Vehicle door assembly and vehicle

Abstract

A vehicle door assembly, comprising a second vehicle door (12), a first driving member (21), a second driving member (22) and a third driving member (42). The first driving member, the second driving member and the third driving member drive the second vehicle door to perform a first motion, a second motion and a third motion in sequence. The first motion is the movement of a rear end of the second vehicle door in a direction away from a vehicle body frame, and the movement of a front end of the second vehicle door in a direction close to the vehicle body frame, so that the front end of the second vehicle door moves to a first position at which orthographic projections of the front end of the second vehicle door and a rear end of a first vehicle door (11) in the width direction of a vehicle do not overlap. The second motion is the movement of the front end and the rear end of the second vehicle door in a direction away from the vehicle body frame, so that the second vehicle door moves to a second position farthest away from the vehicle body frame. The third motion is the movement of the whole second vehicle door to the rear side of the vehicle, so that the second vehicle door moves to a third position farthest away from the first vehicle door. Further disclosed is a vehicle.

Description

Vehicle door assembly and vehicle Cross-reference to related applications

[0001] This application claims priority to Chinese Patent Application Nos. 202410946110.0, 202421672291.4, 202421679153.9, 202421669351.7, 202421674682.X and 202421669353.6, filed on July 15, 2024, the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to, but is not limited to, the technical field of vehicles, and in particular to a vehicle door assembly and a vehicle. BACKGROUND

[0003] With the popularity of vehicles and the continuous progress of their technology, the design of vehicles presents a trend of diversification to meet different needs of people for the functions, aesthetics, etc. of vehicles. SUMMARY

[0004] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of protection of the claims.

[0005] The first aspect of the present application provides a vehicle door assembly and a vehicle.

[0006] The present application provides a vehicle door assembly applied to a vehicle without a B-pillar, which comprises a second door, the vehicle comprising a first door, the first door and the second door being located on the same side of the vehicle; when the first door and the second door are completely closed, the rear end of the first door presses the front end of the second door in the length direction of the vehicle; a first driving member, a second driving member and a third driving member cooperate to drive the second door to realize three-dimensional movement, so that the second door sequentially performs a first movement, a second movement and a third movement; wherein the first movement is that the rear end of the second door moves away from the vehicle body frame of the vehicle, and the front end of the second door moves towards the vehicle body frame of the vehicle, so that the front end of the second door moves to a first position where the front end of the second door and the rear end of the first door do not overlap in the orthogonal projection in the width direction of the vehicle; the second movement is that the front end and the rear end of the second door move away from the vehicle body frame, so that the second door moves to a second position farthest away from the vehicle body frame; and the third movement is that the second door as a whole moves towards the rear side of the vehicle, so that the second door moves to a third position farthest away from the first door.

[0007] In some embodiments, during the first movement, the second door moves to a fourth position, in which a front end of the second door is pressed by a rear end of the first door, such that a projection of the rear end of the first door and the front end of the second door in a plane along a height direction of the vehicle overlaps, and a gap between the rear end of the first door and the front end of the second door is less than a preset value, and a first included angle is formed between the second door and the vehicle body frame.

[0008] In some embodiments, the first included angle is A, and the second door is further driven to form a second included angle B with the vehicle body frame, wherein C≤B

[0009] In some embodiments, the door assembly further comprises a first link, a second link and a third link; one end of the first link is rotatably connected to a front end of the second door, and the other end is rotatably connected to one end of the second link; one end of the second link away from the first link is rotatably connected to a vehicle body frame of the vehicle; one end of the third link is rotatably connected to a rear end of the second door, and the other end is rotatably connected to the vehicle body frame; the first driving member is used to drive the first link to rotate relative to the second link; and the second driving member is used to drive the third link to rotate relative to the vehicle body frame.

[0010] In some embodiments, the door assembly further comprises a fourth link, one end of the fourth link is rotatably connected to the third link, and the other end is rotatably connected to the vehicle body frame.

[0011] In some embodiments, the door assembly further comprises a fifth link, one end of the fifth link is rotatably connected to the second door, and the other end is connected to the vehicle body frame; one end of the third driving member is connected to the fifth link, and the other end is connected to the vehicle body frame.

[0012] In some embodiments, the first driving member is an electric support rod, the second driving member is a driving motor, and the third driving member is an electric support rod.

[0013] In some embodiments, the door assembly further comprises a control mechanism, the control mechanism comprising a first sensor, a second sensor and a controller; the first sensor is used to detect the position of the first driving member, and the second sensor is used to detect the position of the second driving member; the controller controls the first driving member and the second driving member to work according to the signals of the first sensor and the second sensor, so as to open or close the second door.

[0014] In some embodiments, the control mechanism further comprises a third sensor for detecting the position of the third driving member, and the controller controls the third driving member according to the signal of the third sensor.

[0015] The application also provides a vehicle comprising the vehicle door assembly according to any one of the above embodiments.

[0016] The vehicle door assembly provided by the first aspect of the application controls the movement posture of the second vehicle door through the first driving member, the second driving member and the third driving member, so that the second vehicle door can be smoothly opened or closed along a safe trajectory, and interference between the second vehicle door and the rear end of the first vehicle door and the structure on the vehicle body frame during opening of the second vehicle door is avoided. The opening or closing process of the second vehicle door is independent and is not limited by other structures, thereby providing a good user experience.

[0017] The vehicle provided by the second aspect of the application not only can provide natural wind from the external environment to the vehicle, but also can timely remind the vehicle driving behind to avoid, thereby improving the safety performance.

[0018] The application provides a vehicle comprising a vehicle body, a first vehicle door, a second vehicle door and a driving assembly. The vehicle body is free of a B-pillar, and the side portion of the vehicle body is provided with an opening. The first vehicle door and the second vehicle door are movably connected to the side portion of the vehicle body. In a completely closed state, the first vehicle door and the second vehicle door jointly close the opening along the length direction of the vehicle body, and the front end of the first vehicle door is located inside the rear end of the second vehicle door. The driving assembly is connected to the vehicle body and the first vehicle door respectively. The driving assembly comprises a first driving mechanism, a second driving mechanism and a third driving mechanism. The first driving mechanism, the second driving mechanism and the third driving mechanism cooperate to drive the first vehicle door to realize three-dimensional movement. When the first vehicle door is in a first opening state, the first driving mechanism, the second driving mechanism and the third driving mechanism cooperate to make the first vehicle door completely separate from the vehicle body in the width direction of the vehicle body, so that a gap is formed between the first vehicle door and the vehicle body. The first driving mechanism, the second driving mechanism and the third driving mechanism also drive the front end of the first vehicle door to rotate and drive the rear end of the first vehicle door to swing left and right in the width direction of the vehicle body.

[0019] In some embodiments, when the first vehicle door is in the first opening state, the orthographic projection area of the first vehicle door in the length direction of the vehicle body is located outside the second vehicle door in the completely closed state.

[0020] In some embodiments, when the first door is in the first open state, a projection area of the first door in a width direction of the vehicle body is located outside the second door in the fully closed state.

[0021] In some embodiments, an angle of the rear end of the first door swinging away from the vehicle body is less than or equal to 60°.

[0022] In some embodiments, the vehicle further comprises a controller connected to the first driving mechanism, the second driving mechanism and the third driving mechanism, configured to control the rear end of the first door to switch the swinging angle on the swinging path.

[0023] In some embodiments, the first driving mechanism comprises a first motor and a first position sensor; the second driving mechanism comprises a second motor and a second position sensor; the third driving mechanism comprises a third motor and a third position sensor; the controller controls the rear end of the first door to swing between any two swinging positions on the swinging path based on the positions of the first motor detected by the first position sensor, the positions of the second motor detected by the second position sensor and the positions of the third motor detected by the third position sensor.

[0024] In some embodiments, the first driving mechanism further comprises a first connecting rod, a second connecting rod and a third connecting rod; two ends of the first connecting rod are respectively connected to the first motor and the first door; two ends of the second connecting rod are respectively connected to the vehicle body and the third connecting rod; the third connecting rod is further connected to the first door; the connection between the first connecting rod and the first door is located behind the connection between the third connecting rod and the first door.

[0025] In some embodiments, the second driving mechanism further comprises a telescopic rod, one end of the telescopic rod is connected to the first door, and the other end is connected to the second motor; and / or, the third driving mechanism further comprises a telescopic supporting rod and a rotating rod; one end of the telescopic supporting rod is connected to the rotating rod, and the other end is connected to the third motor; the rotating rod is further connected to the first door.

[0026] In some embodiments, the driving assembly further comprises a damping rod and a vehicle body connector; two ends of the damping rod are respectively connected to the first connecting rod and the vehicle body connector; the vehicle body connector is further connected to the second connecting rod.

[0027] In some embodiments, the first driving mechanism and the second driving mechanism are located at the bottom of the first door; the third driving mechanism is located at the top of the first door.

[0028] The third aspect of the present application provides a vehicle door assembly and a vehicle.

[0029] The present application provides a vehicle door assembly applied to a vehicle without B-pillar, which comprises a first door, a second door, a first driving mechanism, a second driving mechanism and a third driving mechanism. The first driving mechanism, the second driving mechanism and the third driving mechanism cooperate to drive the first door to realize three-dimensional movement and complete closing or complete opening. The first door and the second door close the same entrance of the vehicle in the front-rear direction of the vehicle in the complete closing state, and the front end of the first door is located inside the rear end of the second door. The first driving mechanism, the second driving mechanism and the third driving mechanism also cooperate to drive the first door to rotate in the horizontal direction, so that the first door is in a non-completely open state. In the non-completely open state, the front end of the first door is pressed by the rear end of the second door, so that the projection of the rear end and the front end in the plane along the height direction of the vehicle body overlaps, and the gap between the rear end and the front end is less than a preset value, and the first door forms a first angle with the vehicle body.

[0030] In some embodiments, the first angle is A, and the first door is further driven to form a second angle B with the vehicle body, wherein C≤B<A, wherein angle C is the lower limit angle when the second door presses the first door in the non-completely open state of the first door.

[0031] In some embodiments, the preset value is a, and 0cm≤a≤1cm.

[0032] In some embodiments, the vehicle door assembly further comprises a controller connected with the first driving mechanism, the second driving mechanism and the third driving mechanism, to control the first driving mechanism, the second driving mechanism and the third driving mechanism to drive the first door to switch between the first angle A, the second angle B and the angle C.

[0033] In some embodiments, the vehicle door assembly further comprises a controller, the first driving mechanism comprises a first motor and a first position sensor, the second driving mechanism comprises a second motor and a second position sensor; the controller controls the first motor and the second motor based on the position of the first motor detected by the first position sensor and the position of the second motor detected by the second position sensor, to control the opening or closing of the first door.

[0034] In some embodiments, the third driving mechanism comprises a third motor and a third position sensor; the controller controls the opening or closing of the first door based on the position of the third motor detected by the third position sensor.

[0035] In some embodiments, the first driving mechanism comprises a first motor; the second driving mechanism comprises a second motor; the first motor is a master motor, and the second motor is a slave motor following the movement of the first motor.

[0036] In some embodiments, the third driving mechanism comprises a third motor, and the third motor follows the movement of the first motor.

[0037] In some embodiments, the door assembly further comprises a first link, a second link, a third link, a damping rod and a connecting head; two ends of the first link are rotatably connected with the first driving mechanism and the first door respectively; the second driving mechanism is rotatably connected with the second link; the second link is further rotatably connected with the third link, and the third link is rotatably connected with the first door; a first connection between the third link and the first door is located in front of a second connection between the first link and the first door; one end of the damping rod is rotatably connected with the first link, and the other end is rotatably connected with the connecting head; the connecting head is rotatably connected with the second link; during the process that the first door is from fully closed to non-fully opened, the included angle between the damping rod and the first link becomes larger.

[0038] In some embodiments, the first driving mechanism and the second driving mechanism are connected to one of the top and the bottom of the first door, and the third driving mechanism is connected to the other of the top and the bottom of the first door.

[0039] In some embodiments, at least one of the second driving mechanism and the third driving mechanism comprises an electric supporting rod or a pneumatic cylinder.

[0040] In some embodiments, in the fully closed state of the first door, the front end of the first door is pressed by the rear end of the second door.

[0041] The application also provides a vehicle comprising the door assembly according to any one of the preceding embodiments.

[0042] The vehicle door assembly and the vehicle according to the third aspect have the following advantages. When the first door is in the non-completely open state with the first angle, the first door is pressed by the second door, and the front end of the first door and the rear end of the second door overlap in the projection in the plane along the height direction of the vehicle body, and the gap between the rear end and the front end is less than a preset value (the preset value is such that there is no gap or a small gap between the rear end and the front end), so that the hand of a user (especially a child) is not pinched when the first door is in the non-completely open state. On the other hand, the above arrangement can also bring good user experience. For example, when the first door is in the non-completely open state, from the inside of the vehicle body towards the outside, the user's privacy is protected, and the user can hear the sound from the outside without turning on the car machine, or the inside of the vehicle body is ventilated with the outside, and the like. For another example, because the first door is located inside the second door, the opening of the second door is not affected by the first door, and the first door can be rotated to the inside of the second door to form the first angle with the vehicle body due to the rotation connection of the second connecting rod and the third connecting rod, so that the opening of the first door to the non-completely open state is not affected by the second door. Therefore, the first door and the second door can be independently opened and closed, which is convenient to use and brings good user experience.

[0043] The fourth aspect of the present application provides a vehicle, which can reduce the probability of user injury.

[0044] The present application provides a vehicle, which comprises a vehicle body, a door mounted on the vehicle body, a driving device comprising a first driving mechanism, a second driving mechanism and a third driving mechanism, the first driving mechanism, the second driving mechanism and the third driving mechanism are respectively connected to the door and the vehicle body, the first driving mechanism, the second driving mechanism and the third driving mechanism can jointly drive the door to move along a curved trajectory in the backward direction of the vehicle body, and the driving device can also control the door to swing during the movement, the first driving mechanism, the second driving mechanism and the third driving mechanism can cooperate with each other to drive the door to be in a first state, in the first state, the pointing direction of the door and the backward direction of the vehicle body form an acute angle, so that the outer side of the door forms a collision guide surface.

[0045] In some embodiments, the driving device is capable of driving the door to an intermediate state, in which the door is in a position relatively parallel to the backward direction of the vehicle body; the first driving mechanism, the second driving mechanism and the third driving mechanism are capable of cooperating with each other to drive the door to switch between the intermediate state and the first state.

[0046] In some embodiments, the first driving mechanism, the second driving mechanism and the third driving mechanism are capable of cooperating with each other to drive the door to a second state, in which the door is in a position at an obtuse angle between the pointing direction and the backward direction of the vehicle body, so that the inner side of the door is in direct contact with the vehicle body or a gap is formed between the inner side of the door and the vehicle body.

[0047] In some embodiments, the driving device is capable of driving the door to an intermediate state, in which the door is in a position relatively parallel to the backward direction of the vehicle body; the first driving mechanism, the second driving mechanism and the third driving mechanism are capable of cooperating with each other to drive the door to switch between the intermediate state and the second state; or the width of the anti-pinch gap is 0-1 cm.

[0048] In some embodiments, the vehicle further comprises a first linkage mechanism fixedly installed on the vehicle body and connected with the door; along the length direction of the vehicle body, the door comprises a first side portion close to the front end of the vehicle body and a second side portion close to the tail end of the vehicle body, and the vehicle body is provided with a first mounting seat close to the front end and a second mounting seat close to the tail end; the first linkage mechanism comprises a first linkage and a second linkage, two ends of the first linkage are rotatably connected with the first mounting seat and the first side portion respectively, and the second linkage is rotatably connected with the second mounting seat and the second side portion respectively, and the first linkage is telescopic; the first linkage is telescopic to drive the door to move relative to the vehicle body.

[0049] In some embodiments, the first driving mechanism is used to drive the first linkage to telescopically move, and the second driving mechanism is arranged at the connection between the second linkage and the vehicle body and is used to drive the second linkage to rotate relative to the vehicle body.

[0050] In some embodiments, the first driving mechanism drives the first linkage to elongate to drive the door to move from the intermediate state to the first state.

[0051] In some embodiments, the first driving mechanism is an electric supporting rod, and / or the second driving mechanism is a driving motor.

[0052] In some embodiments, the vehicle further comprises a strut assembly disposed on a top of the vehicle body, the strut assembly being hingedly connected with the vehicle body and the vehicle door respectively, and the third driving mechanism being in driving connection with the strut assembly and being configured to drive the strut assembly to rotate relative to the vehicle body.

[0053] In some embodiments, the strut assembly comprises a first strut and a second strut hingedly connected with each other, the first strut being hingedly connected with a top of the vehicle door, and the second strut being hingedly connected with a top of the vehicle body.

[0054] The fourth aspect of the present application provides a vehicle, which comprises a vehicle body and a vehicle door installed on the vehicle body. The vehicle door can be driven by a driving device to a first state. During the movement of a user, the user can collide with the outer side of the vehicle door. When the vehicle door is in the first state, a collision guide surface on the vehicle door can guide the colliding user to the rear of the vehicle, avoiding guiding the user along the vehicle door to the vehicle exit passage. The vehicle exit passage is formed by the frame of the vehicle. In the door opening state, the user is easy to be injured by collision. The rear of the vehicle has a relatively slow corner. When the user is guided to the rear of the vehicle, the user will collide with the corner of the rear of the vehicle or fall to the ground. The sharp structure has relatively less sharp structure and less injury to the user. The present application reduces the probability of user injury when the user collides with the vehicle door due to the existence of the collision guide surface of the vehicle door in the first state.

[0055] The fifth aspect of the present application provides a vehicle door structure and a vehicle capable of preventing collision in a hovering state.

[0056] The present application provides a vehicle door structure, which comprises a door body, a first driving structure, a second driving structure and a third driving structure. One end of each of the first driving structure, the second driving structure and the third driving structure is connected with the door body, and the other end is connected with a vehicle body. The vehicle door structure comprises a hovering state. When the vehicle door structure is in the hovering state, the first driving structure, the second driving structure and the third driving structure are arranged at an angle with the front-rear direction of the vehicle. The door body is completely separated from the vehicle body in the width direction of the vehicle, and the door body is in the same direction as the front-rear direction of the vehicle.

[0057] In some embodiments, the first driving structure and the second driving structure are connected with the lower side of the vehicle body, and the third driving structure is connected with the upper side of the vehicle body.

