A vehicle door opening and closing device, a vehicle door system, and a vehicle

Abstract

The application discloses a vehicle door opening and closing device, a vehicle door system and a vehicle, and belongs to the technical field of automobile accessories. The device connects a door bolt with a door piece and a body bolt with a body piece. A fixed plate of a mode switching device is connected with a rotating piece. A first lock catch, a first pawl, a second lock catch and a second pawl of the mode switching device are all rotationally connected to the fixed plate. A driving device is used for driving the first pawl and the second pawl to rotate. The body bolt is located between the first lock catch and the first pawl, and the door bolt is located between the second lock catch and the second pawl. The mode switching device is used for switching the vehicle door opening and closing device between a scissor door mode and a flat door mode. In the scissor door mode, the second pawl is buckled on the second lock catch, and the first pawl is separated from the first lock catch. In the flat door mode, the first pawl is buckled on the first lock catch, and the second pawl is separated from the second lock catch. The stable switching between the scissor door mode and the flat door mode is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile accessories, in particular to a vehicle door opening and closing device, a vehicle door system and a vehicle. BACKGROUND

[0002] In the existing vehicle design, the vehicle door system usually adopts a mode of a swing door or a scissor door. In order to provide a spacious space for entering and exiting and improve the user experience, there is currently a vehicle door system that has both a swing door and a scissor door.

[0003] The current vehicle door system that has both a swing door and a scissor door includes a vehicle body part, a first vehicle door part, a second vehicle door part and a switching part. The first vehicle door part is rotatably connected to the vehicle body part, the second vehicle door part is connected to the first vehicle door part, and the switching part is arranged on the second vehicle door part. The switching part is used to control the first vehicle door part and the second vehicle door part to switch between rigid connection and rotary connection, and the second vehicle door part and the vehicle body part to switch between rigid connection and rotary connection, so as to switch the vehicle door opening and closing device between the scissor door mode and the swing door mode.

[0004] The current switching part usually adopts the mode of inserting or extracting a structural part into or from the first vehicle door part and the vehicle body part to realize the rigid connection and the rotary connection of the first vehicle door part and the second vehicle door part and the second vehicle door part and the vehicle body part, and to switch the mode of the vehicle door. This requires high assembly precision. When the vehicle door part or the structural part is deformed, the structural part cannot be smoothly inserted into the first vehicle door part and the vehicle body part, so that the vehicle door cannot be smoothly switched to the scissor door mode or the swing door mode, and the mode switching performance of the vehicle door is unstable. SUMMARY

[0005] In view of this, the present application provides a vehicle door opening and closing device, a vehicle door system and a vehicle. The mode switching between the scissor door mode and the swing door mode is realized by the cooperation of the pawl and the lock catch, the performance is stable, and the various use requirements of the user are met.

[0006] Specifically, the technical scheme includes the following:

[0007] In a first aspect, the present application provides a vehicle door opening and closing device. The vehicle door opening and closing device includes a vehicle door part, a vehicle body part and a rotating part. One end of the rotating part is rotatably connected to the vehicle door part, and the other end of the rotating part is rotatably connected to the vehicle body part. The vehicle door opening and closing device further includes a mode switching device, a vehicle door bolt and a vehicle body bolt. The vehicle door bolt is connected to the vehicle door part, and the vehicle body bolt is connected to the vehicle body part.

[0008] The mode switching device comprises a fixed plate, a driving device, a first lock, a first pawl, a second lock and a second pawl; the fixed plate is connected with a rotating part; the first lock, the first pawl, the second lock and the second pawl are all rotationally connected to the fixed plate; the driving device is used to drive the first pawl and the second pawl to rotate; a vehicle body bolt is located between the first lock and the first pawl; a vehicle door bolt is located between the second lock and the second pawl; the mode switching device is used to switch the vehicle door opening and closing device between a scissor door mode and a flat door mode; in the scissor door mode, the second pawl is buckled on the second lock, and the first pawl is separated from the first lock; in the flat door mode, the first pawl is buckled on the first lock, and the second pawl is separated from the second lock.

