Door drive mechanism and vehicle

Abstract

This application relates to the field of vehicle technology and discloses a door drive device and a vehicle. The door drive device includes a drive mechanism, a connecting mechanism, and a door component. The reducer includes a planetary gear train structure and a fixed-axis gear train structure, which are drively connected. The input end of the planetary gear train structure is drively connected to the output end of the drive component. The connecting mechanism includes a first connecting assembly and a second connecting assembly, which are connected to each other and to the output end of the fixed-axis gear train structure. The door component is connected to both the second connecting assembly and the door. The drive component, planetary gear train structure, fixed-axis gear train structure, first connecting assembly, second connecting assembly, and door component are sequentially distributed along a first direction. This application can increase torque, reduce cost, and decrease space occupation.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, specifically to a door drive device and a vehicle. Background Technology

[0002] Vehicle side doors are typically opened and closed manually. However, in certain applications, such as logistics vehicles, special-purpose vehicles, or vehicles requiring mobility assistance, automated and precise door control is of significant practical importance. Electric actuators, which enhance operational convenience and intelligence, have become an important development direction in this field.

[0003] Currently, there are several existing technologies that use electric motors to drive the opening and closing of car doors. Common forms include linear motor push rod structures and combinations of ordinary rotary motors with conventional reducers. These structures typically output power from the motor, which is then converted into the torque required for the door to rotate via a transmission device, thereby driving the door to rotate around the hinge axis.

[0004] However, ordinary rotary motors provide limited torque within a limited installation space, making it difficult to directly drive heavy doors or doors in non-ideal conditions (such as strong winds or slopes). If the insufficient torque is compensated for by increasing the motor power or using a complex transmission mechanism, it will lead to problems such as large size, increased weight, increased cost, and reduced reliability. Utility Model Content

[0005] This application provides a door drive device and a vehicle to solve the problems of low torque, high cost and large space occupation of existing transmission methods.

[0006] In a first aspect, this application provides a door drive device, comprising: A drive mechanism includes a drive component and a reducer. The reducer includes a planetary gear train structure and a fixed-axis gear train structure. The planetary gear train structure is driven to the fixed-axis gear train structure. The input end of the planetary gear train structure is driven to the output end of the drive component. The connecting mechanism includes a first connecting component and a second connecting component, wherein the first connecting component is connected to the second connecting component and the first connecting component is connected to the output end of the fixed-axis gear train structure; A door component includes a rotating part and a fixed part connected together, the rotating part being connected to a second connecting assembly, and the fixed part being connected to a door. The drive component, the planetary wheel system, the fixed-axis wheel system, the first connecting component, the second connecting component, and the door component are distributed sequentially along the first direction.

[0007] Beneficial Effects: By integrating the drive components, reducers (including planetary and fixed-axis gear trains), connecting mechanisms, and door components along the first direction, a compact, integrated power transmission chain is constructed. This axially stacked layout minimizes the radial dimensions of the device, allowing it to easily adapt to narrow installation spaces such as the interior of a door or the door frame. Simultaneously, the series combination of two-stage irregularly shaped reducers constitutes the core torque amplification mechanism, progressively amplifying the output torque of the small motor to a level sufficient to drive a heavy door. This successfully resolves the contradiction between high torque output and miniaturized installation, providing a foundation for the electrification of car doors.

[0008] In one optional embodiment, the planetary gear train structure includes: The first internal gear ring is connected to the housing of the drive component; The sun gear is connected to the output end of the drive component. The sun gear is located inside the first internal gear ring and coincides with the axis of the first internal gear ring. The planetary gears are provided in multiples, and the multiple planetary gears are spaced apart between the sun gear and the first internal gear ring along the circumference of the first internal gear ring. Both the first internal gear ring and the sun gear mesh with the planetary gears. The first planetary carrier includes a first plate, a first drive shaft, and a first connecting shaft. The first plate includes a first surface and a second surface facing each other. The first drive shaft is connected to the first surface of the first plate. Multiple first connecting shafts are provided, and the multiple first connecting shafts are spaced apart along the circumference of the first plate on the second surface of the first plate and are connected to the second surface of the first plate. The multiple first connecting shafts are respectively and correspondingly arranged with the multiple planetary gears. The first connecting shaft is rotatably connected to the planetary gears. The first drive shaft is connected to the input end of the fixed-axis gear train structure.