[0058] In some embodiments, the first driving structure comprises a first connecting rod and a first driving device; two ends of the first connecting rod are rotatably connected with the vehicle body and the door body respectively; the first driving device is connected with the first connecting rod for driving the first connecting rod to rotate; the second driving structure comprises a second connecting rod, a third connecting rod and a second driving device; two ends of the second connecting rod are rotatably connected with the third connecting rod and the vehicle body respectively; the third connecting rod is also rotatably connected with the door body; the second driving device is connected with the third connecting rod for driving the third connecting rod to rotate around the second connecting rod; the third driving structure comprises a fourth connecting rod and a third driving device; two ends of the fourth connecting rod are rotatably connected with the door body and the vehicle body respectively; the third driving device is connected with the fourth connecting rod for driving the fourth connecting rod to rotate.

[0059] In some embodiments, when the door structure is in the hovering state, the second connecting rod rotates to be in the same direction as the left-right direction of the vehicle, the third connecting rod rotates to be substantially collinear with the second connecting rod, and the fourth connecting rod rotates to be in the same direction as the left-right direction of the vehicle.

[0060] In some embodiments, the first driving structure further comprises a damping rod, one end of the damping rod is connected with the vehicle body, and the other end of the damping rod is connected with the first connecting rod.

[0061] In some embodiments, the second driving device comprises an electric supporting rod, one end of the electric supporting rod is connected with the third connecting rod near the door body, and the other end of the electric supporting rod is connected with the second connecting rod near the vehicle body.

[0062] In some embodiments, when the door structure is in the hovering state, the second driving device is in the same direction as the left-right direction of the vehicle.

[0063] In some embodiments, the door structure further comprises a controller; the first driving device comprises a first power unit and a first position sensor; the second driving device comprises a second power unit and a second position sensor; the controller controls the first power unit and the second power unit based on the position of the first power unit detected by the first position sensor and the position of the second power unit detected by the second position sensor.

[0064] In some embodiments, the second connecting rod comprises a limiting part, the limiting part is arranged at the middle section of the second connecting rod, and the width of the limiting part is greater than the width of other parts of the second connecting rod.

[0065] The application also provides a vehicle comprising the door structure according to any one of the above embodiments.

[0066] The vehicle door structure of the fifth aspect of the present application comprises a hovering state. The hovering state of the vehicle door structure can be activated when the vehicle is parked and ventilated. In the hovering state, the door body, the first driving structure, the second driving structure and the third driving structure of the vehicle door structure can act as an energy-absorbing device to enhance the anti-collision capability of the vehicle.

[0067] The sixth aspect of the present application provides a vehicle door structure with excellent ventilation performance when opened and a vehicle.

[0068] The present application provides a vehicle door structure comprising a door body, a first driving structure, a second driving structure and a third driving structure. The first driving structure, the second driving structure and the third driving structure are connected to the door body and the vehicle body to jointly drive the door body to move along a curve trajectory in the front-rear direction of the vehicle. During the movement of the door body in the front-rear direction of the vehicle, the door body simultaneously swings. The angle between the door body at the front position and the front-rear direction of the vehicle is greater than the angle between the door body at the rear position and the front-rear direction of the vehicle.

[0069] In some embodiments, the first driving structure and the second driving structure are connected to the lower side of the vehicle body, and the third driving structure is connected to the upper side of the vehicle body.

[0070] In some embodiments, the first driving structure comprises a first connecting rod and a first driving device. The two ends of the first connecting rod are rotatably connected to the vehicle body and the door body, respectively. The first driving device is connected to the first connecting rod to drive the first connecting rod to rotate. The second driving structure comprises a second connecting rod, a third connecting rod and a second driving device. The two ends of the second connecting rod are rotatably connected to the third connecting rod and the vehicle body, respectively. The third connecting rod is also rotatably connected to the door body. The second driving device is connected to the third connecting rod to drive the third connecting rod to rotate around the second connecting rod. The third driving structure comprises a fourth connecting rod and a third driving device. The two ends of the fourth connecting rod are rotatably connected to the door body and the vehicle body, respectively. The third driving device is connected to the fourth connecting rod to drive the fourth connecting rod to rotate.

[0071] In some embodiments, the first driving structure further comprises a damping rod. One end of the damping rod is connected to the vehicle body, and the other end of the damping rod is connected to the first connecting rod.

[0072] In some embodiments, the vehicle door structure further comprises a controller; the first driving device comprises a first power unit and a first position sensor; the second driving device comprises a second power unit and a second position sensor; the third driving device comprises a third power unit and a third position sensor; the controller controls the first power unit, the second power unit and the third power unit based on the position of the first power unit detected by the first position sensor, the position of the second power unit detected by the second position sensor and the position of the third power unit detected by the third position sensor.

[0073] In some embodiments, the position of the second power unit changes with the change of the position of the first power unit; the position of the third power unit changes with the change of the position of the first power unit.

[0074] In some embodiments, the angle between the door body in the forward position and the front-rear direction of the vehicle is less than or equal to 60° and greater than or equal to 30°; the angle between the door body in the rear position and the front-rear direction of the vehicle is less than or equal to 30°.

[0075] In some embodiments, the second power unit is an electric supporting rod, one end of the electric supporting rod is connected to one end of the third connecting rod close to the door body, and the other end of the electric supporting rod is connected to one end of the second connecting rod close to the vehicle body.

[0076] In some embodiments, the third power unit is an electric supporting rod, one end of the electric supporting rod is rotatably connected to the vehicle body, and the other end of the electric supporting rod is connected to one side of the fourth connecting rod close to the vehicle body.

[0077] The present application also provides a vehicle comprising the vehicle door structure of any one of the above embodiments.

[0078] The vehicle door structure of the sixth aspect of the present application comprises a door body, a first driving structure, a second driving structure and a third driving structure, when the vehicle opens or closes the door, the door body not only moves along the front-rear direction of the vehicle body, but also swings along the left-right direction of the vehicle body, so that more outside air can enter the vehicle, ensuring the air exchange between the inside and outside of the vehicle.

[0079] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. Other aspects can be understood after reading and understanding the drawings and the detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0080] The drawings incorporated into the specification and forming a part thereof, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

[0081] Fig. 1 is a schematic view of a vehicle according to an embodiment of the application, with the first and second doors in a closed position.

[0082] Fig. 2 is a top view of the vehicle of Fig. 1 according to an embodiment of the application.

[0083] Fig. 3 is a schematic view of the position relationship between the main drive structure, the secondary drive structure and the doors in the embodiment of Fig. 1.

[0084] Fig. 4 is a schematic view of the vehicle according to an embodiment of the application, with the second door in a certain intermediate position during movement from the closed position to the first position.

[0085] Fig. 5 is a top view of the vehicle of Fig. 4 according to an embodiment of the application.

[0086] Fig. 6 is a schematic view of the position relationship between the main drive structure, the secondary drive structure and the doors in the embodiment of Fig. 4.

[0087] Fig. 7 is a schematic view of the vehicle according to an embodiment of the application, with the second door in the first position.

[0088] Fig. 8 is a top view of the vehicle of Fig. 7 according to an embodiment of the application.

[0089] Fig. 9 is a schematic view of the position relationship between the main drive structure, the secondary drive structure and the doors in the embodiment of Fig. 7.

[0090] Fig. 10 is a schematic view of the vehicle according to an embodiment of the application, with the second door in a certain intermediate position during movement from the first position to the second position.

[0091] Fig. 11 is a top view of the vehicle of Fig. 10 according to an embodiment of the application.

[0092] Fig. 12 is a schematic view of the position relationship between the main drive structure, the secondary drive structure and the doors in the embodiment of Fig. 10.

[0093] Fig. 13 is a schematic view of the vehicle according to an embodiment of the application, with the second door in the second position.

[0094] Fig. 14 is a top view of the vehicle of Fig. 13 according to an embodiment of the application.

[0095] Fig. 15 is a schematic view of the position relationship between the main drive structure, the secondary drive structure and the doors in the embodiment of Fig. 13.

[0096] Fig. 16 is a schematic view of the vehicle according to an embodiment of the application, with the second door in the third position.

[0097] Fig. 17 is a top view of the vehicle of Fig. 16 according to an embodiment of the application.

[0098] Fig. 18 is a schematic view of the positional relationship between the main driving structure, the auxiliary driving structure and the door in the embodiment shown in Fig. 16.

[0099] Fig. 19 is a logic block diagram of the sensor, the driving member and the controller according to an embodiment of the present application.

[0100] Fig. 20 is a schematic view of the structure of a vehicle in a closed state of a first door according to an exemplary embodiment of the present application.

[0101] Fig. 21 is a schematic view of the structure of a first door and a vehicle body in a first fully separated state according to an exemplary embodiment of the present application.

[0102] Fig. 22 is a schematic view of the structure of a first door and a vehicle body in a first fully separated state, and a rear end of the first door swings by a first angle according to an exemplary embodiment of the present application.

[0103] Fig. 23 is a schematic view of the structure of a first door and a vehicle body in a second fully separated state according to an exemplary embodiment of the present application.

[0104] Fig. 24 is a schematic view of the structure of a first door and a vehicle body in a second fully separated state, and a rear end of the first door swings by a second angle according to an exemplary embodiment of the present application.

[0105] Fig. 25 is a schematic view of the structure of a first door in a fully opened state according to an exemplary embodiment of the present application.

[0106] Fig. 26 is a schematic view of the structure of a vehicle body side in a closed state of a first door according to an exemplary embodiment of the present application.

[0107] Fig. 27 is a schematic view of the structure of a vehicle body side in a first opened state of a first door according to an exemplary embodiment of the present application.

[0108] Fig. 28 is a schematic view of the structure of a vehicle body side in a fully opened state of a first door according to an exemplary embodiment of the present application.

[0109] Fig. 29 is a schematic view of the movement posture of a driving assembly corresponding to a first door in a closed state according to an exemplary embodiment of the present application.

[0110] Fig. 30 is a schematic view of the movement posture of a driving assembly corresponding to a first door in a first opened state according to an exemplary embodiment of the present application.

[0111] Fig. 31 is a schematic view of the movement posture of a driving assembly corresponding to a first door in a fully opened state according to an exemplary embodiment of the present application.

[0112] FIG. 32 is a logic block diagram between the drive mechanisms and the controller according to an example embodiment of the present application.

[0113] FIG. 33 is a schematic view of a first door and a second door of a vehicle according to an example embodiment of the present application.

[0114] FIG. 34 is a top view of FIG. 33.

[0115] FIG. 35 is a schematic view of the positional relationship between the relevant components of the first drive mechanism, the second drive mechanism, and the third drive mechanism in the fully closed state shown in FIG. 33.

[0116] FIG. 36 is a schematic view of a first door opened by a first angle A and a front end of the first door being pressed by a rear end of a second door according to an example embodiment of the present application.

[0117] FIG. 37 is a top view of FIG. 36.

[0118] FIG. 38 is a schematic view of the positional relationship between the relevant components of the first drive mechanism, the second drive mechanism, and the third drive mechanism in the state shown in FIG. 36.

[0119] FIG. 39 is a schematic view of a first door opened by a larger angle than the first angle A and a front end of the first door being separated from a rear end of a second door according to an example embodiment of the present application.

[0120] FIG. 40 is a top view of FIG. 39.

[0121] FIG. 41 is a schematic view of the positional relationship between the relevant components of the first drive mechanism, the second drive mechanism, and the third drive mechanism in the state shown in FIG. 39.

[0122] FIG. 42 is a schematic view of a first door opened by a larger angle than that shown in FIG. 39 and a front end of the first door being separated from a rear end of a second door according to an example embodiment of the present application.

[0123] FIG. 43 is a top view of FIG. 42.

[0124] FIG. 44 is a schematic view of the positional relationship between the relevant components of the first drive mechanism, the second drive mechanism, and the third drive mechanism in the state shown in FIG. 42.

[0125] FIG. 45 is a schematic view of a first door opened by a larger angle than that shown in FIG. 42 and a front end of the first door being separated from a rear end of a second door according to an example embodiment of the present application.

[0126] FIG. 46 is a top view of FIG. 45.

[0127] FIG. 47 is a schematic view of the positional relationship between the relevant components of the first drive mechanism, the second drive mechanism, and the third drive mechanism in the state shown in FIG. 45.

[0128] FIG. 48 is a schematic view of a first door in a fully open state and a second door in a closed state, according to an embodiment of the application.

[0129] FIG. 49 is a top view of FIG. 48.

[0130] FIG. 50 is a schematic view of the positional relationship between relevant components of the first drive mechanism, the second drive mechanism, and the third drive mechanism in the state shown in FIG. 48.

[0131] FIG. 51 is a schematic view of the first door being able to swing between an angle C and a first included angle A.

[0132] FIG. 52 is a logic block diagram of the controller and the first drive mechanism, the second drive mechanism, and the third drive mechanism, according to an embodiment of the application.

[0133] FIG. 53 is a top view of a vehicle, according to an example embodiment of the application.

[0134] FIG. 54 is a top view of a door in a first state, according to an example embodiment of the application.

[0135] FIG. 55 is a top view of a door in a second state, according to an example embodiment of the application.

[0136] FIG. 56 is a top view of a door in an intermediate state, according to an example embodiment of the application.

[0137] FIG. 57 is a side view of a door in an intermediate state, according to an example embodiment of the application.

[0138] FIG. 58 is a top view of a door in an intermediate state, according to an example embodiment of the application.

[0139] FIG. 59 is a schematic view of a first linkage mechanism, according to an example embodiment of the application.

[0140] FIG. 60 is a partial schematic view of a first linkage mechanism, according to an example embodiment of the application.

[0141] FIG. 61 is a logic block diagram of the controller and the first drive mechanism, the second drive mechanism, and the third drive mechanism, according to an example embodiment of the application.

[0142] FIG. 62 is a partial schematic view of a vehicle including a door structure according to the application.

[0143] FIG. 63 is a schematic view of a door structure according to the application in a closed state.

[0144] FIG. 64 is a schematic view of a door structure according to the application in a small angle open state.

[0145] Fig. 65 is a schematic view of the door structure of the present application in a partially open state.

[0146] Fig. 66 is a schematic view of the door structure of the present application in a hovering state.

[0147] Fig. 67 is a schematic view of the door structure of the present application in a fully open state.

[0148] Fig. 68 is a schematic view of the connection structure of the present application in a closed state.

[0149] Fig. 69 is a schematic view of the connection structure of the present application in a hovering state.

[0150] Fig. 70 is a schematic view of the connection structure of the present application in a closed state.

[0151] Fig. 71 is a schematic view of the connection structure of the present application in a hovering state.

[0152] Fig. 72 is a logic diagram of the three drive devices and the controller of the door structure of the present application.

[0153] Fig. 73 is a schematic view of a vehicle including the door structure of the present application.

[0154] Fig. 74 is a schematic view of the door structure of the present application in a closed state.

[0155] Fig. 75 is a schematic view of the door structure of the present application in an opening process.

[0156] Fig. 76 is a schematic view of the door structure of the present application in an opening process.

[0157] Fig. 77 is a schematic view of the door structure of the present application in an opening process.

[0158] Fig. 78 is a schematic view of the door structure of the present application in a fully open state.

[0159] Fig. 79 is a schematic view of the door structure of the present application in a swinging state.

[0160] Fig. 80 is a schematic view of the door structure of the present application in a swinging state.

[0161] Fig. 81 is a schematic view of the connection structure of the present application in a closed state.

[0162] Fig. 82 is a schematic view of the connection structure of the present application in an opening process.

[0163] Fig. 83 is a schematic view of the connection structure of the present application in a closed state.

[0164] Fig. 84 is a schematic view of the connection structure of the present application in an opening process.

[0165] FIG. 85 is a logic block diagram of three driving devices and a controller of a door structure of the present application. DETAILED DESCRIPTION

[0166] The technical solutions in the embodiments (or, modes of implementation) of the present application will be clearly and completely described below with reference to the drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated.

[0167] If the present application embodiments involve directional indications or positional relationships (such as up, down, left, right, front, back, inner, outer, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationship, movement, etc. between the components in a certain posture (as shown in the drawings); if the specific posture changes, the directional indication or positional relationship will also change accordingly. In addition, the terms "first", "second", etc. in the present application embodiments are only used for convenience of description, and cannot be understood as indicating or implying relative importance.

[0168] The embodiments of the present application will be described in detail below with reference to the drawings. In the case of no conflict, the features in the following embodiments and modes of implementation can be supplemented or combined with each other.

[0169] Embodiment One:

[0170] In existing vehicles, all are designed for vehicle models with B-pillars. The existence of B-pillars limits the user scenarios of the vehicle to some extent, and also limits the space inside the vehicle. Moreover, the linear pulling design of the vehicle door with B-pillars has a complex opening and closing mechanism and poor structural stability, which brings inconvenience to users and also has safety hazards.

[0171] Therefore, the present application discloses a door assembly applied to a vehicle without B-pillars. As shown in FIGS. 1-18, the door assembly includes a second door 12, a first driving member 21, a second driving member 22, and a third driving member 42.

[0172] The vehicle 10 includes a first door 11, and the first door 11 and the second door 12 are located on the same side of the vehicle 10. When the first door 11 and the second door 12 are completely closed, the rear end 111 of the first door 11 is in compression with the front end 121 of the second door 12 in the length direction of the vehicle.

[0173] The first driving member 21, the second driving member 22, and the third driving member 42 cooperate to drive the second door 12 to realize three-dimensional movement, so that the second door 12 sequentially performs a first movement, a second movement, and a third movement.

[0174] The first movement is that the rear end of the second door 12 moves away from the body frame of the vehicle, and the front end of the second door 12 moves towards the body frame of the vehicle, so that the front end of the second door 12 moves to a first position in which the front end of the second door 12 and the rear end of the first door 11 do not overlap in the projection in the width direction of the vehicle; the second movement is that the front end and the rear end of the second door 12 move away from the body frame of the vehicle, so that the second door 12 moves to a second position farthest away from the body frame of the vehicle; and the third movement is that the second door 12 as a whole moves towards the rear side of the vehicle, so that the second door 12 moves to a third position farthest away from the first door 11.

[0175] As shown in FIG. 1, when the first door 11 and the second door 12 are in the closed state, the rear end 111 of the first door 11 is in contact with the front end 121 of the second door 12 in the length direction of the vehicle, that is, the rear end 111 of the first door 11 and the front end 121 of the second door 12 overlap in the projection in the width direction of the vehicle, and the rear end 111 of the first door 11 is located outside the front end 121 of the second door 12. It should be noted that the width direction of the vehicle refers to the direction in which one side door of the vehicle points to the other side door, and the length direction of the vehicle refers to the direction in which the front of the vehicle points to the rear of the vehicle.

[0176] Under the driving of the first driving member 21, the second driving member 22 and the third driving member 42, the second door 12 can be moved from the closed position to the first position, the second position and the third position. Specifically, the second door 12 can include three movement stages.

