TWI508893B - Intelligent variable speed control system - Google Patents

Description

Intelligent shift control system

The invention relates to a smart shift control system, in particular to a bicycle automatic control shifting technique based on pedaling or hand crank frequency as an automatic shifting shifting basis.

With the continuous development of electronic technology, the trend of electronic control of mechanical mechanisms is unstoppable, so that the control mechanism of the bicycle shifting device is also equipped with an electronic train. For example, as shown in the patent of the "Electronic Bicycle Shift Control Device" of the Republic of China Invention No. 243834, it includes two sets of button sets on the two sides of the handle, a two-drive shifting drive group, and a control circuit, wherein the button group can be controlled via the control circuit. The drive train set generates a pull action to perform a manual shift. Although the patent can replace the traditional left and right shifting group by two button sets, it provides a shift control method with precise operation and convenient operation and effort; however, it has no speed or speed state detection and intelligent operation processing and the like. Therefore, it is only possible to manually control the shifting operation of the transmission, thus causing inconvenience and trouble in the shifting operation; not only that, in the environment where the second is necessary, the traditional manual shifting mechanism can no longer meet the current use requirements. Because the speed, mechanical limit and performance adjustment of the intelligent automatic shifting mechanism are unmatched by the manual shifting mechanism, only through the development of the intelligent electronic shifting mechanism can the various mechanical control effects be overcome. Restricted, and developed towards the goal of fast, accurate and easy shifting.

In order to improve the aforementioned deficiency, there is another patent as shown in the Republic of China Invention No. I248411 "Automatic Gear Shifting Device for Bicycles", which has a sensed wheel speed state and a signal. The function of arithmetic processing and the like can be set, so that the shifting operation of the transmission can be automatically controlled according to the speed state of the bicycle. Although the patent has the function of intelligent automatic shifting; however, the patent still has the following drawbacks:

1. It is set with a preset value of a complex array of different speeds as a basis for shifting, and the speed sensor is used to sense the wheel speed of the bicycle, instead of sensing the stepping or turning state of the power mechanism, when the speed is higher Fast, the transmission automatically advances to the high-speed gear; conversely, when the vehicle speed is slower, the transmission automatically retracts to the low-speed gear. In the high-low gear shifting process, it is assumed that the transmission is in the low gear and the speed is When the preset speed value is not reached or approached, the user's pedaling speed will always be in a state of rapid pedaling, which may result in automatic shifting due to poor mastery of shifting timing and failure to achieve better pedaling resistance matching. Poor performance and more difficult rides.

2. Although it has two options, automatic and manual shifting, for the user to choose and control; however, it does not have the function of forced manual shifting, so under the automatic shifting mode, it cannot be immediately changed to the manual shifting mode when the bicycle enters. On the ramp, the system will only perform the downshift when the speed of the bicycle becomes slower, so that the shift will be difficult due to the increase of the load after entering the ramp, which may easily cause the fall due to gravity pedaling or the inability to step on.

The reason is that the above-mentioned conventional structure is indeed not perfect, and there is still a need for improvement. In view of this, the creators of the present invention are actively engaged in research and development, and after continuous research, design, implementation, and experimentation, the research and development results of the present invention are finally produced.

The first object of the present invention is to provide a smart shift control system, which mainly uses pedaling or hand crank frequency as the basis of automatic shift control, so that the power output of the bicycle can be It is often kept in a better matching state with the pedaling or hand-cranking resistance, so as to improve the accuracy of the shifting timing, and thus has the characteristics of intuitive operation, better automatic shifting performance, riding and labor saving, and better power output performance. The technical means for achieving the first object of the present invention includes a rotational speed sensing module, a control module and a driving mechanism. The speed sensing module senses the pedaling or hand rotation state of the bicycle power mechanism. The control module has built-in automatic shift mode and four speed presets from high to low. When the automatic shift mode is executed and the speed value is higher than the first speed preset value, the driving mechanism is triggered to advance the shifting device; when the speed value is lower than the second speed preset value and higher than the third speed preset value, The trigger drive mechanism causes the shifting device to be reversed; when the rotational speed value is higher than the fourth rotational speed preset value and lower than the third rotational speed preset value, the triggering drive mechanism is used to retract the shifting device, and the pedal can be stepped on or hand-cranked. The frequency is used as the basis for automatic shifting, which in turn improves the shifting accuracy and output efficiency of the transmission.

