Drive device, vehicle, and control method for drive device

Abstract

The present invention relates to a drive unit, a vehicle, and a control method for a drive unit. The drive unit (100) includes a hinge connection structure (1), a transmission structure (2), and a drive structure (3). The hinge connection structure (1) includes a fixed end (12) and a movable end (11) hingedly connected to the fixed end (12). The transmission structure (2) is provided at the movable end (11) and includes a connecting rod (21) and a rocker arm (22). One end of the connecting rod (21) is rotatably connected to the rocker arm (22), and the other end of the connecting rod (21) is rotatably connected to the fixed end (12). The drive structure (3) is provided at the movable end (11) and includes a driver (31) and a transmission shaft (32). The transmission shaft (32) is fixedly connected to an end of the rocker arm (22) remote from the connecting rod (21). The driver (31) drives the transmission shaft (32) so that the rocker arm (22) rotates about the axis of the transmission shaft (32).

Description

[Technical field]

[0001] The present invention relates to the field of vehicle technology, and more particularly to a drive system, a vehicle, and a control method for the drive system. [Background technology]

[0002] With the rapid development of the vehicle industry, consumers' demands for vehicle automation are also increasing. The traditional manual opening and closing of vehicle trunk doors cannot meet the current consumer needs for vehicle functions.

[0003] At present, the luggage compartment doors of more and more vehicles are formed by a combination of an upper tailgate and a lower tailgate. Opening the lower tailgate expands the luggage compartment space, providing more usage for users in various scenarios. Summary of the Invention

[0004] The present invention provides a drive system, a vehicle, and a control method for the drive system.

[0005] A first aspect of the present invention provides a drive device, including a hinge connection structure, a transmission structure, and a drive structure. The hinge connection structure includes a fixed end and a movable end hingedly connected to the fixed end. The transmission structure is provided at the movable end and includes a connecting rod and a rocker arm. One end of the connecting rod is rotatably connected to the rocker arm, and the other end of the connecting rod is rotatably connected to the fixed end. The drive structure is provided at the movable end and includes a driver and a transmission shaft. The transmission shaft is fixedly connected to an end of the rocker arm away from the connecting rod. The driver drives the transmission shaft so that the rocker arm rotates around the axis of the transmission shaft. Since the output torque of the driver is stable, the driver rotates the rocker arm nonlinearly, so that the connecting rod pushes and rotates the movable end, which is favorable to overcoming the problem of the arm constantly changing during opening and closing of the drive device, and improves the stability during opening and closing of the drive device.

[0006] Furthermore, the driving structure includes a driving gear and a driven gear. The driving gear is connected to the driver. The driven gear meshes with the driving gear and is fixedly connected to the transmission shaft. The diameter of the driving gear is smaller than that of the driven gear. Due to the reduction ratio between the driving gear and the driven gear, the driven gear can amplify the torque of the driver, which is advantageous to reduce the parameter requirements of the driver compared with the technical solution in which the driver and the transmission shaft are directly connected, thereby reducing the volume and cost of the driver.

[0007] Furthermore, the driven gear includes a first driven gear and a second driven gear, the first driven gear meshes with the driving gear and the second driven gear respectively, the second driven gear is fixedly connected to the transmission shaft, and the diameter of the first driven gear is larger than that of the driving gear and smaller than that of the second driven gear. By installing in this way, it is possible to avoid the need for a huge driven gear due to an excessively large reduction ratio during single-stage transmission, which is favorable for optimizing the volume of the driving device.

[0008] Further, the first driven gear includes a first sub-gear and a second sub-gear, the first sub-gear is fixedly connected to the second sub-gear, the diameter of the first sub-gear is larger than that of the second sub-gear, the first sub-gear meshes with the driving gear, and the second sub-gear meshes with the second driven gear. By installing in this way, multiple gears can be provided in different planes, which makes full use of the multi-dimensional space in the driving device, improves the compactness of the structure, and optimizes the utilization rate of the space.

[0009] In addition, the driving device further includes a sealing sleeve, the sealing sleeve being sleeved on a part of the connecting rod, one end of the sealing sleeve being fixedly connected to the connecting rod, and the other end of the sealing sleeve extending to the movable end. By installing in this manner, even if impurities enter the driving device, the sealing sleeve can block the impurities from the driving structure and the transmission structure, and prevent the impurities from affecting the driving structure and the transmission structure.

[0010] Further, one end of the connecting rod close to the rocker arm includes a first ball socket, one end of the rocker arm close to the connecting rod includes a first ball head, the first ball head is rotatably mounted in the first ball socket, and / or one end of the connecting rod close to the fixed end includes a second ball socket, the fixed end includes a second ball head, the second ball head is rotatably mounted in the second ball socket. Due to the contact between the spherical surfaces, the rotation angle between the connecting rod and the rocker arm is increased and rotation in multiple directions can be realized, which improves the rotation flexibility of rotating the connection position during the opening and closing process of the drive device, and makes the operation of the drive device smoother.

[0011] The driving device further includes a torque sensor for detecting the torque of the driving device. By installing the torque sensor in this manner, damage to the driving device, personal injury, and property damage caused by foreign objects being caught when the movable end and the fixed end rotate and approach each other can be avoided.

[0012] A second aspect of the present invention provides a vehicle including a door assembly and the drive device according to the first aspect, the drive device being used for opening and closing the door assembly. By installing the drive device, the driver rotates the rocker arm nonlinearly, so that the connecting rod pushes the movable end to rotate away from or towards the fixed end, thereby realizing automatic opening and closing of the door assembly. In addition, the torque output of the driver is stable, which can effectively improve the stability of the angle change during the opening and closing of the door assembly.

[0013] Furthermore, the vehicle further includes a vehicle body, the door assembly includes a trunk lower tailgate, a movable end of a hinge connection structure of the drive device is fixedly connected to the trunk lower tailgate, and a fixed end of the hinge connection structure is fixedly connected to the vehicle body. By installing in this manner, the trunk lower tailgate can be opened and closed stably at a constant speed because the force change is uniform during the process of rotating the trunk lower tailgate to open and close. This improves stability during opening and closing.

[0014] Furthermore, the vehicle further includes a locking structure and a lock sensor. The locking structure includes a vehicle body locking member and a lower tailgate locking member cooperating with the vehicle body locking member, and the lock sensor is used to detect the locked state between the vehicle body locking member and the lower tailgate locking member. By installing the lock sensor, it is possible to detect whether the lower tailgate locking member and the vehicle body locking member are locked, thereby detecting whether the drive device has rotated to a predetermined position and is in a closed state, and avoiding the lower tailgate from being erroneously opened because the drive device has not been closed to the predetermined position.