[0177] In the first movement stage, as shown in FIGS. 1 to 9, the front end 121 of the second door 12 moves towards the body frame of the vehicle, and the rear end 122 of the second door 12 moves away from the body frame of the vehicle, until the second door 12 is in an inclined state, until the second door 12 and the first door 11 do not overlap in the projection in the width direction of the vehicle, so that the front end 121 of the second door 12 can avoid the rear end 111 of the first door 11, at this time, the rear end 122 of the second door 12 is opened at a certain angle relative to the body frame of the vehicle, and the second door 12 moves to the first position.

[0178] In the second movement stage, as shown in FIGS. 10 to 15, the front end 121 and the rear end 122 of the second door 12 continue to move away from the body frame of the vehicle, until the second door 12 moves to the second position farthest away from the body frame of the vehicle, so that the second door 12 can avoid part of the structure of the body frame of the vehicle, at this time, the front end 121 of the second door 12 is spaced apart from the rear end 111 of the first door 11 by a certain distance. The second door 12 is in a half-open state.

[0179] In the third movement stage, as shown in FIGS. 16-18, the second door 12 continues to move to the rear of the vehicle along the length direction of the vehicle, the distance between the second door 12 and the first door 11 further increases, until the second door 12 reaches the rear of the vehicle 10, achieving the full opening of the second door 12. At this time, the second door 12 is in the third position farthest from the first door 11.

[0180] It can be understood that the process of the second door from the open state to the closed state is a reverse movement similar to the above movement process, which will not be described here.

[0181] The present application controls the movement posture of the second door 12 through the first driving member 21, the second driving member 22 and the third driving member 42, so that the second door 12 can be smoothly opened or closed along a safe trajectory, avoiding interference between the second door 12 and the rear end of the first door 11 and the structure on the vehicle body frame during the opening process of the second door 12, and the opening or closing process of the second door 12 is independent and not limited by other structures, providing a good user experience.

[0182] In one embodiment, during the first movement, the second door 12 moves to a fourth position, in which the front end 121 of the second door 12 is pressed by the rear end 111 of the first door 11, so that the projection of the rear end 111 and the front end 121 in the plane along the height direction of the vehicle overlaps, and the gap between the rear end 111 and the front end 121 is less than a preset value, and a first included angle is formed between the second door 12 and the vehicle body frame. The height direction of the vehicle refers to the direction in which the roof of the vehicle points to the bottom of the vehicle.

[0183] When the second door 12 is in the fourth position, the second door 12 is pressed by the first door 11, which on the one hand eliminates the gap between the front end 121 of the second door 12 and the rear end 111 of the first door 11, avoiding the user's hand being pinched when the second door 12 is in the fourth position; on the other hand, the above arrangement can also bring a good user experience, for example, when the second door 12 is in the fourth position, the visible range inside the vehicle from the outside of the vehicle 10 is small, not only protecting the user's privacy, but also allowing the user to hear the outside sound without opening the car machine, or the vehicle 10 interior and the outside ventilation, etc.

[0184] In one embodiment, the first included angle is A, and the driving member further drives the second door 12 to form a second included angle B with the vehicle body frame, wherein C≤B

[0185] Since the second door 12 can swing between the first included angle A and the angle C, a better user experience is brought to the user, for example, during use, the user can adjust the opening angle of the second door 12 according to the size of the external wind, for example, if the external wind is too large, the first included angle A can be adjusted to the second included angle B.

[0186] In one embodiment, the preset value is a, 0cm≤a≤1cm. Thus, hand clamping can be prevented.

[0187] In one embodiment, as shown in FIGS. 1-3, the second door 12 includes a door connecting piece 120, and the third driving piece 42 is connected to the top of the second door 12 through the door connecting piece 120. The front end 121 of the second door 12 is rotationally connected to the end of the first connecting rod 23, and the rear end 122 of the second door 12 is rotationally connected to the end of the third connecting rod 25.

[0188] In one embodiment, the door assembly further includes a first connecting part 27 and a second connecting part 28 provided on the vehicle body frame, the end of the second connecting rod 24 is connected to the vehicle body frame through the first connecting part 27, and the end of the third connecting rod 25 is connected to the vehicle body frame through the second connecting part 28. The first connecting part 27 and the second connecting part 28 can provide fixed fulcrums for the connecting rods, ensuring the stability and reliability of the connecting rod system during the movement of the second door 12.

[0189] In one embodiment, the second driving piece 22 is provided on the second connecting part 28. In this way, the transmission path between the third connecting rod 25 and the second driving piece 22 can be simplified, the compactness of the overall structure can be improved, and the interior space of the vehicle can be saved.

[0190] In one embodiment, the second driving piece 22 is a driving motor, which directly acts on the end of the third connecting rod 25 to drive the third connecting rod 25 to rotate around the second connecting part 28.

[0191] In one embodiment, the first driving piece 21 is an electric supporting rod, one end of the electric supporting rod is connected to the end of the first connecting rod 23 away from the second connecting rod 24, and the other end is connected to the second connecting rod 24. When the electric supporting rod extends or retracts, it drives the first connecting rod 23 to rotate around the end of the second connecting rod 24.

[0192] In one embodiment, the door assembly further includes a fourth connecting rod 26, one end of the fourth connecting rod 26 is rotationally connected to the third connecting rod 25, and the other end is rotationally connected to the vehicle body frame. The fourth connecting rod 26 is a telescopic damping rod, which can provide appropriate resistance or assistance at different movement stages of the second door 12, help the second door 12 to run smoothly, prevent the door from closing suddenly under the action of external forces such as wind, and avoid the door from clamping the driver and passenger.

[0193] In one embodiment, as shown in FIG. 3, in the state that the second door 12 is closed, the first link 23 and the second link 24 are substantially in a same straight line, and the second door 12 is attached to the vehicle body frame.

[0194] In one embodiment, as shown in FIGS. 1 to 9, in the process that the second door 12 is moved from the closed state to the first position, the third link 25 is rotated around the second connecting part 28 under the driving of the second driving part 22, and drives the second link 24 to move around the first connecting part 27, and the first driving part 21 drives the first link 23 to rotate around the end of the second link 24 towards the vehicle body frame, so that the second door 12 is inclined and moved backward as a whole. In this process, the first driving part 21 is shortened, and the included angle between the first link 23 and the second link 24 is gradually reduced, until the projection of the front end 121 of the second door 12 and the rear end 111 of the first door 11 in the vehicle width direction does not overlap, so as to avoid the interference between the front end 121 of the second door 12 and the rear end 111 of the first door 11 in the subsequent movement process.

[0195] In one embodiment, as shown in FIGS. 7 to 15, in the process that the second door 12 is moved from the first position to the second position, the second driving part 22 continues to drive the third link 25 to rotate, and drives the second link 24 to continue to rotate around the first connecting part 27, until the extension direction of the third link 25 and the second link 24 is substantially perpendicular to the length direction of the vehicle, so that the second door 12 reaches the second position farthest from the vehicle body frame. In this process, the first driving part 21 is gradually elongated, so that the first link 23 is turned back to the position substantially in a same straight line with the second link 24. After the second door 12 is moved to the second position, the second door 12 is no longer inclined, but is substantially parallel to the length direction of the vehicle, so as to avoid the interference between the second door 12 and other parts of the vehicle body frame.

[0196] In one embodiment, as shown in FIGS. 13 to 18, in the process that the second door 12 is moved from the second position to the third position, the second driving part 22 continues to drive the third link 25 to rotate, and drives the second link 24 to continue to rotate around the first connecting part 27, so that the second door 12 is moved along the length direction of the vehicle to the rear of the vehicle as a whole, until the second door 12 is completely opened when the second door 12 is moved to the third position. In this process, the first link 23 and the second link 24 are still substantially in a same straight line, and the second door 12 is kept substantially parallel to the length direction of the vehicle, so as to ensure that the second door 12 does not interfere with the vehicle body frame in the movement process.

[0197] In one embodiment, the door assembly further comprises a fifth link 41, one end of which is rotatably connected to the second door 12, for example, through a door connecting member 120, and the other end of which is connected to the vehicle body frame. The fifth link 41 can share part of the weight of the second door 12, reducing the burden on the first drive member and the second drive member.

[0198] In one embodiment, as shown in FIG. 3, FIG. 6, FIG. 9, FIG. 12, FIG. 15, and FIG. 18, one end of the third drive member 42 is connected to the fifth link 41, and the other end is connected to the vehicle body frame. With the assistance of the third drive member 42, the driving force can be more reasonably distributed, reducing the load on the first drive member 21 and the second drive member 22. In some embodiments, the third drive member 42 is an electrically powered support rod, which is extended when the second door 12 is moved from the closed position to the third position, driving the fifth link 41 to rotate towards the rear of the vehicle.

[0199] In one embodiment, the first drive member 21 and the second drive member 22 are arranged at a position close to the bottom of the vehicle body frame, and the third drive member 42 is arranged at a position close to the top of the vehicle body frame.

[0200] In one embodiment, as shown in FIG. 19, the door assembly further comprises a control mechanism 30. The control mechanism 30 comprises a first sensor 31, a second sensor 32, and a controller 34, which controls the operation of the first drive member 21 and the second drive member 22 according to the signals of the first sensor 31 and the second sensor 32, so that the second door 12 is opened or closed.

[0201] In one embodiment, the first sensor 31 and the second sensor 32 can monitor the position information of the first drive member 21 and the second drive member 22 in real time, such as the rotation angle of the drive motor or the position stroke of the electrically powered support rod, and the controller 34 can accurately control the synchronous operation of the first drive member 21 and the second drive member 22 according to the position information, ensuring that the door is opened or closed according to the preset trajectory and speed.

[0202] In one embodiment, the control mechanism 30 further comprises a third sensor 33 for detecting the position of the third drive member 42, and the controller 34 controls the operation of the third drive member 42 according to the signal of the third sensor 33. The third sensor 33 can monitor the position information of the third drive member 42 in real time, and the controller 34 can control the operation of the third drive member 42 according to the position information, ensuring that the door is opened or closed according to the preset trajectory and speed.

[0203] In an embodiment, the number of controllers 34 can be multiple, and the multiple controllers synchronize the control of the driving members. For example, the number of controllers 34 is three, and the three controllers 34 are respectively used to collect the position information of the first driving member 21, the second driving member 22 and the third driving member 42 and to drive and control them respectively, and the states of the driving members are synchronized in real time among the three controllers through bus information, so as to realize the accurate control of the second vehicle door 12.

[0204] The application also provides a vehicle comprising the vehicle door assembly.

[0205] Embodiment two:

[0206] The existing vehicle usually uses an air conditioning system for indoor ventilation, and also ventilates the indoor environment by opening the window during driving.

[0207] Although the above ventilation method can meet the ventilation needs of users, how to provide users with diversified ventilation methods to improve the driving experience of users and promote the continuous innovation and progress of vehicle design is the common goal of practitioners in the vehicle industry.

[0208] The door of the traditional vehicle is usually an outward swing door or a sliding door. The outward swing door is opened or closed by rotating the door through a hinge arranged on one side of the door. On this basis, if the rear end of the door is designed to swing, it is easy to cause the user to be pinched by the front part of the door. As for the sliding door, it is more difficult to realize the swing of the rear end of the door because the track needs to be configured.

[0209] Therefore, the application provides a vehicle which not only can provide natural wind from the external environment to the vehicle, but also can timely remind the vehicle driving behind to avoid, thereby improving the safety performance.

[0210] Please refer to FIGS. 20-28, the application provides a vehicle comprising a vehicle body 2010, a first vehicle door 2011, a second vehicle door 2012 and a driving assembly 13. The vehicle body 2010 has no B pillar, and the side of the vehicle body 2010 is provided with an opening. The first vehicle door 2011 and the second vehicle door 2012 are movably connected to the side of the vehicle body 2010. In the completely closed state, the first vehicle door 2011 and the second vehicle door 2012 jointly close the opening along the length direction of the vehicle body 2010, and the front end of the first vehicle door 2011 is located inside the rear end of the second vehicle door 2012. Wherein, the inside and the outside are referred to the inside and the outside of the vehicle body 2010, that is, the front end of the first vehicle door 2011 faces the inside of the vehicle body 2010, the rear end of the second vehicle door 2012 faces the outside of the vehicle body 2010, and the two are in pressure contact or gap fit.

[0211] The driving assembly 13 is connected to the vehicle body 2010 and the first door 2011 respectively. The driving assembly 13 comprises a first driving mechanism 131, a second driving mechanism 132 and a third driving mechanism 133. The first driving mechanism 131, the second driving mechanism 132 and the third driving mechanism 133 cooperate to drive the first door 2011 to realize three-dimensional movement.

[0212] The three-dimensional movement mentioned in the present application refers to that the first driving mechanism 131, the second driving mechanism 132 and the third driving mechanism 133 can jointly drive the first door 2011 to swing in the width direction of the vehicle body 2010, jointly drive the first door 2011 to move in the width direction of the vehicle body 2010, and jointly drive the first door 2011 to move in the length direction of the vehicle body 2010 (for specific movement modes, see below).

[0213] The above vehicle can be a recreational vehicle such as a camping car or a recreational house car, or can be a common car or a commercial vehicle, but is not limited thereto.

[0214] As shown in FIGS. 21-24 and 27, when the first door 2011 is in the first opening state, the first driving mechanism 131, the second driving mechanism 132 and the third driving mechanism 133 cooperate to make the first door 2011 completely separate from the vehicle body 2010 in the width direction (x direction) of the vehicle body 2010, so that a gap d is formed between the first door 2011 and the vehicle body 2010. Moreover, the first driving mechanism 131, the second driving mechanism 132 and the third driving mechanism 133 also drive the front end of the first door 2011 to rotate, and drive the rear end of the first door 2011 to swing left and right in the width direction (x direction) of the vehicle body 2010. In this way, by swinging the rear end of the door, not only can natural wind from the external environment be provided to the vehicle interior, but also the vehicles driving behind can be reminded in time to avoid, thereby improving safety performance.

[0215] After the first door 2011 is completely separated from the vehicle body 2010, and before the rear end of the first door 2011 swings, the first door 2011 extends in the length direction (y direction) of the vehicle, and the side surface of the first door 2011 towards the inside or outside of the vehicle is parallel or substantially parallel to the center line of the vehicle formed in the length direction (as shown by the dashed line in FIG. 21). Substantially parallel means that the included angle between the side surface of the first door 2011 towards the inside or outside of the vehicle and the center line of the vehicle is less than 5°. The first door 2011 can be a front door or a rear door.

[0216] Please refer to FIG. 20 and FIG. 23, when the first door 2011 is in the first open state, the orthographic projection area of the first door 2011 on the length direction of the vehicle body 2010 (in the perspective of the top view) is located outside the second door 2012 in the fully closed state. In this way, on the one hand, the interference between the rear end of the first door 2011 and the second door 2012 during the swinging process can be avoided; on the other hand, the gap d between the first door 2011 and the vehicle body 2010 can be ensured to be large enough, so as to avoid the user's hand, foot or other parts from being pinched.

[0217] Please refer to FIG. 21 and FIG. 23, in an embodiment, when the first door 2011 is in the first open state, the orthographic projection area of the first door 2011 on the width direction of the vehicle body 2010 (in the perspective of the top view) is located outside the second door 2012 in the fully closed state. In this way, it can be ensured that a circulating air path is formed around the first door 2011. In an embodiment, the angle of the rear end of the first door 2011 swinging away from the vehicle body 2010 is less than or equal to 60°. In this way, the environmental wind outside the vehicle can more easily flow into the vehicle.

[0218] Exemplarily, as shown in FIG. 21, after the first door 2011 is completely separated from the vehicle body 2010, and before the rear end of the first door 2011 swings, since the orthographic projection area of the first door 2011 on the length direction of the vehicle body 2010 is partially located inside the second door 2012 in the closed state, the second door 2012 is prone to interfere with the swinging first door 2011, resulting in that the angle β of the rear end of the first door 2011 swinging away from the vehicle body 2010 is small, and a larger swing cannot be achieved. Please refer to the vehicle shown in FIG. 23 and FIG. 24, before the rear end of the first door 2011 swings, the orthographic projection area of the first door 2011 on the length direction of the vehicle body 2010 is located outside the second door 2012 in the closed state, which reduces the interference of the second door 2012 on the first door 2011, so that the angle β of the rear end of the first door 2011 swinging away from the vehicle body 2010 is large, and a larger swing can be achieved.

[0219] In an embodiment, the first door 2011 of the present application is a translation type door, and the second door 2012 is an outward swinging type door. Of course, in other embodiments, the type of the second door 2012 is not limited thereto.

[0220] The translation type door is a trackless moving door, and the first door 2011 can be driven to move approximately in parallel by the driving assembly 13. The specific opening and closing process of the translation type door will be described in detail below, and will not be described in detail here. The swing type door can be provided with a hinge at the front side of the second door 2012 to rotate to open or close, which is similar to the structure of the existing swing door, and will not be described in detail here.

[0221] As shown in FIG. 32, in one embodiment, the vehicle further comprises a controller 15 connected to the first driving mechanism 131, the second driving mechanism 132 and the third driving mechanism 133, for controlling the swing angle of the rear end of the first door 2011 on the swing path. Thus, the user can automatically control the swing angle of the rear end of the first door 2011 through the controller by pressing the key operation module and the like.

[0222] As shown in FIG. 32, the first driving mechanism 131 comprises a first motor 1314 and a first position sensor 1315; the second driving mechanism 132 comprises a second motor 1321 and a second position sensor 1323; and the third driving mechanism 133 comprises a third motor 1333 and a third position sensor 1334.

[0223] The controller 15 controls the rear end of the first door 2011 to swing between any two swing positions on the swing path based on the position of the first motor 1314 detected by the first position sensor 1315, the position of the second motor 1321 detected by the second position sensor 1323, and the position of the third motor 1333 detected by the third position sensor 1334.

[0224] Each of the above-mentioned position sensors includes but is not limited to a Hall sensor. In the design of the driving assembly 13 and the driving process of the first door 2011, a one-to-one mapping relationship between the swing angle of the rear end of the first door 2011 and the rotation angle or operating position of each motor is determined in advance and stored in the controller. Thus, by measuring the rotation angle or operating position of the motor by the Hall sensor, the rear end of the first door 2011 can be controlled to swing between any two swing positions on the swing path, i.e., the swing angle of the rear end of the first door 2011 can be controlled.

[0225] It should be noted that the number of controllers 15 can be one or more. That is, one controller 15 can be used to control multiple position sensors to collect information of corresponding motors, and then control multiple motors to operate together to achieve the opening, closing and swinging of the first door 2011. Alternatively, multiple controllers 15 can be used to control each position sensor to collect information of the corresponding motor one by one, and then control each motor to operate together to achieve the opening, closing and swinging of the first door 2011.