[0009] In an optional embodiment, the driving device comprises a first shift fork, a second shift fork and a power device; the first shift fork and the second shift fork are both connected with the fixed plate; the power device is connected with the first shift fork and the second shift fork, and the power device can drive the first shift fork and the second shift fork to move in opposite directions; the first shift fork is used to push the first pawl to rotate; the second shift fork is used to push the second pawl to rotate.

[0010] In an optional embodiment, the second shift fork is connected with an elastic part; the elastic part is connected with an end plate; the end plate is connected with the fixed plate; when the second pawl is buckled on the second lock, the elastic part is in a compressed state.

[0011] In an optional embodiment, the power device comprises a power output, a gear, a first gear rack and a second gear rack; the power output is connected with the gear; the gear is meshingly connected with the first gear rack and the second gear rack; the first gear rack is connected with the first shift fork; the second gear rack is connected with the second shift fork.

[0012] In an optional embodiment, the first lock is located at the upper part of the first pawl; the second lock is located at the upper part of the second pawl.

[0013] After the first pawl is separated from the first lock, the end of the first pawl abuts against the end of the first lock, and the rotation axis of the first lock deviates from the center of gravity of the first lock.

[0014] After the second pawl is separated from the second lock, the end of the second pawl abuts against the end of the second lock, and the rotation axis of the second lock deviates from the center of gravity of the second lock.

[0015] In an optional embodiment, the rotating part comprises a horizontal rotating assembly, a vertical rotating assembly, an outer rotating assembly and a connecting assembly; the horizontal rotating assembly is connected with a vehicle body part; the vertical rotating assembly is installed on the horizontal rotating assembly; the connecting assembly is connected with the vertical rotating assembly; the connecting assembly is rotationally connected with a vehicle door part; the outer rotating assembly is arranged between the connecting assembly and the vehicle body part; the fixed plate is connected with the connecting assembly.

[0016] In an alternative embodiment, the horizontal rotating assembly comprises a first shaft and a connecting rod; the first shaft is connected with the vehicle body part; the connecting rod is rotationally connected with the first shaft; the vertical rotating assembly comprises a second shaft, and the second shaft is connected with the connecting rod; the connecting assembly comprises a door connecting plate and a fifth shaft; the door connecting plate is rotationally connected with the second shaft; the fifth shaft is connected with the door connecting plate; the fifth shaft is rotationally connected with the door part; and the fixing plate is connected with the door connecting plate.

[0017] In an alternative embodiment, the outer rotating assembly comprises a third shaft, a fourth shaft, a rotating rod and a joint bearing; the fourth shaft is connected with the vehicle body part; the joint bearing is sleeved on the fourth shaft; the third shaft is connected with the door connecting plate; one end of the rotating rod is connected with the joint bearing; and the other end of the rotating rod is rotationally connected with the third shaft.

[0018] In a second aspect, the embodiments of the present application provide a vehicle door system, which comprises a vehicle door and the vehicle door opening and closing device provided in the first aspect; the door part of the vehicle door opening and closing device is connected with the vehicle door.

[0019] In a third aspect, the embodiments of the present application provide a vehicle, which comprises a vehicle door, a vehicle body and the vehicle door opening and closing device provided in the first aspect; the vehicle body part of the vehicle door opening and closing device is connected with the vehicle body; and the door part of the vehicle door opening and closing device is connected with the vehicle door.

