESCRIPTION OF THE DRAWINGS To more clearly describe the technical solutions in the examples of the present disclosure, the following briefly introduces the accompanying drawings required for describing the examples. It is apparent that the drawings in the following description are merely some examples of the present disclosure, and for those of ordinary skill in the art, other drawings may be obtained based on these drawings without creative effort. FIG. 1 is a schematic overall structural view of a vehicle door opening and closing apparatus according to an example of the present disclosure; FIG. 2 is a first side schematic view of a mode switching device according to an example of the present disclosure; FIG. 3 is a second side schematic view of a mode switching device according to an example of the present disclosure; FIG. 4 is a schematic structural view of an elastic member according to an example of the present disclosure; FIG. 5 is a schematic front view of the vehicle door opening and closing apparatus connected to a vehicle door according to an example of the present disclosure; FIG. 6 is a schematic side view of the vehicle door opening and closing apparatus connected to a vehicle door according to an example of the present disclosure; FIG. 7 is a schematic view of a swing door mode according to an example of the present disclosure; and FIG. 8 is a schematic view of a scissor door mode according to an example of the present disclosure. Wherein: 1. first shaft; 2. second shaft; 3. third shaft; 4. fourth shaft; 5. link; 6. rotating rod; 7. body member; 8. door member; 9. joint bearing; 10. fifth shaft; 11. door connecting plate; 12. fixed plate; 13. first latch; 14. first pawl; 15. second latch; 16. second pawl; 17. body pin; 18. door pin; 19. gear; 20. first fork; 21. second fork; 22. end plate; 23. elastic member; 24. vehicle door; 25. reduction gearbox; 26. drive motor; 27. bolt; 28. mode switching device. Through the above drawings, specific examples of the present disclosure have been shown and will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concept of the present disclosure in any manner, but rather to illustrate the concept of the present disclosure to those skilled in the art by reference to specific examples. DETAILED DESCRIPTION The technical solutions in the examples of the present disclosure will be described clearly and completely below with reference to the accompanying drawings in the examples of the present disclosure. It is apparent that the described examples are part of, rather than all of, the examples of the present disclosure. All other examples obtained by those of ordinary skill in the art based on the examples of the present disclosure without creative effort fall within the scope of protection of the present disclosure. Directional terms used in the examples of the present disclosure, such as "upper", "lower", "side", etc., are generally based on the relative orientations shown in FIG. 1, and are used merely to more clearly describe the structures and relationships among structures, and are not intended to describe absolute orientations. When the product is placed in different postures, the orientations may change, e.g., "upper" and "lower" may be interchanged. Unless otherwise defined, all technical terms used in the examples of the present disclosure have the same meanings as commonly understood by those of ordinary skill in the art. Some technical terms appearing in the examples of the present disclosure are explained below. To make the technical solutions and advantages of the present disclosure clearer, the examples of the present disclosure will be described in further detail below with reference to the accompanying drawings. An example of the present disclosure provides a vehicle door opening and closing apparatus, as shown in FIGS. 1-8, including a door member 8, a body member 7, and a rotating member. A first end of the rotating member is rotatably connected to the door member 8, and a second end of the rotating member is rotatably connected to the body member 7. The vehicle door opening and closing apparatus further includes a mode switching device 28, a door pin 18, and a body pin 17. The door pin 18 is connected to the door member 8, and the body pin 17 is connected to the body member 7. The mode switching device 28 includes a fixed plate 12, a driving device, a first latch 13, a first pawl 14, a second latch 15, and a second pawl 16. The fixed plate 12 is connected to the rotating member. The first latch 13, the first pawl 14, the second latch 15, and the second pawl 16 are each rotatably connected to the fixed plate 12. The driving device is configured to drive the first pawl 14 and the second pawl 16 to rotate. The first pawl 14 is capable of rotating to engage with the first latch 13 or to disengage from the first latch 13. The