Drive device, vehicle, and control method of drive device

Abstract

The present application relates to a driving device, a vehicle and a control method for the driving device. The driving device includes an articulated structure, a transmission structure and a driving structure. The articulated structure includes a fixed end and a movable end articulated to the fixed end. The transmission structure is arranged at the movable end, including a connecting rod and a rocker arm. One end of the connecting rod is rotatably connected to the rocker arm, and the other end is rotatably connected to the fixed end. The driving structure is arranged at the movable end, including a driver and a transmission shaft. The transmission shaft is fixedly connected to the end of the rocker arm away from the connecting rod. The driver drives the transmission shaft to rotate the rocker arm around the axis of the transmission shaft. Through such an arrangement, since the output torque of the driver is stable, the rocker arm is driven to rotate nonlinearly by the driver, so that the connecting rod pushes the movable end to pivot, which is conducive to overcoming the problem of the constantly changing force arm during the opening and closing process of the driving device, and improves the stability of the driving device during the opening and closing process.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a drive device, a vehicle, and a control method for the drive device. Background Art

[0002] With the rapid development of the vehicle industry, consumers have higher and higher requirements for vehicle automation. In the past, the manual opening or closing of the luggage compartment door of the vehicle can no longer meet the current consumer demand for vehicle functions.

[0003] At present, more and more vehicle luggage compartment doors are formed by a combination of an upper back door and a lower back door. When the lower back door is opened, the luggage compartment space can be expanded, providing users with more usage methods in different scenarios. Summary of the invention

[0004] The present application provides a drive device, a vehicle, and a control method for the drive device to solve some or all of the deficiencies in the related art.

[0005] In a first aspect, 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 articulated to the fixed end. The transmission structure is arranged at the movable end, comprising a connecting rod and a rocker arm. One end of the connecting rod is rotatably connected to the rocker arm, and the other end is rotatably connected to the movable end. The driving structure is arranged at the movable end, comprising a driver and a transmission shaft. The transmission shaft is fixedly connected to the end of the rocker arm away from the connecting rod. The driver drives the transmission shaft to rotate the rocker arm around the axis of the transmission shaft. Through such an arrangement, since the output torque of the driver is stable, the rocker arm is driven to rotate nonlinearly by the driver, so that the connecting rod pushes the movable end to pivot, which is conducive to overcoming the problem of the constantly changing force arm during the opening and closing process of the driving device, and improves the stability of the driving device during the opening and closing process.

[0006] Furthermore, the driving structure includes a driving gear and a driven gear. The driving gear is connected to the driver. The driven gear meshes with the driving gear and is fixedly connected to the transmission shaft. 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 enables the driven gear to amplify the torque of the driver, so compared with the technical solution in which the driver is directly connected to the transmission shaft, it is conducive to reducing the requirements of the driver parameters, thereby reducing the size and cost of the driver.

[0007] Furthermore, the driven gear includes a first driven gear and a second driven gear; the first driven gear meshes with the driving gear and the second driven gear respectively; the second driven gear is fixedly connected to the transmission 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. By such an arrangement, it is possible to avoid the need for a huge driven gear due to an excessively large reduction ratio in the first-stage transmission, which is conducive to optimizing the volume of the drive device.

[0008] Furthermore, the first driven gear includes 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 greater 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 such an arrangement, multiple gears can be arranged on different planes, making full use of multiple dimensions of space in the driving device, improving the compactness of the structure and optimizing the utilization of space.

[0009] Furthermore, the driving device further comprises a sealing rubber sleeve. The sealing rubber sleeve is sleeved on a part of the connecting rod; one end of the sealing rubber sleeve is fixedly connected to the connecting rod, and the other end extends to the movable end. Through such an arrangement, even if foreign matter enters the driving device, the sealing rubber sleeve can block the foreign matter from the driving structure and the transmission structure, thereby preventing the foreign matter from affecting the driving structure and the transmission structure.

[0010] Furthermore, the end of the connecting rod near the rocker arm includes a first ball socket, and the end of the rocker arm near the connecting rod includes a first ball head; the first ball head is rotatably arranged in the first ball socket; and / or the end of the connecting rod near the fixed end includes a second ball socket, and the fixed end includes a second ball head; the second ball head is rotatably arranged in the second ball socket. Through the contact between the spherical surfaces, the rotation angle between the connecting rod and the rocker arm is increased, and rotation can be achieved in multiple directions, thereby improving the rotation flexibility of the rotating connection position of the driving device during the opening or closing process, and making the movement of the driving device smoother.

[0011] Furthermore, the drive device further comprises a torque sensor for detecting the torque of the driver. By such an arrangement, it is possible to avoid damage to the driver due to clamping of foreign objects during the process of the movable end and the fixed end pivoting towards each other, as well as personal injury and damage to objects.

[0012] The second aspect of the present application provides a vehicle, comprising the drive device described in the above embodiment. By setting the drive device, the driver drives the rocker arm to rotate nonlinearly and pushes the connecting rod to drive the movable end to pivot away from or close to the fixed end, thereby realizing the electric opening and electric closing of the door assembly. In addition, the torque output of the driver is stable, which can effectively improve the stability of the angle change of the door assembly during the opening and closing process.

[0013] Furthermore, the vehicle also includes a body and a trunk lower door; the movable end of the hinged structure of the driving device is fixedly connected to the trunk lower door, and the fixed end of the hinged structure is fixedly connected to the body. Through such an arrangement, the force of the trunk lower door changes evenly during the pivoting opening and pivoting closing process, so the trunk lower door can be opened and closed smoothly and at a uniform speed, thereby improving the stability during the opening and closing process.

[0014] Furthermore, the vehicle further includes a locking structure and a locking sensor. The locking structure includes a body locking member and a lower back door locking member cooperating with the body locking member; the locking sensor is used to detect the locking state of the body locking member and the lower back door locking member. By providing the locking sensor, it is possible to detect whether the lower back door locking member and the body locking member are locked, thereby detecting whether the driving device is pivoted to the position and switched to the closed position, so as to avoid the lower back door being accidentally opened due to the driving device not being closed to the position.