[0020] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects:

[0021] The embodiments of the present application provide a vehicle door opening and closing device, a vehicle door system and a vehicle. The device is provided with a door bolt on a door part, a vehicle body bolt on a vehicle body part and a mode switching device on a rotating part. The mode switching device is provided with a first lock catch, a first pawl, a second lock catch and a second pawl which can rotate. The vehicle body bolt is located between the first lock catch and the first pawl, and the door bolt is located between the second lock catch and the second pawl. When the first pawl is engaged on the first lock catch, the vehicle body part and the rotating part cannot rotate relative to each other. When the first pawl is disengaged from the first lock catch, the vehicle body part and the rotating part can rotate relative to each other. When the second pawl is engaged on the second lock catch, the rotating part and the door part cannot rotate relative to each other. When the second pawl is disengaged from the second lock catch, the door part and the rotating part can rotate relative to each other. The cooperation of the first pawl and the first lock catch and the cooperation of the second pawl and the second lock catch realize the switching of the flat door mode and the scissor door mode of the vehicle door opening and closing device, meet the various application requirements of users, enrich the opening and closing modes of the vehicle and improve the practicability of the vehicle and the use experience of users. When the pawl or the lock catch is partially deformed, as long as the pawl and the lock catch can still rotate, the pawl can still be engaged on the lock catch, the rigid connection between the rotating part and the door part or the rotating part and the vehicle body part can still be realized, the mode switching of the device can still be realized, and thus the stability of the door mode switching is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of a car door opening and closing device provided in an embodiment of this application;

[0024] Figure 2 This is a first side view schematic diagram of the mode switching device provided in an embodiment of this application;

[0025] Figure 3 This is a second side view schematic diagram of the mode switching device provided in an embodiment of this application;

[0026] Figure 4 This is a schematic diagram of the elastic element structure provided in the embodiments of this application;

[0027] Figure 5 This is a front view schematic diagram of the connection between the door opening and closing device and the door provided in an embodiment of this application;

[0028] Figure 6 This is a side view of the connection between the door opening and closing device and the door provided in an embodiment of this application;

[0029] Figure 7 This is a schematic diagram of a swing door mode provided in an embodiment of this application;

[0030] Figure 8 This is a schematic diagram of a scissor door mode provided in an embodiment of this application.

[0031] The components are: 1. First shaft; 2. Second shaft; 3. Third shaft; 4. Fourth shaft; 5. Connecting rod; 6. Rotating rod; 7. Body part; 8. Door part; 9. Joint bearing; 10. Fifth shaft; 11. Door connecting plate; 12. Fixing plate; 13. First latch; 14. First pawl; 15. Second latch; 16. Second pawl; 17. Body bolt; 18. Door bolt; 19. Gear; 20. First shift fork; 21. Second shift fork; 22. End plate; 23. Elastic element; 24. Door; 25. Gearbox; 26. Drive motor; 27. Bolt; 28. Mode switching device.

[0032] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] In the embodiments of this application, directional terms such as "upper," "lower," and "side" are generally used in the following ways: Figure 1 The relative positions shown are based on the given information, and these directional terms are used only to more clearly describe the relationships between structures, not to describe absolute positions. Positions may change when the product is placed in different orientations; for example, "up" and "down" may be interchanged.

[0035] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by those skilled in the art. Some technical terms appearing in the embodiments of this application are described below.

[0036] To make the technical solutions and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0037] This application provides a vehicle door opening and closing device, such as... Figures 1-8 As shown, it includes a door component 8, a body component 7, and a rotating component. One end of the rotating component is rotatably connected to the door component 8, and the other end of the rotating component is rotatably connected to the body component 7. It also includes a mode switching device 28, a door bolt 18, and a body bolt 17. The door bolt 18 is connected to the door component 8, and the body bolt 17 is connected to the body component 7.

[0038] The mode switching device 28 comprises a fixed plate 12, a driving device, a first lock 13, a first pawl 14, a second lock 15 and a second pawl 16; the fixed plate 12 is connected with the rotating member, the first lock 13, the first pawl 14, the second lock 15 and the second pawl 16 are all rotationally connected on the fixed plate 12, the driving device is used to drive the first pawl 14 and the second pawl 16 to rotate, the first pawl 14 can rotate to be buckled on the first lock 13 or away from the first lock 13, the second pawl 16 can rotate to be buckled on the second lock 15 or away from the second lock 15; the vehicle body bolt 17 is located between the first lock 13 and the first pawl 14, the vehicle door bolt 18 is located between the second lock 15 and the second pawl 16, the mode switching device 28 is used to switch the vehicle door opening and closing device between the scissor door mode and the flat door mode, wherein in the scissor door mode, the second pawl 16 is buckled on the second lock 15, the first pawl 14 is away from the first lock 13, in the flat door mode, the first pawl 14 is buckled on the first lock 13, and the second pawl 16 is away from the second lock 15.