[0015] A third aspect of the present invention provides a control method for a drive device applied to the vehicle according to the second aspect, the control method including the steps of acquiring a state of the drive device, and controlling an operation mode of the drive device, the operation modes including a forward rotation mode for rotating a movable end away from the fixed end, a reverse rotation mode for rotating the movable end toward the fixed end, and a stop mode for maintaining a relative position between the movable end and the fixed end. By first acquiring the state of the drive device and then controlling the operation mode of the drive device, intelligent and automatic adjustment of the drive device can be realized, improving the flexibility and convenience of use of the drive device.

[0016] Furthermore, the step of acquiring the state of the actuator includes a step of acquiring the torque of the actuator, and the step of controlling the operation mode of the actuator includes a step of turning on the stop mode when the torque of the actuator is greater than a predetermined value. By setting in this way, when the torque of the actuator is greater than a predetermined value, the rotation of the actuator can be stopped in a timely manner, and for example, when the actuator rotates to open (the actuator rotates forward), if there is insufficient external space, the actuator continues to rotate forward, which may result in damage to the actuator, or when the actuator rotates to close (the actuator rotates backward), if there is a foreign object between the movable end and the fixed end, the actuator continues to rotate backward, which may result in damage to the foreign object and damage to the actuator.

[0017] Furthermore, before acquiring the state of the drive device, the control method further includes a step of acquiring an initial operation mode of the drive device, and after turning on the stop mode, the control method further includes a step of determining whether the initial operation mode is a forward rotation mode or a reverse rotation mode, and a step of turning on the reverse rotation mode if the initial operation mode is the forward rotation mode, and turning on the forward rotation mode if the initial operation mode is the reverse rotation mode. By setting in this manner, if an obstacle is present during an opening operation of the drive device, the drive device rotates in the reverse direction to close the drive device, thereby avoiding damage to the obstacle or the movable end due to a collision between the protruding movable end and the obstacle. If an obstacle is present during a closing operation of the drive device, the drive device rotates in the forward direction to open the drive device, thereby avoiding the drive device pinching a foreign object.

[0018] Furthermore, before obtaining the torque of the driver, the control method further includes a step of setting an abnormality count N and setting N to 0, and before determining whether the initial operation mode is a forward rotation mode or a reverse rotation mode, the control method further includes a step of determining whether the abnormality count N is greater than 0, and if N is greater than 0, maintaining the stop mode, and if N is not greater than 0, increasing N by 1.

[0019] Furthermore, the step of obtaining the state of the driving device includes the step of obtaining the angle between the fixed end and the movable end, and the step of controlling the operation mode of the driver includes the step of turning on the stop mode when the angle reaches a predetermined value. By setting it in this way, the angle value between the fixed end and the movable end can be obtained in real time, and when the angle value is equal to the predetermined value, the operation mode of the driver may be controlled to the stop mode. Thereby, when the movable end rotates to the closed position or the open position, problems such as jamming between the movable end and the fixed end and damage to the driver caused by the continuous operation of the driver can be avoided.

[0020] Note that the above general description and the following detailed description are merely illustrative and explanatory, and do not limit the present invention.

Brief Description of the Drawings

[0021] To more clearly illustrate the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only a part of the embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative effort. [Figure 1] It is a front view of a driving device according to an embodiment of the present invention. [Diagram 2] It is a rear view of the driving device shown in FIG. 1. [Diagram 3] It is a side view of the driving device shown in FIG. 1, and the driving device is in a closed state. [Figure 4] It is a side view of the driving device shown in FIG. 1, and the driving device is in an open state. [Diagram 5] It is a partial schematic view of a vehicle according to an embodiment of the present invention, and the lower tailgate of the luggage compartment is in a closed state. [Figure 6] It is a partial schematic view of the vehicle shown in FIG. 5, and the lower tailgate of the luggage compartment is in an open state. [Figure 7] It is a schematic flowchart of a control method for a driving device according to an embodiment of the present invention. [Figure 8] It is a schematic flowchart of a control method for a driving device according to another embodiment of the present invention. [Figure 9] FIG. 6 is a schematic flow diagram of a control method for a drive device according to yet another embodiment of the present invention. [Figure 10] FIG. 6 is a schematic flow diagram of a control method for a drive device according to yet another embodiment of the present invention. [Figure 11] FIG. 6 is a schematic flow diagram of a control method for a drive device according to yet another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise noted. It should be noted that the approaches described in the following exemplary embodiments do not represent all approaches consistent with the present invention. On the contrary, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as set forth in the appended claims.

[0023] The terms used in the present invention are merely for describing specific embodiments and are not intended to limit the present invention. Unless otherwise defined, technical or scientific terms used in the present invention have the general meaning understood by those skilled in the art to which the present invention belongs. The terms "first", "second" and similar terms used in the present specification and claims do not indicate any order, number or importance, but are intended to distinguish different components. Similarly, similar terms such as "a" or "1" do not indicate a number limitation, but indicate the presence of at least one, and are otherwise described when referring to only "one". "Multiple" or "several" refer to two or more. Unless otherwise specified, similar terms such as "front", "rear", "lower", and / or "upper" are used for descriptive purposes only and are not intended to limit the present invention to one position or one spatial direction. For similar terms such as "comprise" or "have", it is meant that the elements or items following "comprise" or "have" include the elements or items listed before "comprise" or "have" and their equivalents, and do not exclude other elements or items. Similar terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. As used in this specification and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms unless the context clearly dictates otherwise. The term "and / or" as used herein should be understood to refer to and include any and all possible combinations of one or more of the associated listed items.

[0024] 1 to 4, a first aspect of the present invention provides a drive device 100 including a hinge connection structure 1, a transmission structure 2, and a drive structure 3. The hinge connection structure 1 includes a fixed end 12 and a movable end 11 hingedly connected to the fixed end 12. The transmission structure 2 and the drive structure 3 are both provided at the movable end 11. The transmission structure 2 includes a connecting rod 21 and a rocker arm 22. One end of the connecting rod 21 is rotatably connected to the rocker arm 22, and the other end of the connecting rod 21 is rotatably connected to the fixed end 12. The drive structure 3 includes a driver 31 and a transmission shaft 32. The transmission shaft 32 is fixedly connected to an end of the rocker arm 22 away from the connection rod 21. The driver 31 drives the transmission shaft 32 so that the rocker arm 22 rotates around the axis of the transmission shaft 32.