[0015] The third aspect of the present application provides a control method for a drive device, which is applied to the vehicle described in the above embodiment, including: obtaining the state of the drive device; controlling the working mode of the driver; wherein the working mode includes: a forward mode for pivoting the movable end away from the fixed end; a reverse mode for pivoting the movable end toward the fixed end; and a stop mode for maintaining the relative position between the movable end and the fixed end. By first obtaining the state of the drive device and then controlling the working mode of the driver, the drive device can be adjusted intelligently and automatically, providing flexibility and convenience in the use of the drive device.

[0016] Further, the state of the drive device is obtained by: obtaining the torque of the driver; and the working mode of the driver is controlled by: when the torque of the driver is greater than a preset value, the stop mode is activated. By setting in this way, when the torque of the driver is greater than the preset value, the pivoting movement of the drive device can be stopped in time, so as to avoid the damage of the drive device caused by the forward rotation of the driver when the pivot is opened and the external space is insufficient, or the damage of the foreign matter and the damage of the drive device caused by the reverse rotation of the driver when the pivot is closed and there is a foreign matter between the movable end and the fixed end.

[0017] Furthermore, before obtaining the state of the drive device, it also includes: obtaining the initial working mode of the driver; after turning on the stop mode, it also includes: when the initial working mode is the forward mode, turning on the reverse mode; and / or when the initial working mode is the reverse mode, turning on the forward mode. With such a configuration, if there is an obstacle during the opening process of the drive device, the driver reverses to close the drive device, thereby preventing the extended active end from colliding with the obstacle and causing damage to the obstacle or the active end. If there is an obstacle during the closing process of the drive device, the driver rotates forward to open the drive device, thereby preventing the drive device from retaining the foreign object.

[0018] Further, the obtaining of the state of the driving device includes: obtaining the angle between the fixed end and the movable end; and the controlling of the working mode of the driver includes: turning on the stop mode when the angle reaches a preset angle value. By setting in this way, the angle value between the fixed end and the movable end can be obtained in real time, and the working mode of the driver can be controlled to the stop mode when the angle value is equal to the preset value, thereby avoiding the problem that the driver continues to work when the movable end and the fixed end are pivoted to the closed position or the open position, resulting in the problem of the movable end and the fixed end being stuck or the driver being damaged.

[0019] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 Shown is a front view of an embodiment of a driving device of the present application.

[0022] Figure 2 Shown as Figure 1 Rear view of the drive unit shown.

[0023] Figure 3 Shown as Figure 1 A side view of the drive device is shown, wherein the drive device is in the closed state.

[0024] Figure 4 Shown as Figure 1 A side view of the drive device is shown, wherein the drive device is in the open state.

[0025] Figure 5 A partial schematic diagram of an embodiment of a vehicle of the present application is shown, in which a trunk lower back door is in a closed state.

[0026] Figure 6 Shown as Figure 5 A partial schematic diagram of the vehicle is shown with the luggage compartment lower back door open.

[0027] Figure 7 The figure shows a flow chart of an embodiment of a control method of a driving device of the present application.

[0028] Figure 8 The figure shows a flow chart of another embodiment of the control method of the drive device of the present application.

[0029] Fig. 9 The figure shows a flow chart of another embodiment of the control method of the drive device of the present application.

[0030] Fig.10 The figure shows a flow chart of another embodiment of the control method of the driving device of the present application.

[0031] Fig.11 The figure shows a flow chart of another embodiment of the control method of the driving device of the present application.

[0032] Among them, 100 driving device, 1 hinge structure, 11 movable end, 111 connecting rod hole, 12 fixed end, 13 pivot axis, 2 transmission structure, 21 connecting rod, 22 rocker arm, 3 driving structure, 31 driver, 32 transmission 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 rubber sleeve, 51 first fixed plate, 52 second fixed plate, 200 vehicle, 210 vehicle body, 220 luggage compartment lower tailgate, 230 luggage compartment upper tailgate, 240 luggage compartment space. DETAILED DESCRIPTION

[0033] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The methods described in the following exemplary embodiments do not represent all methods consistent with the present application. Instead, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0034] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. The words "first", "second" and similar words used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one" or "one" do not indicate a quantitative limit, but indicate that there is at least one, and if only "one" is referred to, it will be separately described. "Multiple" or "several" means two or more. Unless otherwise specified, similar words such as "front", "rear", "lower" and / or "upper" are only for the convenience of explanation, and are not limited to one position or one spatial orientation. Similar words such as "include" or "comprise" mean that the elements or objects appearing in front of "include" or "comprise" cover the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. "Connected" or "connected" and similar words 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 specification and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0035] refer to Figures 1 to 4 In a first aspect, the present application provides 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. The transmission structure 2 and the driving structure 3 are both arranged at 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 is rotatably connected to the fixed end 12. The driving structure 3 comprises a driver 31 and a transmission shaft 32. The transmission shaft 32 is fixedly connected to the end of the rocker arm 22 away from the connecting rod 21, and the driver 31 drives the transmission shaft 32 to rotate the rocker arm 22 around the axis of the transmission shaft 32.

[0036] The driving device 100 includes a closed state and an open state. Figure 3 As shown in FIG. 1 , at this time, the angle between the movable end 11 and the fixed end 12 is small, and the connecting rod 21 is in a nearly vertical state. Figure 4 As shown, at this time, the angle between the movable end 11 and the fixed end 12 increases, and the connecting rod 21 is in an approximately horizontal state.

