Tractor and control method thereof

Abstract

The invention belongs to the technical field of traction machinery, and particularly relates to a traction machine and a control method thereof.The traction machine comprises a rotary driving part, a battery module, a range extending mechanism and a traction wheel assembly in driving connection with the rotary driving part, and the control method comprises the following steps that the current working condition of the traction machine is obtained; when the tractor is in the traction working condition, the residual electric quantity of the battery module and the driving load of the rotary driving part are obtained; switching a driving mode of the tractor according to the residual electric quantity and the driving load; and controlling the battery module and / or the range extending mechanism to supply energy to the rotary driving part according to the driving mode, so that the rotary driving part drives the traction wheel assembly to rotate. By adopting the control method, the endurance when the battery drives the traction wheel assembly to work can be prolonged.

Description

Technical Field

[0001] The present invention belongs to the technical field of traction machinery, and in particular relates to a traction machine and a control method thereof. Background Art

[0002] Traction machines are used for tension stringing of power transmission lines and can actively provide traction for conductors and guide ropes. Most existing traction machines are equipped with a traction mechanism and a drive system, and the drive system drives the traction mechanism to work, wherein the drive system includes a diesel engine and a hydraulic control device.

[0003] However, diesel engines and hydraulic systems are noisy, polluting, and have low energy conversion efficiency. If electric energy is used to drive the traction wheel assembly, a high-power battery or power supply is required to ensure the operation of the drive motor. The power supply is difficult to install and transport, and the high-power battery has the problem of endurance. When the high-power battery is low in power, the output power cannot be guaranteed, causing the traction machine to frequently need to be charged or the battery replaced, so it cannot be widely promoted. Summary of the invention

[0004] The purpose of the present invention is to provide a traction machine and a driving system thereof, so as to solve the technical problem in the prior art that a traction wheel assembly driven by a high-power battery has insufficient battery life.

[0005] In order to achieve the above object, the present invention provides a control method for a tractor, the tractor comprising a rotary drive member, a battery module, a range extender mechanism, and a traction wheel assembly drivingly connected to the rotary drive member, the control method comprising the following steps:

[0006] Obtain the current working condition of the traction machine;

[0007] When the traction machine is in a traction condition, obtaining the remaining power of the battery module and the driving load of the rotating driving component;

[0008] Switching the driving mode of the traction machine according to the remaining power and the driving load;

[0009] The battery module and / or the range extender mechanism are controlled to supply energy to the rotary drive member according to the driving mode, so that the rotary drive member drives the traction wheel assembly to rotate.

[0010] In some embodiments, switching the driving mode of the traction machine according to the remaining power and the driving load includes the following steps: when the remaining power of the battery module is greater than a first preset power threshold and the driving load is less than a first preset load threshold, determining that the traction machine enters a pure electric mode; in the pure electric mode, controlling the battery module to provide energy for the rotating drive component alone.

[0011] In some embodiments, switching the driving mode of the traction machine according to the remaining power and the driving load also includes the following steps: when the remaining power of the battery module is greater than a second preset power threshold and the driving load is greater than a first preset load threshold, determining that the traction machine enters a hybrid mode; in the hybrid mode, controlling the battery module and the range extender mechanism to simultaneously provide energy for the rotating drive component.

[0012] In some embodiments, switching the driving mode of the traction machine according to the remaining power and the driving load also includes the following steps: when the remaining power of the battery module is less than a first preset power threshold and the driving load is equal to a second preset load threshold, determining that the traction machine enters a pure extended-range mode, wherein the first preset power threshold is greater than the second preset power threshold; in the pure extended-range mode, controlling the range-extending mechanism to provide energy to the rotating drive member alone.

[0013] In some embodiments, switching the driving mode of the traction machine according to the remaining power and the driving load also includes the following steps: when the remaining power of the battery module is less than a first preset power threshold and the driving load is less than a second preset load threshold, determining that the traction machine enters the extended-range charging mode; in the extended-range charging mode, controlling the extended-range mechanism to provide energy to the rotating drive member and charge the battery module.

