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

Abstract

The utility model discloses a vehicle door opening and closing device, a vehicle door system and a vehicle, and relates to the technical field of vehicles. The vehicle door opening and closing device comprises a first swing arm, a connecting assembly, a second swing arm and a swing part, the first swing arm is suitable for being movably connected to a vehicle body, and the swing part is movably connected to the first swing arm; one end of the second swing arm is movably connected to the vehicle body, and the other end of the second swing arm is movably connected to the connecting assembly; the connecting assembly is fixedly connected to a vehicle door; the swing part is movably connected with the end, away from the automobile door, of the connecting assembly and used for driving the automobile door to be opened or closed through the connecting assembly. Compared with the prior art, the vehicle door opening and closing device simplifies movement of the vehicle door in three directions into cooperative movement of multiple parts, the functions of opening and closing the vehicle door at a larger opening degree are achieved, the movement process is continuous, smooth, stable and reliable, and the requirement for machining and assembling precision of the vehicle door opening and closing device is lower.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of vehicles, and particularly relates to a vehicle door opening and closing device, a vehicle door system and a vehicle. BACKGROUND

[0002] With the development of the automobile industry, various new vehicle doors are continuously loaded on various vehicle models. As a new type of automobile opening and closing system, a special-shaped vehicle door is more fashionable and eye-catching in modeling than an ordinary side door. Meanwhile, the special-shaped vehicle door has strong practicability, a small lateral opening degree of the vehicle door but a large overall opening space, and provides convenience for passengers to get on and off the vehicle. When loaded on a sports car with a low chassis, the special-shaped vehicle door is more conducive to avoiding road obstacles in the opening and closing process. Therefore, the special-shaped vehicle door is more and more favored by the market and becomes the research focus of major new energy vehicle enterprises.

[0003] However, the special-shaped vehicle door in the related art has the problems of poor stability, poor motion smoothness, high machining and assembly precision requirements and the like. CONTENT OF THE INVENTION

[0004] The application aims to provide a vehicle door opening and closing device, a vehicle door system and a vehicle, which can solve the problems of poor stability, poor motion smoothness, high machining and assembly precision requirements and the like of a scissor door hinge in the related art.

[0005] To solve the above technical problems, the application is implemented as follows:

[0006] In a first aspect, an embodiment of the application provides a vehicle door opening and closing device, which comprises: a first swing arm, the first swing arm being adapted to be movably connected to a vehicle body; a connecting assembly, the connecting assembly being adapted to be fixedly connected to a vehicle door; a second swing arm, one end of the second swing arm being adapted to be movably connected to the vehicle body, and the other end of the second swing arm being movably connected to the connecting assembly; and a swing piece, the swing piece being movably connected to the first swing arm, and the swing piece being movably connected to one end of the connecting assembly away from the vehicle door, the swing piece being used to drive the vehicle door to open or close through the connecting assembly.

[0007] Optionally, a first kinematic pair is formed between the first swing arm and the vehicle body, a second kinematic pair is formed between the swing piece and the first swing arm, a third kinematic pair is formed between the swing piece and the connecting assembly, one end of the second swing arm forms a fourth kinematic pair with the vehicle body, and a fifth kinematic pair is formed between the other end of the second swing arm and the connecting assembly, and the sum of the degrees of freedom of the first kinematic pair, the second kinematic pair, the third kinematic pair, the fourth kinematic pair and the fifth kinematic pair is seven.

[0008] Optionally, the first kinematic pair, the second kinematic pair, the third kinematic pair, the fourth kinematic pair and the fifth kinematic pair comprise two cylindrical pairs and three rotary pairs.

[0009] Optionally, the first and second kinematic pairs are spherical pin pairs, and the third, fourth and fifth kinematic pairs are rotation pairs.

[0010] Optionally, the door opening and closing device further comprises a base, which is adapted to be detachably connected to the vehicle body, and is arranged between the first swing arm and the vehicle body or between the second swing arm and the vehicle body; the base is provided with a first shaft seat and a second shaft seat on a side facing the first swing arm or the second swing arm, the first shaft seat is movably connected to the first swing arm and forms the first kinematic pair, and the second shaft seat is movably connected to the second swing arm and forms the fourth kinematic pair.

[0011] Optionally, the first swing arm comprises a first sub-swing arm and a second sub-swing arm connected to each other, and the first sub-swing arm and the second sub-swing arm are arranged in intersecting directions; the first sub-swing arm and the first shaft seat form the first kinematic pair, and the second sub-swing arm and the swing member form the second kinematic pair.

[0012] Optionally, the first and second kinematic pairs are cylindrical pairs, and the third, fourth and fifth kinematic pairs are rotation pairs.

[0013] Optionally, the swing member comprises a sleeve and a connecting rod, the sleeve is fixedly connected to the connecting rod, and the axial direction of the sleeve intersects with the extending direction of the connecting rod, and the sleeve and the second sub-swing arm form the second kinematic pair.

[0014] Optionally, the connecting rod has opposite first and second ends, the axial direction of the sleeve is a first direction, a second direction is perpendicular to the first direction, the extending direction of the first end to the second end forms an angle α with the second direction, and the angle α is not equal to 0°; the first end is rotatably connected to an end of the connecting assembly away from the door, and the second end is adapted to be connected to a driving member.

[0015] Optionally, the door opening and closing device further comprises an end cover, which is detachably connected to an end of the second sub-swing arm away from the first sub-swing arm, and is used to limit the sliding range of the sleeve along the axial direction of the second sub-swing arm.

[0016] Optionally, the connecting rod is provided with a reinforcing rib.

[0017] Optionally, the door opening and closing device further comprises a limiting assembly, which is adapted to be arranged between the vehicle body and the connecting assembly, and is used to limit the movement of the door when it is closed.

[0018] Optionally, the connecting assembly comprises a connecting piece and a mounting base, one side of the mounting base is fixedly connected with the connecting piece, and the other side of the mounting base is adapted to be connected with the door; and one end of the connecting piece away from the mounting base is rotationally connected with the swinging piece.

[0019] Optionally, the door opening and closing device further comprises a base, the limiting assembly comprises a first limiting assembly, the first limiting assembly comprises a first limiting piece and a second limiting piece, the first limiting piece is arranged on the connecting piece, the second limiting piece is arranged on the base, and the first limiting piece cooperates with the second limiting piece to limit the movement of the connecting piece.

[0020] Optionally, one side end face of the first limiting piece towards the second limiting piece is a first face, one side end face of the second limiting piece towards the first limiting piece is a second face, and the first face is attached to the second face when the door is closed.

[0021] Optionally, the limiting assembly further comprises a second limiting assembly, the second limiting assembly comprises a third limiting piece and a fourth limiting piece, the third limiting piece is arranged on the mounting base, the fourth limiting piece is arranged on the base, and the third limiting piece cooperates with the fourth limiting piece to limit the movement of the mounting base.

[0022] Optionally, one side end face of the third limiting piece towards the fourth limiting piece is a third face, one side end face of the fourth limiting piece towards the third limiting piece is a fourth face, and the third face is attached to the fourth face when the door is closed.

[0023] Optionally, the door opening and closing device further comprises a driving piece, the driving piece is movably connected with one end of the swinging piece away from the first swing arm, for driving the swinging piece to move, so as to drive the door to open or close through the connecting assembly.

[0024] Optionally, the door opening and closing device further comprises a supporting piece, the supporting piece is movably connected with one end of the connecting assembly close to the door, for assisting the opening or closing of the door.

[0025] Optionally, the swinging piece cooperates with the connecting assembly to form a first axis, the swinging piece cooperates with the first swing arm to form a second axis, and the first axis and the second axis are straight lines in different planes.

[0026] Optionally, the vehicle body cooperates with the first swing arm to form a third axis, the vehicle body cooperates with the second swing arm to form a fourth axis, and the third axis and the fourth axis intersect.

[0027] Optionally, the second swing arm cooperates with the connecting assembly to form a fifth axis, and the first axis and the fifth axis are a pair of spatial intersecting axes.

[0028] Optionally, the vehicle body cooperates with the second swing arm to form a fourth axis, and the fourth axis intersects with the fifth axis.

[0029] In a second aspect, an embodiment of the present application provides a vehicle door system, comprising a vehicle door and the vehicle door opening and closing device according to any one of the above, the vehicle door opening and closing device being connected to the vehicle door and being configured to drive the vehicle door to open or close.

[0030] In a third aspect, an embodiment of the present application provides a vehicle, comprising a vehicle body, a vehicle door, and the vehicle door opening and closing device according to any one of the above, the vehicle door opening and closing device being arranged between the vehicle body and the vehicle door and being configured to drive the vehicle door to open or close; or comprising a vehicle body and the vehicle door system according to the above.