[0039] The vehicle body member 7 is adapted to be connected with a vehicle body. Exemplarily, the vehicle body member 7 is connected to a vehicle body frame of the vehicle.

[0040] As shown in Figure 7 , Figure 8 , the vehicle door opening and closing device provided by the embodiment of the application has the scissor door mode and the flat door mode, in the scissor door mode, the rotating member is rigidly connected with the vehicle door member 8, the vehicle body member 7 can rotate relative to the rotating member, realizing the scissor door opening and closing; in the flat door mode, the rotating member is rigidly connected with the vehicle body member 7, the vehicle door member 8 can rotate relative to the rotating member, realizing the flat door opening and closing.

[0041] As shown in Figure 1 , the rotating member comprises a horizontal rotating assembly, a vertical rotating assembly, an outer rotating assembly and a connecting assembly; the horizontal rotating assembly is connected on the vehicle body member 7, the vertical rotating assembly is installed on the horizontal rotating assembly, the connecting assembly is connected with the vertical rotating assembly; the connecting assembly is rotationally connected with the vehicle door member 8; the outer rotating assembly is arranged between the connecting assembly and the vehicle body member; the fixed plate is connected with the connecting assembly.

[0042] The horizontal rotating assembly comprises a first shaft 1 and a connecting rod 5; the first shaft 1 is connected with a vehicle body part 7; the connecting rod 5 is rotationally connected with the first shaft 1, wherein the connecting rod 5 can rotate horizontally around the first shaft 1; the vertical rotating assembly comprises a second shaft 2, which is connected with the connecting rod 5; the connecting assembly comprises a door connecting plate 11 and a fifth shaft 10; the door connecting plate 11 is rotationally connected with the second shaft 2, wherein the door connecting plate 11 can rotate vertically around the second shaft 2; the fifth shaft 10 is connected with the door connecting plate 11; the fifth shaft 10 is rotationally connected with a door part 8, wherein the door part 8 can rotate around the axis of the fifth shaft 10 to open the door horizontally; the door part 8 fixing plate 12 is connected with the door connecting plate 11; the first shaft 1 rotates the door outward to unlock the door, and then the second shaft 2 rotates the door upward, so that the door can be rotated outward to unlock and then rotated upward.

[0043] The outward rotating assembly comprises a third shaft 3, a fourth shaft 4, a rotating rod 6 and a joint bearing 9; the fourth shaft 4 is connected with the vehicle body part 7, the joint bearing 9 is sleeved on the fourth shaft 4, the third shaft 3 is connected with the door connecting plate 11, one end of the rotating rod 6 is connected with the joint bearing 9, and the other end of the rotating rod 6 is rotationally connected with the third shaft 3. The door part 8 and the rotating rod 6 make outward rotating motion through the third shaft 3. During the upward rotating process, the vehicle needs to rotate outward in the Y direction at the same time to increase the user's entering space and facilitate the user to enter the vehicle, so the rotating rod 6 is introduced. During the upward rotating process of the door part 8, the Y direction distance between the rotating rod 6 and the vehicle body part 7 increases synchronously, thereby driving the door part 8 to move outward. The rotating rod 6 and the vehicle body part 7 are connected through the joint bearing 9 and the fourth shaft 4 to realize the rotating pair + spherical pair + linear sliding connection, so that the entire structure is completely constrained in degrees of freedom and can realize the upward rotating motion of the door, thereby driving the door to realize the upward rotating motion.

[0044] The fourth shaft 4 is provided on the vehicle body part 7 through the support at both ends.

[0045] Exemplarily, the first lock 13 is located on the upper part of the first pawl 14, and the second lock 15 is located on the upper part of the second pawl 16.