[0025] The driving device 100 includes a closed state and an open state. In the closed state, as shown in Fig. 3, the angle between the movable end 11 and the fixed end 12 is small, and the connecting rod 21 is in a substantially vertical state. In the open state, as shown in Fig. 4, the angle between the movable end 11 and the fixed end 12 is increased, and the connecting rod 21 is in a substantially horizontal state.

[0026] 1, at this time, the driving device 100 is in a closed state. When the driving device 100 switches from a closed state to an open state, the driver 31 rotates the transmission shaft 32, and moves one end of the rocker arm 22 connected to the connecting rod 21 downward. Since the other end of the connecting rod 21 is connected to the fixed end 12 whose position does not change, and the length of the connecting rod 21 is fixed, the force of the connecting rod 21 acting on the fixed end 12 acts on the movable end 11 in the opposite direction, and the movable end 11 pivots about the rotation axis 13 and moves away from the fixed end 12. In this way, the driving device 100 can be switched from a closed state to an open state.

[0027] Conversely, when the drive unit 100 is in the open state, the driver 31 rotates the transmission shaft 32 in the reverse direction, and the connecting rod 21 tends to pull the fixed end 12, but because the position of the fixed end 12 is fixed, the connecting rod 21 pulls the movable end 11 in the reverse direction, and the movable end 11 rotates around the rotation axis 13 and approaches the fixed end 12, thereby switching the drive unit 100 from the open state to the closed state.

[0028] In this way, the rocker arm 22 is rotated nonlinearly by the driver 31 with stable output torque, so that the connecting rod 21 pushes and rotates the movable end 11, which is favorable for overcoming the problem that the arm constantly changes during the opening and closing of the driving device 100, and improves the stability during the opening and closing of the driving device 100. In addition, when the driving device 100 is switched between the open state and the closed state, the connecting rod 21 is switched from a substantially vertical state to a substantially horizontal state, so that the movable end 11 is rotated relative to the fixed end 12, and the rotation angle is within a range of 0 degrees to 120 degrees, so that the driving device 100 can be opened and closed sufficiently.

[0029] 3 and 4, when the driving device 100 rotates to the open limit position, the angle change between the movable end 11 and the fixed end 12 reaches more than 100 degrees, but the angle change of the connecting rod 21 is less than 80 degrees, even less than 70 degrees. In other words, the connecting rod 21 and the rocker arm 22 only need to move slightly to realize the full opening and full closing of the driving device 100. Therefore, the installation method of the present invention can amplify the movement of the transmission structure 2, and there is no need to reserve a large movement space for the transmission structure 2, and the volume of the transmission structure 2 can be optimized.

[0030] The rocker arm 22 may have a rod-like structure similar to the connecting rod 21. Alternatively, the rocker arm 22 may have a teardrop-shaped structure as shown in FIG. 1, with the large radius portion being provided on the transmission shaft 32. The center line of the rocker arm 22 intersects with the axis of the transmission shaft 32, so that the end of the rocker arm 22 close to the connecting rod 21 can draw an arc-shaped trajectory with the rotation of the transmission shaft 32. When the connecting rod 21 applies a force to the rocker arm 22 in the opposite direction, the end of the rocker arm 22 close to the transmission shaft 32 receives a larger bending moment. Therefore, by installing in this way, the strength of the rocker arm 22 can be increased, and the breakage of the rocker arm 22 during the operation of the drive unit 100 can be avoided. In addition, compared with a structure in which the width of the rocker arm 22 is uniform, the teardrop-shaped structure can save the material of the rocker arm 22 and can also reduce the weight of the entire drive unit 100.

[0031] During the opening and closing of the drive unit 100, the angle between the connecting rod 21 and the rocker arm 22 and the angle between the connecting rod 21 and the fixed end 12 change. In order to better realize the relative movement between the connecting rod 21 and the rocker arm 22 and between the connecting rod 21 and the fixed end 12, one end of the connecting rod 21 close to the rocker arm 22 includes a first ball socket (not shown), one end of the rocker arm 22 close to the connecting rod 21 includes a first ball head (not shown), which is rotatably mounted in the first ball socket. Similarly, one end of the connecting rod 21 close to the fixed end 12 includes a second ball socket (not shown), which is rotatably mounted in the second ball socket. Due to the contact between the spherical surfaces, the rotation angle between the connecting rod 21 and the rocker arm 22 is increased, and rotation in multiple directions can be realized, which improves the rotation flexibility of rotating the connection position during the opening and closing process of the drive unit 100, and makes the operation of the drive unit 100 smoother.

[0032] In another embodiment, the rocker arm 22 and the fixed end 12 may be provided with a ball socket, and the connecting rod 21 may be provided with a ball head. Alternatively, one of the rocker arm 22 and the connecting rod 21 may be provided with a ball head, and the other of the rocker arm 22 and the connecting rod 21 may be provided with a ball bearing, and the present invention is not limited thereto. The connection method between the rocker arm 22 and the connecting rod 21 may be the same as or different from the connection method between the connecting rod 21 and the fixed end 12. For example, the rocker arm 22 may include a first ball socket, a first ball head corresponding to the connecting rod 21 may be provided, a second ball head may be provided at the other end of the connecting rod 21, and a ball bearing may be provided at the fixed end 12, and the present invention is not limited thereto.

[0033] In some embodiments, the movable end 11 is provided with a connecting rod hole 111, so that the connecting rod 21 passes through the connecting rod hole 111 to connect to the fixed end 12. When the actuator 100 switches from an open state to a closed state or from a closed state to an open state, the connecting rod 21 can move in the connecting rod hole 111 so as not to interfere with the movement of the movable end 11. In addition, the installation manner in which the connecting rod 21 passes through the movable end 11 can improve the compactness of the structure, which is favorable for reducing the occupied volume of the actuator 100. Of course, in other embodiments, the shape of the movable end 11 can be changed so that the movable end 11 has an avoidance part (not shown), which can avoid the entire movable range of the connecting rod 21, and the present invention is not limited thereto.

[0034] In addition, based on the above description, the driving device 100 of the present invention can amplify the movement of the transmission structure 2, and the connecting rod 21 and the rocker arm 22 only need to move slightly to realize the full opening and closing of the driving device 100. Therefore, because the movement range of the connecting rod 21 is small, the driving device 100 of the present invention can be provided with a small connecting rod hole 111 or a bypass, which reduces the overall size of the movable end 11 and gives the movable end 11 higher strength.