[0009] In one optional embodiment, the fixed-axis gear train structure includes: The second internal gear ring is connected to the side of the first internal gear ring away from the drive member; A minor gear is disposed within the second internal gear ring. The center of the minor gear is offset from the center of the second internal gear. The axis of the first transmission shaft is offset from the center of the first plate. A first transmission hole is provided at the center of the minor gear. The first transmission shaft passes through the first transmission hole and is rotatably connected to the first transmission hole. A plurality of second transmission holes are provided on the minor gear, and the plurality of second transmission holes are spaced apart along the circumference of the minor gear. The second planetary carrier includes a second plate, a second drive shaft, and a second connecting shaft. The second plate includes a first surface and a second surface facing each other. The second drive shaft is connected to the first surface of the second plate. Multiple second connecting shafts are provided, and the multiple second connecting shafts are spaced apart along the circumference of the second plate on the second surface of the second plate and are connected to the second surface of the second plate. The multiple second connecting shafts are respectively provided with multiple second drive holes in a one-to-one correspondence. The diameter of the second connecting shaft is smaller than the diameter of the second drive hole. The second drive shaft is connected to the first connecting assembly.

[0010] In one alternative implementation, it further includes: A dust cover is fitted over the outside of the drive unit, the first internal gear ring, and the second internal gear ring, and the dust cover includes a first end and a second end opposite to each other; An end cap is provided at the first end of the dust cover. The end cap, the second internal gear ring, the first internal gear ring, and the housing of the drive component are connected in sequence by fasteners. The end cap is provided with a connecting hole. The second drive shaft passes through the connecting hole and is connected to the first connecting assembly. A bearing and a sealing ring are provided between the second drive shaft and the connecting hole.

[0011] In one alternative implementation, the first connection component includes: A first coupling includes a first column and a second column connected together, the axes of the first column and the second column coincide, the first column is provided with a first limiting hole, the second column is provided with a second limiting hole, the first limiting hole and the second limiting hole are interconnected, and the cross-sectional profiles of the first limiting hole and the second limiting hole perpendicular to the first direction have straight segments, the second drive shaft extends into the second limiting hole, the second drive shaft is adapted to the second limiting hole, the second drive shaft and the second column are connected by a pin, and the end of the first column away from the second column is provided with a first limiting notch; A buffer component includes a connected insertion part and a buffer part, wherein the buffer part is located within a first limiting notch, the insertion part is located within a first limiting hole, and a second limiting notch is provided at the end of the buffer part away from the insertion part. The second coupling includes a first end and a second end opposite to each other. The first end of the second coupling is provided with a first limiting protrusion, and the first limiting protrusion is located within the second limiting notch. The second end of the second coupling is connected to the second connecting assembly.

[0012] In one alternative implementation, the second connection component includes: The connecting shaft includes a first limiting part, a body part, and a second limiting part connected in sequence. The first limiting part is configured as a disc structure, the body part is configured as a cylindrical structure, and the cross-sectional profile of the second limiting part perpendicular to the first direction has a straight segment. The second end of the second coupling is provided with a plug hole, and the second limiting part passes through the plug hole. The plug hole is adapted to the second limiting part. The end of the first limiting part away from the second limiting part is provided with a second limiting protrusion. A bushing is fitted onto the main body, and the two ends of the bushing abut against the first limiting part and the second coupling, respectively. A bolt is connected to the end of the first limiting part away from the second limiting part. The bolt passes through the rotating part and is rotatably connected to the rotating part. The end face of the rotating part facing the first limiting part is provided with a third limiting notch. The second limiting protrusion is adapted to the third limiting notch.

[0013] In an optional embodiment, a positioning mechanism is further provided, the positioning mechanism comprising: A vehicle body component includes a connecting part and a positioning part connected together. The positioning part is provided with a positioning hole. A bushing passes through the positioning hole and is rotatably connected to the positioning hole. The connecting part is provided with a connecting hole and is adapted to be connected to the vehicle body. The bracket includes a first end and a second end connected together, the first end and the second end being set at an angle, the first end being connected to the side of the end cap facing the bushing, the first end being provided with a through hole, the planetary carrier passing through the first end, and the second end being connected to the bracket.

[0014] In one alternative implementation, it further includes: The sensor harness is located at the second end of the dust cover and is electrically connected to the drive unit.

[0015] In one alternative implementation, the drive element is a motor.

[0016] Secondly, this application also provides a vehicle, including a door drive mechanism.

