CN113202907B - Gearbox and gear shifting method - Google Patents
Gearbox and gear shifting method Download PDFInfo
- Publication number
- CN113202907B CN113202907B CN202110661395.XA CN202110661395A CN113202907B CN 113202907 B CN113202907 B CN 113202907B CN 202110661395 A CN202110661395 A CN 202110661395A CN 113202907 B CN113202907 B CN 113202907B
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- gear
- synchronizer
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- output
- assembly
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/02—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion
- F16H3/08—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts
- F16H3/12—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts with means for synchronisation not incorporated in the clutches
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/02—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion
- F16H3/08—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts
- F16H3/087—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts characterised by the disposition of the gears
- F16H3/091—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts characterised by the disposition of the gears including a single countershaft
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/02—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion
- F16H3/08—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts
- F16H3/12—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts with means for synchronisation not incorporated in the clutches
- F16H2003/123—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts with means for synchronisation not incorporated in the clutches using a brake
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structure Of Transmissions (AREA)
Abstract
本发明涉及汽车技术领域，尤其涉及一种变速箱和换挡方法，变速箱包括箱体；动力输入组件，所述动力输入组件转动设置在所述箱体上；动力传递组件，转动设置在所述箱体上，所述动力传递组件与所述动力输入组件传动连接；动力输出组件，转动设置在所述箱体上，一端相对所述箱体伸出，且与所述动力传递组件传动连接；制动器，所述制动器设置在所述动力传递组件上；同步器组，所述同步器组设置在所述动力输出组件上。本发明可有效减少对同步器的磨损，消除无同步器的自动变速箱在特殊工况时的打齿现象，提高自动变速箱的可靠性以及换挡舒适性。
The present invention relates to the field of automobile technology, and in particular to a gearbox and a shifting method, wherein the gearbox comprises a housing; a power input assembly, which is rotatably arranged on the housing; a power transmission assembly, which is rotatably arranged on the housing, and the power transmission assembly is transmission-connected with the power input assembly; a power output assembly, which is rotatably arranged on the housing, one end of which extends relative to the housing, and is transmission-connected with the power transmission assembly; a brake, which is arranged on the power transmission assembly; and a synchronizer group, which is arranged on the power output assembly. The present invention can effectively reduce the wear on the synchronizer, eliminate the tooth-splitting phenomenon of an automatic gearbox without a synchronizer under special working conditions, and improve the reliability and shifting comfort of the automatic gearbox.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a gearbox and a gear shifting method.
Background
The manual gearbox of the commercial vehicle shifts gears by means of the synchronizer to achieve synchronization and then finishes shifting, so that the problem that the service life of the whole machine is shortened due to the fact that the synchronizer is easy to damage exists in the manual gearbox, and the traditional automatic gearbox (AMT) of the commercial vehicle automatically adjusts the speed by controlling The Brake (TB) of the gearbox to achieve speed synchronization through the electronic control unit to brake and slow down and the engine to speed up, so that the synchronizer is omitted from the main gearbox of the traditional automatic gearbox, a sliding sleeve structure is adopted, and the automatic gearbox adopting the sliding sleeve structure has the phenomenon of tooth beating in the special working condition of the vehicle.
Accordingly, a transmission and a shift method are needed to solve the above-mentioned technical problems.
Disclosure of Invention
The invention aims to provide a gearbox and a gear shifting method, which can effectively reduce abrasion to a synchronizer, eliminate the tooth striking phenomenon of an automatic gearbox without the synchronizer under special working conditions and improve the reliability and gear shifting comfort of the automatic gearbox.
To achieve the purpose, the invention adopts the following technical scheme:
A gearbox, comprising:
A case;
The power input assembly is rotatably arranged on the box body;
the power transmission assembly is rotatably arranged on the box body and is in transmission connection with the power input assembly;
The power output assembly is rotatably arranged on the box body, and one end of the power output assembly extends out relative to the box body and is in transmission connection with the power transmission assembly;
a brake disposed on the power transmission assembly;
and the synchronizer group is arranged on the power output assembly.
Further, the power input assembly comprises an input shaft, the input shaft is rotatably arranged on the box body, an input gear is fixedly arranged on the input shaft, and the input gear is in transmission connection with the power transmission assembly.
Further, the power transmission assembly comprises a middle shaft, a power transmission gear and a gear input gear set, the middle shaft is rotatably arranged on the box body, the brake is arranged on the middle shaft, the power transmission gear and the gear input gear set are fixedly arranged on the middle shaft, the power transmission gear is meshed with the input gear, and the gear input gear set is in transmission connection with the power output assembly.