[0035] In some embodiments, the driver 31 may be directly connected to the transmission shaft 32. As a result, the driver 31 can directly rotate the transmission shaft 32, simplifying the structure of the driving device 100 and avoiding the driving device 100 occupying excessive space. In other embodiments, the driving structure 3 includes a driving gear 33 connected to the driver 31 and a driven gear 34 meshing with the driving gear 33. The driven gear 34 is fixedly connected to the transmission shaft 32, and the diameter of the driven gear 34 is larger than the diameter of the driving gear 33. In this way, the transmission shaft 32 and the driver 31 are indirectly connected. The driver 31 rotates the driving gear 33, causing the driven gear 34 meshing with the driving gear 33 to rotate the transmission shaft 32. Due to the reduction ratio between the driving gear 33 and the driven gear 34, the driven gear 34 can amplify the torque of the driver 31. Therefore, compared with the technical solution where the driver 31 and the transmission shaft 32 are directly connected, it is advantageous to reduce the requirements for the parameters of the driver 31, thereby reducing the volume and cost of the driver 31 and indirectly optimizing the volume and cost of the driving device 100.

[0036] To optimize the volume of the driving device 100 by controlling the sizes of the driven gear 34 and the driving gear 33, in some embodiments, the driven gear 34 includes a first driven gear 341 and a second driven gear 342. The first driven gear 341 meshes with the driving gear 33 and the second driven gear 342 respectively, and the second driven gear 342 is fixedly connected to the transmission shaft 32. Here, the diameter of the first driven gear 341 is larger than the diameter of the driving gear 33 and smaller than the diameter of the second driven gear 342. Through the multi-stage gear transmission method, the first-stage deceleration is performed between the driving gear 33 and the first driven gear 341, enabling the first torque increase to be achieved. The second-stage deceleration is performed between the first driven gear 341 and the second driven gear 342, enabling the second torque increase to be achieved. By installing in this way, it is possible to avoid the need for a huge driven gear 34 due to an overly large reduction ratio during single-stage transmission, which is advantageous for optimizing the volume of the driving device 100.

[0037] In order to further optimize the space of the driving device 100, in some embodiments, the first driven gear 341 includes a first sub-gear 343 and a second sub-gear 344. The first sub-gear 343 is fixedly connected to the second sub-gear 344, and the diameter of the first sub-gear 343 is larger than that of the second sub-gear 344. Here, the first sub-gear 343 meshes with the driving gear 33, and the second sub-gear 344 meshes with the second driven gear 342. Since the first sub-gear 343 and the second sub-gear 344 are fixedly connected, when the driving gear 33 and the first sub-gear 343 mesh and rotate, the second sub-gear 344 also rotates therewith, causing the second driven gear 342 to rotate. By installing the first sub-gear 343 and the second sub-gear 344, the reduction ratio between the driving gear 33 and the first driven gear 341 and the reduction ratio between the first driven gear 341 and the second driven gear 342 are not changed. However, since the second driven gear 342 meshes with the smaller second sub-gear 344, the distance between the rotation axis of the second driven gear 342 and the rotation axis of the first driven gear 341 is reduced. In other words, the orthogonal projections of the second driven gear 342 and the first driven gear 341 on the rotation plane of the gears such as the driving gear 33 partially overlap, so that multiple gears can be provided on different planes, rather than simply providing multiple gears on the same plane, which makes full use of the multi-dimensional space in the driving device 100, improves the compactness of the structure, and optimizes the utilization rate of the space.

[0038] Of course, in other embodiments, the transmission structure 2 may be a transmission method such as chain transmission or belt transmission, and the present invention is not limited thereto.

[0039] In addition, the driving device 100 may further include a lubricating layer (not shown). The lubricating layer may be provided in the transmission structure 2. For example, it may be provided on the teeth of the driving gear 33 and the driven gear 34, or may be provided at the connection position between the connecting rod 21 and the rocker arm 22. The present invention is not limited thereto. By installing a lubricating layer between two members that need to contact each other and move relatively, the smoothness during the opening and closing process of the driving device 100 can be improved, and it is possible to avoid the noise caused by friction between members from affecting the user experience. Furthermore, it is possible to avoid the frictional fatigue of the members due to long-term friction and extend the service life of the driving device 100 to a certain extent.

[0040] In some embodiments, the driving device 100 further includes a first fixing plate 51 for fixing the driving structure 3. The first fixing plate 51 is connected to the movable end 11 such that the driving structure 3 is indirectly connected to the movable end 11. The driver 31 is provided on one side of the first fixing plate 51, the rocker arm 22 is provided on the other side of the first fixing plate 51, and the transmission shaft 32 is provided through the first fixing plate 51 to connect the driver 31 and the rocker arm 22. By installing the first fixing plate 51, the assembly can be facilitated. First, the driving structure 3 and the transmission structure 2 may be assembled to the first fixing plate 51, and then the first fixing plate 51 may be connected to the movable end 11, thereby realizing the connection between the structures. Of course, in other embodiments, the first fixing plate 51 and the movable end 11 may be integrally formed, and the present invention is not limited thereto.

[0041] In an embodiment in which the driving device 100 includes the driven gear 34 and the driving gear 33, or a chain transmission structure or a belt transmission structure, in order to further realize the fixing of the driving structure 3, the driving device 100 may further include a second fixed plate 52 provided in parallel to and connected to the first fixed plate 51. The driver 31 is provided on the side of the first fixed plate 51 that is away from the second fixed plate 52, and the structures such as the driven gear 34 and the driving gear 33 are provided between the first fixed plate 51 and the second fixed plate 52. In this way, the first fixed plate 51 and the second fixed plate 52 can maintain the driven gear 34 and the driving gear 33 in a fixed position, and the first fixed plate 51 and the second fixed plate 52 can hold the driven gear 34 and the driving gear 33 even if the angle of the movable end 11 changes and the driven gear 34 and the driving gear 33 tend to move out of position due to the influence of gravity.

[0042] The first and second fixed plates 51 and 52 may be flat plates. Or, in some embodiments, one of the first and second fixed plates 51 and 52 is a flat plate, and the other of the first and second fixed plates 51 and 52 is a plate with a receiving cavity (not shown) in the center. In this way, the first and second fixed plates 51 and 52 can achieve a tight connection at the outer periphery, and the receiving cavity is used to receive the driven gear 34 and the driving gear 33. By installing in this way, a sealed space can be provided for the driven gear 34 and the driving gear 33, which avoids the gears being prone to entangle foreign matter due to rotation while meshing, causing abnormality in the drive. In addition, it is also possible to prevent impurities such as external dust and water from affecting the lubricating layer and meshing of the gears. Of course, in other embodiments, corresponding accommodating half cavities may be provided in both the first fixed plate 51 and the second fixed plate 52, and after the outer peripheries of the first fixed plate 51 and the second fixed plate 52 are tightly connected, the two accommodating half cavities form one complete accommodating cavity, and the present invention is not limited thereto.

