Working machine gear shifting control method and working machine

Abstract

The invention belongs to the technical field of operation machinery and provides an operation machinery gear shifting control method and operation machinery. The operation machinery gear shifting control method comprises the steps that working state data of the operation machinery during gear shifting operation are obtained; according to the working state data, the working mode of the working machine is judged; according to the working mode, a corresponding preset gear shifting strategy is selected; and according to the selected preset gear shifting strategy, the gear shifting opportunity and the gear shifting time of a gearbox in the operation machine are controlled. According to the method, the power requirement of the operation machine is judged according to the working mode of the operation machine, and the proper gear shifting opportunity strategy and the gear shifting time strategy are intelligently selected, so that the gear shifting smoothness and the response speed are guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of operating machinery, and in particular relates to a gear shift control method and an operating machinery applying the gear shift control method. Background Art

[0002] Operating machinery is widely used in construction, mining, agriculture and other fields. With the development of new energy technology, operating machinery is moving towards electrification.

[0003] Take the electric loader as an example. The electric loader in the working machinery is driven by the motor. For the existing electric loader, its travel almost follows the transmission system of the oil-driven loader. Due to the different working characteristics of the motor and the engine, when the loader is in different working conditions such as loading and driving, if the single shifting logic of the oil-driven one is used, it will cause the equipment to often have slow response speed and strong frustration in actual experience, which seriously affects the user experience. Summary of the invention

[0004] In view of the above-mentioned defects or shortcomings, the present invention provides a working machine shift control method and a working machine, aiming to solve the technical problem that the existing working machines have a single shift mode for different working conditions.

[0005] To achieve the above object, the present invention provides a working machine shift control method, wherein the working machine shift control method comprises:

[0006] S100: Acquiring working state data of the working machine during the gear shifting operation;

[0007] S200: judging the working mode of the operating machine according to the working status data;

[0008] S300: Selecting a corresponding preset shift strategy according to the working mode;

[0009] S400a: Controlling the shifting timing and shifting time of the gearbox in the working machine according to the selected preset shifting strategy.

[0010] In an embodiment of the present invention, the working mode of the working machine includes a heavy load mode, and the preset shift strategy includes a first shift strategy corresponding to the heavy load mode, and the first shift strategy includes:

[0011] When the rotation speed of the motor is within the shifting rotation speed range specified by the target gear, the gearbox is controlled to shift gears, and the shifting duration of the gearbox is controlled to be within a first duration range.

[0012] In an embodiment of the present invention, the first shift strategy includes a first sub-strategy executed when the throttle opening is lower than a set opening value and a second sub-strategy executed when the throttle opening is not lower than the set opening value;

[0013] The first sub-strategy includes: when the speed of the motor is within the shift speed range specified by the target gear and is lower than a first set value, controlling the gearbox to shift, and controlling the gearbox shifting time to be within a first time range;

[0014] The second sub-strategy includes: when the speed of the motor is within the shift speed range specified by the target gear and is not lower than the first set value, controlling the gearbox to shift, and controlling the shift duration of the gearbox to be within the first duration range.

[0015] In an embodiment of the present invention, the target gear comprises a speed gear and a torque gear, and the first set value comprises a high-speed shift point set value corresponding to the speed gear and a low-speed shift point set value corresponding to the torque gear.

[0016] In an embodiment of the present invention, the working mode of the working machine further includes a light-load transport mode, and the preset shift strategy includes a second shift strategy corresponding to the light-load transport mode;

[0017] The second shift strategy includes: when the speed of the motor is in the shift speed range specified by the target gear, controlling the gearbox to shift, and controlling the shift time of the gearbox to be within a second time range;

[0018] The upper limit of the second duration range is lower than or equal to the lower limit of the first duration range.

[0019] In an embodiment of the present invention, the second gear shifting strategy further includes: when the rotation speed of the motor is in the gear shifting speed range specified by the target gear and is lower than the second set value, controlling the gearbox to shift gears.