[0017] Since the vehicle includes a door drive mechanism, which has the same effect as the door drive mechanism, it will not be elaborated here. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a door drive device according to an embodiment of this application; Figure 2 This is a schematic diagram of the structure of the driving component in the embodiments of this application; Figure 3 This is a schematic diagram of the revolute gear train structure in an embodiment of this application; Figure 4 This is a schematic diagram of the fixed-axis gear train structure in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of the first planetary carrier in the embodiments of this application; Figure 6 This is a front view of the first planetary carrier in an embodiment of this application; Figure 7 This is a schematic diagram of the end cap structure in an embodiment of this application; Figure 8 This is a schematic diagram of the bearing structure in an embodiment of this application; Figure 9 This is a schematic diagram of the positioning mechanism in the embodiments of this application; Figure 10 This is a schematic diagram of the structure of the first coupling in the embodiments of this application; Figure 11 This is a schematic diagram of the structure of the first column in the embodiments of this application; Figure 12 This is a schematic diagram of the bushing structure in an embodiment of this application; Figure 13 This is a schematic diagram of the structure of the first limiting part in the embodiment of this application; Figure 14 This is a schematic diagram of the structure of the second coupling in the embodiments of this application; Figure 15 This is a schematic diagram of the structure of the first and second parts in the embodiments of this application; Figure 16 This is a schematic diagram of the friction plate structure in an embodiment of this application.

[0020] Explanation of reference numerals in the attached figures: 1. Drive component; 2. Door component; 3. First internal gear ring; 4. Sun gear; 5. Planetary gear; 6. First plate; 7. First drive shaft; 8. First connecting shaft; 9. Second internal gear ring; 10. Minor gear; 11. Second plate; 12. Second drive shaft; 13. Second connecting shaft; 14. Dust cover; 15. End cap; 16. Bearing; 17. First column; 18. Second column; 19. Insertion part; 20. Buffer part; 21. First limiting protrusion; 22. Second coupling; 23. First limiting part; 24. Body part; 25. Second limiting part; 26. Second limiting protrusion; 27. Bushing; 28. Bolt; 29. ​​Rotating part; 30. Connecting part; 31. Positioning part; 32. Bracket; 33. Sensor wiring harness; 34. First split part; 35. Second split part; 36. Friction plate; 37. Positioning pin; X, First direction. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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.

[0022] The following is combined Figures 1 to 16 This describes an embodiment of the present application.

[0023] According to an embodiment of this application, a door drive device is provided, including a drive mechanism, a connecting mechanism, and a door component 2. The drive mechanism includes a drive member 1 and a reducer. The reducer includes a planetary gear train structure and a fixed-axis gear train structure, which are drively connected. The input end of the planetary gear train structure is drively connected to the output end of the drive member 1. The connecting mechanism includes a first connecting assembly and a second connecting assembly, which are connected to each other and to the output end of the fixed-axis gear train structure. The door component 2 includes a connected rotating portion 29 and a fixed portion. The rotating portion 29 is connected to the second connecting assembly, and the fixed portion is connected to the door. The drive member 1, the planetary gear train structure, the fixed-axis gear train structure, the first connecting assembly, the second connecting assembly, and the door component 2 are sequentially distributed along a first direction X.

[0024] In this embodiment, a compact, integrated power transmission chain is constructed by integrating the drive component 1, the reducer comprising a planetary gear train structure and a fixed-axis gear train structure, the connecting mechanism, and the door component 2, which are sequentially distributed along the first direction X. This axial stacking layout minimizes the radial dimensions of the device, allowing it to easily adapt to narrow installation spaces such as the interior of a car door or the door frame of a vehicle body. Simultaneously, the series combination of two-stage irregularly shaped reducers constitutes the core torque amplification mechanism, which can progressively amplify the output torque of the small motor to a level sufficient to drive a heavy car door. This successfully resolves the contradiction between high torque output and miniaturized installation, providing a foundation for the electrification of car doors.