[0037] refer to Figure 1, at this time, the drive device 100 is in the closed state. When the drive device 100 switches from the closed state to the open state, the driver 31 drives the transmission shaft 32 to rotate, so that the end of the rocker arm 22 connected to the connecting rod 21 moves downward. Since the other end of the connecting rod 21 is connected to the fixed end 12 whose position does not change, and the length of the connecting rod 21 is fixed, the force originally acting on the fixed end 12 acts in the opposite direction to the movable end 11 through the connecting rod 21, so that the movable end 11 pivots away from the fixed end 12 around the pivot axis 13. In this way, the drive device 100 can be switched from the closed state to the open state.

[0038] On the contrary, when the driving device 100 is in the open state, the driver 31 drives the transmission shaft 32 to rotate in the opposite direction, and the connecting rod 21 tends to pull the fixed end 12. Since the position of the fixed end 12 is fixed, the connecting rod 21 pulls the movable end 11 in the opposite direction, causing the movable end 11 to pivot around the pivot axis 13 close to the fixed end 12, thereby switching the driving device 100 from the open state to the closed state.

[0039] By such a configuration, the driver 31 with stable output torque drives the rocker arm 22 to rotate nonlinearly, so that the connecting rod 21 pushes the movable end 11 to pivot, which is conducive to overcoming the problem of the force arm constantly changing during the opening and closing process of the driving device 100, and improves the stability of the driving device 100 during the opening and closing process. In addition, when the connecting rod 21 switches between the open state and the closed state, the angle can be switched from approximately vertical to approximately horizontal, so that the movable end 11 and the fixed end 12 can be driven to pivot, so that the pivot angle is within the range of greater than or equal to 0 degrees and less than or equal to 120 degrees, so that the driving device 100 can be fully opened and closed.

[0040] In addition, reference Figure 3 and Figure 4 It can be seen from the embodiment shown that, through the arrangement of the present application, when the driving device 100 is pivoted to the maximum open position, the angle between the movable end 11 and the fixed end 12 changes by more than 100°, while the angle change of the connecting rod 21 is less than 80° or even 70°. In other words, the connecting rod 21 and the rocker arm 22 only need to move slightly to achieve the full opening and closing of the driving device 100. Therefore, the arrangement of the present application can amplify the movement range of the transmission structure 2, thereby optimizing the volume of the transmission structure 2, and there is no need to reserve a large travel space for the transmission structure 2.

[0041] The rocker arm 22 may actually be a rod-shaped structure like the connecting rod 21. Alternatively, the rocker arm 22 may also be a rod-shaped structure such as the connecting rod 21. Figure 1The structure shown is set as a teardrop shape, and the position with a larger radius is set on the transmission shaft 32. The central axis of the rocker arm 22 intersects with the axis of the transmission shaft 32, so that the end of the rocker arm 22 close to the connecting rod 21 can make an arc-shaped trajectory as the transmission shaft 32 rotates. When the connecting rod 21 applies force to the rocker arm 22 in the reverse direction, the end of the rocker arm 22 close to the transmission shaft 32 is subjected to a greater bending moment. Therefore, by setting it in this way, the strength of the rocker arm 22 can be improved, and the breakage of the rocker arm 22 during the operation of the drive device 100 can be avoided. And compared with the structure in which the rocker arm 22 is set to a uniform width, the teardrop-shaped structure can save the material of the rocker arm 22, and can also reduce the overall weight of the drive device 100.

[0042] As the drive device 100 is opened and closed, the angle between the connecting rod 21 and the rocker arm 22, and the angle between the connecting rod 21 and the fixed end 12 are changed. In order to better realize the relative movement between the connecting rod 21 and the rocker arm 22, and the connecting rod 21 and the fixed end 12, the end of the connecting rod 21 close to the rocker arm 22 includes a first ball socket (not shown), and the end of the rocker arm 22 close to the connecting rod 21 includes a first ball head (not shown), and the first ball head is rotatably arranged in the first ball socket. Similarly, the end of the connecting rod 21 close to the fixed end 12 includes a second ball socket (not shown), and the fixed end 12 includes a second ball head (not shown), and the second ball head is rotatably arranged in the second ball socket. Through the contact between the spherical surfaces, the rotation angle between the connecting rod 21 and the rocker arm 22 is increased, and rotation can be achieved in multiple directions, thereby improving the rotation flexibility of the rotating connection position of the drive device 100 during the opening or closing process, so that the movement of the drive device 100 is smoother.

[0043] In other embodiments, the rocker arm 22 and the fixed end 12 may be provided with a ball socket, and the connecting rod 21 may be provided with a ball head. Alternatively, one of the rocker arm 22 and the connecting rod 21 may be provided with a ball head, and the other may be provided with a ball head bearing, etc., and the present application does not limit this. It should be noted that the connection method between the rocker arm 22 and the connecting rod 21, and the connection method between the connecting rod 21 and the fixed end 12 may be the same or different. For example, the rocker arm 22 may include a first ball socket, the connecting rod 21 may be provided with a corresponding first ball head, and the other end of the connecting rod 21 may be provided with a second ball head, and the fixed end 12 may be provided with a ball head bearing, etc., and the present application does not limit this.

[0044] In some embodiments, a connecting rod hole 111 is provided at the movable end 11, so that the connecting rod 21 passes through the connecting rod hole 111 and is connected to the fixed end 12. When the driving device 100 switches from an open state to a closed state, or switches from a closed state to an open state, the connecting rod 21 can move in the connecting rod hole 111 to avoid interfering with the movement of the movable end 11. In addition, the arrangement of the connecting rod 21 passing through the movable end 11 can also improve the compactness of the structure, which is conducive to reducing the occupied volume of the driving device 100. Of course, in other embodiments, the shape of the movable end 11 can be changed so that the movable end 11 has an avoidance portion (not shown), so as to avoid the movable range of the connecting rod 21 as a whole, and the present application does not limit this.

[0045] In addition, based on the above description, the driving device 100 of the present application can amplify the movement range of the transmission structure 2, and the connecting rod 21 and the rocker arm 22 only need to move a small range to achieve the full opening and full closing of the driving device 100. Therefore, due to the small movement range of the connecting rod 21, the driving device 100 of the present application can be provided with a smaller connecting rod hole 111 or a evacuation portion, thereby reducing the overall size of the movable end 11 while making the movable end 11 have a higher strength.