[0226] In one embodiment, the vehicle further comprises a memory module connected to the controller, the first position sensor, the second position sensor and the third position sensor. Thus, the detection results of the first position sensor, the second position sensor and the third position sensor can be transmitted to the memory module, and a memory signal is generated based on the mapping relationship between the detection results and the swing angle of the door, so as to memorize any two swing positions of the first door on the swing path relative to the vehicle body. After receiving the memory signal, the controller can control the first door to swing between the memorized any two swing positions. Exemplarily, the memory module can be a chip with a memory function.

[0227] As shown in FIGS. 29-31, in one embodiment, the first driving mechanism 131 further comprises a first connecting rod 1311, a second connecting rod 1312 and a third connecting rod 1313. The two ends of the first connecting rod 1311 are respectively rotatably connected with the first motor 1314 and the first door 2011; the two ends of the second connecting rod 1312 are respectively rotatably connected with the vehicle body 2010 and the third connecting rod 1313; the third connecting rod 1313 is further rotatably connected with the first door 2011; the connection between the first connecting rod 1311 and the first door 2011 is located behind the connection between the third connecting rod 1313 and the first door 2011. In one embodiment, the second driving mechanism 132 further comprises an extension rod 1322, one end of which is rotatably connected with the first door 2011, and the other end of which is connected with the second motor 1321. In one embodiment, the third driving mechanism 133 further comprises an extension support rod 1331 and a rotating rod 1332; one end of the extension support rod 1331 is rotatably connected with the rotating rod 1332, and the other end is connected with the third motor 1333; the rotating rod 1332 is further rotatably connected with the first door 2011.

[0228] Exemplarily, when the first door 2011 shown in the vehicle of FIG. 20 and FIG. 26 is in the closed state, each component in the driving assembly 13 assumes an initial motion posture as shown in FIG. 29. When the first door 2011 needs to switch from the closed state to the first open state (as shown in FIG. 21 to FIG. 24), the first motor 1314 rotates forward, and drives the first door 2011 to move outward along the width direction of the vehicle body through the first connecting rod 1311. In this process, as shown in FIG. 27 and FIG. 30, the second motor 1321 drives the telescopic rod 1322 to extend by a certain length, and the second connecting rod 1312 and the third connecting rod 1313 are also synchronously unfolded. The third motor 1333 drives the telescopic support rod 1331 to retract to drive the rotating rod 1332 to rotate, so that the first door 2011 is completely separated from the vehicle body 2010 along the width direction of the vehicle body 2010 (as shown in FIG. 21 or FIG. 23). Then, the first motor 1314 rotates forward and reversely reciprocating again to swing the rear end of the first door 2011 left and right along the width direction of the vehicle body 2010, so as to swing to a swing angle β as shown in FIG. 22 and FIG. 24. In other examples, the rear end of the first door 2011 can also be switched between any other two swing positions on the swing path to switch the swing angle.

[0229] When the first door 2011 stops swinging, the first motor 1314 continues to rotate forward to drive the first door 2011 to move to the rear side of the vehicle body through the first connecting rod 1311, so that the first door 2011 is in the fully open state (as shown in FIG. 25 and FIG. 28). Correspondingly, the motion posture of the driving assembly 13 is as shown in FIG. 31.

[0230] It should be noted that "forward" and "reverse" refer to two directions opposite in rotation direction, without limiting the specific rotation direction. For example: when "forward" represents the counterclockwise a direction, then "reverse" represents the clockwise direction; when "forward" represents the clockwise direction, then "reverse" represents the counterclockwise a direction.

[0231] As shown in FIG. 29 and FIG. 31, in one embodiment, the driving assembly 13 further comprises a damping rod 136 and a vehicle body connecting head 137. The two ends of the damping rod 136 are respectively rotatably connected with the first connecting rod 1311 and the vehicle body connecting head 137. The vehicle body connecting head 137 is also rotatably connected with the second connecting rod 1312. Thus, in the process of the first door 2011 from the fully closed state to the open state, the included angle between the damping rod 136 and the first connecting rod 1311 becomes larger, so that the first driving mechanism 131 and the second driving mechanism 132 are more labor-saving. In addition, the damping rod 136 and the part of the driving assembly 13 involving multiple components connected with the vehicle body 2010 can be indirectly connected with the vehicle body 2010 through the vehicle body connecting head 137. That is, after the components are rotatably connected with each other on a vehicle body connecting head 137, the vehicle body connecting head 137 is fixedly connected with the vehicle body 2010, which is convenient for collective assembly.

[0232] It should be noted that the part of the driving assembly 13 involving multiple components connected with the first door 2011 can also be indirectly connected with the first door 2011 through the door connecting member 17. Herein, no more details are given.

[0233] In one embodiment, the first driving mechanism 131 and the second driving mechanism 132 are located at the bottom of the first door 2011, and the third driving mechanism 133 is located at the top of the first door 2011.

[0234] Herein, the top and the bottom are divided by the window, the position of the first door 2011 above the window is referred to as the top, and the position of the first door 2011 below the window is referred to as the bottom.

[0235] Since the structure of the first driving mechanism 131 is relatively complex, and the space at the bottom of the first door 2011 is relatively large, the first driving mechanism 131 and the second driving mechanism 132 are usually jointly arranged at the bottom of the first door 2011.

[0236] Of course, in other embodiments, the driving assembly 13 provided by the present application can comprise three motor supporting rods. One of the motor supporting rods is arranged at the top of the first door 2011, and the other two motor supporting rods are arranged at the bottom of the first door 2011 at intervals. When the three motor supporting rods are extended, the first door 2011 is pushed out, so that the first door 2011 is completely separated from the vehicle body 2010 in the width direction of the vehicle body 2010, and a gap is formed between the first door 2011 and the vehicle body 2010. Then, by controlling the extension or retraction of the motor supporting rod connected with the rear end of the first door 2011, the rear end of the first door 2011 can swing left and right.

[0237] Embodiment three:

[0238] With the continuous development of the vehicle industry, the use scenarios of vehicles are becoming more and more diverse, such as outdoor camping, car door poker and other entertainment projects. At the same time, more and more good user experience is pursued, such as the up and down space of the vehicle, the rotation use of the seat, etc. However, the current mainstream vehicle models on the market all have a B-pillar on the side wall, which limits the use scenarios of the vehicle users to some extent and also limits the space inside the vehicle, which cannot maximize the use scenarios of the seat.

[0239] Therefore, the present application discloses a vehicle door assembly.

[0240] Referring to FIGS. 33, 34, 36, 37, 39, 40, 42, 43, 45, 46, 48 and 49, the present application discloses a vehicle door assembly. The vehicle door assembly is applied to a vehicle without a B-pillar, which includes a first door 1, a second door 2, a driving mechanism 3 (the first driving mechanism 3032 and the second driving mechanism 3033 are described later) and a third driving mechanism 6. Because the vehicle body of the vehicle has no B-pillar, one entrance is provided on one side of the vehicle body. The first door 1 and the second door 2, in the fully closed state, close the same entrance on one side of the vehicle body along the front-rear direction of the vehicle. That is to say, for a vehicle with a B-pillar, one side of the vehicle body has a first entrance closed or opened by a front door (such as the second door) and a second entrance closed or opened by a rear door (such as the first door). In the case that the vehicle has no B-pillar, there is only one entrance on one side of the vehicle body, that is, the first entrance and the second entrance are combined into one entrance due to the absence of the B-pillar. Referring to FIG. 33, in the fully closed state of the first door 1 and the second door 2, the front end 3010 of the first door 1 is located inside the rear end 20 of the second door 2. In this document, the inside and outside are taken as the reference of the inside and outside of the vehicle body. The first driving mechanism 3032 and the second driving mechanism 3033 are finally connected to the bottom of the first door 1, and the third driving mechanism 6 is connected to the top of the first door 1. In other embodiments, the first driving mechanism 3032 and the second driving mechanism 3033 are connected to the top of the first door 1, and the third driving mechanism 6 is connected to the bottom of the first door 1. In summary, no matter how the first driving mechanism 3032, the second driving mechanism 3033 and the third driving mechanism 6 are connected to the first door 1 and how their structures are, finally, the first driving mechanism 3032, the second driving mechanism 3033 and the third driving mechanism 6 cooperate to drive the first door 1 to realize three-dimensional movement (movement along the direction parallel to the vehicle body, movement perpendicular to the direction of the vehicle body, and swinging), and to realize complete closing or complete opening.

[0241] As follows, the first driving mechanism 3032 and the second driving mechanism 3033 are connected to the first door 1 in an embodiment of the present application.

[0242] Referring to FIG. 43, FIG. 46, FIG. 48 and FIG. 49, the driving mechanism 3 (the first driving mechanism 3032 and the second driving mechanism 3033) is connected with the first door 1, specifically, connected with the bottom of the first door 1 through the first door connecting member 3011 shown in FIG. 35 and FIG. 44. The first door connecting member 3011 is a part of the first door 1 or fixed to the first door 1 as an independent component. The door assembly further comprises a first connecting rod 3031, a second connecting rod 3034, a third connecting rod 35, a damping rod 36 and a connecting head 37. The two ends of the first connecting rod 3031 are rotatably connected with the first driving mechanism 3032 and the first door 1 respectively. In the embodiment of the present application, the first connecting rod 3031 is connected with the first door connecting member 3011. The second driving mechanism 3033 is rotatably connected with the second connecting rod 3034. The second connecting rod 3034 is further rotatably connected with the third connecting rod 35, and the third connecting rod 35 is rotatably connected with the first door 1. In the embodiment of the present application, the third connecting rod 35 is also connected with the first door connecting member 3011. Referring to FIG. 33 and FIG. 35, still taking the front of the vehicle as the front and using arrow A to represent the forward direction, the first connection 30111 between the third connecting rod 35 and the first door 1 is located in front of the second connection 112 between the first connecting rod 3031 and the first door 1.

[0243] Referring to FIG. 35, FIG. 38, FIG. 41, FIG. 44, FIG. 47 and FIG. 50, one end of the damping rod 36 is rotatably connected with the first connecting rod 3031, and the other end is rotatably connected with the connecting head 37. The connecting head 37 is rotatably connected with the second connecting rod 3034. As can be seen from the comparison of FIG. 35, FIG. 38, FIG. 41, FIG. 44, FIG. 47 and FIG. 50, the angle between the damping rod 36 and the first connecting rod 3031 becomes larger during the process that the first door 1 is from fully closed to not fully opened.

[0244] The first connecting rod 3031, the first driving mechanism 3032, the second driving mechanism 3033, the second connecting rod 3034, the third connecting rod 35, the damping rod 36 and the connecting head 37 can realize the independent opening and closing of the first door 1 and the second door 2 without affecting each other. In addition, by arranging the damping rod 36, the second driving mechanism 3033 can be driven by the first driving mechanism 3032 with smaller force.

[0245] Referring to FIG. 35, FIG. 38, FIG. 41, FIG. 44, FIG. 47 and FIG. 50, the third driving mechanism 6 (in some embodiments, the third driving mechanism 6 is also called the third motor assembly because the first driving mechanism 3032 and the second driving mechanism 3033 are in front of the third driving mechanism 6) is connected with the top of the first door 1 through the second door connecting piece 3012. The third driving mechanism 6 cooperates with the driving mechanism 3 to realize the opening and closing of the first door 1. In addition, the third driving mechanism 6 can share the weight of the first door 1 during the opening of the first door 1, so as to improve the stability and safety of the first door 1 during the opening. In the present application, the third driving mechanism 6 is a third motor assembly, which includes a third motor 611, an electric supporting rod 333 and a connecting rod 62. The connecting rod 62 and the electric supporting rod 333 are rotationally connected. The third motor 611 controls the electric supporting rod 333 to extend or shorten, and finally realizes the opening or closing of the first door 1 together with the driving mechanism 3. FIG. 38, FIG. 41, FIG. 44, FIG. 47 and FIG. 50 show that the electric supporting rod 333 cooperates with the connecting rod 62 to realize the opening of the first door 1.

[0246] The first driving mechanism 3032, the second driving mechanism 3033 and the third driving mechanism 6 also cooperate with each other to drive the first door 1 to rotate in the horizontal direction. At this time, as shown in FIG. 37, the first door 1 is in a non-completely opened state. In the non-completely opened state, the front end 3010 of the first door 1 is pressed by the rear end 20 of the second door 2, so that the projections of the rear end 20 and the front end 3010 in the plane along the height direction of the vehicle body 4 overlap, and the gap between the rear end 20 and the front end 3010 is less than a preset value, and a first angle A is formed between the first door 1 and the vehicle body 4. The pressing can be direct contact without gap, or can form a small gap. The preset value can be set according to the situation, and the hand clamping is not allowed. The structure for realizing the pressing is not limited, and any structure that can realize the subsequent pressing can be used.

[0247] Referring to FIG. 35, FIG. 38, FIG. 41, FIG. 44, FIG. 47 and FIG. 50, and combining FIG. 34, FIG. 37, FIG. 40, FIG. 43, FIG. 46 and FIG. 49, the working principle of the driving mechanism 3 (the first driving mechanism 3032 and the second driving mechanism 3033) driving the first door 1 is as follows.

[0248] The first driving mechanism 3032 and the second driving mechanism 3033 are arranged on the vehicle body 4. The motor (hereinafter referred to as the first motor 321) of the first driving mechanism 3032 can rotate clockwise or counterclockwise, thereby driving the first connecting rod 3031 to rotate. The first motor 321 rotates clockwise to close the first door 1, and rotates counterclockwise to open the first door 1. The second driving mechanism 3033 can be elongated or shortened, and in the process of being elongated or shortened, the first door 1 is rotated around the structure formed by the second connecting rod 3034 and the third connecting rod 35 (at this time, the second connecting rod 3034 and the third connecting rod 35 can be regarded as a whole), and at the same time, the relationship between the second connecting rod 3034 and the third connecting rod 35 will change as shown in FIGS. 35, 38, 41, 44, 47 and 50, and finally, the first door 1 is driven by the driving mechanism 3 to change from the fully closed state shown in FIGS. 33 and 34 to the fully open state shown in FIGS. 48 and 49, or from the fully open state to the fully closed state.

[0249] In addition, the driving mode of the third driving mechanism 6 can also refer to the driving mode of the first driving mechanism 3032 and the second driving mechanism 3033, or follow the driving mode of the first driving mechanism 3032 as described later.

[0250] It should be noted that FIGS. 39, 40, 42, 43, 45 and 46 show some intermediate states (not fully open state) during the opening of the first door 1. Those skilled in the art can understand that in some cases, there can be no intermediate states.

[0251] As set forth above, the first door 1 is in a non-completely open state with the first angle A by the cooperation of the driving mechanism 3 (the first driving mechanism 3032 and the second driving mechanism 3033) and the third driving mechanism 6. In this state, the first door 1 is pressed by the second door 2. On one hand, the pressing makes the front end 3010 of the first door 1 and the rear end 20 of the second door 2 overlap in the projection in the plane along the height direction of the vehicle body, and the gap between the rear end 20 and the front end 3010 is less than a preset value (the preset value makes the gap between the rear end 20 and the front end 3010 be zero or very small), so as to avoid the hand of a user (especially a child) being pinched when the first door 1 is in the non-completely open state. On the other hand, the above setting also brings good user experience, for example, when the first door 1 is in the non-completely open state, the visible range of the inside of the vehicle body is small from the outside of the vehicle body, which not only protects the privacy of the user, but also enables the user to hear the sound from the outside without turning on the car machine, or the inside of the vehicle body is ventilated with the outside, and so on. For another example, because the first door is located inside the second door, opening the second door is not affected by the first door, and the first door 1 can be rotated to the inside of the second door to form the first angle A with the vehicle body due to the rotation connection of the second connecting rod and the third connecting rod, so that the first door 1 is not affected by the second door when being opened to the non-completely open state. Therefore, the first door 1 and the second door 2 can be independently opened and closed, which is convenient to use and brings good user experience.

[0252] In some embodiments, the preset value is a, 0cm≤a≤1cm. In this way, the hand pinching can be prevented.

[0253] Referring to FIG. 51 and combining with FIG. 37, first of all, it needs to be explained that although the angle A shown in FIG. 51 seems larger than the angle A shown in FIG. 37, the angles A, B and C in FIG. 51 are only used to show the size relationship therebetween and do not constitute a limitation on the angle shown in FIG. 37. The driving mechanism 3 also drives the first door 1 to form a second angle B with the vehicle body 4. C≤B<A, wherein the angle C is the lower limit angle at which the second door 2 presses the first door 1 when the first door 1 is in the non-completely open state, and the first angle A can be considered as the upper limit angle at which the second door 2 presses the first door 1 when the first door 1 is in the non-completely open state. For a vehicle, usually, the first angle A and the angle C are fixed values when the vehicle is delivered. The angle B is a value between the angle A and the angle C, that is, the user can rotate the first door 1 within the range between the angle C and the first angle A, and fix the first door 1 at the rotated angle.

[0254] As set forth above, the first door 1 can also swing between the first angle A and the angle C, so that the opening angle of the first door 1 in the non-fully open state can be adjusted, thereby bringing a better user experience, for example, during use, the user can adjust the opening angle of the first door 1 according to the size of the external wind, for example, if the external wind is too large, the first angle A can be adjusted to the second angle B.

[0255] In some embodiments, the door assembly comprises a controller 5 connected with the first driving mechanism 3032, the second driving mechanism 3033 and the third driving mechanism 6 to control the first driving mechanism 3032, the second driving mechanism 3033 and the third driving mechanism 6 to drive the first door 1 to switch between the first angle A, the second angle B and the angle C.

[0256] In this way, the first driving mechanism 3032, the second driving mechanism 3033 and the third driving mechanism 6 are controlled by the controller to achieve the switching of the first door 1 between the first angle A, the second angle B and the angle C, which is convenient to control and good for user experience.

[0257] Based on the functions of the aforementioned driving mechanism 3 (the first driving mechanism 3032 and the second driving mechanism 3033) and the third driving mechanism 6, those skilled in the art can understand that the structure of the driving mechanism 3 (the first driving mechanism 3032 and the second driving mechanism 3033) and the third driving mechanism 6 is not limited, as long as it can achieve the aforementioned functions.

[0258] Referring to FIG. 52 and combining FIGS. 35, 38, 41, 44, 47 and 50, the door assembly comprises a controller 5. The first driving mechanism 3032 comprises a first motor 321 and a first position sensor 322. The second driving mechanism 3033 comprises a second motor 331 and a second position sensor 332.