A second object of the present invention is to provide a smart shift control system capable of forcibly inserting a manual command in an automatic mode, which can be immediately changed to a manual shift mode in an automatic shift mode, and is more suitable for actual riding. By taking the demand, before the bicycle enters the ramp, the user can perform a forced downshift in advance, so that the stepping or handing force after entering the ramp can be maintained in a lighter resistance state, so as to avoid the shifting when the ramp is not reached. The resulting hard work and the fall of the situation. The technical means for achieving the second object of the present invention includes a rotational speed sensing module, a control module and a driving mechanism. The speed sensing module senses the pedaling or hand rotation state of the bicycle power mechanism. The control module has built-in automatic shift mode and four speed presets from high to low. When the automatic shift mode is executed and the rotational speed value is higher than the preset value of the first rotational speed, the driving mechanism is triggered to advance the shifting device; when the rotational speed value is lower than the preset value of the second rotational speed and higher than When the third speed is preset, the driving mechanism is triggered to reverse the shifting device; when the speed value is higher than the fourth speed preset value and lower than the third speed preset value, the driving mechanism is triggered to deactivate the shifting device.俾 can use the pedaling or hand frequency as the basis for automatic shifting, thereby improving the shifting accuracy and output efficiency of the transmission. The control module is electrically connected to a forced shifting button for generating a forced shifting command. When the automatic shifting mode is generated and the forced shifting command is generated, the control module controls the shifting device to be lowered to a low speed through the driving mechanism. The gear position, after a period of time, the control module automatically returns to the automatic shift mode.

10‧‧‧Bicycle

11‧‧‧Transmission

12‧‧‧Power Agency

120‧‧‧Power input mechanism

121‧‧‧Power transmission mechanism

13‧‧‧Car handle

20‧‧‧Speed sensing module

20a‧‧ Hall sensor

21‧‧‧Speed sensing module

20b‧‧‧Magnetic components

30‧‧‧Control Module

31‧‧‧Transmission button set

310‧‧‧forward key

311‧‧‧Return button

36‧‧‧Forced shift key

32‧‧‧Signal Processing Unit

33‧‧‧Drive circuit

34‧‧‧Battery Pack

35‧‧‧Shell

40‧‧‧ drive mechanism

41‧‧‧Motor

42‧‧‧ Pulling mechanism

50‧‧‧ display device

60‧‧‧ computer

70‧‧‧Communication interface

1 is a schematic view showing the implementation of the present invention mounted on a bicycle.

2 is a schematic diagram of the implementation of the circuit junction architecture of the present invention.

Figure 3 is a schematic view showing the implementation of the components of the present invention mounted on a handlebar.

Figure 4 is a schematic diagram of the control of the functional blocks of the circuit of the present invention.

Figure 5 is a schematic diagram of the implementation of the control flow of the present invention.

Figure 6 is a schematic diagram of the comparison of the power output and the rotational speed value of the present invention.

Fig. 7 is a schematic view showing the display screen of the gear position and the speed ratio of the present invention.

Figure 8 is a schematic diagram of the comparison of the power curve and the pedaling torque of the present invention.

Figure 9 is a schematic view showing the control of the displacement stroke of the drive mechanism of the present invention.

Referring to Figures 1 and 2, in order to achieve the first specific embodiment of the first object of the present invention, the present invention is installed on a hand-operated bicycle 10 for a disabled person to ride, or a general step-on bicycle 10. Used to control the shifting operation of the shifting device 11 of the bicycle 10. The specific architecture of the system of the present invention includes a technical feature such as a rotational speed sensing module 20, a control module 30, and a driving mechanism 40. The speed sensing module 20 is configured to sense the stepping and handing frequency to generate the stepping frequency information, that is, the speed signal generated by the pedaling frequency of the pedal 10 and the rotation speed of the wheel. . The control module 30 is configured to convert the rotational speed signal into a corresponding stepping frequency value and a rotational speed value, and is a stepping frequency information and a vehicle speed information, and then according to the stepping frequency information, and matching the pre-established riding power through the experiment. Curve information, and output a control signal that matches the step frequency information, the speed information, and the ride power curve information. The drive mechanism 40 can control the shifting operation of the shifting device 11 by the triggering of the control signal. In the specific embodiment of the present invention, the rotation speed sensing module 20 senses the stepping or hand rotation state of the hand-operated or step-on power mechanism 12 of the bicycle 10 to generate the rotation speed signal. The control module 30 has an automatic shifting mode and at least one preset speed value. When the automatic shifting mode is executed and the speed value is higher than the preset speed value, the driving mechanism 40 is triggered to shift the shifting device 11 to the high speed gear. . When the rotational speed value is lower than the rotational speed preset value, the trigger drive mechanism 40 is caused to reverse the shifting device 11 to the low speed gear position. In addition, as shown in FIG. 1 , the stepping power mechanism 12 is exemplified by a power input mechanism 120 (such as a combination of a crank group, a pair of step groups and a pedal group and a bicycle 10) and a power unit. The transmission mechanism 121 (the large gear set, the flywheel set and a set of chains connected to the large gear set and the flywheel set), since the above-mentioned power mechanism 12 has been a very well-known technique, the connection relationship and operation of the power mechanism 12 are not The way to do a detailed description.