[0043] After the drive 100 is opened, the angle between the movable end 11 and the fixed end 12 increases, and at this time, impurities are likely to enter the drive 31 and the transmission structure 2 through the gap between the connecting rod 21 and the movable end 11, which will have a negative impact on the drive 100. In order to improve the sealing protection for the drive 31 and the transmission structure 2 and avoid the problem that impurities such as water, dust, etc. enter the drive structure 3 during the opening and closing of the drive 100, causing, for example, the damage of the lubricating layer, the short circuit of the drive 31, etc., the drive 100 of the present invention further includes a sealing sleeve 4. The sealing sleeve 4 is sleeved on a part of the connecting rod 21, one end of the sealing sleeve 4 is fixedly connected to the connecting rod 21, and the other end of the sealing sleeve 4 extends to the movable end 11. By installing in this way, even if impurities enter the drive 100, the sealing sleeve 4 can block the impurities from the drive structure 3 and the transmission structure 2, avoiding the impurities from affecting the drive structure 3 and the transmission structure 2. The sealing sleeve 4 may be fixedly connected to the movable end 11, for example by adhesive, thereby sealing the gap between the movable end 11 and the sealing sleeve 4 and further improving the sealing performance of the sealing sleeve 4.

[0044] In some embodiments, the sealing sleeve 4 may be made of an elastic material, so that it can expand and contract during the movement of the connecting rod 21. In other embodiments, the sealing sleeve 4 may be installed as a multi-folded structure, so that it can expand and contract the sealing sleeve 4 through the unfolding and folding of the multi-folded structure during the movement of the connecting rod 21, and the present invention is not limited thereto.

[0045] When the driving device 100 switches from an open state to a closed state or from a closed state to an open state, the angle between the movable end 11 and the fixed end 12 changes. When the movable end 11 and the fixed end 12 rotate and approach each other, in order to avoid damage to the driving device 31, personal injury, and property damage caused by a foreign object being pinched, in some embodiments, the driving device 100 further includes a torque sensor for detecting the torque of the driving device 31. When the torque of the driving device 31 increases, it can be determined that the driving device 100 has pinched a foreign object, and then the operation of the driving device 31 can be stopped to prevent the driving device 100 from causing damage to people or property, thereby improving the safety performance of the driving device 100.

[0046] Based on the above embodiments, and referring to FIG. 5 and FIG. 6, the second aspect of the present invention provides a vehicle 200 including a door assembly and the driving device 100 according to the first aspect, and the driving device 100 is used to open and close the door assembly. The driving device 100 may be installed in a door assembly such as a vehicle door, a luggage compartment door, a hood, etc., and the present invention is not limited thereto. By installing the driving device 100, the driver 31 rotates the rocker arm 22 nonlinearly, so that the connecting rod 21 pushes the movable end 11 to rotate away from or toward the fixed end 12, thereby realizing the automatic opening and closing of the door assembly. In addition, the torque output of the driver 31 is stable, which can effectively improve the stability of the angle change during the opening and closing of the door assembly.

[0047] In some embodiments, the vehicle 200 is provided with a vehicle body 210, and the door assembly includes a luggage compartment lower tailgate 220. The movable end 11 of the driving device 100 is fixedly connected to the luggage compartment lower tailgate 220, and the fixed end 12 is fixedly connected to the vehicle body 210. Therefore, when the driving device 31 rotates the rocker arm 22 and the connecting rod 21 pushes the fixed end 12, the fixed end 12 and the vehicle body 210 are fixed and difficult to move, so that the force of the connecting rod 21 acts on the movable end 11 in the opposite direction, causing the movable end 11 to rotate the luggage compartment lower tailgate 220 away from the vehicle body 210, thereby allowing the luggage compartment lower tailgate 220 to be opened. Conversely, when the driver 31 rotates the rocker arm 22 in the opposite direction, the connecting rod 21 applies a tensile force to the fixed end 12, and since the fixed end 12 is fixed and does not move, the tensile force of the connecting rod 21 acts in the opposite direction on the movable end 11, causing the movable end 11 to rotate the lower trunk tailgate 220 closer to the vehicle body 210, thereby closing the lower trunk tailgate 220.

[0048] By installing in this manner, the change in force is uniform during the process of the luggage compartment lower tailgate 220 rotating to open and close, so that the luggage compartment lower tailgate 220 can be stably opened and closed at a uniform speed, improving stability during opening and closing. In addition, the rotation angle range of the movable end 11 relative to the fixed end 12 is 0 degrees to 120 degrees, so that the luggage compartment lower tailgate 220 can be fully opened. When the luggage compartment lower tailgate 220 is opened, the usable space of the luggage compartment can be expanded, providing more usability to the user and meeting the usage needs of the user in different usage scenarios.

[0049] In some embodiments, in order to facilitate assembly and maintenance, a part of the drive unit 100 may be exposed from the luggage compartment lower tailgate 220. In other embodiments, the drive unit 100 is completely hidden inside the luggage compartment lower tailgate 220, and the housing of the luggage compartment lower tailgate 220 can realize the sealing of the drive unit 100 to a certain extent, and prevent impurities from directly contacting the drive structure 3 and the transmission structure 2 and adversely affecting the operation of the drive unit 100. In addition, the concealment of the drive unit 100 not only improves the aesthetics of the luggage compartment lower tailgate 220 and avoids the visual discomfort caused by the direct exposure of the drive unit 100, but also avoids the occupation of luggage compartment space.

[0050] In an embodiment in which the drive 100 includes a sealing sleeve 4, the housing of the lower luggage compartment tailgate 220 may be clipped to one end of the sealing sleeve 4 proximate the movable end 11. In this way, even if impurities enter the drive 100 through a gap between the movable end 11 and the sealing sleeve 4, the flexible connection between the lower luggage compartment tailgate 220 and the sealing sleeve 4 prevents the impurities from further entering the drive 100, acting as a second layer of insurance.

[0051] In addition, the drive device 100 may include a plurality of hinge connection structures 1. Taking the embodiment of the luggage compartment lower tailgate 220 as an example, the plurality of hinge connection structures 1 may be uniformly distributed on the rotation axis 13, and the drive structure 3 is connected to one of the hinge connection structures 1. When the drive structure 3 rotates the hinge connection structure 1, the movable end 11 rotates the luggage compartment lower tailgate 220, and the movable ends 11 of the other hinge connection structures 1 also rotate accordingly. By installing a plurality of hinge connection structures 1, the support force for the luggage compartment lower tailgate 220 and the stability of the force received during the opening and closing of the luggage compartment lower tailgate 220 can be improved.