[0014] In some embodiments, switching the driving mode of the traction machine according to the remaining power and the driving load also includes the following steps: when the remaining power of the battery module is less than a first preset power threshold and the driving load is equal to zero, determining that the traction machine enters a pure charging mode; in the pure charging mode, controlling the range extender mechanism to charge the battery module.

[0015] In some embodiments, the control method further includes the following steps: when the traction machine is in the wire feeding condition, adjusting the output power of the range extender mechanism to the wire releasing power so that the range extender mechanism alone supplies power to the rotating drive member; or controlling the battery module alone supplies power to the rotating drive member.

[0016] In some embodiments, the control method further includes the following steps: when the traction machine is in a wire feeding condition, obtaining the remaining power of the battery module; when the remaining power of the battery module is less than a first preset power threshold, controlling the range extender mechanism to provide energy to the rotating drive component and charge the battery module.

[0017] A second aspect of the present invention provides a traction machine, comprising: a rotating drive member; a battery module; a range-extending mechanism; and a traction wheel assembly drivingly connected to the rotating drive member; and a controller configured to execute the above-mentioned traction machine control method.

[0018] In some embodiments, the traction machine also includes: a frame, on which a rotating drive component, a battery module, a range extender mechanism and a traction wheel assembly are installed; a wire drum mechanism, which is installed on the frame and spaced apart from the traction wheel assembly, and the wire drum mechanism is used to release or store the traction rope; and a rope pressing assembly, which is installed between the wire drum mechanism and the traction wheel assembly and is used to press the traction rope.

[0019] In the above technical solution, when the traction machine performs traction work, the remaining power of the battery module and the driving load of the rotating drive member can be obtained, and the driving mode of the traction machine can be adjusted according to the remaining power and the driving load. According to the driving mode, the battery module and / or the range-extending mechanism are controlled to supply energy to the rotating drive member, so that the rotating drive member drives the traction wheel assembly to rotate. The above technical solution has the following beneficial effects: the traction machine adds a range-extending mechanism to supply energy to the rotating drive member, which extends the working life of the traction machine, and can control the battery module and / or the range-extending mechanism to supply energy to the rotating drive member according to the remaining power of the battery module and the size of the driving load. Under the premise of ensuring that the traction machine can work normally, using the battery module to supply energy to the rotating drive member is cleaner and more environmentally friendly, and the energy of the range-extending mechanism is usually easy to replenish, and the battery module can be charged by the range-extending mechanism, ensuring the endurance of the traction machine.

[0020] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative work. In the accompanying drawings:

[0022] Figure 1 A flow chart of a method for controlling a traction machine according to an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the structure of a traction machine provided according to an embodiment of the present invention;

[0024] Figure 3 The present invention is a logic block diagram of a control method for a traction machine provided in accordance with an embodiment of the present invention.

[0025] Description of Reference Numerals

[0026] 10 Rotating drive element

[0027] 20 Battery Module

[0028] 30 Range Extender

[0029] 40 Traction wheel assembly

[0030] 50 racks

[0031] 60 Wire drum mechanism

[0032] 61 Flip Rack

[0033] 62 Reels

[0034] 70 Pressure rope assembly DETAILED DESCRIPTION

[0035] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0036] The traction machine and the control method thereof according to the present invention will be described below with reference to the accompanying drawings.

[0037] like Figure 1 As shown, it is a flow chart of a control method of a traction machine provided according to an embodiment of the present invention; Figure 2 , which is a schematic structural diagram of a traction machine provided according to an embodiment of the present invention.

[0038] The traction machine of the present application includes: a rotating drive member 10; a battery module 20; a range extender mechanism 30; and a traction wheel assembly 40, which is drivingly connected to the rotating drive member 10; and a controller, which is configured to execute a control method for the traction machine.