[0025] In one embodiment, the planetary gear train structure includes a first internal gear ring 3, a sun gear 4, planet gears 5, and a first planet carrier. The first internal gear ring 3 is connected to the housing of the drive component 1. The sun gear 4 is connected to the output end of the drive component 1, and is located inside the first internal gear ring 3, coinciding with the axis of the first internal gear ring 3. Multiple planet gears 5 are provided, spaced apart along the circumference of the first internal gear ring 3 between the sun gear 4 and the first internal gear ring 3, with both the first internal gear ring 3 and the sun gear 4 meshing with the planet gears 5. The first planetary carrier includes a first plate 6, a first drive shaft 7, and a first connecting shaft 8. The first plate 6 includes a first surface and a second surface facing each other. The first drive shaft 7 is connected to the first surface of the first plate 6. Multiple first connecting shafts 8 are provided, and the multiple first connecting shafts 8 are spaced apart along the circumference of the first plate 6 on the second surface of the first plate 6 and are connected to the second surface of the first plate 6. The multiple first connecting shafts 8 are respectively and correspondingly provided with multiple planetary gears 5. The first connecting shafts 8 are rotatably connected to the planetary gears 5. The first drive shaft 7 is connected to the input end of the fixed-axis gear train structure.

[0026] In this embodiment, an NGW-type planetary gear system is further specified as the first stage of reduction, which can fully utilize the advantages of planetary transmission structure, such as compactness, high load-bearing capacity, and smooth transmission. Multiple planetary gears 5 share the load, significantly improving the contact strength and bending strength of the gears, making the reducer more reliable and durable, with lower noise and longer service life when transmitting large torques. The unique structural design of the first planetary carrier ensures effective power input and output, providing a smooth and efficient power source for the subsequent second stage of reduction.

[0027] In one embodiment, the fixed-axis gear train structure includes a second planetary carrier, a second internal gear ring 9, and a minor gear 10. The second internal gear ring 9 is connected to the side of the first internal gear ring 3 away from the drive member 1. The minor gear 10 is disposed inside the second internal gear ring 9, and the center of the minor gear 10 is offset from the center of the second internal gear. The axis of the first drive shaft 7 is offset from the center of the first plate 6. A first drive hole is provided at the center of the minor gear 10. The first drive shaft 7 passes through the first drive hole and is rotatably connected to the first drive hole. A plurality of second drive holes are provided on the minor gear 10, and the plurality of second drive holes are spaced apart along the circumference of the minor gear 10. The second planetary carrier includes a second plate 11, a second drive shaft 12, and a second connecting shaft 13. The second plate 11 includes a first surface and a second surface facing each other. The second drive shaft 12 is connected to the first surface of the second plate 11. Multiple second connecting shafts 13 are provided, and the multiple second connecting shafts 13 are spaced apart along the circumference of the second plate 11 on the second surface of the second plate 11 and are connected to the second surface of the second plate 11. The multiple second connecting shafts 13 are respectively provided with multiple second transmission holes one by one. The diameter of the second connecting shaft 13 is smaller than the diameter of the second transmission hole. The second drive shaft 12 is connected to the first connecting assembly.

[0028] In this embodiment, a STND-type fixed-axis gear train with a small tooth difference is used as the second stage of reduction. A large transmission ratio is achieved by utilizing the meshing of the second internal gear ring 9 and the small gear 10. Within a limited axial space, a much larger reduction ratio than traditional gear trains can be achieved, thereby further amplifying the torque. This combination of two or more stages of reduction (NGW+STND) produces a synergistic effect, jointly forming a high torque density and high efficiency reduction system.

[0029] In one embodiment, the system further includes a dust cover 14 and an end cap 15. The dust cover 14 is sleeved on the outside of the drive member 1, the first internal gear ring 3, and the second internal gear ring 9, and the dust cover 14 includes a first end and a second end opposite to each other. The end cap 15 is disposed at the first end of the dust cover 14. The end cap 15, the second internal gear ring 9, the first internal gear ring 3, and the housing of the drive member 1 are sequentially connected by fasteners. The end cap 15 is provided with a connecting hole, through which the second drive shaft 12 passes and is connected to the first connecting assembly. A bearing 16 and a sealing ring are disposed between the second drive shaft 12 and the connecting hole.

[0030] In this embodiment, by adding a dust cover 14 and an end cap 15 sealing structure, a highly sealed protective environment is provided for the core components (motor and reducer) of the entire drive unit. This effectively isolates the intrusion of external contaminants such as dust, moisture, and salt spray, preventing abnormal wear, corrosion, or jamming of the internal precision gears and bearings 16, and improving the environmental adaptability and long-term operational reliability of the device under various harsh vehicle operating conditions. The bearings 16 and sealing rings at the end cap 15 ensure the sealing and stability of the output shaft during dynamic rotation.