In a more specific embodiment of the present invention, as shown in FIG. 5 and FIG. 6, the preset speed value includes a first speed preset value P2 and a second speed preset value P1. A third speed preset value P02 and a fourth speed preset value P01. In a section During the time, when the rotational speed value is higher than the first rotational speed preset value P2, the driving mechanism 40 is triggered to advance the shifting device 11; when the rotational speed value is lower than the second rotational speed preset value P1 and higher than the third rotational speed preset value At P02, the triggering drive mechanism 40 causes the shifting device 11 to retract; when the rotational speed value is higher than the fourth rotational speed preset value P01 and lower than the third rotational speed preset value P02, the triggering drive mechanism 40 is caused to reverse the shifting device 11 . Furthermore, the present invention further includes an automatic shift mode modulation module, wherein the preset speed value can be adjusted according to different shifting speeds, different vehicle types and different road conditions, and the front shifting speed is adopted by the automatic shifting mode modulation module. The gear position and stroke, as well as the rear shift position and stroke, can also be adjusted to meet the needs of different shifting and vehicle types. The automatic shift mode modulation module can be adjusted by handheld electronic devices (such as mobile phones). , a notebook computer, a tablet computer or a personal mobile assistant), or a computer, communicates with the main control display panel through the communication interface, so that the control module 30 can read and write the shifting and the rear shifting before setting the automatic shifting mode. Parameters such as gear position and stroke. The control module 30 can directly download an application software (APP) including an automatic shift mode, and execute an automatic shift mode according to the application software. In addition, the present invention further includes a speed sensing module 22 for sensing the speed state of the bicycle 10 to generate a speed signal, and the control module 30 processes the speed signal into a speed value as a basis for correcting the fine adjustment control signal. . Moreover, when the rotational speed value is zero, the control module 30 maintains the shifting device 11 in the original gear position.

On the other hand, the control module 30 of the present invention has a built-in automatic shift mode and a built-in semi-automatic shift mode and a manual shift mode. The control module 30 shown in FIGS. 2-5 includes a shifting button set 31 mounted on the handlebar 13 of the bicycle 10. A display device 50 is disposed on the handle 13 of the bicycle 10. The number of the shift button groups 31 is two groups, and a shift button group 31 is disposed on the left side of the handlebar 13 to control the shifting device 11 to change before. The shifting operation of the speeder 11a; the second shifting button group 31 is disposed on the right side of the handlebar 13 to control the shifting operation of the transmission 11b after the shifting device 11, and each of the shifting button sets 31 includes a shifting key 310 and a retreat File button 311. As shown in FIG. 7 , when the semi-automatic shift mode is executed, the control module 30 displays the number of gears of the shifting device 11 on the display device 50 according to the size, and displays corresponding ones on one side of each of the number of gear positions. In addition, the present invention further includes at least one set of position sensors (not shown) for sensing the gear position of the shifting device 11 to transmit the position signal to the control module 30 for interpretation and subsequent operation. Handling and display actions.

Moreover, in the manual shift mode, the control module 30 displays the number of steps of the current shifting device 11 on the display device 50, and the user can perform the shift button 310 and the reverse button 311 of the shift button group 31. Manual shifting or retracting manipulation. Secondly, in any period of time when the automatic shift mode is executed, the action of pressing the shifting button group 31 can interrupt the automatic shifting mode, and manually perform the step of shifting or retracting; when returning to the automatic shifting mode, only The power mechanism 12 needs to be stepped on so that the speed value is continuously greater than the first speed preset value P2, and after N (at least 1 time), the automatic shift mode can be restored.