[0046] After the first pawl 14 is separated from the first lock 13, the end of the first pawl 14 abuts against the end of the first lock 13, and the rotation axis of the first lock 13 deviates from the center of gravity of the first lock 13; so that when the first pawl 14 is not in contact with the first lock 13, the first lock 13 is rotated to the initial position under the action of gravity, and in the process of rotating the first lock 13, the first lock 13 drives the first pawl 14 to rotate through the abutting end of the first lock 13 and the first pawl 14, until the first pawl 14 is engaged with the first lock 13.

[0047] When the second pawl 16 is separated from the second lock catch 15, the end of the second pawl 16 is in contact with the end of the second lock catch 15, and the rotation axis of the second lock catch 15 is offset from the center of gravity of the second lock catch 15; thus, when the second driver is not in contact with the second pawl 16, the eccentricity of the rotation axis of the second lock catch 15 enables the second lock catch 15 to rotate to the initial position, and in the process of the rotation of the second lock catch 15, the end of the second lock catch 15 in contact with the second pawl 16 drives the second pawl 16 to rotate, until the first pawl 14 is engaged with the second lock catch 15.

[0048] When the first pawl 14 is engaged with the first lock catch 13, the position of the first lock catch 13 is the initial position of the first lock catch 13, and when the second pawl 16 is engaged with the second lock catch 15, the position of the second lock catch 15 is the initial position of the second lock catch 15.

[0049] The driving device comprises a first driver 20, a second driver 21 and a power device; the first driver 20 and the second driver 21 are connected with the fixed plate 12, the power device is connected with the first driver 20 and the second driver 21, and the power device can drive the first driver 20 and the second driver 21 to move in opposite directions; the first driver 20 is used to push the first pawl 14 to rotate, and the second driver 21 is used to push the second pawl 16 to rotate, as shown in Figure 2 、 Figure 3 .

[0050] The power device comprises a power output, a gear 19, a first rack and a second rack; the power output is connected with the gear 19, the gear 19 is connected with the first rack and the second rack in a meshing manner, the first rack is connected with the first driver 20, and the second rack is connected with the second driver 21.

[0051] The power output can be a driving motor 26, the driving motor 26 is connected with the gear 19 through a speed reducer 25, the driving motor 26 provides power for the rotation of the gear 19, the gear 19 rotates to drive the first rack and the second rack to move. The driving motor 26 and the speed reducer 25 are connected with the fixed plate 12.

[0052] As shown in Figure 2As shown, the first rack and the second rack are symmetrically arranged, when the driving 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; the first fork 20 moves downward, pushing the first pawl 14 to rotate, so that the first pawl 14 engaged with the first lock 13 is separated from the first lock, in this state, the first lock can rotate, and the rotating part can rotate relative to the vehicle body; at this time, the second fork 21 moves upward, the second fork 21 is separated from the second pawl 16, under the eccentric action of the second lock 15, the second lock 15 drives the second pawl 16 to rotate, so that the second pawl 16 is re-engaged with the second lock 15, at this time, the second lock 15 and the second pawl 16 cannot rotate any more, the rotating part and the vehicle door part are rigidly connected, and the vehicle door opening and closing device is switched to the scissor door mode; the second fork 21 moves downward, pushing the second pawl 16 to rotate, so that the second pawl 16 engaged with the second lock 15 is separated from the second lock, in this state, the second lock can rotate, and the vehicle door part can rotate relative to the rotating part; at this time, the first fork 20 moves upward, the first fork 20 is separated from the first pawl 14, under the eccentric action of the first lock 13, the first lock 13 drives the first pawl 14 to rotate, so that the first pawl 14 is re-engaged with the first lock 13, at this time, the first lock 13 and the first pawl 14 cannot rotate any more, the rotating part and the vehicle body part are rigidly connected, and the vehicle door opening and closing device is switched to the flat door mode.