[0031] In one embodiment, the first connecting assembly includes a first coupling, a buffer, and a second coupling 22. The first coupling includes a first column 17 and a second column 18 connected together, with their axes coinciding. The first column 17 has a first limiting hole, and the second column 18 has a second limiting hole. The first and second limiting holes are interconnected, and their cross-sectional profiles perpendicular to the first direction X have straight segments. A second drive shaft 12 extends into the second limiting hole and is adapted to fit within it. The second drive shaft 12 and the second column 18 are connected by a pin. The end of the first column 17 away from the second column 18 has a first limiting notch. The buffer includes a connected insertion portion 19 and a buffer portion 20. The buffer portion 20 is located within the first limiting notch, and the insertion portion 19 is located within the first limiting hole. The end of the buffer portion 20 away from the insertion portion 19 has a second limiting notch. The second coupling 22 includes a first end and a second end opposite to each other. The first end of the second coupling 22 is provided with a first limiting protrusion 21, and the first limiting protrusion 21 is located in the second limiting notch. The second end of the second coupling 22 is connected to the second connecting assembly.

[0032] Optionally, the first column 17 can be configured as a connected first split 34 and a second split 35. A first limiting notch is provided at the end of the first split 34 away from the second split 35. A first pin hole is provided at the end of the first split 34 away from the second split 35. A second pin hole is provided on the side of the second split that abuts against the first split. The first pin hole and the second pin hole are connected. A positioning pin 37 is provided in the first pin hole and the second pin hole. Both the first split 34 and the second split 35 can rotate circumferentially along the positioning pin 37. A friction plate 36 is provided between the first split 34 and the second split 35. The friction plate 36 rubs against the first split 34 and the second split 35. The second split 35 is connected to the second column 18. The friction plate 36 can provide a torque of 100 N·m. When the torque is greater than 100 N·m, the door can be opened to ensure the safety of passengers. Specifically, even if the drive component 1 and related gear set are damaged after a vehicle collision, the door can still be opened.

[0033] In this embodiment, the buffer can effectively absorb and attenuate the impact load and vibration generated when the motor starts and stops, the door opens and closes, or when encountering a sudden obstacle. It plays the role of overload protection, preventing the huge reverse impact force from acting directly on the reducer and motor, thereby protecting the precision gears and motor shaft of the entire transmission system and extending their service life.

[0034] In one embodiment, the second connecting assembly includes a connecting shaft, a bushing 27, and a bolt 28. The connecting shaft includes a first limiting part 23, a body part 24, and a second limiting part 25 connected in sequence. The first limiting part 23 is configured as a disc structure, the body part 24 is configured as a cylinder structure, and the second limiting part 25 has a straight segment in its cross-sectional profile perpendicular to the first direction X. The second end of the second coupling 22 is provided with a insertion hole, through which the second limiting part 25 passes, and the insertion hole is adapted to the second limiting part 25. The end of the first limiting part 23 away from the second limiting part 25 is provided with a second limiting protrusion 26. The bushing 27 is sleeved on the body part 24, and both ends of the bushing 27 abut against the first limiting part 23 and the second coupling 22, respectively. Bolt 28 is connected to the end of the first limiting part 23 away from the second limiting part 25. The door part 2 has a rotating part 29. Bolt 28 passes through the rotating part 29 and is rotatably connected to the rotating part 29. The end face of the rotating part 29 facing the first limiting part 23 is provided with a third limiting notch. The second limiting protrusion 26 is adapted to the third limiting notch.

[0035] In this embodiment, the second connecting component, by providing a connecting shaft with a limiting part and a bushing 27, and cooperating with the rotating part 29 of the door component 2 through bolts 28 and limiting notches, achieves a reliable and non-playing connection with the door hinge. The bushing 27 reduces rotational friction, while the mutually adaptable limiting protrusions and notches ensure the synchronicity and accuracy of power transmission, preventing slippage or angular deviation during forward and reverse rotation, thereby ensuring precise control of the door opening and closing position.

[0036] In one embodiment, a positioning mechanism is also provided, which includes a vehicle body component and a bracket 32. The vehicle body component includes a connecting portion 30 and a positioning portion 31 connected together. The positioning portion 31 is provided with a positioning hole, and a bushing 27 passes through the positioning hole and is rotatably connected to the positioning hole. The connecting portion 30 is provided with a connecting hole and is adapted to be connected to the vehicle body. The bracket 32 ​​includes a first end and a second end connected together, with the first end and the second end set at an included angle. The first end is connected to the side of the end cap 15 facing the bushing 27 and is provided with a through hole. A planetary carrier passes through the first end, and the second end is connected to the bracket 32.