Specifically, as shown in FIG. 1 and FIG. 4, the specific structure of the control module 30 further includes a signal processing unit 32 (such as a microprocessor or a microcontroller), a driving circuit 33, and a supply control module 30. The battery pack 34 of the power source, and a housing signal processing unit 32, a drive circuit 33, a battery pack 34, and a housing 35 of the display device 50 are mounted on the frame 10. The signal processing unit 32 is configured to process the rotational speed signal into a rotational speed value and output a control signal. The drive circuit 33 can be controlled by the control signal to control the action of the drive mechanism 40. As shown in FIG. 2, the rotational speed sensing module 20 of the present invention is a set of two Hall sensors 20a having a phase difference of 90 degrees in order to achieve the purpose of two-digit digital encoding and sensing the rotational direction. Further, turn The speed sensing module 20 further includes a magnetic element 20b disposed at a position rotatable with the power mechanism 12 (such as a position of the crank top toward the outer edge of the vehicle five-way tube), and the two sets of Hall sensors 20a are The phase difference of 90 degrees is set at a position where the magnetic element 20b is corresponding to the surrounding induction (such as the position of the outer edge of the frame five-way pipe). In addition, as shown in FIG. 4, the number of the driving mechanisms 40 of the present invention is two groups, and each driving mechanism 40 includes a motor 41 and a wire pulling mechanism 42 coupled with the motor 41. The wire pulling mechanism 42 is provided for the shifting device 11. At least one cable 110 is wound around the cable. When the motor 41 drives the wire pulling mechanism 42 to rotate, the cable 110 can be driven to perform a reciprocating displacement of the predetermined stroke, thereby controlling the shifting operation of the shifting device 11. Further, when the present invention employs the general motor 41, a set of speed reduction mechanisms for reducing the output speed of the motor 41 can be added; when the stepping motor 41 is employed, the above-described speed reduction mechanism is not required.

Referring to FIG. 1 and FIG. 3 to FIG. 5, in order to achieve the second specific embodiment of the second aspect of the present invention, the present invention is installed on a hand-operated bicycle 10 for a disabled person to ride, or a general step-on bicycle 10 In the above, the shifting operation of the shifting device 11 before and after the bicycle 10 is controlled. The specific architecture of the present invention includes technical features such as a rotational speed sensing module 20, a control module 30, and a drive mechanism 40. The speed sensing module 20 is configured to sense the speed state of the bicycle 10 to generate a speed signal. The control module 30 is configured to convert the speed signal into a corresponding speed value and output a control signal corresponding to the speed value. The drive mechanism 40 can control the shifting operation of the shifting device 11 by the triggering of the control signal. The main part of the present invention is that the rotation speed sensing module 20 is configured to sense the stepping or hand rotation state of the hand-operated or step-on power mechanism 12 of the bicycle 10 to generate the rotation speed signal; the control module 30 An automatic shifting mode and at least one rotational speed preset value are built in. When the automatic shifting mode is executed and the rotational speed value is higher than the preset rotational speed value, the driving mechanism 40 is triggered to advance the shifting device 11 to the high speed gear; When the rotational speed value is lower than the rotational speed preset value, the trigger drive mechanism 40 is caused to reverse the shifting device 11 to the low speed gear position. In addition, the control module 30 is electrically connected to a forced shifting button 36 for generating a forced shifting command. When the automatic shifting mode is generated and the forced shifting command is generated, the control module 30 controls the shifting device 11 to be lowered by the driving mechanism 40. In the low speed gear position, after a period of time, the control module 30 automatically returns to the automatic shift mode.