[0020] In an embodiment of the present invention, the working mode of the working machine includes a no-load mode, and the preset shift strategy includes a third shift strategy corresponding to the no-load mode;

[0021] The third shifting strategy includes: when the speed of the motor is in the shifting speed range specified by the target gear, controlling the gearbox to shift, and determining according to the user's intention that the shifting duration of the gearbox corresponding to the instruction is within the first duration range or the second duration range.

[0022] In an embodiment of the present invention, step S300: selecting a corresponding preset shift strategy according to the working mode, specifically includes:

[0023] S300a: When the load of the working machine is greater than or equal to the set load, determining that the working mode of the working machine is the heavy load mode;

[0024] S300b: When the load of the operating machine is lower than the set load and the travel speed is greater than or equal to the preset speed, it is determined that the working mode of the operating machine is the light load transport mode;

[0025] S300c: When the load of the operating machine is less than a preset load and the travel speed is less than a preset speed, it is determined that the working mode of the operating machine is a no-load mode.

[0026] In an embodiment of the present invention, in the process of controlling the gear shifting timing and gear shifting time of a gearbox in a working machine, the working machine gear shifting control method further includes:

[0027] S400b: Monitor the gearbox shifting time and the speed change data of the motor after the gear shifting.

[0028] To achieve the above-mentioned purpose, the present invention also provides an operating machine, which includes a vehicle body, a travel transmission mechanism and a controller. The travel transmission mechanism includes a motor and a gearbox. The power output by the motor is amplified by the gearbox to drive the vehicle body to move. The controller is connected to the motor and the gearbox control and is used to execute the operating machine shift control method described above.

[0029] Through the above technical solution, the working machine shift control method provided by the embodiment of the present invention has the following beneficial effects:

[0030] When the operating machine is shifting gears, whether the gear shift point (shift timing) and gear shift time of the gearbox are set appropriately directly affects the smoothness and response speed of the gear shifting of the operating machine. The operating machine is in different working modes, and the power required is also different. This method determines the power demand of the operating machine according to the working mode of the operating machine, and intelligently selects the appropriate gear shift timing strategy and gear shift time strategy, so that the gear shift timing and gear shift time of the gearbox can match the current working conditions, avoid the mismatch between power input and power demand, and cause the gearbox to suffer severe impact during gear shifting, ensure the smoothness of gear shifting, and at the same time, by selecting the appropriate gear shift time according to the working conditions, it can also ensure the response speed of the gear shifting of the operating machine.

[0031] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to provide an understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0033] Figure 1 is a flowchart of the steps of a working machine shift control method according to an embodiment of the present invention;

[0034] Figure 2 is a specific step diagram of step S300 according to an embodiment of the present invention;

[0035] Figure 3is a parallel step diagram of step S400a according to an embodiment of the present invention;

[0036] Figure 4 1 is a control connection diagram of a working machine according to an embodiment of the present invention.

[0037] Description of Reference Numerals

[0038] 1. Controller; 2. Motor; 3. Gearbox; 4. Load sensor; 5. Speed ​​sensor. DETAILED DESCRIPTION

[0039] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0040] The working machine and the shift control method thereof according to the present invention will be described below with reference to the accompanying drawings.

[0041] The present invention provides a working machine shift control method, wherein, Figure 1 As shown, the working machine shift control method includes:

[0042] S100: when the working machine performs a gear shifting operation, obtaining working status data of the working machine;

[0043] S200: determining the working mode of the operating machine according to the working status data;

[0044] S300: selecting a corresponding preset shift strategy according to the working mode of the working machine;

[0045] S400a: Controlling the shifting timing and shifting time of the gearbox 3 in the working machine according to the selected preset shifting strategy.