[0046] In some embodiments, the driver 31 may be directly connected to the transmission shaft 32, so that the driver 31 can directly drive the transmission shaft 32 to rotate, simplifying the structure of the drive device 100 and avoiding the drive device 100 from occupying too much space. In other embodiments, the drive structure 3 includes a driving gear 33 connected to the driver 31, and a driven gear 34 meshing with the driving gear 33. The driven gear 34 is fixedly connected to the transmission shaft 32, and has a diameter larger than the driving gear 33. In this way, the transmission shaft 32 and the driver 31 are indirectly connected. The driver 31 drives the driving gear 33 to rotate, so that the driven gear 34 meshing with the driving gear 33 drives the transmission shaft 32 to rotate. The reduction ratio between the driving gear 33 and the driven gear 34 enables the driven gear 34 to amplify the torque of the driver 31. Therefore, compared with the technical solution in which the driver 31 is directly connected to the transmission shaft 32, it is conducive to reducing the requirements for the parameters of the driver 31, thereby reducing the volume and cost of the driver 31, thereby indirectly optimizing the volume and cost of the drive device 100.

[0047] In order to control the size of the driven gear 34 and the driving gear 33, thereby optimizing the volume of the driving device 100, 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 transmission shaft 32. Among them, 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 the multi-stage gear transmission, the driving gear 33 and the first driven gear 341 can complete the first round of deceleration to achieve the first torque increase, and the first driven gear 341 and the second driven gear 342 can complete the second round of deceleration to achieve the second torque increase. Through such a setting, it is possible to avoid the need for a huge driven gear 34 due to an excessively large reduction ratio during the first-stage transmission, which is conducive to optimizing the volume of the driving device 100.

[0048] In order to further optimize the space of the driving device 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 greater than the diameter of the second sub-gear 344. 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. The first sub-gear 343 and the second sub-gear 344 are fixedly connected, so when 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 setting 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 remain unchanged. However, since the second driven gear 342 is meshed with the smaller second sub-gear 344, the distance between the rotation axes of the second driven gear 342 and the first driven gear 341 is actually reduced. In other words, on the rotation plane perpendicular to the driving gear 33 and other gears, the projections of the second driven gear 342 and the first driven gear 341 overlap, so that multiple gears can be arranged on different planes, making full use of the multi-dimensional space in the driving device 100, rather than simply laying them on the same plane, thereby improving the compactness of the structure and optimizing the utilization of the space.

[0049] Of course, in other embodiments, the transmission structure 2 may also be a chain drive, a belt drive or other transmission modes, and the present application does not limit this.

[0050] In addition, the drive device 100 may also include a lubricating layer (not shown). The lubricating layer may be provided in the transmission structure 2, for example, on the toothed structure of the driving gear 33 and the driven gear 34, or may be provided at the connection position between the connecting rod 21 and the rocker arm 22, etc., and the present application does not limit this. By providing a lubricating layer between two parts that are in contact with each other and need to move relative to each other, the smoothness of the drive device 100 during the opening and closing process can be improved, and the friction between parts can be avoided to generate sharp noise that affects the user's experience, and the friction fatigue of the parts caused by long-term friction can be avoided, which can extend the service life of the drive device 100 to a certain extent.

[0051] In some embodiments, the driving device 100 further includes a first fixing plate 51 for fixing the driving structure 3, and the first fixing plate 51 is connected to the movable end 11, so that the driving structure 3 is indirectly connected to the movable end 11. The driver 31 is arranged on one side of the first fixing plate 51, the rocker arm 22 is arranged on the other side of the first fixing plate 51, and the transmission shaft 32 passes through the first fixing plate 51 to connect the driver 31 and the rocker arm 22. The arrangement of the first fixing plate 51 facilitates assembly, and the connection between the structures can be achieved by first assembling the driving structure 3 and the transmission structure 2 on the first fixing plate 51, and then connecting the first fixing plate 51 to the movable end 11. Of course, in other embodiments, the first fixing plate 51 and the movable end 11 can also be integrally formed, and the present application does not limit this.

[0052] In the embodiment where the driving device 100 includes a driven gear 34 and a driving gear 33, or a chain transmission structure 2 or a belt transmission structure 2, in order to further fix the driving structure 3, the driving device 100 may also include a second fixing plate 52 arranged in parallel with and connected to the first fixing plate 51. The driver 31 is arranged on a side of the first fixing plate 51 away from the second fixing plate 52, and structures such as the driven gear 34 and the driving gear 33 are arranged between the first fixing plate 51 and the second fixing plate 52. In this way, the driven gear 34 and the driving gear 33 can be kept in a fixed position by the first fixing plate 51 and the second fixing plate 52, and even if the angle of the movable end 11 changes, the driven gear 34 and the driving gear 33 have a tendency to deviate from the position due to the influence of gravity, and the first fixing plate 51 and the second fixing plate 52 can also support the driven gear 34 and the driving gear 33.

[0053] The first fixed plate 51 and the second fixed plate 52 can 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 is a plate with a receiving cavity (not shown) in the middle. In this way, the first fixed plate 51 and the second fixed plate 52 can be fitted and connected on all sides, and the receiving cavity is used to accommodate the driven gear 34 and the driving gear 33. By setting it in this way, a closed space can be provided for the driven gear 34 and the driving gear 33, avoiding the foreign matter that is easily involved in the rotation during the gear meshing, causing abnormal driving. In addition, it can also avoid the influence of external dust, water and other impurities on the lubricating layer and meshing of the gear. Of course, in other embodiments, the first fixed plate 51 and the second fixed plate 52 can be provided with corresponding receiving half-cavities, and after the first fixed plate 51 and the second fixed plate 52 are fitted and connected on all sides, the two receiving half-cavities form a complete receiving cavity, and the present application does not limit this.

