JP4747470B2 - Vehicle door opening and closing device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle door opening / closing operation device, and more particularly, to a device that reversely drives a vehicle door when a pinch by the vehicle door is detected.
[0002]
[Prior art]
Conventionally, as this kind of vehicle door opening and closing device, one disclosed in Japanese Patent Laid-Open No. 2000-160931 is known. In this prior art, the vehicle door is closed from the incompletely closed state to the fully closed state by the first drive mechanism (a motor for closing the vehicle door from the incompletely closed state to the fully closed state). Further, the vehicle door is opened and closed between the fully open state and the incompletely closed state by the second drive mechanism (a motor that drives the vehicle door to open and close). Then, when the vehicle door is opened and closed by the second drive mechanism, the vehicle door speed fluctuation is detected and the sandwiching threshold is determined based on the information from the acceleration side of the vehicle door, and the information from the deceleration side of the vehicle door speed is determined. And the threshold value are compared, and if it is determined that the object is caught, the second drive mechanism is stopped or reversed.
[0003]
[Problems to be solved by the invention]
By the way, the pinching determination performed in the above-described prior art merely controls the stop or reverse driving of the second drive mechanism. For this reason, in the above-described conventional technology, it is difficult to stop or reversely drive the first drive mechanism by the pinching determination used for the second drive mechanism.
[0004]
Therefore, according to the present invention, in the vehicle door opening and closing device, when the pinching is detected when the vehicle door is shifted to the closed state by the first drive mechanism, the first drive mechanism is opened from the closed operation. Is the issue.
[0005]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the technical means taken in the invention of claim 1 is to provide a vehicle door that is movably supported by the vehicle body so as to open and close a boarding gate formed in the vehicle body. A moving mechanism that moves relative to the body, a latch that holds the vehicle door in a closed state, closes the vehicle door and closes the vehicle door, and opens the vehicle door so that the vehicle door can be opened from the closed state. Mechanism and linkage with said latch mechanism Flexible configuration Is The latch mechanism is not linked. Move from initial position to closing direction The latch mechanism to close the latch mechanism. A first drive mechanism having a moving member that A cancel lever that maintains the linked state of the moving member and the latch mechanism is actuated by engagement with the moving member to release the linked state, and the latch mechanism is opened in conjunction with the latch mechanism. A release actuator; Based on a second drive mechanism linked to the moving mechanism for opening and closing the vehicle door, pinching detection means for detecting pinching of an object between the vehicle door and the vehicle body, and output of the pinching detection means And Releasing the linkage between the moving member and the latch mechanism; The release actuator is operated to open the latch mechanism, and the moving member is Said And control means for operating the first drive mechanism to return to the initial position.
[0006]
According to the above-described means, when there is an output from the pinching detection means, the control means operates the release actuator and the first drive mechanism. As a result, the latch mechanism opens and the moving member of the first drive mechanism returns to the initial position. Therefore, the vehicle door can be opened.
[0007]
More preferably, the control means operates the second drive mechanism to open the vehicle door based on the output of the pinching detection means.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments according to the present invention will be described with reference to the drawings.
[0009]
FIG. 1 is a block diagram showing a vehicle door opening and closing device of the present invention.
[0010]
In FIG. 1, a vehicle door 1 is supported so as to be able to open and close in a vehicle front-rear direction with respect to the vehicle body 2 so as to open and close an entrance 21 formed in the vehicle body 2. The vehicle door 1 is set to a closed state in which the entrance 21 is closed and an open state in which the entrance 21 is opened by sliding in the vehicle longitudinal direction. The vehicle door 1 includes a pair of front and rear latch mechanisms 20 and 40 that hold the vehicle door 1 in a closed state with respect to the vehicle body 2. The latch mechanisms 20 and 40 hold the vehicle door 1 in a full latch state and a half latch state that hold the vehicle door 1 in a fully closed state and a half closed state, and an unlatched state that enables the vehicle door 1 to open and slide. The structure of the latch mechanisms 20 and 40 will be described later.
[0011]
Further, the vehicle door 1 is provided with an electric closer mechanism 30 that shifts (closes) the vehicle door to a fully latched state that is a completely closed state when the latch mechanisms 20 and 40 are in an unlatched state or a half latched state. ing. The structure of the electric closer mechanism 30 will also be described later.