[0031] In the embodiment of the present application, the vehicle door opening and closing device comprises a first swing arm, a connecting assembly, a second swing arm, and a swing piece, the first swing arm being adapted to be movably connected to a vehicle body, and the swing piece being movably connected to the first swing arm; one end of the second swing arm is adapted to be movably connected to the vehicle body, and the other end of the second swing arm is movably connected to the connecting assembly; the connecting assembly is adapted to be fixedly connected to a vehicle door; the swing piece is movably connected to an end of the connecting assembly away from the vehicle door, and the swing piece is configured to drive the vehicle door to open or close through the connecting assembly. Compared with the related art, the vehicle door opening and closing device of the present application simplifies the movement of the vehicle door in three directions into the coordinated movement of multiple components, realizes the function of opening and closing the vehicle door with a larger opening degree, and the movement process is continuous, smooth, stable, and reliable, and the processing and assembly precision requirements of the vehicle door opening and closing device are lower.

[0032] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0033] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the accompanying drawings.

[0034] Figure 1 is a structural schematic diagram of a vehicle door opening and closing device according to an embodiment of the present application;

[0035] Figure 2 is a partial installation schematic diagram of a second swing arm according to an embodiment of the present application;

[0036] Figure 3 is a partial installation schematic diagram of a swing piece according to an embodiment of the present application;

[0037] Figure 4 is a partial installation schematic view of a swing member and a first swing arm according to an embodiment of the present application;

[0038] Figure 5 is a partial installation schematic view of a first limiting component according to an embodiment of the present application;

[0039] Figure 6 is a partial schematic view of a first limiting member according to an embodiment of the present application;

[0040] Figure 7 is a partial schematic view of a second limiting member according to an embodiment of the present application;

[0041] Figure 8 is a partial installation schematic view of a second limiting component according to an embodiment of the present application;

[0042] Figure 9 is a partial schematic view of a third limiting member according to an embodiment of the present application;

[0043] Figure 10 is a partial schematic view of a fourth limiting member according to an embodiment of the present application;

[0044] Figure 11 is a structural schematic view of a base according to an embodiment of the present application;

[0045] Figure 12 is a mechanism schematic view of a swing member according to an embodiment of the present application;

[0046] Figure 13 is a structural schematic view of a first swing arm according to an embodiment of the present application;

[0047] Figure 14 is a structural schematic view of a second swing arm according to an embodiment of the present application;

[0048] Figure 15 is a structural schematic view of a connecting component according to an embodiment of the present application;

[0049] Figure 16 is a schematic view of a door opening and closing device driving a vehicle door to close according to an embodiment of the present application;

[0050] Figure 17 is a schematic view of a door opening and closing device driving a vehicle door to open according to an embodiment of the present application.

[0051] Reference signs:

[0052] 1: first swing arm; 11: first sub swing arm; 111: third axis; 12: second sub swing arm; 13: first kinematic pair; 14: second kinematic pair; 15: third kinematic pair; 16: fourth kinematic pair; 17: fifth kinematic pair; 18: end cover; 2: connecting assembly; 21: connecting piece; 211: second hole; 212: mounting portion; 213: first connecting portion; 214: second connecting portion; 22: mounting seat; 3: second swing arm; 31: fourth axis; 32: fifth axis; 33: first limiting portion; 4: swing piece; 41: first axis; 42: second axis; 43: sleeve; 44: connecting rod; 441: first end; 442: second end; 443: reinforcing rib; 5: base; 51: first shaft seat; 52: second shaft seat; 521: first hole; 522: second limiting portion; 53: notch; 6: first limiting assembly; 61: first limiting piece; 611: first face; 62: second limiting piece; 621: second face; 7: second limiting assembly; 71: third limiting piece; 711: third face; 72: fourth limiting piece; 721: fourth face; 100: vehicle door; X: first direction; Y: second direction; a: included angle. DETAILED DESCRIPTION

[0053] Embodiments of the present application will be described in detail below with reference to examples shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are only used to explain the present application and cannot be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0054] The terms "first", "second" in the description and claims of the present application can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally means that the front and rear associated objects are in a "or" relationship.

[0055] In the description of the present application, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0056] In the description of the present application, it needs to be understood that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0057] Before explaining the vehicle door opening and closing device, vehicle door system and vehicle provided by the embodiments of the present application, the application scenarios of the vehicle door opening and closing device, vehicle door system and vehicle provided by the embodiments of the present application are described in detail:

[0058] As a kind of individual design, scissor door is generally only applied to supercar, its unique novel door opening and closing mode makes vehicle more scientific and technological and future, always attract the attention of many users. The movement mode of scissor door mainly has three kinds: the first is straight opening type, i.e. the door opening mode of directly turning up, it requires higher to door and body, some vehicle models cannot be used;The second is outward opening type, i.e. the door can be opened to a certain angle before turning up, its movement is not smooth enough, and the user experience is poor;The third is hybrid type, i.e. the door is opened outward and upward at the same time, i.e. forming an arc-shaped rising track.

[0059] In the related art, the scissor door hinge includes a hinge mounting seat, a hinge height shaft block, a hinge arm, and a hinge opening shaft block, which are connected with each other through four hinge shafts and form four rotating shafts, i.e., a first rotating shaft, a second rotating shaft, a third rotating shaft, and a fourth rotating shaft, and the four rotating shafts intersect at a point, and the intersection point is located on the hinge height shaft block. In this way, the vehicle door can be opened obliquely upward, i.e., outward and upward at the same time, avoiding the need for a two-step movement to open or close the door. However, this scheme requires that the four shafts intersect at a point, which requires extremely high manufacturing and assembly precision, otherwise, the mechanism may not move smoothly, may be stuck, and the product failure rate is high. At the same time, the technical scheme that the four shafts intersect at a point has many limitations and constraints on the vehicle body layout space, which is difficult to design and arrange, and is not conducive to the adjustment and rapid adaptation of the scissor door hinge structure.

[0060] Therefore, the embodiments of the present application provide a vehicle door opening and closing device, a vehicle door system, and a vehicle. The vehicle door opening and closing device, the vehicle door system, and the vehicle provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings and specific embodiments and application scenarios.

[0061] As shown in Figure 1 , Figure 12 , Figure 13 , Figure 14 , Figure 15 , Figure 16 and Figure 17 , the vehicle door opening and closing device according to some embodiments of the present application includes a first swing arm 1, a connecting assembly 2, a second swing arm 3, and a swing piece 4. The first swing arm 1 is adapted to be movably connected to a vehicle body, and the swing piece 4 is movably connected to the first swing arm 1. One end of the second swing arm 3 is adapted to be movably connected to the vehicle body (not shown in the figure), and the other end of the second swing arm 3 is movably connected to the connecting assembly 2. The connecting assembly 2 is adapted to be fixedly connected to a vehicle door 100. The swing piece 4 is movably connected to one end of the connecting assembly 2 away from the vehicle door 100, and the swing piece 4 is used to drive the vehicle door 100 to open or close through the connecting assembly 2.

[0062] In the embodiments of the present application, the swing piece 4 is movably connected to the first swing arm 1 and movably connected to one end of the connecting assembly 2 away from the vehicle door 100, so that the swing piece 4 takes the first swing arm 1 as a fulcrum and rotates the vehicle door 100 fixedly connected with the connecting assembly 2 relative to the vehicle body. At the same time, since one end of the second swing arm 3 is adapted to be movably connected to the vehicle body and the other end of the second swing arm 3 is movably connected to the connecting assembly 2, when the connecting assembly 2 drives the vehicle door 100 to rotate, the connecting assembly 2 moves away from or approaches the vehicle body, forming the opening and closing of the vehicle door 100 relative to the side of the vehicle body, so that the swing piece 4 drives the vehicle door 100 to open or close through the connecting assembly 2.

[0063] In a specific application, the vehicle door 100 opens outwardly and upwardly at the same time, and forms an upwardly opening rising track along an arc when the vehicle door 100 opens; and the vehicle door 100 closes inwardly and downwardly at the same time, and forms a downwardly closing falling track along an arc when the vehicle door 100 closes. During the opening or closing process of the vehicle door 100, the first swing arm 1, the connecting assembly 2, the second swing arm 3 and the swing piece 4 cooperate to simplify the movement of the vehicle door 100 in three directions into cooperative movement of multiple components, and realize the functions of opening the vehicle door 100 at a larger opening degree along an arc and closing the vehicle door 100 along an arc, and the movement process is continuous, smooth, stable and reliable.

