The invention discloses a using method of a gear shifting device with a scissor fork type telescopic mechanism. The using method comprises the following steps that an initial manual gear shifting state is involved, wherein the scissor fork type telescopic mechanism is in a retracted state, and manual gear shifting can be achieved by a driver; the state is switched to an automatic gear shifting state, wherein an upper computer sends an instruction, and a motor rotates to enable the scissor fork type telescopic mechanism to be unfolded and extended, so that the scissor fork type telescopic mechanism is connected with an electromagnet mounting seat structure on a gear shifting rod; the automatic gear shifting state is executed, wherein the upper computer sends an instruction, the motor rotates, and the gear shifting rod moves vertically or horizontally through the scissor fork type telescopic mechanism and the electromagnet mounting seat; and the automatic gear shifting state is ended, wherein the upper computer sends an instruction, the scissor fork type telescopic mechanism and the electromagnet mounting seat are disconnected, and the scissor fork type telescopic mechanism is retracted and shortened until the scissor fork type telescopic mechanism is retracted to the final position. The method is simple to use and easy to operate.