[0054] After the drive device 100 is opened, the angle between the movable end 11 and the fixed end 12 increases. At this time, impurities easily enter the driver 31 and the transmission structure 2 through the gap between the connecting rod 21 and the movable end 11, causing a negative impact on the drive device 100. In order to improve the sealing protection of the driver 31 and the transmission structure 2, and to prevent water, dust and other substances from entering the drive structure 3 during the opening and closing of the drive device 100, resulting in problems such as failure of the lubricating layer and short circuit of the driver 31, the drive device 100 of the present application also includes a sealing rubber sleeve 4. The sealing rubber sleeve 4 is sleeved on a part of the connecting rod 21, and one end is fixedly connected to the connecting rod 21, and the other end extends to the movable end 11. Through such a configuration, even if impurities enter the drive device 100, the sealing rubber sleeve 4 can block the impurities from the drive structure 3 and the transmission structure 2, and prevent the impurities from affecting the drive structure 3 and the transmission structure 2. The sealing rubber sleeve 4 can also be fixedly connected to the movable end 11, such as bonding, so as to seal the gap between the movable end 11 and the sealing rubber sleeve 4, and further improve the sealing performance of the sealing rubber sleeve 4.

[0055] In some embodiments, the sealing rubber sleeve 4 may be made of a material with good elasticity, so that it can also be stretched and retracted during the movement of the connecting rod 21. In other embodiments, the sealing rubber sleeve 4 may be configured as a multi-layer folding shape, so that during the movement of the connecting rod 21, the length can be extended by unfolding and folding the multi-layer folding, and the present application does not limit this.

[0056] Since the angle between the movable end 11 and the fixed end 12 changes during the process of the drive device 100 switching from the open state to the closed state or from the closed state to the open state, in some embodiments, the drive device 100 further includes a torque sensor for detecting the torque of the drive device 31 in order to prevent the movable end 11 and the fixed end 12 from causing damage to the drive device 31 due to clamping of foreign objects during the process of pivoting close to each other, as well as causing personal injury and damage to objects due to clamping of foreign objects, in some embodiments, the drive device 100 further includes a torque sensor for detecting the torque of the drive device 31. When the torque of the drive device 31 increases, it can be determined that the drive device 100 has clamped a foreign object, so the drive device 100 can be stopped to avoid damage to people and objects by stopping the operation of the drive device 31, thereby improving the safety performance of the drive device 100.

[0057] Based on the above embodiments, Figure 5 and Figure 6 In a second aspect, the present application provides a vehicle 200, comprising a driving device 100 as described in any one of the aforementioned embodiments. The driving device 100 can be provided in a door assembly such as a vehicle door, a luggage compartment door, or a vehicle hood, and the present application does not limit this. By providing the driving device 100, the driver 31 drives the rocker arm 22 to rotate nonlinearly and pushes the connecting rod 21 to drive the movable end 11 to pivot away from or close to the fixed end 12, thereby realizing electric opening and electric closing of the door assembly. In addition, the torque output of the driver 31 is stable, which can effectively improve the stability of the angle change of the door assembly during the opening and closing process.

[0058] In some embodiments, the vehicle is provided with a body 210 and a trunk lower back door 220. The movable end 11 of the driving device 100 is fixedly connected to the trunk lower back door 220, and the fixed end 12 is fixedly connected to the body 210. Therefore, when the driving device 100 drives the rocker arm 22 to rotate, the connecting rod 21 pushes the fixed end 12, because the fixed end 12 is fixed to the body 210 and is difficult to move, the force of the connecting rod 21 acts in the opposite direction to the movable end 11, so that the movable end 11 drives the trunk lower back door 220 to pivot away from the body 210, thereby realizing the opening of the trunk lower back door 220. On the contrary, when the driving device 100 drives the rocker arm 22 to rotate in the opposite direction, the connecting rod 21 applies a pulling force to the fixed end 12, and because the fixed end 12 is fixed, the pulling force of the connecting rod 21 acts in the opposite direction to the movable end 11, so that the movable end 11 drives the trunk lower back door 220 to pivot close to the body 210, thereby realizing the closing of the trunk lower back door 220.

[0059] By such arrangement, the force of the luggage compartment lower back door 220 changes evenly during the process of pivoting to open and pivoting to close, so the luggage compartment lower back door 220 can be opened and closed smoothly and at a uniform speed, improving the stability during the opening and closing process. In addition, since the pivot angle range of the movable end 11 and the fixed end 12 is between greater than or equal to 0° and less than or equal to 120°, the luggage compartment lower back door 220 can also be fully opened. When the luggage compartment lower back door 220 is opened, the use space of the luggage compartment can be expanded, providing users with more use possibilities to meet the user's use needs in different use scenarios.

[0060] The drive device 100 can be partially exposed from the lower back door 220 of the luggage compartment, so as to facilitate assembly and maintenance. In some embodiments, the drive device 100 is completely hidden inside the lower back door 220 of the luggage compartment, and the drive device 100 can be sealed to a certain extent through the outer shell of the lower back door 220 of the luggage compartment, so as to prevent impurities from directly contacting the drive structure 3 and the transmission structure 2 and having a negative impact on the operation of the drive device 100. In addition, the hiding of the drive device 100 can not only improve the aesthetics of the lower back door 220 of the luggage compartment, avoid the bad visual experience caused by the direct exposure of the drive device 100, but also avoid occupying the luggage compartment space.

[0061] In the embodiment where the driving device 100 includes the sealing rubber sleeve 4, the housing of the luggage compartment lower back door 220 can be snapped onto one end of the sealing rubber sleeve 4 close to the movable end 11. In this way, even if foreign matter enters the driving device 100 through the gap between the movable end 11 and the sealing rubber sleeve 4, the flexible connection between the luggage compartment lower back door 220 and the sealing rubber sleeve 4 can also serve as a second insurance to prevent the foreign matter from further entering the driving device 100.