Further, the power take off assembly includes output shaft and gear output gear train, the output shaft rotates to set up on the box, and one end is relative the box stretches out, the synchronous ware group with gear output gear train all sets up on the output shaft, gear output gear train with gear input gear train meshing.
Further, the gear input gearset includes a first driving gear, the gear output gearset includes a first driven gear, the synchronizer set includes a first synchronizer, the first driving gear meshes with the first driven gear, and the first synchronizer enables the first driven gear to be combined with the output shaft.
Further, the gear input gearset includes a second driving gear, the gear output gearset includes a second driven gear, the first synchronizer is located between the first driven gear and the second driven gear, the second driving gear meshes with the second driven gear, and the first synchronizer is capable of combining the second driven gear with the output shaft.
Further, the gear input gearset includes a third driving gear, the gear output gearset includes a third driven gear, the synchronizer set includes a second synchronizer, the third driving gear meshes with the third driven gear, and the second synchronizer enables the third driven gear to be combined with the output shaft.
Further, the gear input gearset includes a fourth driving gear, the gear output gearset includes a fourth driven gear, the second synchronizer is located between the third driven gear and the fourth driven gear, the fourth driving gear meshes with the fourth driven gear, and the second synchronizer is capable of combining the fourth driven gear with the output shaft.
Further, the gear input gearset includes a fifth driving gear, the gear output gearset includes a fifth driven gear, the synchronizer set includes a third synchronizer, the fifth driving gear meshes with the fifth driven gear, and the third synchronizer is capable of coupling the fifth driven gear with the output shaft.
A method of shifting a gearbox, using a gearbox as described above, comprising the steps of:
S1, when the TCU detects that gear shifting is needed, the torque of the engine is reduced, and simultaneously, a clutch is opened to enter a gear shifting process;
s2, entering a speed regulation stage after neutral gear, sending a command to an electromagnetic valve by the TCU, switching on an external air source control brake by the electromagnetic valve, regulating the speed of the intermediate shaft by the brake to a first set value, carrying out a gear engaging command, and completing the speed synchronization of an output shaft by a synchronizer group.
The invention has the beneficial effects that:
The invention provides a gearbox and a gear shifting method, wherein a power input assembly, a power transmission assembly and a power output assembly are rotatably arranged on a box body, the power input assembly is in transmission connection with the power transmission assembly, the power transmission assembly is in transmission connection with the power output assembly, a brake is arranged on the power transmission assembly, and a synchronizer set is arranged on the power output assembly. And when the rotation speed of the power transmission assembly is close to the target rotation speed value, controlling the synchronizer, and finally synchronizing the speed by the synchronizer to finally finish the gear shifting of the gearbox. Through the mode, on one hand, the abrasion of the synchronizer group can be reduced by utilizing the electric control advantage relative to the manual gearbox, the reliability of the gearbox is improved, and on the other hand, the gear-beating phenomenon in the gear shifting process is avoided by using the synchronizer group, and the gear shifting comfort is improved.
Drawings
FIG. 1 is a schematic representation of a transmission of the present invention.
In the figure:
1. The power transmission device comprises a power input assembly, 11, an input shaft, 12, an input gear, 2, a power transmission assembly, 21, an intermediate shaft, 22, a power transmission gear, 23, a first driving gear, 24, a second driving gear, 25, a third driving gear, 26, a fourth driving gear, 27, a fifth driving gear, 28, a reverse driving gear, 3, a power output assembly, 31, an output shaft, 32, a first driven gear, 33, a second driven gear, 34, a third driven gear, 35, a fourth driven gear, 36, a fifth driven gear, 37, a reverse driven gear, 38, a reversing gear, 4, a brake, 5, a first synchronizer, 6, a second synchronizer, 7, a third synchronizer, 8, an electromagnetic valve, 9 and TCU.
Detailed Description
The technical scheme of the invention is further described below with reference to the attached drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present invention are shown.
In the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected or detachably connected, mechanically connected or electrically connected, directly connected or indirectly connected through intermediaries, or may be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In order to effectively reduce abrasion to a synchronizer, eliminate the tooth striking phenomenon of an automatic gearbox without the synchronizer under a special working condition and improve the reliability and gear shifting comfort of the automatic gearbox, as shown in fig. 1, the invention provides the gearbox. The gearbox comprises a box body, a power input assembly 1, a power output assembly 3, a brake 4 and a synchronizer set.