[0259] The controller 5 controls the first motor 321 and the second motor 331 based on the position of the first motor 321 detected by the first position sensor 322 and the position of the second motor 331 detected by the second position sensor 332, to control the opening or closing of the first door 1. As shown in FIG. 35, FIG. 38, FIG. 41, FIG. 44, FIG. 47 and FIG. 50, by controlling the first driving mechanism 3032 and the second driving mechanism 3033, the first link 3031, the first driving mechanism 3032, the second driving mechanism 3033, the second link 3034, the third link 35, the damping rod 36, the connecting head 37 and the first door connecting piece 3011 form different shapes, thereby corresponding to different opening states of the first door 1. Of course, for controlling the closing of the first door 1, it can also be realized according to the positions of the first motor 321 and the second motor 331. In the embodiments of the present application, the positions of the first motor 321 and the second motor 331 are the positions of motor rotation, or position strokes, etc., which are not limited thereto.

[0260] As described above, it can be realized by a single controller 5, or simultaneously realized by multiple controllers. For example, the first controller is responsible for collecting the position information of the first motor 321 and controlling the first motor 321, and the second controller is responsible for collecting the position information of the second motor 331 and controlling the second motor 331. The two controllers are synchronized in real time through bus information to realize the control of the motor state. Whether a single controller 5 or multiple controllers are used, the opening and closing of the first door 1 can be realized through electric control, which is simple to operate.

[0261] Referring to FIG. 52, in some embodiments, the third driving mechanism 6 includes a third motor 611 and a third position sensor 612. The controller 5 also controls the opening or closing of the first door 1 based on the position of the third motor 611 detected by the third position sensor 612. The position of the third motor 611 can be understood by means of the position of the first motor 321 and the position of the second motor 331, which will not be repeated here.

[0262] In some embodiments, the first motor 321 is a driving motor, and the second motor 331 is a driven motor, which follows the movement of the first motor 321, so that the position of the second motor 331 dynamically changes with the change of the position of the first motor 321.

[0263] As set forth above, the second motor 331 follows the first motor 321 to move, and thus, the opening or closing of the first door 1 is smoother during the process of being driven by the first driving mechanism 3032 and the second driving mechanism 3033 to open or close. The "follow" is not strictly active and driven, active and stopped, and the "follow" can be understood broadly as: as set forth above, the position of the driven motor (the second motor 331) needs to follow the position of the active motor (the first motor 321) to change dynamically, or when the active motor (the first motor 321) is in some fixed position interval, the position of the driven motor (the second motor 331) remains unchanged.

[0264] As set forth above, the second motor 331 follows the first motor 321 to move, and thus, the opening or closing of the first door 1 is smoother.

[0265] In some embodiments, the third motor 611 of the third driving mechanism 6 follows the first motor 321 to move, and the state of the related components of the third driving mechanism 6 during the opening process of the corresponding first door 1 of the third driving mechanism 6 can be understood from the above movement process. Here, the meaning of "follow" is understood with reference to the foregoing second motor 331 following the first motor 321.

[0266] As set forth above, the third motor 611 of the third driving mechanism 6 and the second motor 331 are both driven by the first motor 321, and thus, the opening or closing of the first door 1 is smoother.

[0267] In some embodiments, the second driving mechanism 3033 includes an electric support rod 333 or a cylinder.

[0268] As set forth above, the electric support rod or the cylinder makes the structure of the second driving mechanism 3033 simple and easy to control.

[0269] Referring to FIGS. 35, 38, 41, 44, 47 and 50, in some embodiments, the third driving mechanism 6 (in some embodiments, a third motor assembly) includes an electric support rod 333 or a cylinder.

[0270] As set forth above, the third driving mechanism including the electric support rod or the cylinder can make the structure of the door assembly of the present application simple and easy to control. In summary, at least one of the third driving mechanism 6 and the second driving mechanism 3033 includes the electric support rod 333 or the cylinder.

[0271] In some embodiments, in the fully closed state of the first door 1, the front end 3010 of the first door 1 is pressed by the rear end 20 of the second door 2.

[0272] As set forth above, in the fully closed state, the front end 3010 of the first door 1 is pressed by the rear end 20 of the second door 2, and there is no gap or a very small gap between the front end 3010 of the first door 1 and the rear end 20 of the second door 2, so as to avoid the hand of a user (especially a child) being pinched when the first door 1 is in the fully closed state, and thus the hand of the user will not be pinched in the case that the first door 1 is opened by the first angle and is fully closed. Of course, in another embodiment, the front end 3010 of the first door 1 can not be pressed by the rear end 20 of the second door 2 when the first door 1 is fully closed and located on the inner side of the second door 2.

[0273] In a second aspect, the application discloses a vehicle. The vehicle comprises the door assembly according to any one of the preceding embodiments.

[0274] Embodiment four:

[0275] With the continuous development of the vehicle industry, the use scenarios of vehicles are becoming more and more rich, such as outdoor camping, indoor chess and other entertainment projects. At the same time, good user experience is also pursued, such as the up and down space of the vehicle, the rotation use of the seat, etc. The opening mode, the movement trajectory, the stop position after opening, etc. of the door have different needs in different use scenarios.

[0276] Therefore, the application provides a vehicle, which can reduce the probability of user collision and injury, and can further improve the safety of users located in the rear row when entering or exiting the vehicle. Please refer to FIGS. 53 and 57, the vehicle comprises a vehicle body 100 and a door 200, and the door 200 is installed on the vehicle body 100. In combination with FIGS. 59 and 61, the vehicle further comprises a driving device, and the driving device comprises a first driving mechanism 410, a second driving mechanism 420 and a third driving mechanism 430, and the first driving mechanism 410, the second driving mechanism 420 and the third driving mechanism 430 are connected to the door 200 and the vehicle body 100 respectively. The first driving mechanism 410, the second driving mechanism 420 and the third driving mechanism 430 can jointly drive the door 200 to move along a curved trajectory in the backward direction B of the vehicle body 100, and in the movement process, the driving device can also control the door 200 to swing. The movement of the door 200 along the curved trajectory is the opening process of the door 200, which includes rotation relative to the vehicle body 100 and translation relative to the vehicle body 100. In the process of moving along the curved trajectory, the door 200 can swing at any position, which can also be understood as rotating the door 200 relative to the side of the vehicle body 100.

[0277] Referring to FIG. 54, the first driving mechanism 410, the second driving mechanism 420 and the third driving mechanism 430 can cooperate with each other to drive the vehicle door 200 to the first state; in the first state, the included angle a between the pointing direction A of the vehicle door 200 and the backward direction B of the vehicle body 100 is set to be an acute angle, so that the outer side surface 200a of the vehicle door 200 forms a collision guide surface. The pointing direction of the vehicle door 200 refers to the end of the vehicle door 200 away from the vehicle body 100 pointing to the end of the vehicle door 200 close to the vehicle body 100. That is, in the first state, in the length direction of the vehicle body 100, the rear end of the vehicle door 200 is closer to the vehicle body 100 than the front end of the vehicle door 200. In the first state, the outer side surface 200a of the vehicle door 200 can form a collision guide surface.

[0278] In different use scenarios of the vehicle, for example, in outdoor camping, displaying items in the vehicle, or other scenarios requiring the vehicle door to be in an open state, the collision guide surface formed by the outer side surface 200a of the vehicle door 200 in the first state can prevent potential dangers and adapt to more scenarios. In one case, the vehicle door 200 is in the first state, and during the user's movement, the user can hit the outer side surface 200a of the vehicle door 200. When the vehicle door 200 is in the first state, the collision guide surface on the vehicle door 200 can guide the hitting user to the tail of the vehicle, avoiding guiding the user along the vehicle door 200 to the vehicle's exit passage. The exit passage of the vehicle is formed by the frame of the vehicle, and in the open door state, the user is easy to be injured by hitting. The tail of the vehicle has a relatively slow corner, and the user guided to the tail of the vehicle will hit the corner of the tail of the vehicle or fall to the ground, and there are relatively few sharp structures, and the injury to the user is also relatively small. Therefore, due to the existence of the collision guide surface of the vehicle door 200 in the first state, when the user hits the vehicle door 200, the probability of the user being injured by collision can be reduced.

[0279] In an embodiment, referring to FIGS. 56, 57 and 58, the driving device is capable of driving the vehicle door 200 to the intermediate state; in the intermediate state, the vehicle door 200 is in a position relatively parallel to the backward direction B of the vehicle body 100; the first driving mechanism 410, the second driving mechanism 420 and the third driving mechanism 430 are capable of cooperating with each other to drive the vehicle door 200 to switch between the intermediate state and the first state. The vehicle door 200 can switch from the intermediate state to the first state. That is, in the intermediate state, the vehicle door 200 is still in the open state and parallel to the side of the vehicle body 100, and the vehicle door 200 only needs to swing backward from the intermediate state to the first state. The intermediate state is provided between the closed state and the first state of the vehicle door 200, the vehicle door 200 is first normally opened from the closed position to the intermediate position, and then is moved from the intermediate position to the first position according to the use scene and user demand, so that the opening state of the vehicle door 200 can be more flexibly controlled according to the use scene.

[0280] In an embodiment, referring to FIG. 55, the first driving mechanism 410, the second driving mechanism 420 and the third driving mechanism 430 are capable of cooperating with each other to drive the vehicle door 200 to the second state; in the second state, the included angle a between the pointing direction A of the vehicle door 200 and the backward direction B of the vehicle body 100 is obtuse. Here, the pointing direction A of the vehicle door 200 is also the direction from the end of the vehicle door 200 away from the vehicle body 100 to the end of the vehicle door 200 close to the vehicle body 100. That is, in the second state, the front end of the vehicle door 200 is closer to the vehicle body 100 than the rear end of the vehicle door 200, and the front of the vehicle door 200 is the vehicle exit passage. In the second state, the inner side 200b of the vehicle door 200 is directly in contact with the vehicle body 100 or a pinch gap is formed between the inner side 200b of the vehicle door 200 and the vehicle body 100. The pinch gap can prevent the user's limbs from being pinched between the vehicle door 200 and the vehicle body 100. When the user gets off from the vehicle exit passage in the open state of the vehicle door 200, the user habitually holds the vehicle frame, and the palm or arm will be inserted into the gap between the vehicle door 200 and the vehicle body 100, which may be pinched and not pulled out. In the embodiment, the pinch gap is provided between the vehicle door 200 and the vehicle body 100, or the vehicle door 200 is directly in contact with the vehicle body 100. The width of the pinch gap is less than the thickness of the user's palm, so that the user cannot habitually insert the limbs into the gap, thereby preventing the user's limbs from being pinched and injured by the gap.

[0281] In an embodiment, the vehicle door 200 further has an intermediate state, in which the driving device can drive the vehicle door 200 to a position relatively parallel to the backward direction B of the vehicle body 100; the first driving mechanism 410, the second driving mechanism 420 and the third driving mechanism 430 can cooperate with each other and drive the vehicle door 200 to switch between the intermediate state and the second state. Similarly, in the intermediate state, the vehicle door 200 is still in the open state and parallel to the side of the vehicle body 100, and the vehicle door 200 only needs to swing forward from the intermediate state to the second state. The vehicle door 200 has an intermediate state between the closed state and the second state, and the vehicle door 200 is first normally opened from the position of the closed state to the position of the intermediate state, and then moved from the position of the intermediate state to the position of the second state according to the use scene and user demand. According to the use scene, the opening state of the vehicle door 200 can be more flexibly controlled. Alternatively, the width of the anti-pinch gap is 0-1 cm. That is, the inner side 200b of the vehicle door 200 can be completely abutted on the vehicle body 100 or have a gap with the vehicle body 100. The width of the gap can be 0.2 cm, 0.4 cm, 0.5 cm, 0.8 cm, 1 cm, etc.

[0282] In an embodiment, please refer to FIG. 58 and FIG. 59, the vehicle further comprises a first linkage mechanism 300, which is fixedly installed on the vehicle body 100 and connected with the vehicle door 200. The vehicle door 200 is fixedly connected to a fixed frame 201 shown in FIG. 59, and the first linkage mechanism 300 is connected with the vehicle door 200 through the fixed frame 201.

[0283] Along the length direction of the vehicle body 100 (the direction of the double-headed arrow in FIG. 59), the vehicle door 200 comprises a first side portion 210 close to the front end of the vehicle body 100, and a second side portion 220 close to the tail end of the vehicle body 100, and the vehicle body 100 is provided with a first mounting seat 110 close to the front end and a second mounting seat 40120 close to the tail end. The first mounting seat 110 and the first side portion 210 are opposite in position, and the second mounting seat 40120 and the second side portion 220 are opposite in position.

[0284] The first linkage mechanism 300 comprises a first linkage 310 and a second linkage 320, both ends of the first linkage 310 are rotatably connected with the first mounting seat 110 and the first side portion 210 respectively, and the second linkage 320 is rotatably connected with the second mounting seat 40120 and the second side portion 220 respectively, wherein the first linkage 310 is telescopic. The telescopic first linkage 310 can drive the vehicle door 200 to move relative to the vehicle body 100. The embodiment has simple structure, easy operation, and can realize the movement of the vehicle door 200 relative to the vehicle body 100.

[0285] In one embodiment, in combination with FIG. 59 and FIG. 61, the first driving mechanism 410 (not shown in FIG. 59) is used to drive the first link 310 to extend or retract, the first driving mechanism 410 can be connected to one end of the first link 310, drive the first link 310 to extend or retract, and control the extension or retraction length of the first link 310, and in turn control the tilt angle of the door 200, etc. The second driving mechanism 420 is arranged at the connection between the second link 320 and the vehicle body 100, and is used to drive the second link 320 to rotate relative to the vehicle body 100, and the second driving mechanism 420 can also control the rotation angle of the second link 320. The second link 320 moves together with the first link 310, and the first driving mechanism 410 and the second driving mechanism 420 need to cooperate with each other, the extension or retraction length of the first link 310 driven by the first driving mechanism 410 and the rotation angle of the second link 320 driven by the second driving mechanism 420 correspond to each other, and this correspondence depends on the positional relationship, length ratio, etc. between the plurality of links, the door, and the mounting seat. In this embodiment, the first driving mechanism 410 and the second driving mechanism 420 are used to drive the first link 310 and the second link 320, which can make the movement of the door 200 more accurately controlled, and the opening process of the door 200 and the movement from the intermediate state to the first state more smooth.

[0286] In one embodiment, the first driving mechanism 410 is used to drive the first link 310 to extend to move the door 200 from the intermediate state to the first state. When the first link 310 is extended, the side of the front end of the door 200 is pushed away from the vehicle body 100, and at the same time, since the length of the second link 320 does not change, the second link 320 is linked to rotate in the direction away from the first link 310, thereby driving the side of the tail end of the door 200 to move close to the vehicle body 100, and finally moving the door from the position of the intermediate state to the position of the first state.

[0287] In another embodiment, the first driving mechanism 410 drives the first link 310 to retract to move the door 200 from the intermediate state to the second state. Specifically, when the first link 310 is shortened, the side of the front end of the door 200 is moved in the direction close to the vehicle body 100, and at the same time, since the length of the second link 320 does not change, the second link 320 is linked to rotate in the direction close to the first link 310, thereby driving the side of the tail end of the door 200 to move away from the vehicle body 100, and moving the door 200 to the position of the second state.

[0288] In another embodiment, the first driving mechanism 410 is an electric support rod, and / or the second driving mechanism 420 is a driving motor. The first driving mechanism is an electric support rod, which is simple in structure. In another embodiment, the first driving mechanism can also be a driving motor or a hydraulic gas pump, etc. The second driving mechanism is a driving motor, which can facilitate the rotation of the second connecting rod 320.

[0289] In an embodiment, referring to FIGS. 59 and 60, the first connecting rod mechanism 300 further comprises a third connecting rod 330, a fourth connecting rod 340 and a fifth connecting rod 350 connected in sequence, wherein one end of the third connecting rod 330 is rotatably connected with the first mounting base 110. The first side portion 210 is provided with a first support 211, the fifth connecting rod 350 and the fourth connecting rod 340 are rotatably connected with the first support 211 about the same axis, and the other end of the fifth connecting rod 350 is rotatably connected with one end of the first connecting rod 310 close to the door 200. That is, one end of the third connecting rod 330 is connected with the first mounting base 110, the other end of the third connecting rod 330 is connected with one end of the fourth connecting rod 340, the other end of the fourth connecting rod 340 is connected with one end of the fifth connecting rod 350, and the other end of the fifth connecting rod 350 is connected with one end of the first connecting rod 310 close to the door 200. The fourth connecting rod 340 and the fifth connecting rod 350 are rotatably connected with the first support 211 about the same axis, and it can also be understood that the first connecting rod 310 is rotatably connected with the first side portion 210 through the fifth connecting rod 350.

[0290] The above connection structure can drive the fifth connecting rod 350 to move when the first connecting rod 310 is extended or retracted, and then drive the fourth connecting rod 340 to rotate through the fifth connecting rod 350, thereby realizing the rotation of the fourth connecting rod 340 relative to the third connecting rod 330. Thus, the structure layout is more compact and reasonable, and it is more convenient for the first connecting rod 310 to drive one side of the door 200 to rotate.

[0291] The fifth connecting rod 350 and the fourth connecting rod 340 are rotatably connected with the first support 211 about the same axis, which can simplify the connection structure between the fifth connecting rod 350, the fourth connecting rod 340 and the door 200, and improve the production and assembly efficiency. Specifically, the first support 211, and the end portions of the fifth connecting rod 350 and the fourth connecting rod 340 are all provided with through holes, and a rotating shaft penetrates through the through holes on the first support 211, the fifth connecting rod 350 and the fourth connecting rod 340, so as to rotatably connect the fourth connecting rod 340 and the fifth connecting rod 350 with the first side portion 210.

[0292] Similarly, the second side portion 220 can also be provided with a second support, and the second support and the end portion of the second connecting rod 320 are also provided with through holes, and a second rotating shaft penetrates through the through holes, so as to rotatably connect the second connecting rod 320 with the second side portion 220.

[0293] In an embodiment, referring to FIG. 59, the first linkage mechanism 300 further comprises a hydraulic rod 360, which is rotatably connected between the second linkage 320 and the first mounting base 110. The hydraulic rod 360 can reduce the pulling force of the second linkage 320 on the first mounting base 110 when the door 200 moves from the closed state to the intermediate state, the first state and the second state.

[0294] In an embodiment, referring to FIG. 58 and FIG. 59, the vehicle further comprises a strut assembly 600 disposed on the top of the vehicle body 100, the strut assembly 600 is hingedly connected with the vehicle body 100 and the door 200 respectively, and the third driving mechanism 430 is drivingly connected with the strut assembly 600 and used to drive the strut assembly 600 to rotate relative to the vehicle body 100. Specifically, the strut assembly 600 comprises a first strut 610 and a second strut 620 which are hingedly connected with each other, the first strut 610 is hingedly connected with the top of the door 200, and the second strut 620 is hingedly connected with the top of the vehicle body 100. The strut assembly 600 is used to share the weight of the top of the door 200 during the movement of the door 200, so as to improve the stability and safety of the door 200 during the swinging movement. In combination with FIG. 61, the strut assembly 600 can be drivingly connected with the third driving mechanism 430, and the rotation and position stroke of the strut assembly 600 can be controlled by the third driving mechanism 430.