second pawl 16 is capable of rotating to engage with the second latch 15 or to disengage from the second latch 15. The body pin 17 is provided between the first latch 13 and the first pawl 14. The door pin 18 is provided between the second latch 15 and the second pawl 16. The mode switching device 28 is configured to switch the vehicle door opening and closing apparatus between a scissor door mode and a swing door mode. In the scissor door mode, the second pawl 16 is engaged with the second latch 15, and the first pawl 14 is disengaged from the first latch 13. In the swing door mode, the first pawl 14 is engaged with the first latch 13, and the second pawl 16 is disengaged from the second latch 15. The body member 7 is adapted to connect to a vehicle body. For example, the body member 7 is connected to a body frame of the vehicle. As shown in FIGS. 7 and 8, the vehicle door opening and closing apparatus provided by the example of the present disclosure has a scissor door mode and a swing door mode. In the scissor door mode, the rotating member is rigidly connected to the door member 8, and the body member 7 is rotatable relative to the rotating member, enabling scissor-type opening and closing. In the swing door mode, the rotating member is rigidly connected to the body member 7, and the door member 8 is rotatable relative to the rotating member, enabling swing-type opening and closing. As shown in FIG. 1, the rotating member includes a horizontal rotation assembly, a vertical rotation assembly, an outward-swing assembly, and a connection assembly. The horizontal rotation assembly is connected to the body member 7, the vertical rotation assembly is mounted on the horizontal rotation assembly, and the connection assembly is connected to the vertical rotation assembly. The connection assembly is rotatably connected to the door member 8. The outward-swing assembly is provided between the connection assembly and the body member. The fixed plate is connected to the connection assembly. The horizontal rotation assembly includes a first shaft 1 and a link 5. The first shaft 1 is connected to the body member 7. The link 5 is rotatably connected to the first shaft 1, wherein the link 5 is capable of rotating about the first shaft 1 in a horizontal direction. The vertical rotation assembly includes a second shaft 2 which is connected to the link 5. The connection assembly includes a door connecting plate 11 and a fifth shaft 10. The door connecting plate 11 is rotatably connected to the second shaft 2, wherein the door connecting plate 11 is capable of rotating about the second shaft 2 in a vertical direction. The fifth shaft 10 is connected to the door connecting plate 11. The fifth shaft 10 is rotatably connected to the door member 8, wherein the door member 8 is capable of rotating about the axis of the fifth shaft 10 to swing the vehicle door open. The door member 8 and fixed plate 12 are connected to the door connecting plate 11. The first shaft 1 enables the vehicle door to swing outward to release a door lock, and then the second shaft 2 enables the vehicle door to rotate upward, such that the vehicle door may first swing outward to unlock and then rotate upward. The outward-swing assembly includes a third shaft 3, a fourth shaft 4, a rotating rod 6, and a joint bearing 9. The fourth shaft 4 is connected to the body member 7, the joint bearing 9 is sleeved on the fourth shaft 4, the third shaft 3 is connected to the door connecting plate 11, a first end of the rotating rod 6 is connected to the joint bearing 9, and a second end of the rotating rod 6 is rotatably connected to the third shaft 3. The door member 8 and the rotating rod 6 rotate outward via the third shaft 3. During the upward rotation, the vehicle also needs to rotate outward in a Y-direction to increase the ingress space for users, thereby facilitating entry into the vehicle. Therefore, the rotating rod 6 is introduced. During upward rotation of the door member 8, a Y-direction distance of the rotating rod 6 increases accordingly, thereby driving the door member 8 to move toward the outside of the vehicle door. The rotating rod 6 is connected to the body member 7 via the joint bearing 9 and the fourth shaft 4 to achieve a combination of a revolute joint, a spherical joint, and a linear sliding connection, so that the degrees of freedom of the entire structure are fully constrained and the vehicle door can perform a rotating and upward movement, thereby enabling the vehicle door to rotate upward. Two ends of the fourth shaft 4 are respectively provided on the body member 7 via support members. For example, the first latch 13 is disposed above the first pawl 14, and the second latch 15 is disposed above the second pawl 16. After the first pawl 14 is disengaged from the first latch 13, an end portion of the first pawl 14 abuts