[0064] In addition, the vehicle door opening and closing device in the embodiments of the present application is more flexible in design and arrangement, can be quickly adjusted for different vehicle models, has less influence on the structure of the vehicle door, and improves the appearance and practicability of the scissor door. At the same time, the vehicle door opening and closing device is convenient to install, and has low requirements on the processing and assembly precision of the vehicle door opening and closing device, thereby improving the qualified rate of the product and being applicable to batch production.

[0065] It should be explained that when the two components are movably connected, the movably connecting includes but is not limited to at least one of the following modes: connecting through a spherical pair, connecting through a spherical pin pair, connecting through a cylindrical pair, connecting through a rotary pair, etc., and a person skilled in the art can set it according to actual needs, and the present application does not limit it.

[0066] As shown in Figure 1 , Figure 2 , Figure 3 and Figure 4 , in some embodiments of the present application, the first swing arm 1 and the vehicle body form a first movement pair 13, the swing piece 4 and the first swing arm 1 form a second movement pair 14, the swing piece 4 and the connecting assembly 2 form a third movement pair 15, one end of the second swing arm 3 and the vehicle body form a fourth movement pair 16, and the other end of the second swing arm 3 and the connecting assembly 2 form a fifth movement pair 17. The sum of the degrees of freedom of the first movement pair 13, the second movement pair 14, the third movement pair 15, the fourth movement pair 16 and the fifth movement pair 17 is seven.

[0067] In the embodiments of the present application, the first swing arm 1, the connecting assembly 2, the second swing arm 3 and the swing piece 4 in the vehicle door opening and closing device are associated with each other through the first movement pair 13, the second movement pair 14, the third movement pair 15, the fourth movement pair 16 and the fifth movement pair 17, and the movement of the vehicle door 100 in three directions is simplified into cooperative movement of multiple components, forming a scissor type door opening mode; and in order to realize the movement track of the vehicle door 100, the above five movement pairs need a total of seven degrees of freedom.

[0068] It can be understood that the design and arrangement of the door opening and closing device realized by the five kinematic pairs are more flexible, faster and easier to adjust, and have less impact on the structure of the door 100, thereby improving the appearance and practicability of the scissor door. Meanwhile, the door opening and closing device is convenient to install, has lower requirements on manufacturing and assembly precision, greatly improves the qualified rate of products, and can be applied to batch production. The five kinematic pairs of the door opening and closing device of the present application enable the door opening and closing device to have a larger movement range, enable the door 100 to have a larger opening degree, and enable the door opening and closing device to realize a more optimal preset movement track and move more smoothly.

[0069] It should be explained that in mechanical theory, the degree of freedom (DOF) is a concept used to describe the independent movement mode of a system or mechanical structure. Specifically, the degree of freedom refers to the number of directions or modes in which the system can independently move under certain constraints.

[0070] As shown in Figure 1 , Figure 2 , Figure 3 and Figure 4 , in some embodiments of the present application, the first kinematic pair 13, the second kinematic pair 14, the third kinematic pair 15, the fourth kinematic pair 16 and the fifth kinematic pair 17 include two cylindrical pairs and three rotational pairs.

[0071] In the embodiments of the present application, by setting two of the five kinematic pairs as cylindrical pairs and the other three kinematic pairs as rotational pairs, the stability of the door opening and closing device can be maximally ensured on the basis of meeting 2x2+3x1=7 degrees of freedom, and the adjustment during the installation process is more convenient.

[0072] In specific applications, the two cylindrical pairs and the three rotational pairs can be any one of the five kinematic pairs; for example, the first kinematic pair 13 is a cylindrical pair, the second kinematic pair 14 is a cylindrical pair, and the third kinematic pair 15, the fourth kinematic pair 16 and the fifth kinematic pair 17 are rotational pairs; or the first kinematic pair 13 is a cylindrical pair, the second kinematic pair 14 is a rotational pair, the third kinematic pair 15 is a rotational pair, the fourth kinematic pair 16 is a cylindrical pair, and the fifth kinematic pair 17 is a rotational pair; a person skilled in the art can set it according to actual needs, and the present application does not limit this.

[0073] As shown in Figure 1 , Figure 2 , Figure 3 and Figure 4 , in some embodiments of the present application, the first kinematic pair 13 and the second kinematic pair 14 are cylindrical pairs, and the third kinematic pair 15, the fourth kinematic pair 16 and the fifth kinematic pair 17 are rotational pairs.

[0074] In the embodiment of the present application, by setting the first kinematic pair 13 and the second kinematic pair 14 as cylindrical pairs, the swing piece 4 can be pivoted at the first swing arm 1, and the swing piece 4 can have a larger range of motion, thereby driving the connecting assembly 2 to move in multiple directions, and further driving the vehicle door 100 to move in an arc to open or close. Meanwhile, the third kinematic pair 15, the fourth kinematic pair 16, and the fifth kinematic pair 17 are set as rotary pairs, which can ensure that the specific motion trajectory of the connecting assembly 2 is easy to control, so that the vehicle door can move according to the preset trajectory, and the controllability of the vehicle door opening and closing device is improved.

[0075] It should be explained that the first sub-swing arm 11 and the first shaft seat 51 form a cylindrical pair, the second sub-swing arm 12 and the swing piece 4 form a cylindrical pair, the swing piece 4 and the connecting assembly 2 form a rotary pair, that is, the swing piece 4 is rotatably connected to the connecting assembly 2, one end of the second swing arm 3 and the second shaft seat 52 form a rotary pair, that is, one end of the second swing arm 3 is rotatably connected to the second shaft seat 52, and the other end of the second swing arm 3 and the connecting assembly 2 form a rotary pair, that is, the other end of the second swing arm 3 is rotatably connected to the connecting assembly 2.

[0076] In specific applications, one end of the second swing arm 3 is adapted to be rotatably connected to the second shaft seat 52. The rotatable connection can be that both the second swing arm 3 and the second shaft seat 52 are provided with through holes, and the two are rotatably connected by a rotating shaft. Alternatively, the second swing arm 3 is provided with a through hole, and the second shaft seat 52 is provided with a pin shaft, and the through hole of the second swing arm 3 is mounted on the pin shaft of the second shaft seat 52. Alternatively, the second shaft seat 52 is provided with a through hole, and the second swing arm 3 is provided with a pin shaft, and the through hole of the second swing arm 3 is mounted in the through hole of the second shaft seat 52. Those skilled in the art can set it according to actual needs, and the present application does not limit it.

[0077] Similarly, the other end of the second swing arm 3 is rotatably connected to the connecting assembly 2, and the rotatable connection is the same as the above rotatable connection, and the pin shaft and the through hole can be interchanged to meet the axial rotation.

[0078] It should be explained that the first sub-swing arm 11 and the first shaft seat 51 form a cylindrical pair, the second sub-swing arm 12 and the swing piece 4 form a cylindrical pair, the swing piece 4 and the connecting assembly 2 form a rotary pair, that is, the swing piece 4 is rotatably connected to the connecting assembly 2, one end of the second swing arm 3 and the second shaft seat 52 form a rotary pair, that is, one end of the second swing arm 3 is rotatably connected to the second shaft seat 52, and the other end of the second swing arm 3 and the connecting assembly 2 form a rotary pair, that is, the other end of the second swing arm 3 is rotatably connected to the connecting assembly 2.

[0079] It can be understood that the first kinematic pair 13 and the second kinematic pair 14 make the first sub-swing arm 11 move relative to the vehicle body, and when the swing member 4 moves relative to the second sub-swing arm 12, the friction is smaller and the contact area is larger, thereby improving the stability during movement.

[0080] As shown in Figure 1 、 Figure 2 、 Figure 3 and Figure 4 indicate that in some embodiments of the present application, the first kinematic pair 13 and the second kinematic pair 14 are ball pin pairs, and the third kinematic pair 15, the fourth kinematic pair 16 and the fifth kinematic pair 17 are rotation pairs.

[0081] In the embodiments of the present application, by setting the first kinematic pair 13 and the second kinematic pair 14 as ball pin pairs and the third kinematic pair 15, the fourth kinematic pair 16 and the fifth kinematic pair 17 as rotation pairs, the design form of the door opening and closing device is more diverse, and the selection setting can be made according to the actual demand while meeting the required degrees of freedom of the movement of the door opening and closing device.

[0082] It needs to be explained that when the door opening and closing device drives the door 100 to open or close in a "scissors type", 7 degrees of freedom are required, and when the first kinematic pair 13 and the second kinematic pair 14 are set as ball pin pairs and the third kinematic pair 15, the fourth kinematic pair 16 and the fifth kinematic pair 17 are set as rotation pairs, there are 2x2+3x1=7 degrees of freedom in total, which meets the movement requirement of the door opening and closing device itself.