The power transmission device comprises a power input assembly 1, a power transmission assembly 2, a power output assembly 3, a brake 4, a synchronizer group and a power output assembly 3, wherein the power input assembly 1 is rotatably arranged on a box body, the power transmission assembly 2 is rotatably arranged on the box body, the power transmission assembly 2 is in transmission connection with the power input assembly 1, the power output assembly 3 is rotatably arranged on the box body, one end of the power output assembly extends out relative to the box body and is in transmission connection with the power transmission assembly 2, the brake 4 is arranged on the power transmission assembly 2, and the synchronizer group is arranged on the power output assembly 3.
During gear shifting, the brake 4 is controlled to brake the power transmission assembly 2, and when the rotating speed of the power transmission assembly 2 approaches to a target rotating speed value, the synchronizer is controlled, and the final speed synchronization is performed by the synchronizer, so that gear shifting of the gearbox is finally completed. Through the mode, on one hand, the abrasion of the synchronizer group can be reduced by utilizing the electric control advantage relative to the manual gearbox, the reliability of the gearbox is improved, and on the other hand, the gear-beating phenomenon in the gear shifting process is avoided by using the synchronizer group, and the gear shifting comfort is improved.
Further, the power input assembly 1 comprises an input shaft 11, the input shaft 11 is rotatably arranged on the box body, an input gear 12 is fixedly arranged on the input shaft 11, and the input gear 12 is in transmission connection with the power transmission assembly 2. Specifically, the input shaft 11 is connected to an engine of an automobile, and power input is achieved.
Further, the power transmission assembly 2 includes a countershaft 21, a power transmission gear 22 and a gear input gear set, the countershaft 21 is rotatably disposed on the housing, the brake 4 is disposed on the countershaft 21, the power transmission gear 22 and the gear input gear set are fixedly disposed on the countershaft 21, the power transmission gear 22 is meshed with the input gear 12, and the gear input gear set is in driving connection with the power output assembly 3. The brake 4 can control the rotation speed of the intermediate shaft 21 during gear shifting, thereby realizing speed regulation, transmitting power from the input shaft 11 to the intermediate shaft 21 through the engagement of the power transmission gear 22 with the input gear 12, and transmitting power from the intermediate shaft 21 to the power output assembly 3 through the gear input gear set.
Further, the power output assembly 3 includes an output shaft 31 and a gear output gear set, the output shaft 31 is rotatably disposed on the case, and one end of the output shaft extends out relative to the case, and the synchronizer set and the gear output gear set are both disposed on the output shaft 31, and the gear output gear set is meshed with the gear input gear set. Specifically, the gear output gear set is sleeved on the output shaft 31, and when a gear is required to be shifted, the corresponding synchronizer is controlled to be connected with the corresponding gear output gear, so that the corresponding gear can be engaged.
Specifically, the gear input gearset includes the first driving gear 23, the gear output gearset includes the first driven gear 32, the synchronizer set includes the first synchronizer 5, the first driving gear 23 meshes with the first driven gear 32, and the first synchronizer 5 enables the first driven gear 32 to be combined with the output shaft 31. When a gear is engaged, the first synchronizer 5 is controlled to complete final speed synchronization, so that the first driven gear 32 is connected with the output shaft 31 through the first synchronizer 5, and power output is realized.
Further, the gear input gear set includes the second driving gear 24, the gear output gear set includes the second driven gear 33, the first synchronizer 5 is located between the first driven gear 32 and the second driven gear 33, the second driving gear 24 is meshed with the second driven gear 33, and the first synchronizer 5 can combine the second driven gear 33 with the output shaft 31. When the second gear is engaged, the first synchronizer 5 and the second driven gear 33 are controlled to combine to finish final speed synchronization, so that the second driven gear 33 is connected with the output shaft 31 through the first synchronizer 5, and power output is realized.
Further, the gear input gear set includes a third driving gear 25, the gear output gear set includes a third driven gear 34, the synchronizer set includes a second synchronizer 6, the third driving gear 25 is meshed with the third driven gear 34, and the second synchronizer 6 is capable of coupling the third driven gear 34 with the output shaft 31. When three gears are engaged, the second synchronizer 6 and the third driven gear 34 are controlled to complete final speed synchronization, so that the third driven gear 34 is connected with the output shaft 31 through the second synchronizer 6, and power output is achieved.