[0295] In an embodiment, the vehicle of the present application can further comprise a controller 700. The first driving mechanism 410 comprises a first motor 411 and a first position sensor 412. The second driving mechanism 420 comprises a second motor 421 and a second position sensor 422. The third driving mechanism 430 comprises a third motor 431 and a third position sensor 432. The controller 700 is electrically connected with the first driving mechanism 410, the second driving mechanism 420 and the third driving mechanism 430. The controller 700 can be single or multiple. For example, the first controller is used to collect the position information of the first linkage 310 and control the first motor 411, the second controller is used to collect the position information of the second linkage 320 and control the second motor 421, and the third controller is used to collect the position information of the strut assembly 600 and control the third motor 431. The three controllers are in real-time synchronization of the motor state through the bus information to realize the control. Whether the controller is single or multiple, the opening and closing of the door 200 can be realized through the electric control, and the operation is simple.

[0296] In another embodiment, the first motor 411 is an active motor, and the second motor 421 and the third motor 431 are driven motors that follow the movement of the first motor 411, so that the positions of the second motor 421 and the third motor 431 dynamically change with the change in the position of the first motor 411. The above-mentioned driven process is not strictly active driven, active stopped, and passive stopped. It can be understood in a broad sense that the position of the driven motor needs to follow the dynamic change of the position of the active motor, or when the active motor is in some fixed position interval, the position of the driven motor remains unchanged.

[0297] In an embodiment, in the first state, the included angle a between the pointing direction A of the door 200 and the backward direction B of the vehicle body 100 is 5°-20°. Specifically, the included angle a can be 5°, 8°, 10°, 15°, 20°, etc. The included angle between the door 200 and the vehicle body 100 can be adjusted according to the needs of the user to adapt to more scenarios.

[0298] Embodiment five:

[0299] Vehicles have become an important means of transportation for people in modern society. In order to meet the better driving and riding experience, more and more attention is paid to the design of the vehicle body, and the door is one of the vehicle body structures. The door provides a passage for the driver and passengers to enter and exit the vehicle, and isolates the interference outside the vehicle, to a certain extent, reduces the side impact and protects the passengers. The good and bad of the door mainly reflects the anti-collision performance of the door, the sealing performance of the door and the convenience of opening and closing of the door. The existing door structure has some shortcomings in the anti-collision ability in some states.

[0300] Therefore, the present application provides a door structure capable of preventing collision in a hovering state and a vehicle.

[0301] As shown in FIGS. 62-68, the present application provides a door structure, which comprises a door body 50100, a first driving structure 50300, a second driving structure 400 and a third driving structure 500. The first driving structure 50300, the second driving structure 400 and the third driving structure 500 are connected to the door body 50100 at one end and connected to the vehicle body 50200 at the other end.

[0302] The door structure includes a hovering state. When the door structure is in the hovering state, the first driving structure 50300, the second driving structure 400 and the third driving structure 500 are arranged at an angle with the front-rear direction of the vehicle, the door body 50100 is completely separated from the vehicle body 50200 in the vehicle width direction, and the door body 50100 is in the same direction as the front-rear direction of the vehicle.

[0303] The vehicle door structure of the present application comprises a hovering state. The hovering state of the vehicle door structure can be activated when the vehicle is parked and ventilated. In the hovering state, the door body 50100, the first driving structure 50300, the second driving structure 400 and the third driving structure 500 of the vehicle door structure can act as an energy-absorbing device to enhance the anti-collision capability of the vehicle.

[0304] As shown in FIGS. 62-71, the present application discloses a vehicle door structure. The vehicle door using the vehicle door structure can be a sliding door. The vehicle door structure comprises a door body 50100, a first driving structure 50300, a second driving structure 400 and a third driving structure 500. The door body 50100 is connected to a vehicle body 50200 through the first driving structure 50300, the second driving structure 400 and the third driving structure 500. Optionally, the vehicle body 50200 is provided with a first connecting seat 5010, a second connecting seat 5020 and a third connecting seat 5030. The first driving structure 50300 is connected to the first connecting seat 5010 and the door body 50100. The second driving structure 400 is connected to the second connecting seat 5020 and the door body 50100. The third driving structure 500 is connected to the third connecting seat 5030 and the door body 50100.

[0305] As shown in FIGS. 67-71, the first connecting seat 5010 and the second connecting seat 5020 are fixed to the vehicle body 50200. The first connecting seat 5010 and the second connecting seat 5020 can be arranged at the same height or at different heights. The first connecting seat 5010 and the second connecting seat 5020 are fixed to the upper side or the lower side of the vehicle body 50200. The first connecting seat 5010 and the second connecting seat 5020 are arranged along the front-rear direction of the vehicle. In this embodiment, the first connecting seat 5010 and the second connecting seat 5020 are arranged at the same height. The first connecting seat 5010 and the second connecting seat 5020 are fixed to the lower side of the vehicle body 50200. The first connecting seat 5010 is arranged rearward of the second connecting seat 5020. The third connecting seat 5030 is arranged on the upper side of the vehicle body 50200. The first connecting seat 5010, the second connecting seat 5020 and the third connecting seat 5030 can be independently manufactured and fixed to the vehicle body 50200 by welding or other methods, or can be integrally formed with the vehicle body 50200.

[0306] The first driving structure 50300 comprises a first connecting rod 5011 and a first driving device 5012.

[0307] One end of the first link 5011 is rotatably connected with the door body 50100, and the other end of the first link 5011 is rotatably connected with the first connecting seat 5010. Specifically, the first link 5011 can rotate relative to the connection point with the door body 50100 about an axis along the vehicle up-down direction, and the first link 5011 can rotate relative to the connection point with the first connecting seat 5010 about an axis along the vehicle up-down direction.

[0308] The first driving device 5012 is connected with the first link 5011. The first driving device 5012 is configured to drive the first link 5011 to rotate about the first connecting seat 5010 and drive the door body 50100 to move along the vehicle front-rear direction through the first link 5011. The first driving device 5012 includes a first power unit 50121. Optionally, the first power unit 50121 can be a driving motor, an electric supporting rod, or a hydraulic cylinder, etc. In this embodiment, the first power unit 50121 is a driving motor.

[0309] The second driving structure 400 includes a second link 5021, a third link 5022, and a second driving device 5023.

[0310] One end of the second link 5021 is rotatably connected with the second connecting seat 5020, and the other end is rotatably connected with the third link 5022. One end of the third link 5022 is rotatably connected with the door body 50100, and the other end is rotatably connected with the second link 5021. Specifically, the second link 5021 can rotate relative to the connection point with the second connecting seat 5020 about an axis along the vehicle up-down direction, and the second link 5021 can rotate relative to the connection point with the third link 5022 about an axis along the vehicle up-down direction. The third link 5022 can rotate relative to the connection point with the door body 50100 about an axis along the vehicle up-down direction, and the third link 5022 can rotate relative to the connection point with the second link 5021 about an axis along the vehicle up-down direction.

[0311] The second driving device 5023 is connected with the third link 5022, and the second driving device 5023 is configured to drive the third link 5022 to rotate about the second link 5021. The second driving device 5023 includes a second power unit 231. Optionally, the second power unit 231 can be a driving motor, an electric supporting rod, a hydraulic cylinder, etc. In this embodiment, the second power unit 231 is an electric supporting rod. One end of the electric supporting rod is connected with one end of the third link 5022 close to the door body 50100, and the other end of the electric supporting rod is connected with one end of the second link 5021 close to the vehicle body 50200. The electric supporting rod drives the third link 5022 to rotate about the second link 5021 through the extension and contraction of the electric supporting rod.

[0312] The third driving structure 500 comprises a fourth connecting rod 5031. One end of the fourth connecting rod 5031 is rotatably connected with the door body 50100, and the other end of the fourth connecting rod 5031 is rotatably connected with the third connecting seat 5030. Specifically, the fourth connecting rod 5031 is rotatable about an axis along the up-down direction of the vehicle relative to the connecting point with the third connecting seat 5030, and the fourth connecting rod 5031 is rotatable about an axis along the up-down direction of the vehicle relative to the connecting point with the door body 50100.

[0313] In an optional embodiment, the vehicle body 50200 is further provided with a fourth connecting seat 5032. The fourth connecting seat 5032 is arranged on the upper side of the vehicle body 50200 and on the front side of the third connecting seat 5030. The third driving structure 500 further comprises a third driving device 5033. One end of the third driving device 5033 is rotatably connected with the fourth connecting seat 5032, and the other end of the third driving device 5033 is rotatably connected with the fourth connecting rod 5031 on the side close to the third connecting seat 5030. Specifically, the third driving device 5033 is rotatable about an axis along the up-down direction of the vehicle relative to the connecting point with the fourth connecting seat 5032, and the third driving device 5033 is rotatable about an axis along the up-down direction of the vehicle relative to the connecting point with the fourth connecting rod 5031. The third driving device 5033 can be an electric supporting rod, which drives the fourth connecting rod 5031 to rotate by its own extension and contraction, thereby driving the door body 50100 to move.

[0314] The connecting rod structure composed of the first connecting rod 5011, the second connecting rod 5021, the third connecting rod 5022 and the fourth connecting rod 5031 can control the movement of the entire door body 50100 by controlling the movement of the three points on the door body 50100.

[0315] As shown in FIGS. 63-67, FIGS. 63-67 show the process of the door structure from the self-closing state to the open state. In the closed state as shown in FIG. 63, the first driving device 5012 drives the first connecting rod 5011 to rotate counterclockwise about the first connecting seat 5010, while the second driving device 5023 itself extends and contracts, thereby adjusting the state of the door structure in the left-right direction, and finally reaching the fully open state as shown in FIG. 67.

[0316] The door structure includes a hovering state as shown in FIG. 66. When the door structure is in the hovering state, the first driving device 5012 drives the first connecting rod 5011 to rotate around the connecting point with the first connecting seat 5010, so that the first connecting rod 5011 is rotated to a position in the same direction as the left-right direction of the vehicle. At this time, the second connecting rod 5021 is rotated by the third connecting rod 5022 driven by the door body 50100. At this time, the third connecting rod 5022 is rotated by the second driving device 5023 driving the third connecting rod 5022 to rotate around the connecting point with the second connecting rod 5021, so that the door body 50100 is adjusted to a position in the same direction as the front-back direction of the vehicle. At this time, the fourth connecting rod 5031 is rotated by the third driving device 5033 driving the fourth connecting rod 5031 to rotate around the connecting point with the third connecting seat 5030, so that the fourth connecting rod 5031 is rotated to a position in the same direction as the left-right direction of the vehicle. Then, the first driving device 5012, the second driving device 5023, and the third driving device 5033 stop moving, so that the door structure is fixed in this state. In this state, the first driving structure 50300, the second driving structure 400, and the third driving structure 500 support the door body 50100 from three different positions. The first connecting rod 5011, the second connecting rod 5021, the third connecting rod 5022, the fourth connecting rod 5031, and the second driving device 5023 are in the same direction as the left-right direction of the vehicle, and can function as an energy absorption box. The hovering state of the door structure can be enabled when the vehicle is parked, so that the first connecting rod 5011, the second connecting rod 5021, the third connecting rod 5022, the fourth connecting rod 5031, and the second driving device 5023 of the door structure can function as an energy absorption box, thereby enhancing the anti-collision ability of the side of the vehicle.

[0317] As shown in FIG. 69, in an optional embodiment, when the door body 50100 is adjusted to a position in the same direction as the front-back direction of the vehicle, the second connecting rod 5021 is rotated to be in the same direction as the left-right direction of the vehicle, and the third connecting rod 5022 is also rotated to be in the same direction as the left-right direction of the vehicle, so that the third connecting rod 5022 is substantially collinear with the second connecting rod 5021. At this time, the third connecting rod 5022 and the second connecting rod 5021 are substantially collinear and remain in the same direction as the left-right direction of the vehicle, so that the third connecting rod 5022 and the second connecting rod 5021 can better absorb the collision energy from the side of the vehicle.

[0318] In an optional embodiment, the first driving structure 50300 further includes a damping rod 5013. One end of the damping rod 5013 is connected to the second connecting seat 5020, and the other end of the damping rod 5013 is connected to the first connecting rod 5011. Optionally, one end of the damping rod 5013 is connected to the second connecting seat 5020 near one side of the first connecting seat 5010, and the other end of the damping rod 5013 is connected to the first connecting rod 5011 near one side of the first connecting seat 5010. The damping rod 5013 can save the energy consumption of the first driving device 5012, so that the first driving device 5012 can drive the rotation of the first connecting rod 5011 with smaller power.

[0319] In an optional embodiment, the first link 5011 and the second link 5021 are both curved rods with a certain curvature. Specifically, when the door structure is in the hovering state, the middle section of the first link 5011 protrudes towards the direction of the second link 5021, and the middle section of the second link 5021 protrudes towards the direction of the first link 5011. In this way, when the vehicle suffers a side collision when the door structure is in the hovering state, the first link 5011 and the second link 5021 can stably deform and absorb energy, preventing irregular deformation of the first link 5011 and the second link 5021. Alternatively, when the door structure is in the hovering state, the fourth link 5031 rotates to a position in the same direction as the left-right direction of the vehicle. At this time, the fourth link 5031 can also act as an energy-absorbing box to absorb collision energy from the side of the vehicle.

[0320] In an optional embodiment, the second power unit 231 is an electrically powered strut. The second driving device 5023 is arranged on the side of the second link 5021 away from the first link 5011. The electrically powered strut controls the rotation of the third link 5022 by its own extension and retraction. The electrically powered strut also rotates with the second link 5021. Alternatively, when the door structure is in the hovering state, the second power unit 231 is in the same direction as the left-right direction of the vehicle, i.e. the electrically powered strut rotates to the same direction as the left-right direction of the vehicle. In this way, when the vehicle suffers a side collision, the electrically powered strut can also play a good energy-absorbing role.

[0321] In an optional embodiment, the second link 5021 includes a limiting portion 50211 arranged on the middle section of the second link 5021, and the width of the limiting portion 50211 is greater than the width of other parts of the second link 5021. The limiting portion 50211 limits the movement of the second link 5021 on the one hand, and on the other hand, the limiting portion 50211 widens the width of part of the second link 5021, so that the second link 5021 has better crashworthiness.

[0322] As shown in FIGS. 64, 70 and 71, in an optional embodiment, the first connecting seat 5010 and the second connecting seat 5020 are arranged on the lower side of the vehicle body 50200 along the front-rear direction of the vehicle.

[0323] The vehicle body 50200 is further provided with a third connecting seat 5030, which is arranged on the upper side of the vehicle body 50200. The third driving structure 500 further comprises a fourth connecting rod 5031. One end of the fourth connecting rod 5031 is rotatably connected with the door body 50100, and the other end of the fourth connecting rod 5031 is rotatably connected with the third connecting seat 5030. Specifically, the fourth connecting rod 5031 can rotate about an axis along the vehicle up-down direction relative to the connecting point with the third connecting seat 5030, and the fourth connecting rod 5031 can rotate about an axis along the vehicle up-down direction relative to the connecting point with the door body 50100. Optionally, when the vehicle door structure is in the hovering state, the fourth connecting rod 5031 is rotated to a position in the same direction as the vehicle left-right direction. At this time, the fourth connecting rod 5031 can also act as an energy absorption box to absorb collision energy from the vehicle side.

[0324] As shown in FIG. 72, in an optional embodiment, the vehicle door structure comprises a controller 50600. The first driving device 5012 comprises a first power unit 50121 and a first position sensor 50122. The second driving device 5023 comprises a second power unit 231 and a second position sensor 232. The third driving device 5033 comprises a third power unit 50331 and a third position sensor 50332.

[0325] The controller 50600 controls the first power unit 50121, the second power unit 231 and the third power unit 50331 based on the position of the first power unit 50121 detected by the first position sensor 50122, the position of the second power unit 231 detected by the second position sensor 232, and the position of the third power unit 50331 detected by the third position sensor 50332. The position of the above-mentioned power unit can be the position angle of the motor rotation or the position stroke of the electric supporting rod, etc. By controlling the first driving device 5012, the second driving device 5023 and the third driving device 5033, the door body 50100 can be driven to move and be fixed, so that the vehicle door structure reaches the hovering state.

[0326] As described above, the hovering state of the door body 50100 can be achieved by one controller 50600, or the hovering state of the door body 50100 can be achieved by multiple controllers 50600. For example, the first controller 50600 is responsible for collecting information of the first position sensor 50122 and controlling the first power unit 50121, the second controller 50600 is responsible for collecting information of the second position sensor 232 and controlling the second power unit 231, and the third controller 50600 is responsible for collecting information of the third position sensor 50332 and controlling the third power unit 50331. The three controllers 50600 are connected through a bus to synchronize the states of the three power units in real time, thereby achieving the control of the first driving device 5012, the second driving device 5023, and the third driving device 5033. In this way, the movement of the first power unit 50121 can be associated with the movement of the second power unit 231 and the third power unit 50331. For example, the position angle or position stroke of the second power unit 231 can be set according to the position angle or position stroke of the first power unit 50121. The position angle or position stroke of the third power unit 50331 can also be set according to the position angle or position stroke of the first power unit 50121.

[0327] The application also discloses a vehicle comprising the door structure.

[0328] Embodiment six:

[0329] Vehicles have become an important means of transportation for people in modern society. In order to meet the better driving and riding experience, the design of the vehicle body is also paid more and more attention, and the door is one of the vehicle body structures. The door provides a passage for the driver and passengers to get in and out of the vehicle, and isolates the outside interference, thereby reducing the side impact and protecting the passengers to a certain extent. The performance of the door is mainly reflected in the anti-collision performance, the sealing performance and the opening and closing characteristics of the door. The existing door structure has a deficiency in the ventilation ability when the door is opened.

[0330] Therefore, the application provides a door structure with excellent ventilation performance when opened and a vehicle.

[0331] As shown in FIGS. 73-81, the application provides a door structure, which comprises a door body 60100, a first driving structure 60300, a second driving structure 400, and a third driving structure 500.

[0332] The first driving structure 60300, the second driving structure 400, and the third driving structure 500 are connected with the door body 60100 and the vehicle body 60200 to jointly drive the door body 60100 to move along a curve track in the front-rear direction of the vehicle. In the process of moving the door body 60100 in the front-rear direction of the vehicle, the door body 60100 swings at the same time, and the angle between the door body 60100 at the front position and the front-rear direction of the vehicle is greater than the angle between the door body 60100 at the rear position and the front-rear direction of the vehicle.