[0052] 5 and 6, the vehicle 200 may include a luggage compartment lower tailgate 220 and a luggage compartment upper tailgate 230 in order to open and close the luggage compartment space 240. The driving device 100 of the present invention may also be provided in the luggage compartment upper tailgate 230, and the present invention is not limited thereto. Of course, the vehicle 200 may be a vehicle including only the luggage compartment lower tailgate 220, such as a pickup truck or a lorry, and the present invention is not limited thereto.

[0053] In some embodiments, the vehicle 200 further includes a locking structure (not shown) and a locking sensor (not shown). The locking structure includes a vehicle body locking member and a lower tailgate locking member that cooperates with the vehicle body locking member. The locking sensor is used to detect the locking state between the vehicle body locking member and the lower tailgate locking member. By installing the locking sensor, it is possible to detect whether the lower tailgate locking member and the vehicle body locking member are locked, thereby detecting whether the driving device 100 has rotated to a predetermined position and is in a closed state, and preventing the lower tailgate from being erroneously opened because the driving device 100 has not been closed to the predetermined position. In addition, when the lower tailgate locking member and the vehicle body locking member are locked in a predetermined position, the operation of the driving device 31 can be stopped, and preventing the lower tailgate from being undesirably opened due to the abnormal operation of the driving device 31.

[0054] In an embodiment in which the drive device 100 includes a torque sensor, if the lower tailgate is opened abnormally due to insufficient external space while the lower tailgate is open, or if an item or person is trapped while the lower tailgate is closed, an alarm can be issued in a timely manner to avoid any impact on the lower tailgate, the item, the person, and the drive unit 31.

[0055] 7, a third aspect of the present invention further provides a control method for a drive device applicable to the vehicle 200 according to the second aspect. The control method includes the following steps 310 and 320.

[0056] In step 310, the drive status is obtained.

[0057] In this embodiment, the state of the driving device may be the torque of the driver, the angle between the movable end and the fixed end, etc., and the present invention is not limited thereto.

[0058] In step 320, the operating mode of the driver is controlled.

[0059] In this embodiment, the operating modes of the driver include a forward rotation mode for rotating the movable end away from the fixed end, a reverse rotation mode for rotating the movable end toward the fixed end, and a stop mode for maintaining the relative position between the movable end and the fixed end.

[0060] In other words, when the driver is in forward rotation mode, the driver can switch from a closed state to an open state. When the driver is in reverse rotation mode, the driver can switch from an open state to a closed state. When operation of the driver is not required, the driver is in a stop mode. The stop mode may be used to maintain the driver in an open or closed state, or to maintain the driver in any desired state between the open and closed states.

[0061] By first obtaining the status of the drive and then controlling the working mode of the drive, intelligent and automatic adjustment of the drive can be realized, which improves the flexibility and convenience of using the drive. In addition, by adjusting the working mode of the drive according to the status of the drive, targeted adjustment of the drive is possible, which is favorable to ensuring the normal operation of the drive.

[0062] Hereinafter, an embodiment will be described in which the state of the driving device is the angle between the movable end and the fixed end. Referring to Fig. 8, the control method of the driving device includes the following steps 410 to 430.

[0063] In step 410, the angle between the fixed end and the movable end is obtained.

[0064] In step 420, it is determined whether the angle is equal to the predetermined value. If not, return to step 410, if so, execute the next step.

[0065] In this embodiment, the predetermined value may be a first predetermined value, i.e., the angle value between the movable end and the fixed end when the driving device is in a closed state, or may be a second predetermined value, i.e., the angle value between the movable end and the fixed end when the driving device is in an open state. By determining whether the acquired angle is equal to the predetermined value, it can be indirectly determined whether the driving device is in a closed state or an open state. If the acquired angle does not match the predetermined value, it can be determined that the driving device is still rotating, so the process may return to step 410 and continuously acquire the angle between the fixed end and the movable end. If the acquired angle is equal to the predetermined value, it can be determined that the driving device has rotated to an open state or a closed state, and the next step may be executed.

[0066] In step 430, the stop mode is turned on.

[0067] By setting in this way, the angle value between the fixed end and the movable end is obtained in real time, and when the angle value is equal to the first predetermined value, the operation mode of the actuator may be controlled to the stop mode, thereby avoiding problems such as clogging between the movable end and the fixed end and damage to the actuator caused by the actuator continuing to operate when the movable end rotates to the closed position. Also, when the angle value is equal to the second predetermined value, the operation mode of the actuator may be controlled to the stop mode, thereby avoiding problems such as the rotation of the movable end exceeding the travel stroke when the movable end rotates to the open position and the actuator continuing to operate, causing the movable end to rotate in the opposite direction and be difficult to return to the closed position.

[0068] Of course, the predetermined value may include the first predetermined value and the second predetermined value at the same time, so that the operation of the driver can be stopped in a timely manner when the driver is rotated to the fully closed state and the fully open state, and the present invention is not limited thereto.

[0069] An embodiment of the control method for the driving device has been described in Fig. 8. Hereinafter, an embodiment in which the state of the driving device is the torque of the driver will be described. Referring to Fig. 9, the control method for the driving device includes the following steps 510 to 530.

[0070] In step 510, the torque of the driver is obtained.

[0071] In this embodiment, the torque of the driver may be used to determine whether the driver is in a normal operating state.

[0072] In step 520, determine whether the torque of the driver is greater than a predetermined value. If not, return to step 510; if so, execute the next step.

[0073] In this embodiment, the predetermined value may be a torque value when the actuator operates normally. If the torque of the actuator is greater than the predetermined value, it can be determined that an obstacle exists when the movable end rotates away from or toward the fixed end, and therefore it can be indirectly determined that there is a foreign object or obstacle that interferes with the normal operation of the actuator.

[0074] In step 530, the stop mode is turned on.

[0075] By setting in this way, when the torque of the actuator is greater than a predetermined value, the rotation of the actuator can be stopped in a timely manner, for example, when the actuator rotates to open (the actuator rotates forward), if the external space is insufficient, the actuator continues to rotate forward, which may result in damage to the actuator, or when the actuator rotates to close (the actuator rotates backward), if a foreign object is present between the movable end and the fixed end, the actuator continues to rotate backward, which may result in damage to the foreign object and damage to the actuator. The foreign object may be an object that has been accidentally dropped between the movable end and the fixed end from the outside, and if the reverse rotation continues, the object will be damaged. Furthermore, the foreign object may be a child's limbs, and if the reverse rotation continues, it may lead to personal injury. Therefore, the control method can improve the safety performance of the actuator to a certain extent.