Further, the gear input gear set includes a fourth driving gear 26, the gear output gear set includes a fourth driven gear 35, the second synchronizer 6 is located between the third driven gear 34 and the fourth driven gear 35, the fourth driving gear 26 is meshed with the fourth driven gear 35, and the second synchronizer 6 can combine the fourth driven gear 35 with the output shaft 31. When the four gears are engaged, the second synchronizer 6 and the fourth driven gear 35 are controlled to combine to finish final speed synchronization, so that the fourth driven gear 35 is connected with the output shaft 31 through the second synchronizer 6 to realize power output.
Further, the gear input gear set includes a fifth driving gear 27, the gear output gear set includes a fifth driven gear 36, the synchronizer set includes a third synchronizer 7, the fifth driving gear 27 is meshed with the fifth driven gear 36, and the third synchronizer 7 is capable of coupling the fifth driven gear 36 with the output shaft 31. When the fifth gear is engaged, the third synchronizer 7 and the fifth driven gear 36 are controlled to complete final speed synchronization, so that the fifth driven gear 36 is connected with the output shaft 31 through the third synchronizer 7, and power output is achieved.
Further, the gear input gear set includes a reverse gear driving gear 28, the gear output gear set includes a reverse gear driven gear 37, the third synchronizer 7 is located between the fifth driven gear 36 and the reverse gear driven gear 37, the reverse gear driving gear 28 is meshed with the reverse gear driven gear 37 through a reversing gear 38, and the third synchronizer 7 can combine the reverse gear driven gear 37 with the output shaft 31. The reverse driven gear 37 is changed in rotation direction by arranging the reversing gear 38, so that the rotation direction of the output shaft 31 is changed, and power output is realized.
The embodiment also provides a gear shifting method of the gearbox, which uses the gearbox to shift gears, and comprises the following steps:
S1, when a TCU9 (Transmission Control Unit, namely an automatic gearbox control unit) detects that gear shifting is needed, engine torque reduction is carried out, and meanwhile, a clutch is opened to enter an off-shift process;
S2, entering a speed regulation stage after neutral gear, sending a command to the electromagnetic valve 8 by the TCU9, switching on an external air source by the electromagnetic valve 8 to control the brake 4, regulating the speed of the intermediate shaft 21 by the brake 4 to a first set value, carrying out a gear shift command, and completing the speed synchronization of the output shaft by the synchronizer group. Specifically, the brake 4 completes 70% of the speed regulation of the intermediate shaft 31, and then the synchronizer group completes the subsequent 30% of the speed synchronization, completing the gear shift.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110661395.XA CN113202907B (en) | 2021-06-15 | 2021-06-15 | Gearbox and gear shifting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110661395.XA CN113202907B (en) | 2021-06-15 | 2021-06-15 | Gearbox and gear shifting method |
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| Publication Number | Publication Date |
|---|---|
| CN113202907A CN113202907A (en) | 2021-08-03 |
| CN113202907B true CN113202907B (en) | 2025-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110661395.XA Active CN113202907B (en) | 2021-06-15 | 2021-06-15 | Gearbox and gear shifting method |
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| CN (1) | CN113202907B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117823580B (en) * | 2024-03-06 | 2024-05-24 | 山东福尔沃农业装备股份有限公司 | Five-order automatic power gear shifting system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108194629A (en) * | 2017-12-18 | 2018-06-22 | 东南大学 | The double clutch shifting systems of internal combustion engine vehicle motor auxiliary and its control method |
| CN110978988A (en) * | 2020-01-14 | 2020-04-10 | 河南科技大学 | Hybrid DCT tractor and automatic gear shifting control method thereof |
| CN215110339U (en) * | 2021-06-15 | 2021-12-10 | 嘉兴鲁棒实特车辆智能科技有限公司 | Gear box |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19824415A1 (en) * | 1998-05-30 | 1999-12-02 | Volkswagen Ag | Automotive gearbox has two drive input shafts linked by a clutch |
| CN109027144B (en) * | 2018-10-12 | 2024-05-03 | 中汽研汽车检验中心（天津）有限公司 | Automatic 9-gear double-clutch gearbox |
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2021
- 2021-06-15 CN CN202110661395.XA patent/CN113202907B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108194629A (en) * | 2017-12-18 | 2018-06-22 | 东南大学 | The double clutch shifting systems of internal combustion engine vehicle motor auxiliary and its control method |
| CN110978988A (en) * | 2020-01-14 | 2020-04-10 | 河南科技大学 | Hybrid DCT tractor and automatic gear shifting control method thereof |
| CN215110339U (en) * | 2021-06-15 | 2021-12-10 | 嘉兴鲁棒实特车辆智能科技有限公司 | Gear box |
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| CN113202907A (en) | 2021-08-03 |
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