[0333] The door structure of the application includes a door body, a first driving structure, a second driving structure, and a third driving structure. When the vehicle opens or closes the door, the door body swings in the left-right direction of the vehicle when moving in the front-rear direction of the vehicle, so that more outside air can enter the vehicle, ensuring air exchange between the inside and outside of the vehicle.

[0334] As shown in FIGS. 73-84, the embodiment of the application discloses a door structure. The door structure can be applied to a sliding door. The door structure includes a door body 60100, a first driving structure 60300, a second driving structure 400, and a third driving structure 500. The door body 60100 is connected with a vehicle body 60200 through the first driving structure 60300, the second driving structure 400, and the third driving structure 500. Optionally, the vehicle body 60200 is provided with a first connecting seat 6010, a second connecting seat 6020, and a third connecting seat 6030. The first driving structure 60300 is connected with the first connecting seat 6010 and the door body 60100. The second driving structure 400 is connected with the second connecting seat 6020 and the door body 60100. The third driving structure 500 is connected with the third connecting seat 6030 and the door body 60100.

[0335] The first connecting seat 6010 and the second connecting seat 6020 are fixed with the vehicle body 60200. The first connecting seat 6010 and the second connecting seat 6020 can be arranged at the same height or different heights. The first connecting seat 6010 and the second connecting seat 6020 are fixed with the upper side or the lower side of the vehicle body 60200. The first connecting seat 6010 and the second connecting seat 6020 are arranged in the front-rear direction of the vehicle. In this embodiment, the first connecting seat 6010 and the second connecting seat 6020 are arranged at the same height. The first connecting seat 6010 and the second connecting seat 6020 are fixed with the lower side of the vehicle body 60200. The first connecting seat 6010 is arranged at the rear of the second connecting seat 6020. The third connecting seat 6030 is arranged on the upper side of the vehicle body 60200. The first connecting seat 6010, the second connecting seat 6020, and the third connecting seat 6030 can be independently manufactured and fixed to the vehicle body 60200 by welding or other methods, or can be integrally formed with the vehicle body 60200.

[0336] As shown in FIG. 81 and FIG. 82, the first driving structure 60300 includes a first link 6011 and a first driving device 6012.

[0337] One end of the first link 6011 is rotatably connected with the door body 60100, and the other end of the first link 6011 is rotatably connected with the first connecting seat 6010. Specifically, the first link 6011 is rotatable about an axis along the vehicle up-down direction with respect to the connection point with the door body 60100, and the first link 6011 is rotatable about an axis along the vehicle up-down direction with respect to the connection point with the first connecting seat 6010.

[0338] The first driving device 6012 is connected with the first link 6011. The first driving device 6012 is configured to drive the first link 6011 to rotate about the first connecting seat 6010 and drive the door body 60100 to move along the vehicle front-rear direction through the first link 6011. The first driving device 6012 includes a first power unit 60121. Optionally, the first power unit 60121 can be a driving motor, an electric supporting rod, or a hydraulic cylinder, etc. In the embodiment, the first power unit 60121 is a driving motor.

[0339] The second driving structure 400 includes a second link 6021, a third link 6022, and a second driving device 6023.

[0340] One end of the second link 6021 is rotatably connected with the second connecting seat 6020, and the other end of the second link 6021 is rotatably connected with the third link 6022. One end of the third link 6022 is rotatably connected with the door body 60100, and the other end of the third link 6022 is rotatably connected with the second link 6021. Specifically, the second link 6021 is rotatable about an axis along the vehicle up-down direction with respect to the connection point with the second connecting seat 6020, and the second link 6021 is rotatable about an axis along the vehicle up-down direction with respect to the connection point with the third link 6022. The third link 6022 is rotatable about an axis along the vehicle up-down direction with respect to the connection point with the door body 60100, and the third link 6022 is rotatable about an axis along the vehicle up-down direction with respect to the connection point with the second link 6021.

[0341] The second driving device 6023 is connected with the third connecting rod 6022, and the second driving device 6023 is configured to drive the third connecting rod 6022 to rotate around the second connecting rod 6021. The second driving device 6023 comprises a second power unit 231. Optionally, the second power unit 231 can be a driving motor, an electric supporting rod, a hydraulic cylinder, or the like. In the embodiment, the second power unit 231 is an electric supporting rod. One end of the electric supporting rod is connected with one end of the third connecting rod 6022 close to the door body 60100, and the other end of the electric supporting rod is connected with one end of the second connecting rod 6021 close to the vehicle body 60200. The electric supporting rod drives the third connecting rod 6022 to rotate around the second connecting rod 6021 through the extension and contraction of the electric supporting rod.

[0342] As shown in FIGS. 82 to 84, the third driving structure 500 comprises a fourth connecting rod 6031. One end of the fourth connecting rod 6031 is rotatably connected with the door body 60100, and the other end of the fourth connecting rod 6031 is rotatably connected with the third connecting seat 6030. Specifically, the fourth connecting rod 6031 can rotate around an axis along the vehicle up-down direction relative to the connecting point with the third connecting seat 6030, and the fourth connecting rod 6031 can rotate around an axis along the vehicle up-down direction relative to the connecting point with the door body 60100.

[0343] In an optional embodiment, the vehicle body 60200 is further provided with a fourth connecting seat 6032. The fourth connecting seat 6032 is arranged on the upper side of the vehicle body 60200 and on the front side of the third connecting seat 6030. The third driving structure 500 further comprises a third driving device 6033. One end of the third driving device 6033 is rotatably connected with the fourth connecting seat 6032, and the other end of the third driving device 6033 is rotatably connected with one side of the fourth connecting rod 6031 close to the third connecting seat 6030. Specifically, the third driving device 6033 can rotate around an axis along the vehicle up-down direction relative to the connecting point with the fourth connecting seat 6032, and the third driving device 6033 can rotate around an axis along the vehicle up-down direction relative to the connecting point with the fourth connecting rod 6031. The third driving device 6033 can be an electric supporting rod, which drives the fourth connecting rod 6031 to rotate through the extension and contraction of the electric supporting rod, so as to drive the door body 60100 to move.

[0344] The connecting rod structure formed by the first connecting rod 6011, the second connecting rod 6021, the third connecting rod 6022, and the fourth connecting rod 6031 can control the movement of the entire door body 60100 by controlling the movement of the three points on the door body 60100.

[0345] As shown in FIGS. 74-78, the process of the door structure from the self-closing state to the open state is shown. In the closed state as shown in FIG. 74, the first driving device 6012 drives the first connecting rod 6011 to rotate counterclockwise around the first connecting seat 6010, while the second driving device 6023 itself is elongated and contracted, so as to adjust the state of the door structure in the left-right direction, and finally reach the fully open state as shown in FIG. 78.

[0346] As shown in FIG. 79 and FIG. 80, the vehicle door structure includes a swing state. When the vehicle door structure is in the swing state, the first driving device 6012 drives the first connecting rod 6011 to rotate around the connecting point with the first connecting seat 6010, so as to drive the door body 60100 to move along the front-rear direction of the vehicle. Specifically, the first driving device 6012 drives the first connecting rod 6011, so as to drive the connecting point between the first connecting rod 6011 and the door body 60100 to move, and further drive the door body 60100 to move. At this time, the connecting point between the first connecting rod 6011 and the door body 60100 moves along a curved trajectory to the rear of the vehicle. The curved trajectory can be decomposed into a trajectory perpendicular to the front-rear direction of the vehicle and a trajectory parallel to the front-rear direction of the vehicle. Meanwhile, the third driving device 6033 drives the fourth connecting rod 6031 to rotate around the connecting point with the third connecting seat 6030, so as to drive the door body 60100 to move along the front-rear direction of the vehicle. Specifically, the third driving device 6033 drives the fourth connecting rod 6031, so as to drive the connecting point between the fourth connecting rod 6031 and the door body 60100 to move, and further drive the door body 60100 to move. At this time, the connecting point between the fourth connecting rod 6031 and the door body 60100 moves along a curved trajectory to the rear of the vehicle. The curved trajectory is the same as the movement trajectory of the connecting point between the first connecting rod 6011 and the door body 60100. The second driving device 6023 drives the third connecting rod 6022 to rotate around the connecting point with the second connecting rod 6021, so as to drive the door body 60100 to swing along the left-right direction of the vehicle. For example, during the movement of the vehicle door structure from FIG. 79 to FIG. 80, the first driving device 6012 drives the first connecting rod 6011 to rotate counterclockwise, and at the same time, the second driving device 6023 itself is elongated, so as to drive the third connecting rod 6022 to rotate around the connecting point with the second connecting rod 6021, thereby making the door body 60100 swing left and right while moving forward and backward. FIG. 79 and FIG. 80 respectively represent the door body 60100 in different swing postures. The door body 60100 shown in FIG. 79 is located in the front position of the door body 60100 shown in FIG. 80. The angle a between the door body 60100 shown in FIG. 79 and the front-rear direction of the vehicle is greater than the angle b between the door body 60100 shown in FIG. 80 and the front-rear direction of the vehicle. Alternatively, the angle a between the door body 60100 shown in FIG. 79 and the front-rear direction of the vehicle is less than or equal to 60° and greater than or equal to 30°, and the angle b between the door body 60100 shown in FIG. 80 and the front-rear direction of the vehicle is less than or equal to 30°. The door body 60100 shown in FIG. 79 and FIG. 80 are both in the state of swinging away from the vehicle body from the rear side of the door body. In other alternative embodiments, the door body 60100 can be in the state of swinging towards the vehicle body from the rear side of the door body. At this time, the angle between the door body 60100 in the front position and the front-rear direction of the vehicle is greater than the angle between the door body 60100 in the rear position and the front-rear direction of the vehicle.

[0347] Thus, the door structure achieves the state that the door body 60100 swings along the left-right direction of the vehicle while moving along the front-rear direction of the vehicle, i.e., the door structure achieves the swing state. Thus, more outside air can enter the vehicle, and air exchange between the inside and outside of the vehicle is ensured.

[0348] As shown in FIG. 81, in an optional embodiment, the first driving structure 60300 further comprises a damping rod 6013. One end of the damping rod 6013 is connected with the second connecting seat 6020, and the other end of the damping rod 6013 is connected with the first connecting rod 6011. Alternatively, one end of the damping rod 6013 is connected with the second connecting seat 6020 near one side of the first connecting seat 6010, and the other end of the damping rod 6013 is connected with the first connecting rod 6011 near one side of the first connecting seat 6010. The damping rod 6013 can save the energy consumption of the first driving device 6012, so that the first driving device 6012 can drive the rotation of the first connecting rod 6011 with smaller power.

[0349] In an optional embodiment, the second connecting rod 6021 comprises a limiting portion 60211, which is arranged at the middle segment of the second connecting rod 6021, and the width of the limiting portion 60211 is greater than that of other portions of the second connecting rod 6021. The limiting portion 60211 can limit the movement of the second connecting rod 6021.

[0350] As shown in FIG. 85, in an optional embodiment, the door structure comprises a controller 60600. The first driving device 6012 comprises a first power unit 60121 and a first position sensor 60122. The second driving device 6023 comprises a second power unit 231 and a second position sensor 232. The third driving device 6033 comprises a third power unit 60331 and a third position sensor 60332.

[0351] The controller 60600 controls the first power unit 60121, the second power unit 231 and the third power unit 60331 based on the position of the first power unit 60121 detected by the first position sensor 60122, the position of the second power unit 231 detected by the second position sensor 232, and the position of the third power unit 60331 detected by the third position sensor 60332. The position of the power unit can be the position angle of the motor rotation or the position stroke of the electric supporting rod, etc. By controlling the first driving device 6012, the second driving device 6023 and the third driving device 6033, the door body 60100 can be driven to move, so that the door structure achieves the swing state.

[0352] As described above, the swing state of the door body 60100 can be achieved by one controller 60600, or the swing state of the door body 60100 can be achieved by multiple controllers 60600. For example, the first controller 60600 is responsible for collecting information of the first position sensor 60122 and controlling the first power unit 60121, the second controller 60600 is responsible for collecting information of the second position sensor 232 and controlling the second power unit 231, and the third controller 60600 is responsible for collecting information of the third position sensor 60332 and controlling the third power unit 60331. The three controllers 60600 are connected through a bus to synchronize the states of the three power units in real time, thereby achieving the control of the first drive device 6012, the second drive device 6023 and the third drive device 6033. In this way, the movements of the first power unit 60121, the second power unit 231 and the third power unit 60331 can be associated. For example, the position angle or position stroke of the second power unit 231 can be set according to the position angle or position stroke of the first power unit 60121. The position angle or position stroke of the third power unit 60331 can also be set according to the position angle or position stroke of the first power unit 60121.

[0353] The application further discloses a vehicle comprising the vehicle door structure.

[0354] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without conflict. The scope of protection of the application is not limited to the precise structures described in the above embodiments and shown in the drawings. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application should be included in the scope of protection of the application.

Claims

1. A vehicle door assembly applied to a vehicle without B-pillar, the vehicle door assembly comprising: a second door (12), the vehicle comprising a first door (11), the first door (11) and the second door (12) being located at the same side of the vehicle, when the first door (11) and the second door (12) are fully closed, a rear end (111) of the first door (11) abuts a front end (121) of the second door (12) in the length direction of the vehicle; a first driving member (21), a second driving member (22) and a third driving member (42), the first driving member (21), the second driving member (22) and the third driving member (42) cooperate to drive the second door (12) to realize three-dimensional movement, so that the second door (12) sequentially performs a first movement, a second movement and a third movement; wherein the first movement is that a rear end of the second door (12) moves away from a vehicle body frame of the vehicle, and a front end of the second door (12) moves towards the vehicle body frame, so that the front end of the second door (12) moves to a first position where the front end of the second door (12) and the rear end of the first door (11) do not overlap in the orthographic projection in the width direction of the vehicle; the second movement is that the front end and the rear end of the second door (12) move away from the vehicle body frame, so that the second door (12) moves to a second position farthest from the vehicle body frame; the third movement is that the second door (12) as a whole moves towards the rear side of the vehicle, so that the second door (12) moves to a third position farthest from the first door (11).

2. The vehicle door assembly of claim 1, wherein, During the first movement, the second door (12) moves to a fourth position, at the fourth position, the front end of the second door (12) is abutted by the rear end of the first door (11), so that the rear end of the first door (11) and the front end of the second door (12) overlap in the projection in the plane along the height direction of the vehicle, and the gap between the rear end of the first door (11) and the front end of the second door (12) is less than a preset value, and a first included angle is formed between the second door (12) and the vehicle body frame.

3. The vehicle door assembly according to claim 2, wherein the first included angle is A, the second door (12) is further driven to form a second included angle B with the vehicle body frame, wherein C≤B and / or the preset value is a, wherein 0cm≤a≤1cm.

4. The vehicle door assembly according to claim 1, further comprising a first connecting rod (23), a second connecting rod (24) and a third connecting rod (25); wherein, one end of the first connecting rod (23) is rotationally connected to the front end of the second door (12), and the other end is rotationally connected to one end of the second connecting rod (24); one end of the second link (24) is rotatably connected to the body frame of the vehicle; one end of the third link (25) is rotatably connected to the rear end of the second door (12), and the other end is rotatably connected to the body frame of the vehicle; the first driving member (21) is configured to drive the first link (23) to rotate relative to the second link (24); the second driving member (22) is configured to drive the third link (25) to rotate relative to the body frame.

5. The door assembly according to claim 4, further comprising a fourth link (26), one end of the fourth link (26) is rotatably connected to the third link (25), and the other end is rotatably connected to the body frame.

6. The door assembly according to claim 1, further comprising a fifth link (41), one end of the fifth link (41) is rotatably connected to the second door (12), and the other end is connected to the body frame; one end of the third driving member (42) is connected to the fifth link (41), and the other end is connected to the body frame.

7. The door assembly according to claim 1, wherein the first driving member (21) is an electric supporting rod, and / or the second driving member (22) is a driving motor, and / or the third driving member (42) is an electric supporting rod.

8. The door assembly according to claim 1, further comprising a control mechanism (30), the control mechanism (30) comprises a first sensor (31), a second sensor (32) and a controller (34); the first sensor (31) is configured to detect the position of the first driving member (21), and the second sensor (32) is configured to detect the position of the second driving member (22); the controller (34) controls the first driving member (21) and the second driving member (22) to work according to the signals of the first sensor (31) and the second sensor (32), so as to open or close the second door (12).

9. The vehicle door assembly of claim 8, wherein, the control mechanism (30) further comprises a third sensor (33) configured to detect the position of the third driving member (42), and the controller (34) controls the third driving member (42) to work according to the signal of the third sensor (33).

10. A vehicle comprising the door assembly according to any one of claims 1 to 9.

11. A vehicle comprising: a vehicle body (2010), a first door (2011), a second door (2012) and a driving assembly (13); the vehicle body (2010) is free of B-pillar, and the side of the vehicle body (2010) is provided with an opening; the first door (2011) and the second door (2012) are movably connected to the side of the vehicle body (2010); in a fully closed state, the first door (2011) and the second door (2012) jointly close the opening along the length direction of the vehicle body (2010), and the front end of the first door (2011) is located inside the rear end of the second door (2012); The driving assembly (13) is connected with the vehicle body (2010) and the first door (2011) respectively; the driving assembly (13) comprises a first driving mechanism (131), a second driving mechanism (132) and a third driving mechanism (133); the first driving mechanism (131), the second driving mechanism (132) and the third driving mechanism (133) cooperate to drive the first door (2011) to realize three-dimensional movement; When the first door (2011) is in the first opening state, The first driving mechanism (131), the second driving mechanism (132) and the third driving mechanism (133) cooperate to make the first door (2011) completely separate from the vehicle body (2010) in the width direction of the vehicle body (2010), so that a gap (d) is formed between the first door (2011) and the vehicle body (2010); and The first driving mechanism (131), the second driving mechanism (132) and the third driving mechanism (133) also drive the front end of the first door (2011) to rotate and drive the rear end of the first door (2011) to swing left and right along the width direction of the vehicle body (2010).

12. The vehicle of claim 11, wherein, When the first door (2011) is in the first opening state, the orthographic projection area of the first door (2011) in the length direction of the vehicle body (2010) is located outside the second door (2012) in the completely closed state.

13. The vehicle of claim 12, wherein, When the first door (2011) is in the first opening state, the orthographic projection area of the first door (2011) in the width direction of the vehicle body (2010) is located outside the second door (2012) in the completely closed state.

14. The vehicle of claim 11, wherein, The angle of the rear end of the first door (2011) swinging away from the vehicle body (2010) is less than or equal to 60°.