[0037] In this embodiment, a positioning mechanism consisting of the vehicle body component and the bracket 32 ​​provides a robust and precise mounting reference for the entire drive unit. The bracket 32 ​​securely connects the end cap 15 of the device to the vehicle body, while the vehicle body component supports the connecting shaft and ensures the relative positional accuracy between the shaft and the vehicle body through positioning holes. This two-point fixing method stably anchors the drive unit to the vehicle body, effectively dispersing the torque and vibration generated by the opening and closing of the doors, improving the overall rigidity and operational stability of the system, and preventing loosening of connections or positional misalignment due to long-term vibration.

[0038] In one embodiment, a sensor harness 33 is also included, disposed at the second end of the dust cover 14 and electrically connected to the drive unit 1.

[0039] In this embodiment, by integrating the sensor harness 33 and connecting it to the control system, signals such as the position, speed, or current of the motor can be acquired in real time, thereby achieving precise position control of the door.

[0040] In one embodiment, the drive element 1 is configured as a motor.

[0041] According to an embodiment of this application, another aspect provides a vehicle including a door drive device.

[0042] Since the vehicle includes a door drive mechanism, which has the same effect as the door drive mechanism, it will not be elaborated here.

[0043] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A door drive device, characterized in that, include: The drive mechanism includes a drive component (1) and a reducer. The reducer includes a planetary gear train structure and a fixed-axis gear train structure. The planetary gear train structure is connected to the fixed-axis gear train structure in a transmission connection. The input end of the planetary gear train structure is connected to the output end of the drive component (1) in a transmission connection. The connecting mechanism includes a first connecting component and a second connecting component, wherein the first connecting component is connected to the second connecting component and the first connecting component is connected to the output end of the fixed-axis gear train structure; The door component (2) includes a rotating part (29) and a fixed part connected together, the rotating part (29) being connected to the second connecting assembly, and the fixed part being connected to the door; The drive component (1), the planetary wheel system, the fixed-axis wheel system, the first connecting component, the second connecting component, and the door component (2) are distributed sequentially along the first direction (X).

2. The door drive device according to claim 1, characterized in that, The planetary gear train structure includes: The first internal gear ring (3) is connected to the housing of the drive component (1); The sun gear (4) is connected to the output end of the drive member (1). The sun gear (4) is located inside the first internal gear ring (3) and coincides with the axis of the first internal gear ring (3). The planetary gears (5) are provided in multiples. The multiple planetary gears (5) are arranged at intervals between the sun gear (4) and the first internal gear ring (3) along the circumference of the first internal gear ring (3). Both the first internal gear ring (3) and the sun gear (4) mesh with the planetary gears (5). The first planetary carrier includes a first plate (6), a first drive shaft (7), and a first connecting shaft (8). The first plate (6) includes a first surface and a second surface facing each other. The first drive shaft (7) is connected to the first surface of the first plate (6). Multiple first connecting shafts (8) are provided. Multiple first connecting shafts (8) are arranged at intervals along the circumference of the first plate (6) on the second surface of the first plate (6) and are connected to the second surface of the first plate (6). Multiple first connecting shafts (8) are respectively arranged in correspondence with multiple planetary gears (5). The first connecting shafts (8) are rotatably connected to the planetary gears (5). The first drive shaft (7) is connected to the input end of the fixed-axis gear train structure.

3. The door drive device according to claim 2, characterized in that, The fixed-axis gear train structure includes: The second internal gear ring (9) is connected to the side of the first internal gear ring (3) away from the drive member (1); A minor gear (10) is disposed inside the second internal gear ring (9). The center of the minor gear (10) is offset from the center of the second internal gear ring (9). The axis of the first transmission shaft (7) is offset from the center of the first plate (6). A first transmission hole is provided at the center of the minor gear (10). The first transmission shaft (7) passes through the first transmission hole and is rotatably connected to the first transmission hole. A plurality of second transmission holes are provided on the minor gear (10). The plurality of second transmission holes are spaced apart along the circumference of the minor gear (10). The second planetary carrier includes a second plate (11), a second drive shaft (12), and a second connecting shaft (13). The second plate (11) includes a first surface and a second surface facing each other. The second drive shaft (12) is connected to the first surface of the second plate (11). Multiple second connecting shafts (13) are provided. Multiple second connecting shafts (13) are arranged circumferentially on the second surface of the second plate (11) and are connected to the second surface of the second plate (11). Multiple second connecting shafts (13) are respectively arranged in correspondence with multiple second transmission holes. The diameter of the second connecting shaft (13) is smaller than the diameter of the second transmission hole. The second drive shaft (12) is connected to the first connecting assembly.