[0046] When the working machine is shifting gears, whether the shift point (shift timing) and shift time of the gearbox 3 are set appropriately directly affects the smoothness and response speed of the gear shifting of the working machine. The working mode of the working machine is different, and the power required is also different. This method determines the power demand of the working machine according to the working mode of the working machine, and intelligently selects the appropriate shift timing strategy and shift time strategy, so that the shift timing and shift time of the gearbox 3 can match the current working conditions, avoid the mismatch between power input and power demand, and cause the gearbox 3 to suffer severe impact during gear shifting, ensure the smoothness of gear shifting, and at the same time, by selecting the appropriate shift time according to the working conditions, it can also ensure the response speed of the gear shifting of the working machine.

[0047] In an embodiment of the present invention, the working mode of the working machine includes a heavy-load mode. Taking an electric loader as an example, the heavy-load mode corresponds to the working condition when the bucket of the electric loader is loaded with a lot of soil and is traveling. At this time, the walking resistance of the working machine is large and the demand for power is large. Therefore, when shifting gears, the strategy of increasing the speed of the shift point of the gearbox 3 and extending the shift time can be adopted to perform shift control.

[0048] Specifically, the preset shifting strategy includes a first shifting strategy corresponding to the heavy load mode, and the first shifting strategy includes: when the speed of the motor 2 is in the shifting speed range specified by the target gear, controlling the gearbox 3 to shift, and controlling the shifting duration of the gearbox 3 to be within the first duration range.

[0049] Taking the gears of the operating machinery including the speed gear and the torque gear as an example, the shifting speed range specified by the speed gear can be set to 5500-7000rpm, and the shifting speed range of the torque gear can be set to 1000-1600rpm. That is, in the process of switching from the torque gear to the speed gear, after the speed of the motor 2 reaches the range of 5500-7000rpm, the gearbox 3 can start shifting, or in the process of switching from the speed gear to the torque gear, after the speed of the motor 2 drops to 1000-1600rpm, the gearbox 3 can start shifting. The first time range can be (1000ms-2000ms], which can ensure that the gearbox 3 shifts slowly and smoothly, and avoid the gearbox 3 from suffering a large impact and power loss due to too fast shifting.

[0050] Further, in an embodiment of the present invention, the first shift strategy includes a first sub-strategy executed when the throttle opening is lower than a set opening value and a second sub-strategy executed when the throttle opening is not lower than the set opening value;

[0051] The first sub-strategy includes: when the speed of the motor 2 is within the gear shift speed range specified by the target gear and is lower than the first set value, controlling the gearbox 3 to shift gears, and controlling the gear shift duration of the gearbox 3 to be within the first duration range;

[0052] The second sub-strategy includes: when the rotation speed of the motor 2 is within the shifting rotation speed range specified by the target gear and is not lower than the first set value, controlling the gearbox 3 to shift gears, and controlling the shifting time of the gearbox 3 to be within the first time range.

[0053] The first sub-strategy is mainly used when the machine is in heavy-load mode and has a relatively low power demand. In this strategy, the smoothness of the gear shift is given priority. The second sub-strategy is mainly used when the machine is in heavy-load mode and has a high power demand. In this strategy, the power output is given priority.

[0054] The first set value includes a high-speed shift point set value corresponding to the speed gear and a low-speed shift point set value corresponding to the torque gear. For example, in one embodiment, when the shift speed range specified by the speed gear is 5500-7000 rpm, the high-speed shift point set value may be 6250, and when the shift speed range of the torque gear is 1000-1600 rpm, the low-speed shift point set value may be 1300.

[0055] Furthermore, taking the setting opening value as 50% as an example, when the throttle opening is in [0, 50%), the throttle opening is small, and the operating machinery's demand for power is relatively small. By setting the shift speed range of the torque gear to 1000-1300rpm and the shift speed range of the speed gear to 5500-6250rpm, the speed of the motor 2 corresponding to the shift point can be reduced, thereby improving the smoothness of the shift.

[0056] When the throttle opening is in the range of [50, 100%], the operating machinery has a higher demand for power due to the larger throttle opening. By setting the shift speed range of the torque gear to 1300-1600rpm and the shift speed range of the speed gear to 6250-7000rpm, the motor 2 can provide greater power during gear shifting, effectively reducing the phenomenon of power deterioration of the operating machinery in a short period of time due to gear shifting, thereby increasing the user's operating experience.