[0012]
Further, the inside handle 61 provided on the indoor side of the vehicle door 1 and the outside door handle 62 provided on the outside of the vehicle door and the latch mechanisms 20 and 40 are mechanically linked via a rod, a cable, or the like. A remote control mechanism 6 is provided that operates the latch mechanisms 20 and 40 when the occupant operates the inside door handle 61 or the outside door handle 62. The remote control mechanism 6 has a known structure composed of a plurality of levers.
[0013]
The vehicle door 1 includes an electric release actuator 8 having an electric motor (hereinafter referred to as a release motor) 81 as a drive source. The electric release actuator 8 is mechanically connected to a pair of front and rear latch mechanisms 20 and 40 via a remote control mechanism 6 by rods, cables, and the like. By driving a release motor 81, the latch mechanisms 20 and 40 are connected. It is to be operated. The linkage between the electric release actuator 8 and the latch mechanisms 20 and 40 will be described later.
[0014]
Further, the vehicle door 1 includes an electric slide mechanism 9 having an electric motor (hereinafter referred to as a slide motor) 91 as a drive source. The electric slide mechanism 9 has a well-known structure including a cable connected to the vehicle body 2 and a drum around which the cable is wound, and the cable is wound around the drum by rotating the drum by a slide motor 91. By sending out, the vehicle door 1 is slidably opened and closed with respect to the vehicle body 2. Further, the electric slide mechanism 9 is provided with a position sensor 92 that detects the position of the vehicle door 1 by detecting the rotation speed of the slide motor 91.
[0015]
Further, the front end of the vehicle door 1 is provided with a touch switch 5 as a pinch detection means as shown in FIG. When the touch switch 5 is pressed with a predetermined force or more, the built-in wire core 5a and the conductive rubber 5b come into contact with each other and the internal resistance changes. Based on the amount of change in the internal resistance, the controller 7 described later can detect a change in pressure applied to the front end portion of the vehicle door 1, that is, whether or not there is a pinch between the vehicle door 1 and the vehicle body 2. .
[0016]
The vehicle door 1 includes a controller 7 for driving and controlling the electric release actuator 8, the electric slide mechanism 9, and the electric closer mechanism 30 by program control by the CPU 71.
[0017]
The latch mechanisms 20 and 40 will be described with reference to FIG. In addition, since the latch mechanism 20 and the latch mechanism 40 have the same structure, the latch mechanism 20 is demonstrated here and description of the latch mechanism 40 is abbreviate | omitted.
[0018]
Each of the latch mechanisms 20 includes a rotatable latch 21 that engages and disengages with a striker 51 fixed to the vehicle body 2 and a pole 22 that engages and disengages with the latch 21. The latch 21 and the pole 22 are rotatably supported by a base plate (not shown) provided in the vehicle door 1. The latch 21 is provided with a U-shaped groove 21a opened on the outer peripheral surface thereof, and a striker 51 can enter the U-shaped groove 21a as the vehicle door 1 is closed. Further, the latch 21 is formed with first and second engaging claws 21b and 21c that protrude outward from the outer peripheral surface and can be engaged with the pole 22. The latch 21 is provided with an urging means such as a spring (not shown) and urges the latch 21 to always rotate in the open state.
[0019]
The pole 22 is rotatably supported by a pin 24 provided on a base plate (not shown). Further, the pole 22 is provided with a biasing means (not shown) that biases the pole 22 to rotate in a direction in which the pole 22 and the latch 21 are engaged. The pawl 22 is detachably engaged with the first and second engaging claws 21b and 21c of the latch 21 by the rotating operation. Further, the pole 22 is connected to an electric release actuator 8 (to be described later) through a remote control mechanism including a plurality of levers and cables (not shown).
[0020]
In such a configuration, when the striker 51 and the latch 21 are engaged, the first latching claw 21b and the pawl 22 are engaged to set the latch mechanism 20 in the half latch state, and the vehicle door 1 is in the half latch state. Hold. Further, when the striker 51 and the latch 21 are engaged, the latch mechanism 20 is set to the fully latched state by the engagement of the second engaging claw 21c and the pole 22, and the vehicle door 1 is completely closed. Further, the pole 22 is connected to an inside door handle 61 or an outside door handle 62 (both see FIG. 1) rotatably supported by a pin (not shown) on the vehicle door 1, and the latch 21 is operated by operating these handles. And the pole 22 can be disengaged. Further, the pawl 22 can be disengaged from the latch 21 by an electric release actuator 8 described later. In a state where the engagement between the latch 21 and the pole 22 is released, the latch 21 is rotatable toward the unlatched state. That is, the operation of the electric release actuator 8 opens the latch 21 (latch mechanisms 20 and 40).