[0039] The control method of the traction machine comprises the following steps:

[0040] S102, obtaining the current working condition of the traction machine;

[0041] S104, when the traction machine is in the traction condition, obtaining the remaining power of the battery module 20 and the driving load of the rotating driving member 10;

[0042] S106, switching the driving mode of the traction machine according to the remaining power and the driving load;

[0043] S108 , controlling the battery module 20 and / or the range extender mechanism 30 to supply energy to the rotary drive member 10 according to the driving mode, so that the rotary drive member 10 drives the traction wheel assembly 40 to rotate.

[0044] The traction machine provided in the embodiment of the present invention includes a range extension mechanism 30 and a battery module 20. Both the battery module 20 and the range extension mechanism 30 can supply energy to the rotating drive member 10 individually or simultaneously, so that the rotating drive member 10 can drive the traction wheel assembly 40 to rotate. The controller can obtain the driving load of the rotating drive member 10 and the remaining power of the battery module 20, and determine the driving mode of the traction machine according to the remaining power and the driving load. When the battery module 20 has sufficient power, the battery module 20 is preferred to supply energy to the rotating drive member 10. When the battery module 20 has less power, the range extension mechanism 30 is started to supply energy to the rotating drive member 10 alone or together with the battery module 20. In addition, in combination with the load size of the rotating drive member 10, when the load of the rotating drive member 10 is large, the controller can control the battery module 20 and the range extension mechanism 30 to supply energy to the rotating drive member 10 at the same time. According to the different ways of supplying energy by the battery module 20 and the range extension mechanism 30, the embodiment of the present invention provides five functional modes: pure electric mode, hybrid mode, pure range extension mode, range extension charging mode, and pure charging mode. Among them, in the pure electric mode, the battery module 20 alone supplies energy to the rotating drive component 10, in the hybrid mode, the battery module 20 and the range extender mechanism 30 simultaneously supply energy to the rotating drive component 10, in the pure extended-range mode, the range extender mechanism 30 alone supplies energy to the rotating drive component 10, in the extended-range charging mode, the range extender charges the battery module 20 while supplying energy to the rotating drive component 10, and in the pure charging mode, the range extender mechanism 30 charges the battery module 20.

[0045] By adopting the control method of the traction machine, the controller can determine the driving mode of the traction machine according to the remaining power of the battery module 20 and the driving load of the rotating drive member 10, and control the battery module 20 and / or the range extension mechanism 30 to supply energy to the rotating drive member 10 accordingly. The above control method solves the problem of insufficient battery life of the battery module 20 when using electric energy to drive the cable traction machine, and when the battery module 20 and the range extension mechanism 30 supply energy to the rotating drive member 10 at the same time, the power demand of the rotating drive member 10 when the load is heavy can be met.

[0046] In one embodiment, Figure 3As shown, it is a logic block diagram of a control method for a traction machine provided according to an embodiment of the present invention. Switching the driving mode of the traction machine according to the remaining power and the driving load includes the following steps: when the remaining power of the battery module 20 is greater than the first preset power threshold and the driving load is less than the first preset load threshold, determining that the traction machine enters the pure electric mode; in the pure electric mode, controlling the battery module 20 to provide energy for the rotating drive member 10 alone. When the remaining power of the battery module 20 is greater than the first preset power threshold, the controller can determine that the power of the battery module 20 alone can meet the power demand of the rotating drive member 10. Among them, the required power corresponding to the first preset load threshold is the maximum discharge power of the battery module. In a specific embodiment, the first preset power threshold is 50% of the power of the battery module 20.

[0047] When it is determined that the remaining power of the battery module and the driving load meet the above adjustment, the controller determines that the traction machine enters the pure electric mode. In the pure electric mode, the controller controls the battery module 20 to supply energy to the rotating drive member 10 alone. The energy source of the battery module 20 is the charging supplement of the external power supply. Compared with the energy supply by burning fossil fuels, the electric energy is cleaner and more environmentally friendly, and the battery-powered power supply has low noise, which optimizes the working environment of the traction machine.