against an end portion of the first latch 13, and a rotational axis of the first latch 13 is offset from a center of gravity of the first latch 13. Thus, when a first fork is no longer in contact with the first pawl 14, due to the eccentric arrangement of the rotational axis of the first latch 13, the first latch 13 returns to its initial position under its own gravity. During the return rotation of the first latch 13, the abutting end portions of the first latch 13 and the first pawl 14 drive the first pawl 14 to rotate back until the first pawl 14 engages with the first latch 13. After the second pawl 16 is disengaged from the second latch 15, an end portion of the second pawl 16 abuts against an end portion of the second latch 15, and a rotational axis of the second latch 15 is offset from a center of gravity of the second latch 15. Thus, when a second fork is no longer in contact with the second pawl 16, due to the eccentric arrangement of the rotational axis of the second latch 15, the second latch 15 returns to its initial position under its own gravity. During the return rotation of the second latch 15, the abutting end portions of the second latch 15 and the second pawl 16 drive the second pawl 16 to rotate back until the first pawl 14 engages with the second latch 15. When the first pawl 14 is engaged with the first latch 13, the position of the first latch 13 is the initial position of the first latch 13. When the second pawl 16 is engaged with the second latch 15, the position of the second latch 15 is the initial position of the second latch 15. The driving device includes a first fork 20, a second fork 21, and a power device. The first fork 20 and the second fork 21 are each connected to the fixed plate 12. The power device is connected to both the first fork 20 and the second fork 21, and is capable of driving the first fork 20 and the second fork 21 to move in opposite directions. The first fork 20 is configured to push the first pawl 14 to rotate, and the second fork 21 is configured to push the second pawl 16 to rotate, as shown in FIGS. 2 and 3. The power device includes a power output member, a gear 19, a first rack, and a second rack. The power output member is connected to the gear 19, the gear 19 is engaged with the first rack and the second rack, the first rack is connected to the first fork 20, and the second rack is connected to the second fork 21. The power output member may be a drive motor 26. The drive motor 26 is connected to the gear 19 via a reduction gearbox 25. The drive motor 26 provides power for rotation of the gear 19, and the gear 19 rotates to drive the first rack and the second rack to move. The drive motor 26 and the reduction gearbox 25 are each connected to the fixed plate 12. As shown in FIG. 2, the first rack and the second rack are symmetrically arranged. When the drive motor 26 drives the gear 19 to rotate, the first rack and the second rack move in opposite directions, thereby driving the first fork 20 and the second fork 21 to move in opposite directions. When the first fork 20 moves downward, it pushes the first pawl 14 to rotate, so that the first pawl 14 engaged with the first latch 13 disengages from the first latch. In this state, the first latch can rotate, and the rotating member can rotate relative to the body. At this time, the second fork 21 moves upward and separates from the second pawl 16. Under the eccentric action of the second latch 15, the second latch 15 drives the second pawl 16 to rotate back, so that the second pawl 16 re-engages with the second latch 15. At this time, neither the second latch 15 nor the second pawl 16 can rotate further, the rotating member and the door member are rigidly connected, and the vehicle door opening and closing apparatus is switched to the scissor door mode. When the second fork 21 moves downward, it pushes the second pawl 16 to rotate, so that the second pawl 16 engaged with the second latch 15 disengages from the second latch. In this state, the second latch can rotate, and the door member can rotate relative to the rotating member. At this time, the first fork 20 moves upward and separates from the first pawl 14. Under the eccentric action of the first latch 13, the first latch 13 drives the first pawl 14 to rotate back, so that the first pawl 14 re-engages with the first latch 13. At this time, neither the first latch 13 nor the first pawl 14 can rotate further, the rotating member and the body member are rigidly connected, and the vehicle door opening and closing apparatus is switched to the swing door mode. As shown in FIG. 4, the second fork 21 is connected to an elastic member 23, the elastic member 23 is connected to an end plate 22, and the end plate 22 is connected to the fixed plate 12. When the second pawl 16 is engaged with the second latch 15, the elastic member 23 is