[0021]
Further, a linkage projection 21d that can be linked to the electric closer mechanism 30 is formed on the outer peripheral surface of the latch 21 so as to protrude outward.
[0022]
Further, the latch mechanism 20 detects a full latch switch 41 that detects the full latch state of the latch mechanism 20 and a half latch switch 42 that detects the half latch state, and detects the movement of the pole when creating the full latch state, the half latch state, and the unlatched state. A pole switch 43 is provided. The full latch switch 41 detects from the state of the latch 21 that the vehicle door is opened from the fully closed state and outputs an ON signal to the controller 7, and the half latch switch 42 is opened from the half closed state. It detects from the state of the latch 21 and outputs an ON signal to the controller 7. The full latch switch 41 is switched in a half latch state just before the latch mechanism 20 is in the latch state, and an OFF signal is input to the controller 7. The half latch switch 42 is just before the latch mechanism 20 is in the half latch state. It switches in an unlatched state and outputs an off signal to the controller 7. The pole switch 43 switches between an on signal and an off signal by the movement of the pole 22 when the latch mechanism 20 creates a full latch state, a half latch state, and an unlatching state.
[0023]
The latch mechanism 20 is provided with an electric closer mechanism (hereinafter referred to as “closer mechanism”) 30 that shifts the latch mechanism 20 from an unlatched state (a vehicle door openable state) to a fully latched state (fully closed state). The closer mechanism 30 will be described with reference to FIG.
[0024]
The closer mechanism 30 includes an electric motor (hereinafter referred to as “closer motor”) 31 (see FIG. 1) for driving the closer mechanism 30, an active lever 33, a passive lever 34, and a cancel lever 35.
[0025]
An output pinion gear 32 attached to the shaft 31a of the closer motor 31 meshes with a sector gear portion 33a of an active lever 33 described later via a reduction gear structure (not shown) provided in the vehicle door 1. A pin 36 provided on a base plate (not shown) is disposed substantially at the center of the active lever 33, and the active lever 33 is rotatably supported by the base plate by the pin 36. When the output pinion gear 32 rotates as the shaft 31a of the slide motor 31 rotates, the active lever 33 rotates about the pin 36 by the meshing sector gear portion 33a. Further, a limit sensor (not shown) is provided on a base plate (not shown). The limit sensor outputs a signal to the controller 7 when the active lever 33 rotates in an initial position (until the latch 21 shifts to the half latch state). Specifically, when one end of the sector gear portion 33 a comes into contact with the limit sensor, the limit sensor outputs a signal to the controller 7. When this signal is received by the controller 7, the controller 7 prohibits further rotation of the active lever 33. Specifically, the energization to the closer motor 31 is stopped.
[0026]
The passive lever 34 is supported by the active lever 33 so as to be relatively rotatable by a pin 37 disposed on a base plate (not shown). A linkage arm portion 34 a is formed at one end of the passive lever 34. The linkage arm portion 34a has a rotation locus A around the pin 37 (as will be described later, the rotation locus of the linkage arm portion 34a when the passive lever 34 moves together with the rotation of the active lever 33). The latch 21 extends so as to intersect the rotation trajectory B of the linkage projection 21d, and the linkage arm 34a comes into contact with the linkage projection 21d at the contact point between the rotation trajectories A and B. Yes. The passive lever 34 of the closer mechanism 30 and the latch 21 of the latch mechanism 20 are linked by the contact between the linkage arm 34 a and the linkage projection 21 d.
[0027]
The cancel lever 35 is rotatably supported by a pin 38 disposed on a base plate (not shown). At the tip of the cancel lever 35, an engagement pin 34c of the passive lever 34 positioned on the rotation center of the active lever 33 and an engagement surface 35a that can be engaged via the roller 34b are formed. The relative rotation of the passive lever 34 with respect to the active lever 33 is restricted by the engagement of the engagement surface 35 a of the cancel lever 35 and the engagement pin 34 c of the passive lever 34. When the engagement of the engagement surface 35a of the cancel lever 35 and the engagement pin 34c of the passive lever 34 is released by the rotation of the cancel lever 35, the relative rotation of the passive lever 34 with respect to the active lever 33 is allowed. The As a result, the cancel lever 35 can disengage the linkage between the active lever 33 and the passive lever 34.