[0057] It should be noted that, in theory, the lower the speed of the motor 2 corresponding to the shift point, the smoother the shift. However, a shift point speed that is too low will affect the operating efficiency of the machine and the stability of the power output. For example, in heavy load mode, the throttle is at an opening of [50, 100%]. If the speed of the shift point is too low, it may cause the power to fail to respond as expected within one or two seconds after the transmission 3 shifts gears, no matter how much the operator increases the throttle.

[0058] In an embodiment of the present invention, in addition to the numerical examples provided in the above embodiments, the numerical value of the first set value and the numerical value of the shift speed range specified by the speed gear and the torque gear can also be set according to the specific model size and usage scenario of the operating machinery.

[0059] In an embodiment of the present invention, the working mode of the working machine further includes a light-load transport mode, and the preset shift strategy includes a second shift strategy corresponding to the light-load transport mode;

[0060] The second shifting strategy includes: when the speed of the motor 2 is in the shifting speed range specified by the target gear, controlling the gearbox 3 to shift, and controlling the shifting time of the gearbox 3 to be within the second time range;

[0061] The upper limit of the second duration range is lower than or equal to the lower limit of the first duration range.

[0062] Controlling the shifting time of the gearbox 3 within the second time range actually means controlling the gearbox 3 to shift quickly. When the working machine is in the light-load transport mode, the working load of the working machine is low. Whether the working machine is in high-speed operation or low-speed operation, the power required is less than the power required when the working machine is in the heavy-load mode. Therefore, by controlling the shifting time of the gearbox 3 within the second time range, the response rate of the gearbox 3 shifting can be improved while ensuring the smoothness of the gearbox 3 shifting.

[0063] In the embodiment of the present invention, the second duration range may be set to [600ms-1000ms].

[0064] In an embodiment of the present invention, the second gear shifting strategy further includes: when the rotation speed of the motor 2 is in the gear shifting rotation speed range specified by the target gear and is lower than the second set value, controlling the gearbox 3 to shift gears.

[0065] The numerical value of the second setting value can be the same as the numerical value of the first setting value, that is, when the operating machinery is in the light load transport mode, the shift point of the torque gear can be limited to the shift speed range of 1000-1300rpm, and the shift point of the speed gear can be limited to the shift speed range of 5500-6250rpm. Compared with the low throttle mode, in the light load transport mode, the operating machinery has a relatively smaller demand for power. By reducing the speed of the motor 2 corresponding to the shift point and increasing the shift rate, the operating machinery can achieve fast and smooth shifting in the light load transport mode.

[0066] In an embodiment of the present invention, the working mode of the working machine includes a no-load mode, and the preset shift strategy includes a third shift strategy corresponding to the no-load mode;

[0067] The third shifting strategy includes: when the speed of the motor 2 is in the shifting speed range specified by the target gear, controlling the gearbox 3 to shift, and determining according to the user's intention that the shifting duration of the gearbox 3 is controlled to be within the first duration range or the second duration range.

[0068] In no-load mode, the power required by the operating machine is minimal. In no-load mode, when the operating machine switches to the speed gear, the gearbox 3 can shift gears when the motor 2 is at any value in the range of 5500-7000rpm. When the operating machine switches to the torque gear, the gearbox 3 can shift gears when the motor 2 is at any value in the range of 1000-1600rpm. Both shifting strategies can ensure that the shifting impact of the gearbox 3 is within an acceptable range.

[0069] The switching between the speed gear and the torque gear can be controlled by the handle in the cab, and the controller 1 can judge the operator's intention according to the depth of stepping on the accelerator. For example, when the accelerator is stepped on deeply, the operator's operating intention is to require the power of the operating machine to respond quickly, so a fast shifting strategy can be adopted, that is, the shifting time of the gearbox 3 is controlled within the second time range; otherwise, the shifting time of the gearbox 3 is controlled within the first time range to further reduce the gear shifting jam.