[0062] In addition, the driving device 100 may actually include a plurality of hinge structures 1. Taking the embodiment of the lower back door 220 of the luggage compartment as an example, the plurality of hinge structures 1 may be evenly distributed on the pivot axis 13, and the driving structure 3 is connected to one of the hinge structures 1. When the driving structure 3 drives the hinge structure 1 to pivot, the movable end 11 drives the lower back door 220 of the luggage compartment to pivot, so that the movable ends 11 of other hinge structures 1 also pivot together. By providing a plurality of hinge structures 1, the support strength of the lower back door 220 of the luggage compartment and the force stability of the opening and closing of the lower back door 220 of the luggage compartment can be improved.

[0063] It should be noted that the vehicle 200 may be Figure 5 and Figure 6The vehicle 200 includes a luggage compartment lower back door 220 and a luggage compartment upper back door 230, thereby realizing the opening and closing of the luggage compartment space 240. The luggage compartment upper back door 230 may also be provided with the driving device 100 of the present application, and the present application is not limited to this. Of course, the vehicle 200 may also be a vehicle such as a pickup truck or a truck that only includes a luggage compartment lower back door 220, and the present application is not limited to this.

[0064] In some embodiments, the vehicle includes a locking structure (not shown) and a locking sensor (not shown). The locking structure includes a body locking member and a lower back door locking member that cooperates with the body locking member. The locking sensor is used to detect the locking state of the body locking member and the lower back door locking member. By setting the locking sensor, it is possible to detect whether the lower back door locking member and the body locking member are locked, thereby detecting whether the driving device 100 is pivoted to the position and switched to the closed state, thereby preventing the driving device 100 from being closed in place and causing the lower back door to be accidentally opened. In addition, when the locking is in place, the operation of the driver 31 can be stopped, thereby preventing the driver 31 from abnormally operating and causing the lower back door to be unexpectedly opened.

[0065] In an embodiment where the drive device 100 includes a torque sensor, timely detection and alarm can be performed when the lower back door opens abnormally due to insufficient external space, or when the lower back door is closed because an object or even a person is clamped, thereby avoiding affecting the lower back door, objects, people and the drive 31.

[0066] refer to Figure 7 The third aspect of the present application further provides a control method for a driving device, which can be applied to the vehicle of any one of the aforementioned embodiments, comprising the following steps:

[0067] In step 310 , the state of the driving device is acquired.

[0068] In this embodiment, the state of the driving device may be the torque of the driver, the angle between the movable end and the fixed end, etc., and this application does not limit this.

[0069] In step 320, the operating mode of the driver is controlled.

[0070] In this embodiment, the working modes include: a forward mode for pivoting the movable end away from the fixed end; a reverse mode for pivoting the movable end toward the fixed end; and a stop mode for maintaining the relative position between the movable end and the fixed end.

[0071] In other words, when the driver is in the forward mode, the drive device can switch from the closed state to the open state. When the driver is in the reverse mode, the drive device can switch from the open state to the closed state. When the driver is not required to do any action, the driver is in the stop mode. The stop mode can be used to keep the drive device in the open state or the closed state, or to keep the drive device in any desired state between the open state and the closed state.

[0072] By first obtaining the state of the drive device and then controlling the working mode of the drive, the drive device can be adjusted intelligently and automatically, providing flexibility and convenience in the use of the drive device. In addition, by adjusting the working mode of the drive according to the state of the drive device, the drive can be adjusted in a targeted manner, which is conducive to ensuring the normal operation of the drive device.

[0073] In order to elaborate on the technical solution of the present application, the following will be described in an embodiment in which the state of the driving device is the angle between the movable end and the fixed end. Figure 8 , the control method of the driving device comprises the following steps:

[0074] In step 410, the angle between the fixed end and the movable end is obtained.

[0075] In step 420, it is determined whether the angle is equal to a preset value. If not, the process returns to step 310; if yes, the process proceeds to the next step.

[0076] In this embodiment, the preset value may be a first preset value, i.e., the angle between the movable end and the fixed end when the drive device is in the closed state, or may be a second preset value, i.e., the angle between the movable end and the fixed end when the drive device is in the open state. By judging whether the acquired angle is equal to the preset value, it is possible to indirectly judge whether the drive device is in the closed state or in the open state at this time. If the acquired angle does not match the preset value, it can be judged that the drive device is still in the pivoting process at this time, and therefore, it is possible to return to step 410 and continue to acquire the angle between the fixed end and the movable end. If the acquired angle is equal to the preset value, it can be judged that the drive device has pivoted to the open state or the closed state at this time, and then the next step can be executed.

[0077] In step 430 , the stop mode is initiated.

[0078] By such a configuration, the angle value between the fixed end and the movable end can be obtained in real time, and the working mode of the driver can be controlled to the stop mode when the angle value is equal to the first preset value, thereby avoiding the problem that the driver continues to work when the movable end and the fixed end are pivoted to the closed position, causing the movable end and the fixed end to get stuck or the driver is damaged. Alternatively, the working mode of the driver can be controlled to the stop mode when the angle value is equal to the second preset value, thereby avoiding the problem that the driver continues to work when the movable end and the fixed end are pivoted to the open position, causing the movable end to pivot beyond the movement stroke, and then causing difficulty in reverse pivoting back to the closed position.

[0079] Of course, the preset value may also include the first preset value and the second preset value, so that the operation of the driver can be stopped in time when the driving device pivots to the fully closed state and the fully open state. The present application does not limit this.

[0080] exist Figure 8 In the embodiment shown, one embodiment of the control method is used for description. The following will be described in an embodiment where the state of the driving device is the torque of the driver. Fig. 9 , the control method comprises the following steps:

[0081] In step 510 , the torque of the driver is obtained.

[0082] In this embodiment, the torque can be used to determine whether the driver is in a normal operating state.

[0083] In step 520, it is determined whether the torque is greater than a preset value. If not, the process returns to step 410; if yes, the process proceeds to the next step.