in a compressed state. That is, when the power output member is not operating, under the elastic force of the elastic member 23, the second fork 21 separates from the second pawl 16, the second pawl 16 engages with the second latch 15, and the apparatus is placed in the swing door mode. The elastic member 20 may be a spring. By providing the elastic member, a switching lock can be easily opened from the outside via a mechanical pull of a handle. Otherwise, if the swing door is in a locked state, it would be impossible to open the vehicle door from the outside via the handle. In addition, since swing door scenarios are more common in daily use, this design can reduce the frequency of use of the swing door lock and reduce wear. As shown in FIGS. 5 and 6, the door member 8 is connected to the vehicle door 24 via bolts 27. The body member 7 is connected to the vehicle body via bolts 27. The vehicle door opening and closing apparatus provided by the examples of the present disclosure uses the driving device to drive the first latch to move, with the door pin provided on the door member, the body pin provided on the body member, and the mode switching device provided on the rotating member, the mode switching device being provided with the first latch, the first pawl, the second latch, and second pawl, each of which is rotatable. The body pin is provided between the first latch and the first pawl, and the door pin is provided between the second latch and the second pawl. When the first pawl is engaged with the first latch, the body member and the rotating member cannot rotate relative to each other, and when the first pawl is disengaged from the first latch, the body member and the rotating member can rotate relative to each other. When the second pawl is engaged with the second latch, the rotating member and the door member cannot rotate relative to each other, and when the second pawl is disengaged from the second latch, the door member and the rotating member can rotate relative to each other. Through the cooperation between the first pawl and the first latch and between the second pawl and the second latch, switching between the swing door mode and the scissor door mode of the vehicle door opening and closing apparatus is achieved, satisfying various user requirements, enriching the door opening / closing modes of the vehicle, and improving the vehicle's practicality and user experience. Moreover, even if the pawls or latches undergo partial deformation, as long as the pawls and latches can still rotate, the engagement of the pawls with the latches is not affected, and the rigid connection between the rotating member and the door member or between the rotating member and the body member can still be achieved to realize mode switching, thereby improving the stability of the vehicle door mode switching. An example of the present disclosure also provides a vehicle door system, including a vehicle door and the vehicle door opening and closing apparatus according to any one of the above examples. The door member of the vehicle door opening and closing apparatus is connected to the vehicle door. For example, the vehicle may be a fuel-powered vehicle, an electric vehicle, a hybrid vehicle, a solar vehicle, etc., and the examples of the present disclosure are not specifically limited thereto. For example, the doors of the vehicle may all be scissor-type, or all be swing-type, or one or more of the doors may be scissor-type while the remaining doors are swing-type. An example of the present disclosure also provides a vehicle, including a vehicle door, a body, and the vehicle door opening and closing apparatus according to any one of the above examples. The body member of the vehicle door opening and closing apparatus is connected to the body, and the door member of the vehicle door opening and closing apparatus is connected to the vehicle door. The vehicle provided by the examples of the present disclosure uses the mode switching device to control the connection states between the rotating member and the body member, and between the rotating member and the door member, so that the vehicle can achieve scissor-type door opening / closing or swing-type door opening / closing, satisfying various user requirements, enriching the door opening / closing modes of the vehicle, and improving the vehicle's practicality and user experience. Although the specific implementations of the present disclosure have been described above with reference to the accompanying drawings, they do not limit the scope of protection of the present disclosure. Those skilled in the art should understand that, on the basis of the technical solutions of the present disclosure, various modifications or variations that can be made without requiring creative effort are still within the scope of protection of the present disclosure.