[0070] like Figure 2 As shown, in an embodiment of the present invention, step S300: selecting a corresponding preset shift strategy according to the working mode, specifically includes:

[0071] S300a: When the load of the working machine is greater than or equal to the set load, determining that the working mode of the working machine is the heavy load mode;

[0072] S300b: When the load of the operating machine is lower than the set load and the travel speed is greater than or equal to the preset speed, it is determined that the working mode of the operating machine is the light load transport mode;

[0073] S300c: When the load of the operating machine is less than a preset load and the travel speed is less than a preset speed, it is determined that the working mode of the operating machine is a no-load mode.

[0074] Continuing with the example of an electric loader, an electric loader generally includes a load sensor 4 for detecting bucket load and a speed sensor 5 for detecting speed. When the load sensor 4 detects that the bucket load is greater than a set value (such as greater than or equal to 30% of the maximum load), it means that the load of the operating machine is large and the operating machine is in heavy load mode. When the load sensor 4 detects that the bucket load is less than a set value (such as less than 30% of the maximum load), and the speed sensor 5 detects a travel speed greater than or equal to a preset speed (such as greater than or equal to the cruising speed of 10km / h), it means that the operating machine is in light load transport mode. When the load sensor 4 detects that the bucket load is less than a set value, and the speed sensor 5 detects a travel speed less than a preset speed (such as a speed of 0), it means that the operating machine is in no-load mode.

[0075] After acquiring the working mode of the working machine, the controller 1 selects the first gear shifting strategy, the second gear shifting strategy, and the third gear shifting strategy according to the working mode to control the gear shifting of the gearbox 3.

[0076] In the heavy load mode, the gearbox 3 is controlled to shift gears according to different strategies according to the size of the throttle, thereby ensuring the power output of the operating machine when shifting gears when the throttle is large, and ensuring smooth gear shifting of the operating machine when the throttle is small.

[0077] like Figure 3As shown, in an embodiment of the present invention, in the process of controlling the gear shifting timing and gear shifting time of the gearbox in the working machine, the working machine gear shifting control method further includes:

[0078] S400b: Monitor the gear shifting time of the gearbox 3 and the speed change data of the motor 2 after the gear shifting.

[0079] During and after the shifting process, the working status of the motor 2 and the gearbox 3 in the operating machine can be continuously monitored, and feedback data of the two can be collected, including the gearbox 3 shifting time, the speed change of the motor 2 during the gear shifting, etc. By analyzing the feedback data, some numerical parameters in the above strategy can be dynamically adjusted, so that the shifting strategy has a self-learning function, so that the longer the machine is used, the better the gear shifting stability and gear shifting response speed.

[0080] In an embodiment of the present invention, the working state data of the working machine may include the rotation speed of the motor 2, the load condition of the bucket, the travel speed, the position of the shift handle, and the like.

[0081] In the embodiment of the present invention, the torque gear may be configured as the first forward gear and the first reverse gear of the working machine, and the speed gear may be configured as the second forward gear of the working machine.

[0082] like Figure 4 As shown, to achieve the above purpose, the present invention also provides a working machine, which includes a vehicle body, a travel transmission mechanism and a controller 1. The travel transmission mechanism includes a motor 2 and a gearbox 3. The power output by the motor 2 is amplified by the gearbox 3 to drive the vehicle body to travel. The controller 1 is connected to the motor 2 and the gearbox 3 and is used to execute the working machine shift control method described above. The working machine can be an electric loader, a crane, an aerial work vehicle, a pump truck, etc. Since the working machine adopts all the technical solutions of the above embodiments, it at least has the beneficial effects brought by the above embodiments, which will not be repeated here.

[0083] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0084] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0085] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0086] Although the embodiments of the present invention have been described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A working machine shift control method, characterized in that: The working machine shift control method comprises: Acquiring working state data of the working machine during a gear shift operation; Determining the working mode of the operating machine according to the working status data; According to the working mode, select a corresponding preset shift strategy; According to the selected preset shifting strategy, the shifting timing and shifting time of the gearbox (3) in the working machine are controlled.