[0076] It should be noted that step 520 may be incorporated into step 510 or step 530. Similarly, step 420 may be incorporated into step 410 or step 430, and the present invention is not limited thereto. In addition, in the same control method, obtaining the torque of the driver and obtaining the angle between the fixed end and the movable end may be performed simultaneously, so that the control method can simultaneously monitor the torque of the driver and the relative position between the movable end and the fixed end.

[0077] Referring to FIG. 10, the present invention further provides a control method for a drive device, including the following steps 610 to 662.

[0078] In step 610, the initial operating mode of the driver is obtained.

[0079] In this embodiment, the initial operation mode of the driver may be a forward rotation mode, a reverse rotation mode, or a stop mode.

[0080] In step 620, the torque of the driver is obtained.

[0081] In step 630, determine whether the torque of the driver is greater than a predetermined value. If not, return to step 620; if so, execute the next step.

[0082] In this embodiment, the predetermined value may be a torque value when the actuator operates normally. If the torque of the actuator is greater than the predetermined value, it can be determined that an obstacle exists when the movable end rotates away from or toward the fixed end, and therefore it can be indirectly determined that there is a foreign object or obstacle that interferes with the normal operation of the actuator.

[0083] In step 640, the stop mode is turned on.

[0084] In this embodiment, after it is determined that the torque of the actuator is greater than a predetermined value, the actuator is controlled to a stop mode in a timely manner, thereby avoiding damage to the actuator and other structures of the actuator device caused by the continued rotation of the movable end.

[0085] In step 650, it is determined whether the initial operating mode is a forward rotation mode.

[0086] In this embodiment, before the stop mode is turned on, the torque of the driver is greater than a predetermined value, which means that the driver is in the forward rotation mode or the reverse rotation mode at this time. That is, the movable end is rotating away from the fixed end or rotating toward the fixed end. By determining the operating state of the initial operating mode, it can be determined whether the abnormality of the driver occurs during the closing operation or the opening operation.

[0087] If the initial operating mode is the forward rotation mode, execute step 661, in which the reverse rotation mode is turned on.

[0088] In this embodiment, when the initial operation mode is the forward rotation mode, the reverse rotation mode is turned on. In other words, when the torque of the actuator is greater than a predetermined value while the movable end is rotating away from the fixed end, the actuator stops rotating the movable end and rotates in the reverse direction to rotate the movable end toward the fixed end.

[0089] In this way, it is possible to determine whether an obstacle is present in the direction of rotation of the movable end during the opening operation of the drive unit, and if an obstacle is present, the drive unit rotates in the reverse direction to close the drive unit, thereby avoiding damage to the obstacle or the movable end due to collision between the protruding movable end and the obstacle.

[0090] If the initial operating mode is not the forward rotation mode, step 662 is executed, in which the forward rotation mode is turned on.

[0091] In this embodiment, since the torque of the driver is greater than a predetermined value before the stop mode is turned on, this means that the initial operation mode of the driver is either the forward rotation mode or the reverse rotation mode at this time. If the initial operation mode of the driver is not the forward rotation mode, this means that the initial operation mode of the driver is the reverse rotation mode, in which case the forward rotation mode is turned on. In other words, if the torque of the driver is greater than a predetermined value while the movable end is rotating toward the fixed end, the rotation of the movable end is stopped and the driver rotates forward to rotate the movable end away from the fixed end.

[0092] In this way, it is possible to determine whether or not a foreign object is present in the rotation direction of the movable end during the closing operation of the drive device. If a foreign object is present, the drive rotates forward to open the drive device, preventing the drive device from pinching the foreign object. In particular, if the drive device accidentally pinches a human body, opening the drive device by rotating it prevents the human body from being difficult to remove from between the movable end and the fixed end, thereby improving the safety performance of the drive device.

[0093] In this embodiment, after performing step 661 or step 662, the process may return to step 620 to determine again whether there is an abnormality in the operation of the actuator in the changed operating mode, thereby monitoring the torque of the actuator in real time to avoid any abnormality when the actuator operates in the changed operating mode.

[0094] Alternatively, in step 650, it may be determined whether the initial operation mode is the reverse rotation mode. If it is the reverse rotation mode, step 662 is executed accordingly, and if it is not the reverse rotation mode, step 661 is executed. Alternatively, in step 650, it may be determined whether the initial operation mode is the reverse rotation mode or the forward rotation mode. If it is the reverse rotation mode, step 662 is executed, and if it is the forward rotation mode, step 661 is executed.

[0095] Based on the embodiment shown in FIG. 10, and referring to FIG. 11, the present invention further provides a control method for a driving device, including the following steps 710 to 792.

[0096] In step 710, the initial operating mode of the driver is obtained.

[0097] In step 720, the number of abnormal occurrences N is set to zero.

[0098] In this embodiment, the abnormality count may be used to record the number of abnormalities in the torque of the driver.

[0099] In step 730, the torque of the driver is obtained.

[0100] In step 740, determine whether the torque of the driver is greater than a predetermined value, if not, return to step 730, if so, execute the next step.

[0101] In step 750, the stop mode is turned on.

[0102] In step 760, it is determined whether the number of abnormalities N is greater than zero.

[0103] If N is greater than 0, execute step 761, in which the stop mode is maintained.

[0104] If N is not greater than 0, execute step 770, where N=N+1, and execute the following steps:

[0105] In this embodiment, if the number of abnormal occurrences is 0, it means that the driver has not yet switched from the initial operation mode to the forward rotation mode or the reverse rotation mode, that is, the driver has not experienced any abnormal operation up to now. At this time, the value of N is set to N+1, so that the driver's abnormal operation at this time can be recorded, and the next step is executed.

[0106] If the abnormality count is greater than 0, it means that the driver has had an operational abnormality in the past. For example, there may be an obstruction during the opening operation of the driver, in which case N is 0. Because of the obstruction, the driver executes a reverse rotation command to close the driver, in which case N is 1. If there is an obstruction again during the closing operation, N is greater than 0, so the driver executes a stop command.

[0107] When the surrounding environment is complex and there are many objects, the drive may have an error in both the fully closing and fully opening processes. This setting can avoid the drive being damaged by constantly switching between the open and closed states. In addition, by setting the number of abnormal occurrences N, the control method can be made more intelligent and the control method can be prevented from getting stuck in a loop and never stopping.