[0028]
In the configuration described above, when the closer motor 31 of the closer mechanism 30 rotates in a predetermined direction from the state shown in FIG. 2 (unlatched state), the rotational force of the closer motor 31 is linked to the latch 21 by the engaging arm portion 34a. In addition to the protrusion 21d, the latch 21 rotates to a position that restricts the latch 21 from rotating to the unlatched state by the biasing force of the biasing means provided on the latch 21. When the closer motor 31 is further rotated, the latch 21 is rotated to a position where the first engagement claw 21b and the pole 22 are engaged (that is, in a half latch state). When the closer motor 31 is further rotated, the latch 21 is rotated to a position where the second engagement claw 21c and the pole 22 are engaged (that is, in a full latch state). That is, the operation of the closer mechanism 30 in a predetermined direction causes the latch 21 (latch mechanisms 20 and 40) to be closed.
[0029]
An engagement arm portion 35 c is provided at one end of the cancel lever 35. Further, the release lever 71 rotatably provided on the pin 38 has an engaging portion 71b that can be engaged with the engaging arm portion 35c. One end of the release lever 71 is connected to the electric release actuator 8 (see FIG. 1) by a cable or a plurality of levers (not shown). The electric release actuator 8 includes an electric motor (hereinafter referred to as a release motor) 81 as a drive source. The rotation of the release motor 81 activates the connection mechanism to rotate the pole 22 and the cancel lever 35 attached to the connection mechanism. Move. As described above, by the operation of the electric release actuator 8, the engagement between the pawl 22 and the latch 21 is released, and the engagement between the engagement surface 35a of the cancel lever 35 and the engagement pin 34c of the passive lever 34 is released. Is possible. That is, by the operation of the electric release actuator 8, the latch 21 (latch mechanisms 20, 40) can be rotated in the opening direction by the biasing force (that is, the opening mechanism can be opened).
[0030]
As shown in FIG. 1, the CPU 71 of the controller 7 is connected to the full latch switch 41, the half latch switch 42, the pole switch 43, and the position sensor 92 of the electric slide mechanism 9 via an input interface (not shown). The touch switch 5 is electrically connected by a wire harness or the like, and inputs signals from the switches 41, 42, 43, 5 and the position sensor 92. Further, the CPU 71 includes an electric motor (hereinafter referred to as a release motor) 81 of the electric release actuator 8, a closer motor 31 of the electric closer mechanism 30, and a slide motor 91 of the electric slide mechanism 9 via a wire harness or the like via an output interface (not shown). Electrically connected. Further, the driver's seat operation switch 22 and the pillar portion operation switch 23 provided in the vehicle compartment are electrically connected to the CPU 71 by a wire harness or the like.
[0031]
Next, the operation of the controller 7 will be described based on the flowchart shown in FIG.
[0032]
In the present embodiment, the case where the driver's seat operation switch 22 is turned on and the vehicle door 1 is closed from the open state by the slide motor 91 or by manual operation will be described.
[0033]
First, in step S <b> 1, the controller 7 closes the vehicle door 1 with respect to the vehicle body 2. Specifically, the controller 7 supplies power to the slide motor 91 to rotate the slide motor 91, and drives the vehicle door 1 by the moving mechanism of the electric slide mechanism 9. In the next step S2, the controller 7 determines whether or not the touch switch 5 is turned on. If the controller 7 determines that the touch sensor 5 is receiving a force greater than a predetermined value, the process proceeds to step S3. Otherwise, the process returns to step S2, and the controller 7 continues the closing operation of the vehicle door 1.
[0034]
In step S3, it is determined whether the closer mechanism 30 is operating. Specifically, it is determined whether power is supplied to the closer motor 31 of the closer mechanism 30 or whether any one of the full latch switch 41, the half latch switch 42, and the pole switch 43 has changed. Is done. If the controller 7 determines that the closer mechanism 30 is operating, the process proceeds to step S4. Otherwise, the process proceeds to step S12. Hereinafter, a case where the controller 7 determines that the closer mechanism 30 is operating will be described.