2. The working machine shift control method according to claim 1, characterized in that: The working mode of the working machine includes a heavy load mode, and the preset shift strategy includes a first shift strategy corresponding to the heavy load mode, and the first shift strategy includes: When the rotation speed of the motor (2) is within the gear shifting rotation speed range specified by the target gear position, the gearbox (3) is controlled to shift gears, and the gear shifting duration of the gearbox (3) is controlled to be within a first duration range.

3. The working machine shift control method according to claim 2, characterized in that: The first shift strategy includes a first sub-strategy executed when the throttle opening is lower than a set opening value and a second sub-strategy executed when the throttle opening is not lower than the set opening value; The first sub-strategy comprises: when the speed of the motor (2) is within the gear shift speed range specified by the target gear and is lower than a first set value, controlling the gearbox (3) to shift gears, and controlling the gear shift duration of the gearbox (3) to be within the first duration range; The second sub-strategy comprises: when the rotation speed of the motor (2) is within the gear shifting rotation speed range specified by the target gear and is not lower than a first set value, controlling the gearbox (3) to shift gears, and controlling the gear shifting duration of the gearbox (3) to be within the first duration range.

4. The working machine shift control method according to claim 3, characterized in that: The target gear includes a speed gear and a torque gear, and the first set value includes a high-speed shift point set value corresponding to the speed gear and a low-speed shift point set value corresponding to the torque gear.

5. The working machine shift control method according to claim 2, characterized in that: The working mode of the working machine further includes a light-load transport mode, and the preset shift strategy includes a second shift strategy corresponding to the light-load transport mode; The second shifting strategy comprises: when the rotation speed of the motor (2) is within the shifting rotation speed range specified by the target gear, controlling the gearbox (3) to shift, and controlling the shifting time of the gearbox (3) to be within a second time range; The upper limit of the second duration range is lower than or equal to the lower limit of the first duration range.

6. The working machine shift control method according to claim 5, characterized in that: The second shift strategy further includes: When the rotation speed of the motor (2) is within the gear shifting rotation speed range specified by the target gear position and is lower than a second set value, the gearbox (3) is controlled to shift gears.

7. The working machine shift control method according to claim 5, characterized in that: The working mode of the working machine includes a no-load mode, and the preset shift strategy includes a third shift strategy corresponding to the no-load mode; The third shifting strategy comprises: when the rotation speed of the motor (2) is within the shifting rotation speed range specified by the target gear, controlling the gearbox (3) to shift, and determining, based on the user's intention, that the shifting duration of the gearbox (3) is controlled to be within the first duration range or the second duration range.

8. The working machine shift control method according to any one of claims 1 to 7, characterized in that: According to the working status data, the working mode of the operating machine is judged to include: When the load of the working machine is greater than or equal to the set load, determining that the working mode of the working machine is a heavy load mode; When the load of the operating machine is lower than the set load and the travel speed is greater than or equal to the preset speed, it is determined that the working mode of the operating machine is a light load transport mode; When the load of the operating machine is less than a preset load and the travel speed is less than a preset speed, it is determined that the operating mode of the operating machine is a no-load mode.

9. The working machine shift control method according to any one of claims 1 to 8, characterized in that: In the process of controlling the gear shifting timing and the gear shifting time of the gearbox in the working machine, the working machine gear shifting control method further includes: The gear shifting time of the gearbox (3) and the speed change data of the motor (2) after the gear shifting are monitored.

10. A working machine, characterized in that: include: Vehicle body; A travel transmission mechanism comprises a motor (2) and a gearbox (3), wherein the power output by the motor (2) is amplified by the gearbox (3) to drive the vehicle body to travel; and A controller (1) is connected to the motor (2) and the gearbox (3) and is used to execute the working machine shift control method according to any one of claims 1 to 9.

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