[0108] In step 780, it is determined whether the initial operating mode is a reverse rotation mode.

[0109] If the initial operating mode is reverse rotation mode, step 791 is executed, in which forward rotation mode is turned on.

[0110] If the initial operating mode is not reverse rotation mode, step 792 is executed, in which reverse rotation mode is turned on.

[0111] In this embodiment, after performing step 791 or step 792, the process may return to step 730 to determine again whether there is an abnormality in the operation of the actuator in the changed operating mode, thereby monitoring the torque of the actuator in real time to avoid any abnormality when the actuator operates in the changed operating mode.

[0112] Note that in step 780, it may be determined whether the initial operation mode is the forward rotation mode. If it is the forward rotation mode, step 792 is executed accordingly, and if it is not the forward rotation mode, step 791 is executed. Alternatively, in step 780, it may be determined whether the initial operation mode is the reverse rotation mode or the forward rotation mode, and if it is the reverse rotation mode, step 791 is executed, and if it is the forward rotation mode, step 792 is executed, but the present invention is not limited thereto.

[0113] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains may substitute various modifications, additions, or similar methods for the specific embodiments described, without departing from the spirit of the present invention or beyond the scope limited by the appended claims.

[0114] The technical features of the above embodiments can be combined in any combination, and for the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered within the scope of the present specification. [Explanation of symbols]

[0115] 100 Drive unit 1 Hinge connection structure 11 Movable end 111 Connecting rod hole 12 Fixed end 13 Rotation axis 2 Transmission structure 21 Connecting rod 22 Rocker arm 3 Drive structure 31 Driver 32 Transmission shaft 33 Drive Gear 34 Driven Gear 341 First driven gear 342 Second driven gear 343 1st sub gear 344 2nd sub gear 4 Sealing Sleeve 51 1st fixed plate 52 Second fixing plate 200 vehicles 210 Body 220 Tailgate under the luggage compartment 230 Tailgate above the luggage compartment 240 Luggage space

Claims

1. a hinge connection structure including a fixed end and a movable end hingedly connected to the fixed end; a transmission structure provided at the movable end, the transmission structure including a connecting rod and a rocker arm, one end of the connecting rod being rotatably connected to the rocker arm, and the other end of the connecting rod being rotatably connected to the fixed end; a drive structure provided at the movable end, the drive structure including a driver and a transmission shaft, the transmission shaft being fixedly connected to an end of the rocker arm remote from the connecting rod, the driver driving the transmission shaft so that the rocker arm rotates about an axis of the transmission shaft; A drive device characterized by:

2. The drive structure includes: A drive gear connected to the driver; a driven gear that meshes with the drive gear and is fixedly connected to the transmission shaft, The diameter of the drive gear is smaller than the diameter of the driven gear.

2. The drive device according to claim 1 .

3. The driven gear includes a first driven gear and a second driven gear, the first driven gear meshes with the driving gear and the second driven gear respectively, the second driven gear is fixedly connected to the transmission shaft, and the diameter of the first driven gear is larger than the diameter of the driving gear and smaller than the diameter of the second driven gear; 3. The drive device according to claim 2.

4. The first driven gear includes a first sub gear and a second sub gear, the first sub gear is fixedly connected to the second sub gear, the diameter of the first sub gear is larger than the diameter of the second sub gear, the first sub gear meshes with the drive gear, and the second sub gear meshes with the second driven gear.

4. The drive device according to claim 3.

5. a sealing sleeve fitted over a portion of the connecting rod, one end of the sealing sleeve being fixedly connected to the connecting rod and the other end of the sealing sleeve extending to the movable end; 5. The drive device according to claim 1, wherein the drive device is a drive unit.

6. an end of the connecting rod proximal to the rocker arm includes a first ball socket, an end of the rocker arm proximal to the connecting rod includes a first ball head, the first ball head being rotatably mounted in the first ball socket; and / or an end of the connecting rod proximate to the fixed end includes a second ball socket, the fixed end includes a second ball head, the second ball head is rotatably mounted in the second ball socket; 6. The drive device according to claim 1,

7. Further comprising a torque sensor for detecting a torque of the driver.

7. The drive device according to claim 1, wherein the drive device is a drive unit.

8. A vehicle including a door assembly and a drive device according to any one of claims 1 to 7, the drive device being used to open and close the door assembly. A vehicle characterized by:

9. The door assembly further includes a vehicle body, the door assembly including a luggage compartment lower tailgate, a movable end of a hinge connection structure of the drive device is fixedly connected to the luggage compartment lower tailgate, and a fixed end of the hinge connection structure is fixedly connected to the vehicle body.

9. The vehicle according to claim 8.

10. A lock structure including a vehicle body locking member and a lower tailgate locking member that cooperates with the vehicle body locking member; and a lock sensor for detecting a locked state between the vehicle body lock member and the lower tailgate lock member.

10. The vehicle according to claim 9.

11. A control method for a drive device applied to a vehicle according to any one of claims 8 to 10, comprising: obtaining a status of the drive device; controlling an operation mode of the driver, the operation mode including a forward rotation mode for rotating the movable end away from the fixed end, a reverse rotation mode for rotating the movable end toward the fixed end, and a stop mode for maintaining a relative position between the movable end and the fixed end; A method for controlling a drive device comprising:

12. The step of acquiring a status of the drive device includes: obtaining a torque of the driver; The step of controlling the operation mode of the driver includes: turning on the stop mode when the torque of the driver is greater than a predetermined value.

12. The control method according to claim 11.

13. Before acquiring the status of the drive device, obtaining an initial operation mode of the driver; After turning on the stop mode, determining whether the initial operation mode is a forward rotation mode or a reverse rotation mode; If the initial operation mode is a forward rotation mode, turn on the reverse rotation mode; if the initial operation mode is a reverse rotation mode, turning on the forward rotation mode; 13. The control method according to claim 12.

14. The step of acquiring a status of the drive device includes: obtaining an angle between the fixed end and the movable end; The step of controlling the operation mode of the driver includes: turning on the stop mode when the angle reaches a predetermined value.

12. The control method according to claim 11.

15. before obtaining the torque of the driver, A step of setting the number of abnormalities N to 0, before determining whether the initial operation mode is a forward rotation mode or a reverse rotation mode, determining whether the number of abnormalities N is greater than 0; If N is greater than 0, maintain the stopped mode; if N is not greater than 0, incrementing N by 1; 14. The control method according to claim 13.

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