[0053] As shown in Figure 4 , the second fork 21 is connected with the elastic element 23, the elastic element 23 is connected with the end plate 22, and the end plate 22 is connected with the fixed plate 12; when the second pawl 16 is engaged with the second lock 15, the elastic element 23 is in a compressed state. That is, when the power output element is not working, under the elastic force of the elastic element 23, the second fork 21 is separated from the second pawl 16, the second pawl 16 is engaged with the second lock 15, and the device is in the flat door mode.

[0054] The elastic element 20 can be a spring. Through the setting of the elastic element, the switching lock can be easily opened from the outside by mechanically pulling the handle; in this case, the flat door is in the locked state, which can cause the problem that the door cannot be opened from the outside by pulling the handle; in addition, there are many flat door scenes in life, and this design can reduce the use frequency of the flat door lock and reduce wear.

[0055] As shown in Figure 5 , Figure 6 , the vehicle door part 8 is connected with the vehicle door 24 through the bolt 27; and the vehicle body part 7 is connected with the vehicle body through the bolt 27.

[0056] The vehicle door opening and closing device provided by the embodiment of the present application is driven by the driving device to move the first lock catch, the door bolt is arranged on the vehicle door part, the vehicle body bolt is arranged on the vehicle body part, the mode switching device is arranged on the rotating part, the first lock catch, the first pawl and the second lock catch, and the second pawl capable of rotating are arranged in the mode switching device; the vehicle body bolt is located between the first lock catch and the first pawl, and the door bolt is located between the second lock catch and the second pawl; when the first pawl is buckled on the first lock catch, the vehicle body part and the rotating part cannot rotate relative to each other; when the first pawl is separated from the first lock catch, the vehicle body part and the rotating part can rotate relative to each other; when the second pawl is buckled on the second lock catch, the rotating part and the vehicle door part cannot rotate relative to each other; when the second pawl is separated from the second lock catch, the vehicle door part and the rotating part can rotate relative to each other; the first pawl and the first lock catch are matched, and the second pawl and the second lock catch are matched, so that the switching of the flat door mode and the scissor door mode of the vehicle door opening and closing device is realized, the multiple application requirements of users are met, the opening and closing modes of the vehicle are enriched, and the practicability of the vehicle and the use experience of the user are improved; and as long as the pawl and the lock catch can rotate after partial deformation of the pawl or the lock catch, the pawl can be buckled on the lock catch, the rigid connection between the rotating part and the vehicle door part or the rotating part and the vehicle body part can still be realized, the mode switching of the device is realized, and the stability of the vehicle door mode switching is improved.

[0057] The embodiment of the present application also provides a vehicle door system, which comprises a vehicle door and the vehicle door opening and closing device provided by any one of the above embodiments.

[0058] Exemplarily, the vehicle is a fuel automobile, an electric automobile, a hybrid automobile, a solar automobile or the like, and the embodiment of the present application is not limited in a specific manner.

[0059] Exemplarily, the vehicle doors can all be scissor doors or all be flat doors, or one or several vehicle doors can be scissor doors and the remaining vehicle doors can be flat doors.

[0060] The embodiment of the present application also provides a vehicle, which comprises a vehicle door, a vehicle body and the vehicle door opening and closing device provided by any one of the above embodiments; the vehicle body part of the vehicle door opening and closing device is connected with the vehicle body, and the vehicle door part of the vehicle door opening and closing device is connected with the vehicle door.

[0061] The vehicle provided by the embodiment of the present application controls the connection state between the rotating part and the vehicle body part and between the rotating part and the vehicle door part by using the mode switching device, so that the vehicle realizes the scissor door opening and closing or the flat door opening and closing, meets multiple use requirements of users, enriches the opening and closing modes of the vehicle, and improves the practicability of the vehicle and the use experience of the user.

[0062] The above describes the specific embodiments of the present application in combination with the drawings, but is not a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications or variations made by those skilled in the art on the basis of the technical solutions of the present application without creative labor are still within the protection scope of the present application.