4. The door drive device according to claim 3, characterized in that, Also includes: A dust cover (14) is fitted on the outside of the drive member (1), the first internal gear ring (3) and the second internal gear ring (9), and the dust cover (14) includes a first end and a second end opposite to each other; An end cap (15) is provided at the first end of the dust cover (14). The end cap (15), the second internal gear ring (9), the first internal gear ring (3) and the housing of the drive component (1) are connected in sequence by fasteners. The end cap (15) is provided with a connecting hole. The second drive shaft (12) passes through the connecting hole and is connected to the first connecting component. A bearing (16) and a sealing ring are provided between the second drive shaft (12) and the connecting hole.

5. The door drive device according to claim 4, characterized in that, The first connection component includes: The first coupling includes a first column (17) and a second column (18) connected together. The axes of the first column (17) and the second column (18) coincide. The first column (17) is provided with a first limiting hole, and the second column (18) is provided with a second limiting hole. The first limiting hole and the second limiting hole are interconnected, and the cross-sectional profiles of the first limiting hole and the second limiting hole perpendicular to the first direction (X) have straight segments. The second drive shaft (12) extends into the second limiting hole and is adapted to the second limiting hole. The second drive shaft (12) and the second column (18) are connected by a pin. The first column (17) is provided with a first limiting notch at one end away from the second column (18). The buffer includes a connected plug (19) and a buffer (20), wherein the buffer (20) is located within the first limiting notch, the plug (19) is located within the first limiting hole, and a second limiting notch is provided at the end of the buffer (20) away from the plug (19). The second coupling (22) includes a first end and a second end opposite to each other. The first end of the second coupling (22) is provided with a first limiting protrusion (21), and the first limiting protrusion (21) is located in the second limiting notch. The second end of the second coupling (22) is connected to the second connecting assembly.

6. The door drive device according to claim 5, characterized in that, The second connection component includes: The connecting shaft includes a first limiting part (23), a body part (24), and a second limiting part (25) connected in sequence. The first limiting part (23) is configured as a disc structure, the body part (24) is configured as a cylindrical structure, and the second limiting part (25) has a straight segment in its cross-sectional profile perpendicular to the first direction (X). The second end of the second coupling (22) is provided with a plug hole, and the second limiting part (25) passes through the plug hole. The plug hole is adapted to the second limiting part (25). The end of the first limiting part (23) away from the second limiting part (25) is provided with a second limiting protrusion (26). A bushing (27) is fitted onto the main body (24), and the two ends of the bushing (27) abut against the first limiting part (23) and the second coupling (22) respectively. A bolt (28) is connected to the end of the first limiting part (23) away from the second limiting part (25). The bolt (28) passes through the rotating part (29) and is rotatably connected to the rotating part (29). The end face of the rotating part (29) facing the first limiting part (23) is provided with a third limiting notch. The second limiting protrusion (26) is adapted to the third limiting notch.

7. The door drive device according to claim 6, characterized in that, A positioning mechanism is also provided, the positioning mechanism comprising: The body part includes a connecting part (30) and a positioning part (31) connected together. The positioning part (31) is provided with a positioning hole. The bushing (27) passes through the positioning hole and is rotatably connected to the positioning hole. The connecting part (30) is provided with a connecting hole. The connecting part (30) is adapted to be connected to the body. The bracket (32) includes a first end and a second end connected together, the first end and the second end being set at an angle, the first end being connected to the side of the end cap (15) facing the bushing (27), the first end being provided with a through hole, the planetary carrier passing through the first end, and the second end being connected to the bracket (32).

8. The door drive device according to claim 4, characterized in that, Also includes: The sensor harness (33) is disposed at the second end of the dust cover (14) and is electrically connected to the drive unit (1).

9. The door drive device according to claim 1, characterized in that, The driving component (1) is a motor.

10. A vehicle, characterized in that, include: The door drive device according to any one of claims 1 to 9.

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