15. The vehicle according to any one of claims 11 to 14, further comprising a controller (15) connected with the first driving mechanism (131), the second driving mechanism (132) and the third driving mechanism (133), and configured to control the rear end of the first door (2011) to switch the swinging angle on the swinging path.

16. The vehicle according to claim 15, wherein The first driving mechanism (131) comprises a first motor (1314) and a first position sensor (1315); The second driving mechanism (132) comprises a second motor (1321) and a second position sensor (1323); The third driving mechanism (133) comprises a third motor (1333) and a third position sensor (1334); The controller (15) controls the rear end of the first door (2011) to swing between any two swing positions on the swing path based on the position of the first motor (1314) detected by the first position sensor (1315), the position of the second motor (1321) detected by the second position sensor (1323), and the position of the third motor (1333) detected by the third position sensor (1334).

17. The vehicle of claim 16, wherein, The first driving mechanism (131) further comprises a first connecting rod (1311), a second connecting rod (1312), and a third connecting rod (1313); Two ends of the first connecting rod (1311) are respectively rotatably connected with the first motor (1314) and the first door (2011); Two ends of the second connecting rod (1312) are respectively rotatably connected with the vehicle body (2010) and the third connecting rod (1313); The third connecting rod (1313) is further rotatably connected with the first door (2011); The connection between the first connecting rod (1311) and the first door (2011) is located behind the connection between the third connecting rod (1313) and the first door (2011).

18. The vehicle of claim 16, wherein, The second driving mechanism (132) further comprises a telescopic rod (1322), one end of which is rotatably connected with the first door (2011), and the other end of which is connected with the second motor (1321); And / or, The third driving mechanism (133) further comprises a telescopic support rod (1331) and a rotating rod (1332), one end of the telescopic support rod (1331) is rotatably connected with the rotating rod (1332), and the other end of the telescopic support rod (1331) is connected with the third motor (1333), and the rotating rod (1332) is further rotatably connected with the first door (2011).

19. The vehicle of claim 17, wherein, The driving assembly (13) further comprises a damping rod (136) and a vehicle body connecting head (137); Two ends of the damping rod (136) are respectively rotatably connected with the first connecting rod (1311) and the vehicle body connecting head (137); The vehicle body connecting head (137) is further rotatably connected with the second connecting rod (1312).

20. The vehicle of claim 11, wherein, The first driving mechanism (131) and the second driving mechanism (132) are located at the bottom of the first door (2011); The third driving mechanism (133) is located at the top of the first door (2011).

21. A door assembly applied to a vehicle without B-pillar, the door assembly comprising a first door (1), a second door (2), a first driving mechanism (3032), a second driving mechanism (3033), and a third driving mechanism (6). The first driving mechanism (3032), the second driving mechanism (3033) and the third driving mechanism (6) cooperate to drive the first door (1) to realize three-dimensional movement and complete closing or complete opening, the first door (1) and the second door (2) close the same entrance of the vehicle in the front-rear direction of the vehicle in the complete closing state, and the front end (3010) of the first door (1) is located inside the rear end (20) of the second door (2); The first driving mechanism (3032), the second driving mechanism (3033) and the third driving mechanism (6) also cooperate to drive the first door (1) to rotate in the horizontal direction, so that the first door (1) is in a non-completely open state. In the non-completely open state, the front end (3010) of the first door (1) is pressed by the rear end (20) of the second door (2), so that the projection of the rear end (20) and the front end (3010) in the plane in the height direction of the vehicle body (4) overlaps, and the gap between the rear end (20) and the front end (3010) is less than a preset value, and the first door (1) forms a first angle with the vehicle body (4).

22. The door assembly according to claim 21, wherein The first angle is A, and the first door (1) is further driven to form a second angle B with the vehicle body (4), wherein C≤B<A, wherein angle C is the lower limit angle when the second door (2) presses the first door (1) in the non-completely open state of the first door (1); And / or, The preset value is a, 0cm≤a≤1cm.

23. The door assembly according to claim 22, further comprising a controller (5) connected with the first driving mechanism (3032), the second driving mechanism (3033) and the third driving mechanism (6) to control the first driving mechanism (3032), the second driving mechanism (3033) and the third driving mechanism (6) to drive the first door (1) to switch between the first angle A, the second angle B and the angle C.

24. The door assembly according to claim 21, further comprising a controller (5), the first driving mechanism (3032) comprises a first motor (321) and a first position sensor (322), and the second driving mechanism (3033) comprises a second motor (331) and a second position sensor (332); The controller (5) controls the first motor (321) and the second motor (331) based on the position of the first motor (321) detected by the first position sensor (322) and the position of the second motor (331) detected by the second position sensor (332) to control the opening or closing of the first door (1).

25. The door assembly according to claim 24, wherein The third driving mechanism (6) comprises a third motor (611) and a third position sensor (612); The controller (5) controls the opening or closing of the first door (1) based on the position of the third motor (611) detected by the third position sensor (612).

26. The vehicle door assembly of claim 21, wherein, The first driving mechanism (3032) comprises a first motor (321); the second driving mechanism (3033) comprises a second motor (331); the first motor (321) is a driving motor, and the second motor (331) is a driven motor, following the movement of the first motor (321).

27. The vehicle door assembly of claim 26, wherein, The third driving mechanism (6) comprises a third motor (611), which follows the movement of the first motor (321).

28. The door assembly according to claim 21, further comprising a first connecting rod (3031), a second connecting rod (3034), a third connecting rod (35), a damping rod (36) and a connecting head (37); two ends of the first connecting rod (3031) are rotatably connected with the first driving mechanism (3032) and the first door (1) respectively; the second driving mechanism (3033) is rotatably connected with the second connecting rod (3034); the second connecting rod (3034) is further rotatably connected with the third connecting rod (35), and the third connecting rod (35) is rotatably connected with the first door (1); a first connection (30111) between the third connecting rod (35) and the first door (1) is located in front of a second connection (112) between the first connecting rod (3031) and the first door (1); one end of the damping rod (36) is rotatably connected with the first connecting rod (3031), and the other end is rotatably connected with the connecting head (37); the connecting head (37) is rotatably connected with the second connecting rod (3034); during the process that the first door (1) is from fully closed to non-fully opened, the included angle between the damping rod (36) and the first connecting rod (3031) becomes larger. and / or, The first driving mechanism (3032) and the second driving mechanism (3033) are connected to one of the top and the bottom of the first door (1), and the third driving mechanism (6) is connected to the other of the top and the bottom of the first door (1).

29. The door assembly according to claim 21, wherein, At least one of the second driving mechanism (3033) and the third driving mechanism (6) comprises an electric supporting rod or a pneumatic cylinder; and / or, In the fully closed state of the first door (1), the front end (3010) of the first door (1) is pressed by the rear end (20) of the second door (2).

30. A vehicle comprising the door assembly according to any one of claims 21 to 29.

31. A vehicle comprising: a vehicle body (100); a door (200) mounted on the vehicle body (100); The driving device comprises a first driving mechanism (410), a second driving mechanism (420) and a third driving mechanism (430); the first driving mechanism (410), the second driving mechanism (420) and the third driving mechanism (430) are connected to the vehicle door (200) and the vehicle body (100) respectively; the first driving mechanism (410), the second driving mechanism (420) and the third driving mechanism (430) can jointly drive the vehicle door (200) to move along a curved trajectory in the backward direction (B) of the vehicle body (100), and in the process of movement, the driving device can also control the vehicle door (200) to swing; The first driving mechanism (410), the second driving mechanism (420) and the third driving mechanism (430) can cooperate with each other to drive the vehicle door (200) to be in a first state; in the first state, the pointing direction (A) of the vehicle door (200) is arranged at an acute angle with the backward direction (B) of the vehicle body (100), so that the outer side (200a) of the vehicle door (200) forms a collision guide surface.

32. The vehicle of claim 31, wherein, The driving device can drive the vehicle door (200) to be in an intermediate state; in the intermediate state, the vehicle door (200) is in a position relatively parallel to the backward direction (B) of the vehicle body (100); The first driving mechanism (410), the second driving mechanism (420) and the third driving mechanism (430) can cooperate with each other to drive the vehicle door (200) to switch between the intermediate state and the first state.

33. The vehicle of claim 31, wherein, The first driving mechanism (410), the second driving mechanism (420) and the third driving mechanism (430) can cooperate with each other to drive the vehicle door (200) to be in a second state; in the second state, the pointing direction (A) of the vehicle door (200) is arranged at an obtuse angle with the backward direction (B) of the vehicle body (100), so that the inner side (200b) of the vehicle door (200) is in direct contact with the vehicle body (100) or a gap is formed between the inner side (200b) of the vehicle door (200) and the vehicle body (100).

34. The vehicle of claim 33, wherein, The driving device can drive the vehicle door (200) to be in an intermediate state; in the intermediate state, the vehicle door (200) is in a position relatively parallel to the backward direction (B) of the vehicle body (100); the first driving mechanism (410), the second driving mechanism (420) and the third driving mechanism (430) can cooperate with each other to drive the vehicle door (200) to switch between the intermediate state and the second state; Or, The width of the anti-pinch gap is 0-1 cm. 35.The vehicle of claim 32, further comprising a first linkage mechanism (300) fixedly mounted to the vehicle body (100) and connected to the vehicle door (200). The vehicle door (200) comprises a first side portion (210) near a front end of the vehicle body (100) and a second side portion (220) near a tail end of the vehicle body (100), and the vehicle body (100) is provided with a first mounting seat (110) near the front end and a second mounting seat (40120) near the tail end. The first linkage mechanism (300) comprises a first linkage (310) and a second linkage (320), both ends of the first linkage (310) are rotatably connected to the first mounting seat (110) and the first side portion (210) respectively, and the second linkage (320) is rotatably connected to the second mounting seat (40120) and the second side portion (220) respectively, and the first linkage (310) is telescopic. The first linkage (310) is telescopic to drive the vehicle door (200) to move relative to the vehicle body (100).

36. The vehicle of claim 35, wherein, The first driving mechanism (410) is used to drive the first linkage (310) to be telescopic, and the second driving mechanism (420) is arranged at a connection between the second linkage (320) and the vehicle body (100) and is used to drive the second linkage (320) to rotate relative to the vehicle body (100).

37. The vehicle of claim 36, wherein, The first driving mechanism (410) drives the first linkage (310) to be elongated to drive the vehicle door (200) to move from the intermediate state to the first state.

38. The vehicle of claim 36, wherein, The first driving mechanism (410) is an electric supporting rod, and / or the second driving mechanism (420) is a driving motor. 39.The vehicle of claim 36, further comprising a supporting rod assembly (600) arranged at a top of the vehicle body (100), the supporting rod assembly (600) is hingedly connected to the vehicle body (100) and the vehicle door (200) respectively, and the third driving mechanism (430) is in transmission connection with the supporting rod assembly (600) and is used to drive the supporting rod assembly (600) to rotate relative to the vehicle body (100).

40. The vehicle of claim 39, wherein, The supporting rod assembly (600) comprises a first supporting rod (610) and a second supporting rod (620) hingedly connected to each other, the first supporting rod (610) is hingedly connected to a top of the vehicle door (200), and the second supporting rod (620) is hingedly connected to a top of the vehicle body (100). 41.A vehicle door structure, comprising: a door body (50100), a first driving mechanism (50300), a second driving mechanism (400) and a third driving mechanism (500), one end of each of the first driving mechanism (50300), the second driving mechanism (400) and the third driving mechanism (500) is connected to the door body (50100), and the other end is connected to a vehicle body (50200). The vehicle door structure comprises a hovering state, when the vehicle door structure is in the hovering state, the first driving structure (50300), the second driving structure (400) and the third driving structure (500) are arranged at an angle with the front-rear direction of the vehicle; the door body (50100) is completely separated from the vehicle body (50200) in the width direction of the vehicle, and the door body (50100) is in the same direction as the front-rear direction of the vehicle.

42. The vehicle door structure of claim 41, wherein, The first driving structure (50300) and the second driving structure (400) are connected with the lower side of the vehicle body (50200); the third driving structure (500) is connected with the upper side of the vehicle body (50200).

43. The vehicle door structure of claim 42, wherein, The first driving structure (50300) comprises a first connecting rod (5011) and a first driving device (5012); both ends of the first connecting rod (5011) are rotatably connected with the vehicle body (50200) and the door body (50100) respectively; the first driving device (5012) is connected with the first connecting rod (5011) and used for driving the first connecting rod (5011) to rotate; The second driving structure (400) comprises a second connecting rod (5021), a third connecting rod (5022) and a second driving device (5023); both ends of the second connecting rod (5021) are rotatably connected with the third connecting rod (5022) and the vehicle body (50200) respectively; the third connecting rod (5022) is also rotatably connected with the door body (50100); the second driving device (5023) is connected with the third connecting rod (5022) and used for driving the third connecting rod (5022) to rotate around the second connecting rod (5021); The third driving structure (500) comprises a fourth connecting rod (5031) and a third driving device (5033); both ends of the fourth connecting rod (5031) are rotatably connected with the door body (50100) and the vehicle body (50200) respectively; the third driving device (5033) is connected with the fourth connecting rod (5031) and used for driving the fourth connecting rod (5031) to rotate.

44. The vehicle door structure of claim 43, wherein, When the vehicle door structure is in the hovering state, the second connecting rod (5021) rotates to be in the same direction as the left-right direction of the vehicle, the third connecting rod (5022) rotates to be substantially collinear with the second connecting rod (5021); the fourth connecting rod (5031) rotates to be in the same direction as the left-right direction of the vehicle.

45. The vehicle door structure of claim 43, wherein, The first driving structure (50300) further comprises: A damping rod (5013), one end of the damping rod (5013) is connected with the vehicle body (50200), and the other end of the damping rod (5013) is connected with the first connecting rod (5011).

46. The vehicle door structure of claim 43, wherein, The second driving device (5023) comprises an electric support rod, one end of the electric support rod is connected with one end of the third connecting rod (5022) close to the door body (50100), and the other end of the electric support rod is connected with one end of the second connecting rod (5021) close to the vehicle body (50200).

47. The vehicle door structure of claim 46, wherein, When the door structure is in the hovering state, the second driving device (5023) is in the same direction as the left-right direction of the vehicle.

48. The door structure according to claim 43, further comprising a controller (50600); the first driving device (5012) comprises a first power unit (50121) and a first position sensor (50122); the second driving device (5023) comprises a second power unit (231) and a second position sensor (232); The controller (50600) controls the first power unit (50121) and the second power unit (231) based on the position of the first power unit (50121) detected by the first position sensor (50122) and the position of the second power unit (231) detected by the second position sensor (232).

49. The vehicle door structure of claim 43, wherein, The second connecting rod (5021) comprises a limiting portion (50211), the limiting portion (50211) is arranged at the middle segment of the second connecting rod (5021), and the width of the limiting portion (50211) is greater than the width of other portions of the second connecting rod (5021).

50. A vehicle comprising the door structure according to any one of claims 41-49.

51. A door structure comprising a door body (60100), a first driving structure (60300), a second driving structure (400) and a third driving structure (500); the first driving structure (60300), the second driving structure (400) and the third driving structure (500) are connected with the door body (60100) and a vehicle body (60200) to jointly drive the door body (60100) to move along a curve track in the front-rear direction of the vehicle; during the movement of the door body (60100) in the front-rear direction of the vehicle, the door body (60100) simultaneously swings, and the angle between the door body (60100) at the front position and the front-rear direction of the vehicle is greater than the angle between the door body (60100) at the rear position and the front-rear direction of the vehicle.

52. The vehicle door structure of claim 51, wherein, The first driving structure (60300) and the second driving structure (400) are connected with the lower side of the vehicle body (60200); and the third driving structure (500) is connected with the upper side of the vehicle body (60200).

53. The vehicle door structure of claim 52, wherein, The first driving structure (60300) comprises a first connecting rod (6011) and a first driving device (6012); two ends of the first connecting rod (6011) are rotatably connected with the vehicle body (60200) and the door body (60100) respectively; the first driving device (6012) is connected with the first connecting rod (6011) and is used for driving the first connecting rod (6011) to rotate; The second driving structure (400) comprises a second connecting rod (6021), a third connecting rod (6022) and a second driving device (6023); two ends of the second connecting rod (6021) are rotatably connected with the third connecting rod (6022) and the vehicle body (60200) respectively; the third connecting rod (6022) is also rotatably connected with the door body (60100); the second driving device (6023) is connected with the third connecting rod (6022) and is used for driving the third connecting rod (6022) to rotate around the second connecting rod (6021); The third driving structure (500) comprises a fourth connecting rod (6031) and a third driving device (6033); two ends of the fourth connecting rod (6031) are rotatably connected with the door body (60100) and the vehicle body (60200) respectively; the third driving device (6033) is connected with the fourth connecting rod (6031) and is used for driving the fourth connecting rod (6031) to rotate.

54. The vehicle door structure of claim 53, wherein, The first driving structure (60300) further comprises: a damping rod (6013), one end of the damping rod (6013) is connected with the vehicle body (60200), and the other end of the damping rod (6013) is connected with the first connecting rod (6011).

55. The door structure according to claim 53, further comprising a controller (60600); the first driving device (6012) comprises a first power unit (60121) and a first position sensor (60122); the second driving device (6023) comprises a second power unit (231) and a second position sensor (232); the third driving device (6033) comprises a third power unit (60331) and a third position sensor (60332); The controller (60600) controls the first power unit (60121), the second power unit (231) and the third power unit (60331) based on positions of the first power unit (60121) detected by the first position sensor (60122), a position of the second power unit (231) detected by the second position sensor (232) and a position of the third power unit (60331) detected by the third position sensor (60332).

56. The vehicle door structure of claim 55, wherein, The position of the second power unit (231) changes with the position of the first power unit (60121); the position of the third power unit (60331) changes with the position of the first power unit (60121).

57. The vehicle door structure of claim 51, wherein, An angle between the door body (60100) in the forward position and a front-rear direction of the vehicle is less than or equal to 60° and greater than or equal to 30°; an angle between the door body (60100) in the rear position and the front-rear direction of the vehicle is less than or equal to 30°.

58. The vehicle door structure of claim 55, wherein, The second power unit (231) is an electrically powered strut, one end of the electrically powered strut is connected to one end of the third link (6022) close to the door body (60100), and the other end of the electrically powered strut is connected to one end of the second link (6021) close to the vehicle body (60200).

59. The vehicle door structure of claim 55, wherein, The third power unit (60331) is an electrically powered strut, one end of the electrically powered strut is rotatably connected to the vehicle body (60200), and the other end of the electrically powered strut is connected to one side of the fourth link (6031) close to the vehicle body (60200).

60. A vehicle comprising the door structure according to any one of claims 51-59.

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