[0083] In some embodiments of the present application, the first kinematic pair 13 is a spherical pair, and the second kinematic pair 14, the third kinematic pair 15, the fourth kinematic pair 16 and the fifth kinematic pair 17 are rotation pairs.

[0084] In the embodiments of the present application, by setting the first kinematic pair 13 as a spherical pair and the second kinematic pair 14, the third kinematic pair 15, the fourth kinematic pair 16 and the fifth kinematic pair 17 as rotation pairs, the design form of the door opening and closing device is more diverse, and the selection setting can be made according to the actual demand while meeting the required degrees of freedom of the movement of the door opening and closing device.

[0085] It needs to be explained that when the door opening and closing device drives the door 100 to open or close in a "scissors type", 7 degrees of freedom are required, and when the first kinematic pair 13 is a spherical pair and the second kinematic pair 14, the third kinematic pair 15, the fourth kinematic pair 16 and the fifth kinematic pair 17 are rotation pairs, the door opening and closing device has 1 spherical pair and 4 rotation pairs in total, so there are 3+4x1=7 degrees of freedom in total, which meets the movement requirement of the door opening and closing device itself.

[0086] In some embodiments of the present application, the second kinematic pair 14 is a spherical pair, and the first kinematic pair 13, the third kinematic pair 15, the fourth kinematic pair 16 and the fifth kinematic pair 17 are all rotary pairs.

[0087] In the embodiments of the present application, by setting the second kinematic pair 14 as a spherical pair, and the first kinematic pair 13, the third kinematic pair 15, the fourth kinematic pair 16 and the fifth kinematic pair 17 as rotary pairs, the design form of the vehicle door opening and closing device is more diversified, and while meeting the required degrees of freedom of the vehicle door opening and closing device, the selection and setting can be made according to actual needs.

[0088] As shown in Figure 1 , Figure 2 , Figure 4 and Figure 11 , in some embodiments of the present application, the vehicle door opening and closing device further comprises a base 5, the base 5 is adapted to be detachably connected with the vehicle body, the base 5 is arranged between the first swing arm 1 and the vehicle body, or between the second swing arm 3 and the vehicle body; one side of the base 5 facing the first swing arm 1 or the second swing arm 3 is provided with a first shaft seat 51 and a second shaft seat 52, the first shaft seat 51 is movably connected with the first sub-swing arm 11 and forms the first kinematic pair 13, and the second shaft seat 52 is movably connected with the second swing arm 3 and forms the fourth kinematic pair 16.

[0089] In the embodiments of the present application, the base 5 is arranged between the first swing arm 1 and the vehicle body, or between the second swing arm 3 and the vehicle body, one side of the base 5 facing the first swing arm 1 or the second swing arm 3 is provided with the first shaft seat 51 and the second shaft seat 52, the first shaft seat 51 is movably connected with the first sub-swing arm 11 and forms the first kinematic pair 13, and the second shaft seat 52 is movably connected with the second swing arm 3 and forms the fourth kinematic pair 16, and the base 5 is adapted to be detachably connected with the vehicle body, so as to facilitate installation, and when the vehicle door opening and closing device needs to be disassembled and repaired, the base 5 can also be conveniently removed from the vehicle body. At the same time, the first shaft seat 51 is provided to facilitate the movable connection with the first sub-swing arm 11, and the second shaft seat 52 is provided to facilitate the movable connection with the second sub-swing arm 12.

[0090] It should be explained that the first shaft seat 51 is movably connected with the first sub-swing arm 11, and the movable connection includes but is not limited to at least one of the following modes: connection through a spherical pair, connection through a spherical pin pair, connection through a cylindrical pair, connection through a rotary pair, etc., and a person skilled in the art can set it according to actual needs, which is not limited in the present application.

[0091] It can be understood that the second shaft seat 52 forms the fourth kinematic pair 16 with the second swing arm 3, and the fourth kinematic pair 16 includes but is not limited to at least one of the following modes: a spherical pair, a spherical pin pair, a cylindrical pair, a rotary pair, etc., and a person skilled in the art can set it according to actual needs, which is not limited in the present application.

[0092] As shown in Figure 1 ,Figure 2 and Figure 11 As shown in

[0093] As shown in Figure 1 , Figure 2 and Figure 11 As shown in

[0094] As shown in Figure 1 , Figure 11 and Figure 15 As shown in

[0095] As shown in Figure 1 , Figure 11 and Figure 14 As shown in

[0096] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 13 As shown in

[0097] In the embodiment of the present application, by setting the first swing arm 1 as the first sub-swing arm 11 and the second sub-swing arm 12 which extend intersectingly, the position of the fulcrum needs to be transformed according to different spatial positions when the swing piece 4 drives the connecting assembly 2 and the door 100 to rotate along an arc with the first swing arm 1 as the fulcrum, thereby reducing the length requirement of the swing piece 4, that is, reducing the overall size of the door opening and closing device, and further reducing the installation space requirement of the door opening and closing device, and improving the applicability of the door opening and closing device.

[0098] As can be understood, as shown in Figure 1 、 Figure 4 and Figure 13 , the first swing arm 1 includes the first sub-swing arm 11 and the second sub-swing arm 12 which extend intersectingly, and the first sub-swing arm 11 and the second sub-swing arm 12 can be perpendicular to each other or form a certain angle, which can be set by those skilled in the art according to actual needs, and the present application does not limit this.

[0099] In actual application, the first sub-swing arm 11 can be used as the movement center between the first swing arm 1 and the first shaft seat 51, and the second sub-swing arm 12 can be used as the movement center between the swing piece 4 and the first swing arm 1; for example, the first sub-swing arm 11 and the first shaft seat 51 are connected through a cylindrical pair, and the second sub-swing arm 12 and the swing piece 4 are connected through another cylindrical pair: the axis of the first sub-swing arm 11 is the rotation axis, that is, the first sub-swing arm 11 is the rotation center, and the first swing arm 1 can rotate relative to the first shaft seat 51 about the axis of the first sub-swing arm 11, and can slide relative to the first shaft seat 51 along the direction of the axis of the first sub-swing arm 11; the axis of the second sub-swing arm 12 is the rotation axis, that is, the second sub-swing arm 12 is another rotation center, and the swing piece 4 can rotate about the second sub-swing arm 12, and can slide relative to the first swing arm 1 along the direction of the axis of the second sub-swing arm 12; thereby satisfying the swing piece 4 driving the connecting assembly 2 to generate multiple directions of movement.

[0100] As shown in Figure 4 and Figure 12 , in some embodiments of the present application, the swing piece 4 includes a sleeve 43 and a connecting rod 44, the sleeve 43 and the connecting rod 44 are fixedly connected, and the axis direction of the sleeve 43 intersects with the extension direction of the connecting rod 44, and the sleeve 43 and the second sub-swing arm 12 form a second movement pair 14.

[0101] In the embodiment of the present application, the sleeve 43 and the connecting rod 44 are fixedly connected, and the axis direction of the sleeve 43 intersects with the extension direction of the connecting rod 44, and the sleeve 43 and the second sub-swing arm 12 form a second movement pair 14, so that the swing piece 4 can rotate and slide relative to the second sub-swing arm 12, thereby driving the door 100 to open or close along an arc through the connecting assembly 2.

[0102] In a specific application, the axial direction of the sleeve 43 intersects with the extension direction of the connecting rod 44, which can be perpendicular to each other or form a non-right angle, and a person skilled in the art can set it according to actual needs, and the present application does not limit it.

[0103] It can be understood that, in a specific application, a cylindrical pair is formed between the sleeve 43 and the second sub-swing arm 12, so that the sleeve 43 can move and relatively rotate with respect to the second sub-swing arm 12, thereby improving the activity range of the swing member 4, so that the vehicle door 100 can have a larger opening degree.

[0104] As shown in Figure 12 In some embodiments of the present application, the connecting rod 44 has opposite first and second ends 441 and 442, the axial direction of the sleeve 43 is the first direction X, the second direction Y is perpendicular to the first direction X, the extension direction of the first end 441 to the second end 442 forms an angle α with the second direction Y, and the angle α is not equal to 0°; the first end 441 is rotatably connected to the end of the connecting assembly 2 away from the vehicle door 100, and the second end 442 is adapted to be connected to the driving member.