Claims

1. A door opening and closing device comprising a door member, a vehicle body member, and a rotary member, one end of the rotary member being rotatably connected to the door member, the other end of the rotary member being rotatably connected to the vehicle body member, characterized in that, The mode switching device, the door bolt and the body bolt are further included; the door bolt is connected with the door part, and the body bolt is connected with the body part; the mode switching device includes a fixed plate, a driving device, a first lock catch, a first pawl, a second lock catch and a second pawl; the fixed plate is connected with the rotating part; the first lock catch, the first pawl, the second lock catch and the second pawl are all rotationally connected on the fixed plate; the driving device is used to drive the first pawl and the second pawl to rotate; the body bolt is located between the first lock catch and the first pawl, and the door bolt is located between the second lock catch and the second pawl; the mode switching device is used to switch the door opening and closing device between the scissor door mode and the flat door mode, wherein, in the scissor door mode, the second pawl is buckled on the second lock catch, and the first pawl is separated from the first lock catch; in the flat door mode, the first pawl is buckled on the first lock catch, and the second pawl is separated from the second lock catch. The driving device includes a first shift fork, a second shift fork and a power device; the first shift fork and the second shift fork are both connected with the fixed plate; the power device is connected with the first shift fork and the second shift fork; and the power device can drive the first shift fork and the second shift fork to move reversely; the first shift fork is used to push the first pawl to rotate; and the second shift fork is used to push the second pawl to rotate.

2. A door opening and closing device according to claim 1, wherein The second shift fork is connected with an elastic part; the elastic part is connected with an end plate; the end plate is connected with the fixed plate; when the second pawl is buckled on the second lock catch, the elastic part is in a compressed state.

3. A door opening and closing device according to claim 1, wherein The power device includes a power output part, a gear, a first rack and a second rack; the power output part is connected with the gear; the gear is meshingly connected with the first rack and the second rack; the first rack is connected with the first shift fork; and the second rack is connected with the second shift fork.

4. A door opening and closing device according to claim 1, wherein The first lock catch is located on the upper part of the first pawl; and the second lock catch is located on the upper part of the second pawl. After the first pawl is separated from the first lock catch, the end part of the first pawl is in contact with the end part of the first lock catch; and the rotation axis of the first lock catch deviates from the gravity center of the first lock catch. After the second pawl is separated from the second lock catch, the end part of the second pawl is in contact with the end part of the second lock catch; and the rotation axis of the second lock catch deviates from the gravity center of the second lock catch.

5. A door opening and closing device according to claim 1, wherein The rotating part includes a horizontal rotating assembly, a vertical rotating assembly, an outer rotating assembly and a connecting assembly; the horizontal rotating assembly is connected with the body part; the vertical rotating assembly is installed on the horizontal rotating assembly; and the connecting assembly is connected with the vertical rotating assembly; the connecting assembly is rotationally connected with the door part; the outer rotating assembly is arranged between the connecting assembly and the body part; and the fixed plate is connected with the connecting assembly.

6. A door opening and closing device according to claim 5, wherein The horizontal rotating assembly includes a first shaft and a connecting rod; the first shaft is connected with the body part; the connecting rod is rotationally connected with the first shaft; the vertical rotating assembly includes a second shaft; the second shaft is connected with the connecting rod; the connecting assembly includes a door connecting plate and a fifth shaft; the door connecting plate is rotationally connected with the second shaft; the fifth shaft is connected with the door connecting plate; the fifth shaft is rotationally connected with the door part; and the fixed plate is connected with the door connecting plate.

7. A door opening and closing device according to claim 5, wherein The outer rotating assembly includes a third shaft, a fourth shaft, a rotating rod and a joint bearing; the fourth shaft is connected with the body part; the joint bearing is sleeved on the fourth shaft; the third shaft is connected with the door connecting plate; one end of the rotating rod is connected with the joint bearing; and the other end of the rotating rod is rotationally connected with the third shaft.

8. A vehicle door system characterized by, The door opening and closing device of any one of claims 1-7 is connected with the door.

9. A vehicle characterized by comprising: The door opening and closing device of any one of claims 1-7 is connected with the door.

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