As shown in FIG. 2 and FIG. 3, before the operation of the present invention, as shown in FIG. 2, the control module 30 can be connected to a computer 60 through a communication interface 70 such as USB or RS232. The computer 60 sets the modulation parameters of the control module 30, the gear arrangement display, the number of gear positions, the stroke of the drive mechanism 40, and the inspection correction to perform related setting steps. Further, the computer 60 can be a general personal computer. , a notebook computer or a smart handheld device (such as a tablet or a smart phone), when the user wants to operate the setting step, the application (APP) can be downloaded from the computer or the smart handheld device, and the application is The setting steps of the modulation parameter, the gear arrangement display, the number of gear positions, the stroke of the drive mechanism 40, and the inspection correction are performed. Next, the control module 30 of the present invention has three modes of manual shifting, semi-automatic shifting, and automatic shifting. When the user selects the manual shift mode, the shift button group 31 located on the left side of the handlebar 13 can be manually operated to control the shifting operation of the transmission 11a before the shifting device 11, and when the user presses the shift button 310, The shifting of the front derailleur 11a is performed; when the user presses the retracting key 311, the shifting of the front shifting device 11 can be performed. The second shifting button group 31 is provided on the right side of the handlebar 13 to control the shifting operation of the transmission 11b after the shifting device 11. In addition, as shown in FIG. 7 , when the semi-automatic shift mode is executed, the control module 30 displays the number of gears of the shifting device 11 on the display device 50 according to the size, and displays on one side of each of the number of gear positions. correspond The speed ratio information is the same as the manual shift mode.

Furthermore, as shown in FIGS. 5 and 6, in the automatic shift mode, when the user's hand cranking or stepping on the power mechanism 12 is higher than the preset first speed preset value P2, the control module 30 triggers the driving. The mechanism 40 advances the front or rear shifting device 11. When the rotation speed of the user manually or stepping on the power mechanism 12 is lower than the second speed preset value P1 and higher than the third speed preset value P02, the control module 30 triggers the drive mechanism 40 to retract the front or rear shifting device 11 files. When the rotation speed of the user's hand or stepping power mechanism 12 is higher than the fourth speed preset value P01 and lower than the third speed preset value P02, the control module 30 triggers the driving mechanism 40 to retract the front or rear shifting device 11 files. In addition, when the rotational speed value is zero, the control module 30 maintains the shifting device 11 in the original gear position.

Specifically, please refer to FIG. 8 , which is a comparison between the riding power curve and the pedaling torque of the present invention. The formula of the riding power curve is as follows: , where N is the speed value and To is the torque value. The vertical axis is the torque and the pedaling power, the horizontal axis is the pedaling speed, and the riding power curve is the waveform with the upper half cycle. The torque curve gradually extends from the vertical axis to the power curve on the horizontal axis. It can be seen from Fig. 8 that the optimum resistance matching area is the range circled at the top of the power curve, and in addition, there are two longitudinally juxtaposed dashed lines in the power curve. The area beyond the dotted line on the right side means that the pedaling speed is too fast and needs to be moved in order to increase the pedaling torque and reduce the pedaling frequency. As for the area beyond the dotted line on the left side, the pedaling speed is too slow and the gear is required to be retracted, so as to reduce the pedaling torque. Then increase the pedaling frequency. Referring to FIG. 9, the control relationship of the displacement stroke of the driving mechanism 40 of the present invention is shown, wherein S1~S10 are the displacement amounts of the cable 120 of the shifting mechanism 12, and the displacement amount has a linear contrast relationship with the rotational speed value.

According to the above specific embodiments, the present invention has the following features: 1. The present invention can be used as a basis for automatic shift control by pedaling or hand crank frequency, so that the power output of the bicycle can be regularly stepped on or stepped on or The hand resistance is maintained in a better matching state, thereby improving the mastery of the shifting timing, and thus has the characteristics of intuitive operation, better automatic shifting performance, riding and labor saving, and excellent power output performance. 2. The present invention can forcibly insert a manual command in the automatic mode, and can immediately change to the forced manual shift mode under the automatic shift mode, thereby more in line with the actual riding demand, before the bicycle enters the ramp, Allowing the user to perform a forced downshift in advance, the pedaling or handing force after entering the ramp can be maintained in a lighter resistance state, so as to avoid the difficulty of pedaling and falling due to the shifting when entering the ramp.

The above is only a possible embodiment of the present invention, and is not intended to limit the scope of the patents of the present invention, and the equivalent implementations of other changes according to the contents, features and spirits of the following claims should be It is included in the patent of the present invention. The invention is specifically defined in the structural features of the request item, is not found in the same kind of articles, and has practicality and progress, has met the requirements of the invention patent, and has filed an application according to law, and invites the bureau to approve the patent according to law to maintain the present invention. The legal rights of the applicant. On-line signal detection performance.