[0084] In this embodiment, the preset value may be a torque parameter when the driver is operating normally. When the torque of the driver is greater than the preset value, it can be determined that there is an obstacle when the movable end is pivoting away from the fixed end, or when the movable end is pivoting close to the fixed end, so it can be indirectly determined that a foreign object or obstacle prevents the normal operation of the driving device.

[0085] In step 530 , the stop mode is started.

[0086] By such an arrangement, when the driver torque is greater than a preset value, the pivoting movement of the drive device can be stopped in time, so as to avoid the situation where, for example, the driver still rotates forward when the pivot is open and there is insufficient external space, causing damage to the drive device, or the driver still reverses when the pivot is closed and there is a foreign object between the movable end and the fixed end, causing damage to the foreign object and the drive device. The foreign object may be an object that accidentally falls from the outside to between the movable end and the fixed end, and continued reversal will cause damage to the object. The foreign object may even be the limbs of a child, and continued reversal may cause personal injury. Therefore, this control method can improve the safety performance of the drive device to a certain extent.

[0087] It should be noted that step 520 can be incorporated into step 510 or step 530. Similarly, step 420 can also be incorporated into step 410 or step 430, and the present application does not limit this. In fact, in the same control method, the acquisition of the driver torque and the acquisition of the angle between the fixed end and the movable end can be performed simultaneously, so that the control method can monitor the driver torque and the relative position between the movable end and the fixed end at the same time.

[0088] In order to further optimize the control method, based on this embodiment, refer to Fig.10 , the present application also provides a control method, comprising the following steps:

[0089] In step 610, the initial working mode of the driver is obtained.

[0090] In this embodiment, the initial working mode may be a forward mode, a reverse mode or a stop mode.

[0091] In step 620 , the torque of the driver is obtained.

[0092] In step 630, it is determined whether the torque is greater than a preset value. If not, the process returns to step 510; if yes, the process proceeds to the next step.

[0093] In this embodiment, the preset value may be a torque parameter when the driver is operating normally. When the torque of the driver is greater than the preset value, it can be determined that there is an obstacle when the movable end is pivoting away from the fixed end, or when the movable end is pivoting close to the fixed end, so it can be indirectly determined that a foreign object or obstacle prevents the normal operation of the driving device.

[0094] In step 640, the stop mode is initiated.

[0095] In this embodiment, after determining that the torque is greater than a preset value, the driver is promptly controlled to a stop mode, thereby preventing continued pivoting of the movable end from causing damage to the driver and other structures of the driving device.

[0096] In step 650, it is determined whether the initial operating mode is the forward rotation mode.

[0097] In this embodiment, before the stop mode is turned on, since the torque of the driver is greater than the preset value, it means that the driver is in the forward mode or the reverse mode. In other words, the movable end is pivoting away from the fixed end, or is pivoting close to the fixed end. By judging the working state of the initial working mode, it can be judged whether the driving device has an abnormality during the closing or opening process.

[0098] If yes, execute step 661: start the reversal mode.

[0099] In this embodiment, if the initial working mode is the forward mode, the reverse mode is turned on. In other words, if the torque is greater than the preset value during the process of the movable end pivoting away from the fixed end, the pivoting is stopped and the driver is reversed to make the movable end pivot close to the fixed end.

[0100] In this way, the driving device can determine whether there is an obstacle in the pivoting direction of the movable end during the opening process. If there is an obstacle, the driver reverses to close the driving device to avoid the extended movable end colliding with the obstacle and causing damage to the obstacle or the movable end.

[0101] If not, execute step 662: start the forward mode.

[0102] In this embodiment, since the torque of the driver is greater than the preset value before the stop mode is turned on, it means that the initial working mode of the driver is either the forward mode or the reverse mode. If it is not the forward mode, it means that the initial working mode of the driver is the reverse mode, and the forward mode is turned on. In other words, if the torque is greater than the preset value during the process of the movable end pivoting toward the fixed end, the pivoting is stopped, and the driver rotates forward to make the fixed end pivot away from the fixed end.

[0103] In this way, the drive device can determine whether there is a foreign object in the pivot direction of the movable end during the closing process. When there is a foreign object, the driver rotates forward to open the drive device, thereby preventing the drive device from clamping the foreign object. In particular, when the drive device accidentally clamps a human body, the drive device can be pivoted to open, thereby preventing the human body from being difficult to remove from the angle between the movable end and the fixed end, thereby improving the safety performance of the drive device.

[0104] In this embodiment, after executing step 661 or step 662, the process can return to step 620 and re-judge whether there is any abnormality in the operation of the driver in the changed working mode, so as to maintain real-time monitoring of the torque of the driver and avoid the situation where the changed working mode also has abnormalities when the initial working mode is abnormal.

[0105] It should be noted that step 650 may also be to determine whether the initial working mode is the reverse mode. If yes, then execute step 662; if no, then execute step 661. Alternatively, step 650 may also be to determine whether the initial working mode is the reverse mode or the forward mode. If it is the reverse mode, then execute step 662; if it is the forward mode, then execute step 661.

[0106] During the use of the drive device, complex external environments may occur. Fig.10 In order to further optimize the control method, refer to the embodiment shown in Fig.11 , the present application also provides a control method, comprising the following steps:

[0107] In step 710, the initial working mode of the driver is obtained.

[0108] In step 720, the number of abnormalities N is set and N is made equal to zero.

[0109] In this embodiment, the number of abnormalities may be used to record the number of abnormalities of the torque.

[0110] In step 730 , the torque of the driver is obtained.

[0111] In step 740, it is determined whether the torque is greater than a preset value. If not, the process returns to step 730; if yes, the process proceeds to the next step.

[0112] In step 750, the stop mode is initiated.

[0113] In step 760, it is determined whether the number of abnormalities N is greater than zero.

[0114] If yes, execute step 761: maintain the stop mode.

[0115] If not, execute step 770: set N=N+1, and execute the next step.