[0048] In one embodiment, Figure 3 As shown, switching the driving mode of the traction machine according to the remaining power and the driving load also includes the following steps: when the remaining power of the battery module 20 is greater than the second preset power threshold and the driving load is greater than the first preset load threshold, determining that the traction machine enters the hybrid mode; in the hybrid mode, controlling the battery module 20 and the range extender 30 to simultaneously provide energy for the rotating drive member 10. When the remaining power of the battery module 20 is greater than the second preset power threshold, the controller can determine that the remaining power of the battery module 20 is relatively sufficient. When the driving load is greater than the first preset load threshold, the controller can determine that the battery module 20 alone cannot meet the load demand of the rotating drive member 10, and the controller can determine that the battery module 20 and the range extender 30 need to simultaneously supply energy to the rotating drive member 10 to meet the power demand of the rotating drive member 10, and the controller determines that the traction machine enters the hybrid mode. Subsequently, in the hybrid mode, the battery module 20 and the range extender 30 simultaneously provide energy to the rotating drive member 10. Among them, common heavy load conditions of traction machines include traction rope jamming, ultra-long span operation, cable board over pulley and other conditions.

[0049] By adopting the above-mentioned hybrid mode, the two components provide energy to the rotary drive member 10 at the same time, which can meet the power demand of the rotary drive member 10 under heavy load conditions. The range extender 30 provided in the embodiment of the present invention can be selected as: a gasoline engine, a diesel engine, a hydrogen engine, etc. Compared with the traditional high-power diesel engine, the range extender 30 in the embodiment of the present invention can provide energy through the battery module 20, so the maximum output power of the engine is smaller, which reduces the cost of the engine, and the corresponding noise and environmental pollution are also smaller, which reduces the loss of fossil fuels and optimizes the working environment of the tractor.

[0050] In one embodiment, Figure 3 As shown, switching the driving mode of the traction machine according to the remaining power and the driving load also includes the following steps: when the remaining power of the battery module 20 is less than the first preset power threshold and the driving load is equal to the second preset load threshold, determining that the traction machine enters the pure extended range mode, wherein the first preset power threshold is greater than the second preset power threshold; in the pure extended range mode, controlling the extended range mechanism 30 to provide energy for the rotary drive member 10 alone. When the remaining power of the battery module 20 is less than the first preset power threshold, the remaining power of the battery module 20 is relatively insufficient. When the driving load is equal to the second preset load threshold, the power demand of the rotary drive member 10 is the same as the maximum output power of the extended range mechanism 30. In order to ensure that the battery can provide energy for the rotary drive member 10 under heavy load conditions in the future, the controller determines that the traction machine enters the pure extended range mode. In the pure extended range mode, the controller controls the extended range mechanism 30 to supply energy for the rotary drive member 10 alone. The above-mentioned pure extended range mode can prevent the battery module 20 from being insufficient on the one hand, and the energy of the extended range mechanism 30 is usually easy to replenish on the other hand, which can prevent the traction machine from being unable to continue working due to insufficient energy.

[0051] In one embodiment, Figure 3 As shown, switching the driving mode of the traction machine according to the remaining power and the driving load also includes the following steps: when the remaining power of the battery module 20 is less than the second preset power threshold and the driving load is greater than the second preset load threshold, it is determined that the traction machine cannot work normally, and the controller starts the traction machine brake mechanism to brake and execute the alarm. When the remaining power of the battery module 20 is less than the second preset power threshold, the battery module 20 is out of power or cannot be discharged normally. When the driving load is greater than the second preset load threshold, the output power of the traction machine cannot meet the power demand of the rotating drive member 10, and the controller starts the brake mechanism to brake to prevent the traction machine from failing due to insufficient traction. The controller starts the alarm so that the on-site staff can respond in time, replenish the energy of the battery module 20, replace the battery, etc.