10‧‧‧Bicycle

11‧‧‧Transmission

11a‧‧‧Front transmission

11b‧‧‧ Rear derailleur

12‧‧‧Power Agency

120‧‧‧Power input mechanism

121‧‧‧Power transmission mechanism

13‧‧‧Car handle

30‧‧‧Control Module

31‧‧‧Transmission button set

35‧‧‧Shell

40‧‧‧ drive mechanism

50‧‧‧ display device

Claims (10)

An intelligent shifting control system is mounted on a bicycle for controlling a shifting operation of at least one shifting device of the bicycle, comprising a speed sensing module, a control module and a driving mechanism; The sensing module is configured to sense the speed state of the bicycle to generate a speed signal; the control module is configured to convert the speed signal into a corresponding speed value, and output a control signal corresponding to the speed value; the driving The mechanism can be controlled by the control signal to control the shifting operation of the shifting device. The speed sensing module is configured to sense the stepping or hand turning state of the power mechanism of the bicycle to generate the speed signal. The control module has an automatic shifting mode built therein, and a first speed preset value, a second speed preset value, a third speed preset value and a fourth speed preset value, which are distributed from high to low. When the automatic shifting mode is executed and the rotational speed value is higher than the first rotational speed preset value, the driving mechanism is triggered to advance the shifting device; when the rotational speed value is lower than the second rotational speed preset value and When the third speed preset value is used, the driving mechanism is triggered to deactivate the shifting device; when the speed value is higher than the fourth speed preset value and lower than the third speed preset value, the triggering is triggered. The drive mechanism reverses the shifting device. The smart speed control system of claim 1, wherein the speed sensing module is configured to sense the pedaling frequency and the vehicle speed to generate stepping frequency information and vehicle speed information, and the control module is based on the stepping frequency information and the vehicle speed The information, together with the pre-established riding power curve information, outputs a control signal that matches the stepping frequency information, the vehicle speed information and the riding power curve information. The smart shift control system of claim 1, further comprising a speed sensing module for sensing a speed state of the bicycle to generate a speed signal, wherein the control module converts the speed signal into a speed The value is used as a basis for correcting the control signal. The smart shift control system of claim 1, wherein the control module maintains the shifting device in an original gear position when the rotational speed value is zero. The smart variable speed control system according to claim 1, wherein the control module is electrically connected to a forced shifting key for generating a forced shifting command, and the control mode is generated when the automatic shifting mode is generated and the forced shifting command is generated. The group controls the shifting device to lower the low gear position through the driving mechanism, and after a period of time, the control module automatically returns to the automatic shifting mode. The smart shift control system of claim 1, wherein the control module has a built-in half automatic shift mode and a manual shift mode, and the control module includes at least one shift button mounted on one of the bicycle handlebars. The display unit is mounted on a handle of the bicycle. In the semi-automatic shift mode, the control module displays the number of gears of the shifting device in a size array on the display device, and the shift button group is provided for The user performs manual shifting or unloading control; in the manual shifting mode, the control module displays the current number of gears of the shifting device on the display device, and the shifting button group is available to the user Manual manual or reverse gear control. The intelligent shifting control system of claim 6, wherein the number of the shifting button sets is two, and one of the shifting button sets is disposed on a left side of the handlebar to control a shifting operation of the front derailleur of the transmission; Secondly, the shifting button set is disposed on the left side of the handlebar to control the shifting operation of the rear derailleur of the transmission, and each of the shifting button sets includes a shifting button and a reverse button. The smart variable speed control system of claim 7, wherein the control module further comprises a signal processing unit, a driving circuit, a battery pack for supplying power required by the control module, and a signal processing unit The driving circuit, the battery pack, and the housing of the display device, The signal processing unit is configured to convert the rotational speed signal into the rotational speed value and output the control signal, and the driving circuit can be controlled by the control signal to control the motion of the driving mechanism. The intelligent shift control system of claim 1, wherein the power mechanism of the bicycle is selected from the group consisting of a stepping power mechanism and a hand crank power mechanism. The intelligent shifting control system of claim 1, wherein the rotational speed module is two sets of Hall sensors, and the two Hall sensors are disposed at a position difference of 90 degrees with each other; The driving mechanism includes a motor and a wire pulling mechanism coupled with the motor, and the wire pulling mechanism can be connected to at least one cable of the shifting device. When the motor drives the wire pulling mechanism to rotate At this time, the cable can be driven to make a reciprocating displacement of the predetermined stroke, thereby controlling the shifting operation of the shifting device.