[0116] In this embodiment, if the number of abnormalities is zero, it means that the driver has not switched from the initial working mode to the forward mode or the reverse mode, which means that the operation of the driver has not been abnormal before. At this time, by setting the value of N to N+1, the abnormal operation of the driver at this time can be recorded, and then the next step can be executed.

[0117] If the number of abnormalities is greater than zero, it means that the driver has previously experienced abnormal operation. In this embodiment, for example, the driver encounters an obstacle during the opening process, and N is zero. Due to the obstacle, the driver executes a reverse instruction to close the driver, and N is one. During the closing process, the driver encounters an obstacle again, and since N is greater than zero, the driver executes a stop instruction.

[0118] When the surrounding environment is complex and there are many objects, the driving device may encounter obstacles in the process of fully closing and fully opening. By setting this, it is possible to avoid the driving device switching back and forth between the open state and the closed state, causing damage to the driver. And by setting the abnormal coefficient N, the intelligence of the control method can be improved to avoid the control method falling into a loop and being unable to stop.

[0119] In step 780, it is determined whether the initial operation mode is the reverse operation mode.

[0120] If yes, execute step 791: start the forward mode.

[0121] If not, execute step 792: start the reverse mode.

[0122] In this embodiment, after executing step 791 or step 792, the process can return to step 720 and re-judge whether there is any abnormality in the operation of the driver in the changed working mode, so as to maintain real-time monitoring of the torque of the driver and avoid the situation where the changed working mode also has abnormalities when the initial working mode is abnormal.

[0123] It should be noted that step 780 may also be to determine whether the initial working mode is the forward mode. And accordingly, if yes, execute step 792; if no, execute step 791, and the present application does not limit this. Step 780 may also be to determine whether the initial working mode is the reverse mode or the forward mode, if it is the reverse mode, execute step 791; if it is the forward mode, execute step 792.

[0124] The specific embodiments described herein are merely examples of the spirit of the present application. A person skilled in the art of the present application may make various modifications, supplements, or replace the described specific embodiments with similar methods, but they will not deviate from the spirit of the present application or exceed the scope defined by the attached claims.

[0125] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A driving device, characterized in that: include: The hinge structure comprises a fixed end and a movable end hinged to the fixed end; the fixed end is used to connect to the body of the vehicle; the movable end is used to connect to the door assembly of the vehicle; A transmission structure, arranged at the movable end, 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 is rotatably connected to the fixed end; as well as A driving structure is arranged at the movable end, comprising a driver and a transmission shaft; the transmission shaft is fixedly connected to the end of the rocker arm away from the connecting rod, and the driver drives the transmission shaft to rotate the rocker arm around the axis of the transmission shaft; the axis of the transmission shaft and the pivot axis of the hinged structure are located in different planes.

2. The driving device according to claim 1, characterized in that: The driving structure comprises: A driving gear connected to the driver; A driven gear is meshed with the driving gear and fixedly connected to the transmission shaft; wherein the diameter of the driving gear is smaller than the diameter of the driven gear.

3. The driving device according to claim 2, characterized in that: The driven gear includes a first driven gear and a second driven gear; the first driven gear is meshed with the driving gear and the second driven gear respectively; the second driven gear is fixedly connected to the transmission 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.

4. The driving device according to claim 3, characterized in that: The first driven gear includes 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 greater than the diameter of the second sub-gear; the first sub-gear is meshed with the driving gear; The second sub gear meshes with the second driven gear.

5. The driving device according to claim 1, characterized in that: The driving device further comprises: A sealing rubber sleeve is sleeved on a part of the connecting rod; one end of the sealing rubber sleeve is fixedly connected to the connecting rod, and the other end extends to the movable end.

6. The driving device according to claim 1, characterized in that: The end of the connecting rod close to the rocker arm includes a first ball socket, and the end of the rocker arm close to the connecting rod includes a first ball head; the first ball head is rotatably disposed in the first ball socket; and / or, One end of the connecting rod close to the fixed end includes a second ball socket, and the fixed end includes a second ball head; the second ball head is rotatably arranged in the second ball socket.

7. The driving device according to claim 1, characterized in that: The driving device further comprises: The torque sensor is used to detect the torque of the driver.

8. A vehicle, characterized in that: Comprising a driving device as claimed in any one of claims 1 to 7.

9. The vehicle according to claim 8, characterized in that The vehicle further comprises: A vehicle body and a lower back door of a luggage compartment; the movable end of the hinged structure of the driving device is fixedly connected to the lower back door of the luggage compartment, and the fixed end of the hinged structure is fixedly connected to the vehicle body.

10. The vehicle according to claim 9, characterized in that The vehicle further comprises: A locking structure, comprising a vehicle body locking member and a lower back door locking member cooperating with the vehicle body locking member; The locking sensor is used to detect the locking status of the vehicle body locking member and the lower back door locking member.

11. A control method for a driving device, applied to a vehicle according to any one of claims 8 to 10, characterized in that: include: Acquiring the state of the driving device; Control the working mode of the driver; wherein the working mode includes: a forward mode for pivoting the movable end away from the fixed end; a reverse mode for pivoting the movable end toward the fixed end; and a stop mode for maintaining the relative position between the movable end and the fixed end.

12. The control method according to claim 11, characterized in that: The obtaining of the state of the driving device comprises: obtaining the torque of the driver; The working mode of controlling the driver includes: When the torque of the driver is greater than a preset value, the stop mode is activated.

13. The control method according to claim 12, characterized in that: Before obtaining the state of the driving device, the method further includes: Acquire the initial working mode of the driver; After the stop mode is started, the method further includes: When the initial working mode is the forward mode, starting the reverse mode; and / or When the initial working mode is the reverse mode, the forward mode is turned on.

14. The control method according to claim 11, characterized in that: The obtaining of the state of the driving device comprises: Obtaining the angle between the fixed end and the movable end; The working mode of controlling the driver includes: When the angle reaches a preset angle value, the stop mode is activated.

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