Claims

1. A vehicle door opening and closing apparatus, comprising a door member, a body member, and a rotating member, a first end of the rotating member being rotatably connected to the door member, and a second end of the rotating member being rotatably connected to the body member; characterized in that: the apparatus further comprises a mode switching device, a door pin, and a body pin; the door pin is connected to the door member, and the body pin is connected to the body member; the mode switching device comprises a fixed plate, a driving device, a first latch, a first pawl, a second latch, and a second pawl; the fixed plate is connected to the rotating member, and the first latch, the first pawl, the second latch, and the second pawl are each rotatably connected to the fixed plate; the driving device is configured to drive the first pawl and the second pawl to rotate; the body pin is provided between the first latch and the first pawl, and the door pin is provided between the second latch and the second pawl; the mode switching device is configured to switch the vehicle door opening and closing apparatus between a scissor door mode and a swing door mode, wherein, in the scissor door mode, the second pawl is engaged with the second latch, and the first pawl is disengaged from the first latch; and in the swing door mode, the first pawl is engaged with the first latch, and the second pawl is disengaged from the second latch;the driving device comprises a first fork, a second fork, and a power device; the first fork and the second fork are each connected to the fixed plate, and the power device is connected to both the first fork and the second fork, and is capable of driving the first fork and the second fork to move in opposite directions; the first fork is configured to push the first pawl to rotate, and the second fork is configured to push the second pawl to rotate.

2. The vehicle door opening and closing apparatus according to claim 1, wherein the second fork is connected to an elastic member, the elastic member is connected to an end plate, and the end plate is connected to the fixed plate; when the second pawl is engaged with the second latch, the elastic member is in a compressed state.

3. The vehicle door opening and closing apparatus according to claim 1, wherein the power device comprises a power output member, a gear, a first rack, and a second rack; the power output member is connected to the gear, the gear is engaged with the first rack and the second rack, the first rack is connected to the first fork, and the second rack is connected to the second fork.

4. The vehicle door opening and closing apparatus according to claim 3, wherein the first rack and the second rack are symmetrically arranged.

5. The vehicle door opening and closing apparatus according to claim 1, wherein the first latch is provided above the first pawl; andafter the first pawl is disengaged from the first latch, an end portion of the first pawl abuts against an end portion of the first latch, and a rotational axis of the first latch is offset from a center of gravity of the first latch.

6. The vehicle door opening and closing apparatus according to claim 1, wherein the second latch is provided above the second pawl;and after the second pawl is disengaged from the second latch, an end portion of the second pawl abuts against an end portion of the second latch, and a rotational axis of the second latch is offset from a center of gravity of the second latch.

7. The vehicle door opening and closing apparatus according to claim 1, wherein the rotating member comprises a horizontal rotation assembly, a vertical rotation assembly, an outward-swing assembly, and a connection assembly; the horizontal rotation assembly is connected to the body member, the vertical rotation assembly is mounted on the horizontal rotation assembly, and the connection assembly is connected to the vertical rotation assembly; the connection assembly is rotatably connected to the door member; the outward-swing assembly is provided between the connection assembly and the body member; and the fixed plate is connected to the connection assembly.

8. The vehicle door opening and closing apparatus according to claim 7, wherein the horizontal rotation assembly comprises a first shaft and a link; the first shaft is connected to the body member; the link is rotatably connected to the first shaft; the vertical rotation assembly comprises a second shaft connected to the link; the connection assembly comprises a door connecting plate and a fifth shaft; the door connecting plate is rotatably connected to the second shaft; the fifth shaft is connected to the door connecting plate; the fifth shaft is rotatably connected to the door member; and the fixed plate is connected to the door connecting plate.

9. The vehicle door opening and closing apparatus according to claim 7, wherein the outwardswing assembly comprises a third shaft, a fourth shaft, a rotating rod, and a joint bearing; the fourth shaft is connected to the body member, the joint bearing is sleeved on the fourth shaft, the third shaft is connected to the door connecting plate, a first end of the rotating rod is connected to the joint bearing, and a second end of the rotating rod is rotatably connected to the third shaft.

10. A vehicle door system, comprising a vehicle door and the vehicle door opening and closing apparatus according to any one of claims 1-9, wherein the door member of the vehicle door opening and closing apparatus is connected to the vehicle door.

11. A vehicle, comprising a vehicle door, a body, and the vehicle door opening and closing apparatus according to any one of claims 1-9, wherein the body member of the vehicle door opening and closing apparatus is connected to the body, and the door member of the vehicle door opening and closing apparatus is connected to the vehicle door.

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