[0035]
In step S4, the controller 7 opens the latch mechanisms 20 and 40 (releases the operation) by the electric release actuator 8. Specifically, electric power is supplied to the release motor 81 of the electric release actuator 8 to operate the electric release actuator 8, and the pawl 22 is rotated to release the engagement between the pawl 22 and the latch 21. In addition, the electric release actuator 8 releases the engagement between the active lever 33 and the passive lever 34 of the closer mechanism 30 so that both can be rotated relative to each other. Accordingly, the latches 21 of the latch mechanisms 20 and 40 can be rotated toward the half-latch state by the urging means, and rotate (open operation) toward the unlatched state.
[0036]
Thereafter, in step S5, the controller 7 rotates the closer mechanism 30. Specifically, the controller 7 supplies power to the closer motor 31 and rotates the closer motor 31 so as to move the active lever 33 from the current state to the initial position, so that the active lever 33 and the passive lever 34 are in the initial state. Return to position.
[0037]
In step S <b> 6, the controller 7 opens the vehicle door 1 by the electric slide mechanism 9. Specifically, the controller 7 supplies power to the slide motor 91 to drive the vehicle door 1 so as to open the vehicle body 2. As a result, the vehicle door 1 that has moved from the opening direction to the closing direction is reversely driven from the closing direction to the opening direction.
[0038]
In step 7, the controller 7 determines whether or not the closer mechanism 30 is in the initial state. Specifically, the controller 7 detects whether or not the limit lever is turned on (whether a signal is output from the limit switch) when the active lever 33 is rotated to the initial position by the closer motor 31. If the controller 7 detects that the closer mechanism 30 is in the initial state, the controller 7 stops the operation of the closer motor 31 in step S11, and the process proceeds to step S8. When the controller 7 determines that the closer mechanism 30 is not in the initial position, the process proceeds to step S8 (the operation of the closer motor 31 is continued).
[0039]
In step S8, it is determined whether the position of the vehicle door 1 is on the open side with respect to the initial position. Specifically, the controller 7 detects the position of the vehicle door 1 with respect to the vehicle body 2 based on outputs from the position sensor 92 and the half latch switch 42 provided in the electric slide mechanism 9. When the controller 7 detects that the position of the vehicle door 1 is not the opening side from the initial position, the process returns to step S6 and the operation of the slide motor 91 is continued. On the other hand, when the controller 7 detects that the position of the vehicle door 1 is on the open side with respect to the initial position, the process proceeds to step S9.
[0040]
In step S9, the controller 7 turns off the electric release actuator 8. Specifically, the controller 7 energizes the release motor 81, and the electric release actuator 8 rotates the cancel lever 35 to engage the active lever 33 and the passive lever 34, thereby making the relative rotation impossible. In addition, when the electric release actuator 8 is turned off, there is no force to rotate the pole 22 in the direction of releasing the engagement with the latch 21 via a coupling mechanism (not shown), and the biasing force of the biasing means attached to the pole 22 is eliminated. Thus, the pole 22 is biased so as to be engageable with the latch 21. When the vehicle door 1 is closed in this state, the striker 51, the latch 21, the latch 21 (first or second engaging claws 21b, 21c) and the pole 22 are engaged, and the vehicle door is held in the closed state. Make it possible.
[0041]
In the next step S10, the controller 7 operates so that the slide mechanism 9 continues the opening operation. Specifically, similarly to step S <b> 6, the controller 7 supplies power to the slide motor 91 to drive the vehicle door 1 so as to open the vehicle body 2.
[0042]
If the controller 7 determines that the closer mechanism 30 is not operating in step S3, the process proceeds to step S12. In step S <b> 12, the controller 7 causes the slide mechanism 9 to open the vehicle door 1. Specifically, the controller 7 is energized so that the slide motor 91 is opened. Thereby, the vehicle door 1 can be opened. Then, it reaches step S10.
[0043]
In this embodiment, by operating the electric release actuator 8, the pawl 22 is rotated to release the engagement with the latch 21, and the cancel lever 35 is rotated to move the passive lever 34 relative to the active lever 33. By making the relative rotation possible, the latch 21 can be rotated to the initial position by the urging force of the urging means disposed on the latch 21. For this reason, when the engagement between the latch 21 and the pole 22 is released by the electric release actuator 8 and the engagement of the passive lever 34 with respect to the active lever 33 is released, the latch 21 may immediately rotate to the initial position. it can.