[0105] In the embodiments of the present application, the extension direction of the first end 441 to the second end 442 forms an angle α with the second direction Y, and the angle α is not equal to 0°; that is, the second end 442 is farther away from the vehicle body, so that the second end 442 of the swing member 4 has a larger movement space, and interference between the swing member 4 and other parts on the vehicle body can be avoided, the first end 441 is rotatably connected to the end of the connecting assembly 2 away from the vehicle door 100, and the second end 442 is adapted to be connected to the driving member, so that when the driving member drives the second end 442 to move, the swing member 4 can rotate and slide around the second sub-swing arm 12, and then the second end 442 is driven to rotate in the opposite direction, thereby driving the connecting assembly 2 to rotate, so that the vehicle door 100 moves along the arc.

[0106] It should be explained that the first direction X is the axial direction of the sleeve 43, and in a specific application, the first direction X intersects with the side surface of the vehicle body, and the second direction Y is perpendicular to the first direction X.

[0107] It can be understood that, as shown in Figure 8As shown, the extension direction of the first end 441 to the second end 442 forms an angle a with the second direction Y, the angle a is not equal to 0°, and the angle a can be specifically set to 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, or any value or range between any two values. In this way, the connecting rod 44 and the sleeve 43 are inclined to intersect. In a specific application, the second end 442 and the driving member can be movably connected, so that the second end 442 has greater freedom of movement under the driving of the driving member. For example, the second end 442 can be provided with a ball joint structure or a universal joint, and those skilled in the art can set it according to actual needs, which is not limited in the present application.

[0108] In some embodiments of the present application, the swing member 4 includes opposite first and second ends 441 and 442, and the driving member is movably connected to the second end 442 to drive the swing member 4 to rotate and slide relative to the second sub-swing arm 12. The driving member and the second end 442 are generally connected together through a spherical surface pair to enable the second end 442 of the swing member 4 to have a larger range of movement.

[0109] As shown in Figure 1 and Figure 4 In some embodiments of the present application, the door opening and closing device further includes an end cover 18 movably connected to the end of the second sub-swing arm 12 away from the first sub-swing arm 11, and the end cover 18 is used to limit the sliding range of the sleeve 43 along the axis direction of the second sub-swing arm 12.

[0110] In the embodiments of the present application, by installing the end cover 18 at the end of the second sub-swing arm 12 away from the first sub-swing arm 11, the sleeve 43 in the swing member 4 can rotate around the axis direction of the second sub-swing arm 12, i.e., the second axis 42, and the swing member 4 slides along the second axis 42 between the end cover 18 and the first sub-swing arm 11, thereby meeting the movement requirements of the swing member 4, enabling the door opening and closing device to have a larger movement range, and enabling the door 100 to have a larger opening degree, while achieving a more optimal preset movement trajectory and smoother movement.

[0111] In a specific application, the end cover 18 is movably connected to the end of the second sub-swing arm 12 away from the first sub-swing arm 11, including but not limited to at least one of the following connection modes: threaded connection, buckle connection, riveting, etc. Those skilled in the art can set it according to the needs, which is not limited in the present application.

[0112] Preferably, as shown in Figure 13 the end of the second sub-swing arm 12 away from the first sub-swing arm 11 is provided with a thread, and the end cover 18 is screwed with the thread, thereby facilitating installation and disassembly, and ensuring the stability of the connection.

[0113] AsFigure 4 As shown in some embodiments of the present application, the connecting rod 44 is provided with a reinforcing rib 443.

[0114] In the embodiments of the present application, by providing the reinforcing rib 443 on the connecting rod 44, the structural strength of the swing member 4 can be further strengthened, so as to ensure the stability of the swing member 4 when the swing member 4 drives the door 100 to move along an arc through the connecting assembly 2, and to avoid the occurrence of cracking and breaking during the operation, and to avoid causing serious consequences such as door jamming.

[0115] As shown in some embodiments of the present application, the door opening and closing device further comprises a limiting assembly, which is adapted to be arranged between the vehicle body and the connecting assembly 2, and is used to limit the movement of the door 100 when the door 100 is closed. Figure 1

[0116] In the embodiments of the present application, by arranging the limiting assembly between the vehicle body and the connecting assembly 2, the movement of the door 100 is limited by the limiting assembly when the door 100 is closed, that is, the limiting assembly can bear part of the weight of the door 100, so as to reduce the influence of the door 100 on the door opening and closing device, reduce the wear of the door opening and closing device, and improve the service life of the door opening and closing device.

[0117] As shown in some embodiments of the present application, the connecting assembly 2 comprises a connecting piece 21 and a mounting seat 22, one side of the mounting seat 22 is fixedly connected with the connecting piece 21, and the other side of the mounting seat 22 is connected with the door 100; the end of the connecting piece 21 away from the mounting seat 22 is rotatably connected with the swing member 4. Figure 1 、 Figure 15 、 Figure 16 and Figure 17 In the embodiments of the present application, one side of the mounting seat 22 is fixedly connected with the connecting piece 21, and the other side of the mounting seat 22 is connected with the door 100; the end of the connecting piece 21 away from the mounting seat 22 is rotatably connected with the swing member 4, so that a larger movement range can be obtained during the movement of the swing member 4 driving the connecting piece 21, and the door 100 has a larger opening degree.

[0118] In the embodiments of the present application, one side of the mounting seat 22 is fixedly connected with the connecting piece 21, and the other side of the mounting seat 22 is connected with the door 100; the end of the connecting piece 21 away from the mounting seat 22 is rotatably connected with the swing member 4, so that a larger movement range can be obtained during the movement of the swing member 4 driving the connecting piece 21, and the door 100 has a larger opening degree.

[0119] In specific applications, the other side of the mounting seat 22 is detachably connected with the door 100, so as to facilitate the installation or disassembly of the door opening and closing device and the door 100 for maintenance,

[0120] In specific applications, the specific shape of the connecting piece 21 can be set according to actual needs to adapt to the installation space on different vehicle models.

[0121] As shown in some embodiments of the present application, the connecting assembly 2 comprises a connecting piece 21 and a mounting seat 22, one side of the mounting seat 22 is fixedly connected with the connecting piece 21, and the other side of the mounting seat 22 is connected with the door 100; the end of the connecting piece 21 away from the mounting seat 22 is rotatably connected with the swing member 4. Figure 1 and Figure 15 ​As shown in the drawings, in some embodiments of the present application, the connecting piece 21 comprises a first connecting portion 213 and a second connecting portion 214, the first connecting portion 213 and the second connecting portion 214 are fixedly connected and cross-extend, so that the first connecting portion 213 and the second connecting portion 214 form a "Y-shaped" structure, the top of the "Y" is fixedly connected with the mounting seat 22 respectively, so that the connecting piece 21 and the mounting seat 22 form a triangular connecting structure, which makes the connection between the connecting piece 21 and the mounting seat 22 more stable, the connecting piece 21 can bear the weight of the vehicle door 100 connected with the mounting seat 22 and drive the vehicle door 100 to move.

[0122] Of course, the connecting piece 21 and the mounting seat 22 can also be provided in other shapes capable of forming stable connection, and those skilled in the art can set them according to actual needs, which are not limited in the present application.

[0123] As shown in the drawings, Figure 1 and Figure 15 As shown in the drawings, in some embodiments of the present application, the connecting piece 21 is provided with a second hole 211, the connecting piece 21 and the second swing arm 3 are rotatably connected through a pin shaft, a pin is arranged in the second hole 211 to limit the rotation of the pin shaft and avoid the pin shaft from being driven to rotate by the second swing arm 3, which causes excessive wear of the pin shaft.

[0124] As shown in the drawings, Figure 1 and Figure 15 As shown in the drawings, in some embodiments of the present application, the connecting piece 21 is provided with a mounting portion 212, the mounting portion 212 is suitable for movably connected to a supporting piece, and the supporting piece can assist the opening or closing of the vehicle door 100. At least part of the weight of the vehicle door 100 is borne by the supporting piece, so as to avoid excessive wear of the vehicle door opening and closing device after long-term use and ensure the smoothness of the operation of the vehicle door opening and closing device.

[0125] As shown in the drawings, Figure 1 , Figure 5 , Figure 6 and Figure 7 As shown in the drawings, in some embodiments of the present application, the vehicle door opening and closing device further comprises a base 5, the limiting assembly comprises a first limiting assembly 6, the first limiting assembly 6 comprises a first limiting piece 61 and a second limiting piece 62, the first limiting piece 61 is arranged on the connecting piece 21, the second limiting piece 62 is arranged on the base 5, and the first limiting piece 61 cooperates with the second limiting piece 62 to limit the movement of the connecting piece 21.

[0126] In the embodiments of the present application, the first limiting piece 61 is arranged on the connecting piece 21, the second limiting piece 62 is arranged on the base 5, and the first limiting piece 61 cooperates with the second limiting piece 62 to limit the movement of the connecting piece 21, so as to limit and correct the movement track of the vehicle door 100, prevent the occurrence of problems such as sinking of the vehicle door, and enhance the movement stability and dynamic retention capacity of the vehicle door opening and closing device.