[0044]
If the driving force of the electric release actuator 8 is sufficient, the closer mechanism 30 may be driven only to return the active lever 33 to the initial position as described above. However, since the roller 34 (and the engagement pin 34C of the passive lever 34) is pressed against the engagement surface 35a by the rotation of the active lever 33 during the operation of the closer motor 31, in the normal case, the engagement between the two is engaged. It takes a lot of power to unlock. In the present embodiment, the active release 33 and the passive lever 34 of the closer mechanism 30 can be quickly returned to the initial positions by the cooperative operation of the electric release actuator 8 and the closer mechanism 30. Specifically, the cancel lever 35 is rotated by operating the electric release actuator 8, and the closer motor 31 of the closer mechanism 30 is operated to return the active lever 33 and the passive lever 34 to the initial positions. Thereby, the force applied to the roller 34 and the engagement surface 35a with the rotation of the active lever 33 to the initial position is gradually reduced, and the cancel lever 35 can be easily rotated by the electric release actuator 8. Accordingly, in the present embodiment, the passive lever 34 can be rotated relative to the active lever 33 without increasing the output of the release motor 81 that drives the electric release actuator 8, and more quickly. The latch mechanisms 20 and 40 can be opened.
[0045]
As described above, in the present embodiment, the electric release actuator 8 rotates the cancel lever 35 to release the engagement between the active lever 33 and the passive lever 34 and rotate the latch 21 to the unlatched state. However, the electric release actuator 8 simply rotates the pole 22 to release the engagement with the latch 21, and drives the closer motor 31 without releasing the engagement between the active lever 33 and the passive lever 34 by the cancel lever 35. Then, the latch 21 may be opened by returning the active lever 33 and the passive lever 33 to the initial positions.
[0046]
In step S10, the controller 7 may be provided with a timer mechanism and stopped after opening for a predetermined time. Further, the position sensor 92 provided in the electric slide mechanism 9 may be stopped after the vehicle door 1 has moved a predetermined amount. Further, the opening operation of the vehicle door 1 may be stopped by detecting the operation of the inside handle 61 or the outside handle 62 by the occupant.
[0047]
【The invention's effect】
According to the present invention, the release actuator is driven to open the latch mechanism based on the output from the pinching detection unit, and the first driving unit is driven to return the moving unit to the initial position. When detected, the moving member of the first drive mechanism can be returned to the initial position while opening the latch mechanism, and the vehicle door can be opened.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a door opening and closing device of the present invention.
FIG. 2 is a detailed view showing a latch mechanism and a closer mechanism of the door opening and closing device of the present invention.
FIG. 3 is a flowchart showing the control of the control means of the present invention.
FIG. 4 is a cross-sectional view showing a pinching detection means of the present invention.
[Explanation of symbols]
1 Vehicle door
2 Vehicle body
21 Exit
5 Touch switch (Pinch detection means)
7 Controller (control means)
8 Electric release actuator (release actuator)
9 Electric slide mechanism (moving mechanism)
20, 40 Latch mechanism
30 Electric closer mechanism (first drive mechanism)
31 Closer motor
33 Active lever (moving member)
34 Passive lever (moving member)
91 Slide motor (second drive mechanism)

Claims (2)

A moving mechanism for moving a vehicle door movably supported by the vehicle body so as to open and close a doorway formed on the vehicle body;
A latch mechanism for holding the vehicle door in a closed state, a closing operation for closing the vehicle door, and an opening operation for opening the vehicle door from the closed state;
A first drive mechanism configured to be able to be linked to the latch mechanism and having a moving member linked to the latch mechanism to move in a closing direction from an initial position that is not linked to the latch mechanism and to close the latch mechanism; ,
A cancel lever that maintains the linked state of the moving member and the latch mechanism is actuated by engagement with the moving member to release the linked state, and the latch mechanism is opened in conjunction with the latch mechanism. A release actuator;
A second drive mechanism linked to the moving mechanism to open and close the vehicle door;
Pinching detection means for detecting pinching of an object between the vehicle door and the vehicle body;
Based on the output of the entrapment detection means, actuates the said release actuator so as to opening operation the moving member and the latch mechanism and and the latch mechanism is released an association of, for returning the moving member to the initial position Thus, a vehicle door opening and closing device comprising control means for operating the first drive mechanism.   2. The vehicle door opening and closing device according to claim 1, wherein the control unit operates the second drive mechanism to open the vehicle door based on an output of the pinching detection unit.

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