[0127] It needs to be explained that, as shown in Figure 1 and Figure 16 , when the vehicle door opening and closing device is in a closed state, the first limiting member 61 cooperates with the second limiting member 62 to limit, when the vehicle door opening and closing device is converted from an open state to a closed state, the first limiting member 61 is driven by the connecting member 21 to contact the second limiting member 62, and cooperates to form limiting and guiding.

[0128] Understandably, the first limiting member 61 can be provided with a pin, and correspondingly the second limiting member 62 can be provided with a pin groove, so as to cooperate with each other; or the first limiting member 61 can be provided with a pin groove and the second limiting member 62 can be provided with a pin; of course, the first limiting component 6 can also be any other structure that can realize the limitation and correction of the movement track of the vehicle door 100, and those skilled in the art can set it according to actual needs, and the present application does not limit it.

[0129] As shown in Figure 5 , Figure 6 and Figure 7 , in some embodiments of the present application, the side end face of the first limiting member 61 towards the second limiting member 62 is a first face 611, and the side end face of the second limiting member 62 towards the first limiting member 61 is a second face 621, in the case of closing the vehicle door 100, the first face 611 is attached to the second face 621.

[0130] In the embodiments of the present application, by attaching the first face 611 to the second face 621 in the case of closing the vehicle door 100, the friction between the first limiting member 61 and the second limiting member 62 can be reduced during vehicle driving, the wear of the first limiting member 61 and the second limiting member 62 can be avoided, and the abnormal sound generated can be reduced; the service life of the vehicle door opening and closing device is improved, and the user's use experience is improved.

[0131] As shown in Figure 1 , Figure 8 , Figure 9 and Figure 10 , in some embodiments of the present application, the limiting component further comprises a second limiting component 7, the second limiting component 7 comprises a third limiting member 71 and a fourth limiting member 72, the third limiting member 71 is arranged on the mounting seat 22, the fourth limiting member 72 is arranged on the base 5, and the third limiting member 71 cooperates with the fourth limiting member 72 to limit the movement of the mounting seat 22.

[0132] In the embodiments of the present application, the third limiting piece 71 is arranged on the mounting seat 22, and the fourth limiting piece 72 is arranged on the base 5. The third limiting piece 71 cooperates with the fourth limiting piece 72 to limit the movement of the mounting seat 22, so as to limit and correct the movement track of the door 100, prevent the occurrence of problems such as door sinking, and enhance the movement stability and dynamic retention capacity of the door opening and closing device.

[0133] It should be explained that, as shown in Figure 1 and Figure 16 , when the door opening and closing device is in the closed state, the third limiting piece 71 cooperates with the fourth limiting piece 72 to limit, and when the door opening and closing device is converted from the open state to the closed state, the third limiting piece 71 is driven by the mounting seat 22 to contact the fourth limiting piece 72 and cooperate to form limiting and guiding.

[0134] Understandably, the third limiting piece 71 can be provided with a pin, and correspondingly, the fourth limiting piece 72 can be provided with a pin groove, so as to cooperate with each other; or the third limiting piece 71 can be provided with a pin groove, and the fourth limiting piece 72 can be provided with a pin; of course, the first limiting assembly 6 can also be any structure for limiting and correcting the movement track of the door 100. Those skilled in the art can set it according to actual needs, and the present application does not limit it.

[0135] As shown in Figure 8 , in some embodiments of the present application, the side end face of the third limiting piece 71 facing the fourth limiting piece 72 is a third face 711, and the side end face of the fourth limiting piece 72 facing the third limiting piece 71 is a fourth face 721. When the door 100 is closed, the third face 711 is attached to the fourth face 721.

[0136] In the embodiments of the present application, by attaching the third face 711 to the fourth face 721 when the door 100 is closed, the friction between the third limiting piece 71 and the fourth limiting piece 72 can be reduced during vehicle driving, the wear of the third limiting piece 71 and the fourth limiting piece 72 can be avoided, and the abnormal sound generated can be reduced; the service life of the door opening and closing device is improved, and the user's use experience is improved.

[0137] As shown in Figure 1 , Figure 16 and Figure 17 , in some embodiments of the present application, the door opening and closing device further comprises a driving member (not shown in the figure), which is movably connected with the end of the swing piece 4 away from the first swing arm 1, and is used to drive the swing piece 4 to move, so as to drive the door 100 to open or close along the arc line through the connecting assembly 2.

[0138] In the embodiments of the present application, the driving member is movably connected to the swing member 4 away from one end of the first swing arm 1, and is used to drive the swing member 4 to move, so as to drive the vehicle door 100 to open or close along an arc through the connecting assembly 2, thereby forming a "scissors type" opening or closing mode of the vehicle door 100.

[0139] In specific applications, the driving member can be at least one of a hydraulic telescopic rod, an electric telescopic rod, etc., which can be set by those skilled in the art according to actual needs, and the present application does not limit this.

[0140] It can be understood that the driving member provides power, so as to realize the opening or closing of the vehicle door 100 and enable the vehicle door opening and closing device to hover at any position.

[0141] As shown in Figure 1 , Figure 16 and Figure 17 , in some embodiments of the present application, the vehicle door opening and closing device further comprises a supporting member movably connected to the connecting assembly 2 near one end of the vehicle door 100, and used to assist the opening or closing of the vehicle door 100.

[0142] In specific applications, the supporting member can be at least one of a gas spring, a balance bar, etc., which can be set by those skilled in the art according to actual needs, and the present application does not limit this.

[0143] It can be understood that the supporting member is used to assist the opening or closing of the vehicle door 100, mainly bears the gravity of the vehicle door 100 and can enhance the stability of the vehicle door 100 during movement.

[0144] As shown in Figure 1 and Figure 15 , in some embodiments of the present application, the connecting member 21 is provided with a mounting portion 212 movably connected to the supporting member, and the supporting member can assist the opening or closing of the vehicle door 100. At least part of the weight of the vehicle door 100 is borne by the supporting member, so as to avoid excessive wear of the vehicle door opening and closing device after long-term use, and ensure the smoothness of the operation of the vehicle door opening and closing device.

[0145] As shown in Figure 1 , Figure 3 , Figure 12 and Figure 15 , in some embodiments of the present application, the swing member 4 cooperates with the connecting assembly 2 to form a first axis 41, the swing member 4 cooperates with the first swing arm 1 to form a second axis 42, and the first axis 41 and the second axis 42 are skew lines.

[0146] In the embodiments of the present application, by setting the first axis 41 and the second axis 42 as skew lines, when the swing member 4 rotates around the first swing arm 1, the swing member 4 and the connecting assembly 2 will not rotate in the same direction, so that the swing member 4 can drive the vehicle door 100 to move through the connecting assembly 2.

[0147] In a specific application, the swing member 4 cooperates with the second sub-swing arm 12 to form the second axis 42.

[0148] It should be explained that, taking the rotation of the swing member 4 around the second sub-swing arm 12 in the vertical plane as an example: at this time, the swing member 4 needs to drive the vehicle door 100 to rotate in the vertical plane, and the first axis 41 and the second axis 42 are set as skew axes, so that the connecting assembly 2 and the swing member 4 will not rotate in the vertical plane, for example, the connecting assembly 2 and the swing member 4 rotate in the horizontal plane, which will not affect the swing member 4 driving the connecting assembly 2 to rotate in the vertical plane, so that the vehicle door opening and closing device can move along the preset trajectory.

[0149] It can be understood that the skew lines are two straight lines that are not in the same plane. The skew lines are straight lines that are neither intersecting nor parallel.

[0150] As shown in Figure 1 , Figure 2 , Figure 4 , Figure 11 and Figure 12 , in some embodiments of the present application, the vehicle body cooperates with the first swing arm 1 to form a third axis 111, the vehicle body cooperates with the second swing arm 3 to form a fourth axis 31, and the third axis 111 intersects with the fourth axis 31.

[0151] In the embodiments of the present application, taking the length direction of the vehicle as the front-rear direction, the width direction as the left-right direction, and the height direction as the up-down direction as an example, by setting the third axis 111 and the fourth axis 31 as intersecting, when the swing member 4 drives the connecting assembly 2 to rotate, the first sub-swing arm 11 can rotate around the third axis 111, so that the vehicle door 100 can move in the front-rear direction, thereby the vehicle door 100 can have a larger space to rotate, and at the same time, the situation that the vehicle door opening and closing device is stuck during movement is avoided, and the fourth axis 31 is to ensure that the vehicle door 100 can rotate in the vertical plane and can move away from or close to the vehicle body, i.e., move in the left-right direction, to ensure the opening degree between the vehicle door 100 and the vehicle body.

[0152] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 11 and Figure 12As shown in some embodiments of the present application, the second swing arm 3 cooperates with the connecting assembly 2 to form a fifth axis 32, and the first axis 41 and the fifth axis 32 are a pair of spatial intersecting axes.

[0153] In the embodiments of the present application, the first axis 41 and the fifth axis 32 are a pair of spatial intersecting axes, that is, the first axis 41 and the fifth axis 32 are a pair of spatial intersecting axes intersecting at a point or not intersecting at a point, so as to meet the movement requirements of the door opening and closing device while reducing the processing and assembly precision requirements of the door opening and closing device, and avoiding the situation that the door opening and closing device is stuck after wear.

[0154] As shown in some embodiments of the present application, the vehicle body cooperates with the second swing arm 3 to form a fourth axis 31, and the fourth axis 31 intersects with the fifth axis 32. Figure 1 Figure 2 Figure 14 As shown in some embodiments of the present application, the vehicle body cooperates with the second swing arm 3 to form a fourth axis 31, and the fourth axis 31 intersects with the fifth axis 32.

[0155] In the embodiments of the present application, by setting the fourth axis 31 and the fifth axis 32 to intersect, the door 100 can have a larger movement range, the door 100 can have a larger opening degree, and a more optimal preset movement trajectory can be achieved, and the movement is smoother.

[0156] It should be explained that the role of the second swing arm 3 in the door opening and closing device is to realize the movement of the door 100 and the vehicle body towards the outside, and since the door opening and closing device is usually installed at the front end of the door 100, that is, the position closer to the front of the vehicle, the fourth axis 31 and the fifth axis 32 are set to intersect, as shown in Figure 10 , so that the second swing arm 3 forms an "arc shape", that is, the opening degree of the door 100 at the position closer to the front of the vehicle is smaller, and the opening degree of the door 100 at the position closer to the rear of the vehicle is larger, so that the door 100 has a larger opening degree.

[0157] As shown in some embodiments of the present application, the second swing arm 3 cooperates with the connecting assembly 2 to form a fifth axis 32, and the first axis 41 and the fifth axis 32 are a pair of spatial intersecting axes. Figure 16 Figure 17 The door opening and closing device is used to drive the door 100 to open or close along an arc, so as to form a scissor door, which will be described below by taking the opening of the door 100 driven by the door opening and closing device as an example:

[0158] ​​​When the initial movement, the driving member exerts an external force on the second end 442 of the swing member 4 by contraction, so that the swing member 4 has a spatial movement, i.e. the swing member 4 rotates around the second sub-swing arm 12 and is slidable along the axis direction of the second axis 42 (the second movement pair 14 is a cylindrical pair), and at the same time, it can rotate around the first axis 41 relative to the connecting member 21; at the same time, the first swing arm 1 is driven to rotate and slide relative to the base 5 through the first movement pair 13 (cylindrical pair); so that the connecting member 21 is driven to rotate around the fifth axis 32 relative to the second swing arm 3, and the second swing arm 3 is driven to rotate around the fourth axis 31 relative to the base 5. When the connecting member 21 is driven to move, it drives the vehicle door 100 to move through the mounting seat 22, thereby forming a movement trajectory that is obliquely upward along an arc, and at the same time, in the process of opening the vehicle door, the support rod connected with the mounting portion 212 on the connecting member 21 is elongated to support the connecting member 21, i.e. to support the vehicle door 100, thereby bearing the weight of the vehicle door 100.

[0159] When the vehicle door is closed, the action of the vehicle door opening and closing device is opposite to the above action.

[0160] It can be understood that, in the process of opening or closing the vehicle door, the lateral opening degree of the vehicle door is mainly affected by the rotation of the second swing arm 3 around the fourth axis 31, the posture of the vehicle door movement is mainly affected by the rotation of the connecting member 21 around the fifth axis 32, and the movement trajectory of the vehicle door in the vertical plane is mainly affected by the rotation of the swing member 4 around the second axis 42.

[0161] As shown in FIGS. Figure 16 and Figure 17 In some embodiments of the present application, a vehicle door system is also provided, which comprises a vehicle door 100 and a vehicle door opening and closing device as described in any of the above embodiments, and the vehicle door opening and closing device is connected with the vehicle door 100 and is used to drive the vehicle door 100 to open or close.

[0162] In the embodiments of the present application, the swing member 4 is movably connected to the first swing arm 1 and movably connected to the end of the connecting assembly 2 away from the vehicle door 100, so that the swing member 4 takes the first swing arm 1 as a fulcrum to rotate the vehicle door 100 fixedly connected with the connecting assembly 2 relative to the vehicle body; at the same time, since one end of the second swing arm 3 is movably connected to the vehicle body and the other end of the second swing arm 3 is movably connected to the connecting assembly 2, when the connecting assembly 2 drives the vehicle door 100 to rotate, the connecting assembly 2 moves away from or approaches the vehicle body, thereby forming the opening and closing of the vehicle door 100 relative to the vehicle body in the lateral direction, so that the swing member 4 drives the vehicle door 100 to open or close through the connecting assembly 2.

[0163] In a specific application, the vehicle door 100 is opened outwardly and upwardly at the same time, and forms an upward opening trajectory along an arc when the vehicle door 100 is opened; and the vehicle door 100 is closed downwardly and inwardly at the same time, and forms a downward closing trajectory along an arc when the vehicle door 100 is closed. During the opening or closing process of the vehicle door 100, the first swing arm 1, the connecting assembly 2, the second swing arm 3 and the swing piece 4 work together to simplify the movement of the vehicle door 100 in three directions into the coordinated movement of multiple components, realize the functions of opening the vehicle door 100 at a larger opening degree along an arc and closing the vehicle door 100 along an arc, and the movement process is continuous, smooth, stable and reliable.

[0164] In some embodiments of the present application, a vehicle is also provided, which comprises a vehicle body, a vehicle door 100 and a vehicle door opening and closing device as described in any of the above embodiments, and the vehicle door opening and closing device is arranged between the vehicle body and the vehicle door 100 and is used to drive the vehicle door 100 to open or close along an arc; or comprises a vehicle body and a vehicle door system as described above.

[0165] In the embodiments of the present application, the swing piece 4 is movably connected to the first swing arm 1 and movably connected to one end of the connecting assembly 2 away from the vehicle door 100, so that the swing piece 4 takes the first swing arm 1 as a fulcrum and rotates the vehicle door 100 fixedly connected to the connecting assembly 2 relative to the vehicle body; at the same time, one end of the second swing arm 3 is movably connected to the vehicle body, and the other end of the second swing arm 3 is movably connected to the connecting assembly 2, so that when the connecting assembly 2 drives the vehicle door 100 to rotate, the connecting assembly 2 moves away from or approaches the vehicle body, forming the opening and closing of the vehicle door 100 relative to the side of the vehicle body, so that the swing piece 4 drives the vehicle door 100 to open or close through the connecting assembly 2.

[0166] In a specific application, the vehicle door 100 is opened outwardly and upwardly at the same time, and forms an upward opening trajectory along an arc when the vehicle door 100 is opened; and the vehicle door 100 is closed downwardly and inwardly at the same time, and forms a downward closing trajectory along an arc when the vehicle door 100 is closed. During the opening or closing process of the vehicle door 100, the first swing arm 1, the connecting assembly 2, the second swing arm 3 and the swing piece 4 work together to simplify the movement of the vehicle door 100 in three directions into the coordinated movement of multiple components, realize the functions of opening the vehicle door 100 at a larger opening degree along an arc and closing the vehicle door 100 along an arc, and the movement process is continuous, smooth, stable and reliable.

[0167] In addition, the vehicle door opening and closing device in the embodiments of the present application is more flexible in design and arrangement, can be quickly adjusted for different vehicle models, has less influence on the structure of the vehicle door, and improves the appearance and practicability of the scissor door. At the same time, it is convenient to install, has lower requirements for the machining and assembly precision of the vehicle door opening and closing device, thereby improving the qualified rate of the product, and can be applied to batch production.

[0168] In the description of the application, reference has been made to descriptive terms such as "one embodiment", "some embodiments", "an embodiment", "example", "specific example" or "some examples" etc. It is emphasized that each of these terms refers to a specific feature, structure, material or characteristic described in connection with a particular embodiment or example. The descriptive terms are not necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0169] While the embodiments of the application have been shown and described, it is to be understood that the embodiments described are only by way of example and that various changes, modifications, substitutions and alterations can be made thereto without departing from the spirit and scope of the application as defined in the claims and their equivalents.

Claims

1. A door opening and closing device characterized by comprising: include: First swing arm (1), the first swing arm (1) is adapted to be movably connected to the vehicle body; A connecting component (2) adapted to be fixedly connected to the door (100); The second swing arm (3) has one end adapted to be movably connected to the vehicle body, and the other end of the second swing arm (3) is movably connected to the connecting assembly (2); A swing member (4) is movably connected to the first swing arm (1). The swing member (4) is movably connected to the end of the connecting assembly (2) away from the door (100). The swing member (4) is used to drive the door (100) to open or close through the connecting assembly (2).

2. The door opening and closing device according to claim 1, characterized by A first kinematic pair (13) is formed between the first swing arm (1) and the vehicle body; a second kinematic pair (14) is formed between the swing member (4) and the first swing arm (1); a third kinematic pair (15) is formed between the swing member (4) and the connecting assembly (2); a fourth kinematic pair (16) is formed between one end of the second swing arm (3) and the vehicle body; and a fifth kinematic pair (17) is formed between the other end of the second swing arm (3) and the connecting assembly (2). The sum of the degrees of freedom of the first kinematic pair (13), the second kinematic pair (14), the third kinematic pair (15), the fourth kinematic pair (16), and the fifth kinematic pair (17) is seven.

3. The door opening and closing device according to claim 2, characterized in that, The first kinematic pair (13), the second kinematic pair (14), the third kinematic pair (15), the fourth kinematic pair (16), and the fifth kinematic pair (17) include two cylindrical pairs and three revolute pairs.

4. The door opening and closing device according to claim 2, characterized by The first kinematic pair (13) and the second kinematic pair (14) are ball-pin pairs, and the third kinematic pair (15), the fourth kinematic pair (16) and the fifth kinematic pair (17) are all rotary pairs.

5. The door opening and closing device according to claim 2, characterized in that, The door opening and closing device further includes a base (5), which is disposed between the first swing arm (1) and the vehicle body, or between the second swing arm (3) and the vehicle body. The base (5) is adapted to be detachably connected to the vehicle body. The base (5) has a first axle seat (51) and a second axle seat (52) on the side facing the first swing arm (1) or the second swing arm (3). The first axle seat (51) is movably connected to the first swing arm (1) and forms the first kinematic pair (13). The second axle seat (52) is movably connected to the second swing arm (3) and forms the fourth kinematic pair (16).

6. The door opening and closing device according to claim 5, characterized in that, The first swing arm (1) includes a first sub-swing arm (11) and a second sub-swing arm (12) connected to each other, the extension directions of the first sub-swing arm (11) and the second sub-swing arm (12) intersect; the first sub-swing arm (11) and the first bearing (51) form the first kinematic pair (13), and the second sub-swing arm (12) and the swing member (4) form the second kinematic pair (14).

7. The door opening and closing device according to claim 6, characterized in that, The first kinematic pair (13) and the second kinematic pair (14) are cylindrical pairs, the third kinematic pair (15), the fourth kinematic pair (16) and the fifth kinematic pair (17) are rotary pairs.

8. The door opening and closing device according to claim 6, characterized in that, The swing member (4) comprises a sleeve (43) and a connecting rod (44), the sleeve (43) is fixedly connected with the connecting rod (44), and the axial direction of the sleeve (43) intersects with the extending direction of the connecting rod (44), and the sleeve (43) and the second sub-swing arm (12) form the second kinematic pair (14).

9. The door opening and closing device according to claim 8, characterized in that, The connecting rod (44) has opposite first and second ends (441) and (442), the axial direction of the sleeve (43) is a first direction (X), a second direction (Y) is perpendicular to the first direction (X), the extending direction of the first end (441) to the second end (442) forms an angle α with the second direction (Y), and the angle α is not equal to 0°; the first end (441) is rotatably connected to one end of the connecting assembly (2) away from the door (100), and the second end (442) is adapted to be connected to a driving member.

10. The door opening and closing device according to claim 8, characterized in that, The door opening and closing device further comprises an end cover (18) which is detachably connected to one end of the second sub-swing arm (12) away from the first sub-swing arm (11), and the end cover (18) is used to limit the sliding range of the sleeve (43) along the axial direction of the second sub-swing arm (12).

11. The door opening and closing device according to claim 8, characterized in that, The connecting rod (44) is provided with a reinforcing rib (443).

12. The door opening and closing device according to claim 1, characterized by The door opening and closing device further comprises a limiting assembly adapted to be arranged between the vehicle body and the connecting assembly (2) for limiting the movement of the door (100) when closed.

13. The vehicle door opening and closing device according to claim 12, characterized by The connecting assembly (2) comprises a connecting member (21) and a mounting seat (22), one side of the mounting seat (22) is fixedly connected with the connecting member (21), and the other side of the mounting seat (22) is adapted to be connected with the door (100); one end of the connecting member (21) away from the mounting seat (22) is rotatably connected with the swing member (4).

14. The door opening and closing device according to claim 13, characterized in that, The door opening and closing device further comprises a base (5), the limiting assembly comprises a first limiting assembly (6), the first limiting assembly (6) comprises a first limiting member (61) and a second limiting member (62), the first limiting member (61) is arranged on the connecting member (21), the second limiting member (62) is arranged on the base (5), and the first limiting member (61) cooperates with the second limiting member (62) to limit the movement of the connecting member (21).

15. The door opening and closing device according to claim 14, characterized in that, The side end face of the first limiting member (61) facing the second limiting member (62) is a first face (611), the side end face of the second limiting member (62) facing the first limiting member (61) is a second face (621), and in the case that the door (100) is closed, the first face (611) is attached to the second face (621).

16. The door opening and closing device according to claim 14, wherein The limiting assembly further comprises a second limiting assembly (7), the second limiting assembly (7) comprising a third limiting piece (71) and a fourth limiting piece (72), the third limiting piece (71) being arranged on the mounting seat (22), the fourth limiting piece (72) being arranged on the base (5), and the third limiting piece (71) and the fourth limiting piece (72) being matched to limit the movement of the mounting seat (22).

17. The door opening and closing device according to claim 16, characterized in that, The third limiting piece (71) has a third face (711) on one side end face facing the fourth limiting piece (72), and the fourth limiting piece (72) has a fourth face (721) on one side end face facing the third limiting piece (71), and the third face (711) and the fourth face (721) are attached to each other when the vehicle door (100) is closed.

18. The door opening and closing device according to claim 1, characterized by The vehicle door opening and closing device further comprises a driving piece, the driving piece being movably connected to one end of the swing piece (4) away from the first swing arm (1) and being used to drive the swing piece (4) to move to drive the vehicle door (100) to open or close through the connecting assembly (2).

19. The door opening and closing device according to claim 1, characterized by The vehicle door opening and closing device further comprises a supporting piece, the supporting piece being movably connected to one end of the connecting assembly (2) close to the vehicle door (100) and being used to assist the opening or closing of the vehicle door (100).

20. The door opening and closing device according to claim 1, characterized by The swing piece (4) and the connecting assembly (2) cooperate to form a first axis (41), the swing piece (4) and the first swing arm (1) cooperate to form a second axis (42), and the first axis (41) and the second axis (42) are straight lines in different planes.

21. The door opening and closing device according to claim 1, characterized by The vehicle body and the first swing arm (1) cooperate to form a third axis (111), the vehicle body and the second swing arm (3) cooperate to form a fourth axis (31), and the third axis (111) and the fourth axis (31) intersect.

22. The door opening and closing device according to claim 20, wherein The second swing arm (3) and the connecting assembly (2) cooperate to form a fifth axis (32), and the first axis (41) and the fifth axis (32) are a pair of space intersecting axes.

23. The door opening and closing device according to claim 22, wherein The vehicle body and the second swing arm (3) cooperate to form a fourth axis (31), and the fourth axis (31) and the fifth axis (32) intersect.

24. A vehicle door system characterized by A vehicle door system comprising a vehicle door (100) and a vehicle door opening and closing device as claimed in any one of claims 1-23, the vehicle door opening and closing device being connected to the vehicle door (100) and being used to drive the vehicle door (100) to open or close.

25. A vehicle characterized by A vehicle door system comprising a vehicle body, a vehicle door (100) and a vehicle door opening and closing device as claimed in any one of claims 1-23, the vehicle door opening and closing device being arranged between the vehicle body and the vehicle door (100) and being used to drive the vehicle door (100) to open or close; or a vehicle door system comprising a vehicle body and a vehicle door system as claimed in claim 24.

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