[0052] In one embodiment, Figure 3As shown, switching the driving mode of the traction machine according to the remaining power and the driving load also includes the following steps: when the remaining power of the battery module 20 is less than the first preset power threshold and the driving load is less than the second preset load threshold, it is determined that the traction machine enters the extended range charging mode; in the extended range charging mode, the range extension mechanism 30 is controlled to provide energy for the rotating drive member 10 and charge the battery module 20. When the remaining power of the battery module 20 is less than the first preset power threshold and greater than the second preset power threshold, the battery module 20 can still provide energy for the rotating drive member 10, but the remaining energy is relatively insufficient, and it is a state that needs to be charged. When the driving load is less than the second preset load threshold, it can be determined that the maximum output power of the range extension mechanism 30 exceeds the required power of the rotating drive member 10, and the controller controls the excess energy to be transmitted to the battery module 20 to charge the battery to extend the battery life. When the traction machine uses a traditional high-power diesel engine, under low-load conditions, even if the diesel engine is running at minimum power, there will be some excess energy that cannot be used. The traction machine provided in the embodiment of the present invention adopts the above-mentioned extended-range charging mode, which can meet the charging demand of the battery on the one hand, and avoid the waste of fossil fuel energy on the other hand, thereby saving energy.

[0053] In one embodiment, Figure 3 As shown, switching the driving mode of the traction machine according to the remaining power and the driving load also includes the following steps: when the remaining power of the battery module 20 is less than the first preset power threshold and the driving load is equal to zero, determining that the traction machine enters the pure charging mode; in the pure charging mode, controlling the range extender mechanism 30 to charge the battery module 20. When the load of the rotating drive member 10 is zero, the range extender mechanism 30 of the traction machine can continue to operate, convert energy into electrical energy and charge the battery module 20. The energy of the range extender mechanism 30 is easy to replenish, and the power of the battery module 20 is difficult to replenish. Using the range extender mechanism 30 to charge the battery module 20 can keep the power of the battery module 20 in a sufficient state to extend the endurance of the traction machine. Common zero-load conditions include the line change disk 62 condition and the standby condition.

[0054] In one embodiment, the control method further includes the following steps: when the tractor is in the wire feeding condition, the output power of the range extender mechanism 30 is adjusted to the wire releasing power, so that the range extender mechanism 30 alone supplies energy to the rotary drive member 10; or the battery module 20 is controlled to alone supply energy to the rotary drive member 10. The tractor can be used for wire releasing and traction, and both wire feeding and traction work require the rotary drive member 10 to actively drive the traction wheel assembly 40 to rotate. Under the wire feeding condition, the driving load of the rotary drive member 10 is small, the required power is low and the fluctuation is small, and the range extender mechanism 30 or the battery module 20 alone supplies energy to the rotary drive member 10 to meet the power demand of the rotary drive member 10. In the embodiment of the present invention, when the controller determines that the tractor is in the wire feeding condition, the range extender mechanism 30 can adjust the output power to the wire releasing power, and the range extender mechanism 30 alone supplies energy to the rotary drive member 10. The battery module 20 can also supply energy to the rotary drive member 10 alone to meet the power demand of the rotary drive member 10. In a specific embodiment, when the tractor is in the wire feeding condition, the controller compares the remaining endurance of the range extender 30 and the battery module 20, and controls the component with more remaining endurance to drive the rotating drive member 10. The above control method can reduce the energy loss of the tractor in the wire feeding condition.

[0055] In one embodiment, the control method further includes the following steps: when the traction machine is in the wire feeding condition, the remaining power of the battery module 20 is obtained; when the remaining power of the battery module 20 is less than the first preset power threshold, the range extender mechanism 30 is controlled to provide energy for the rotary drive member 10 and charge the battery module 20. When the remaining power of the battery module 20 is less than the first preset power threshold, it is determined that the power of the battery module 20 is relatively insufficient, and the battery module 20 needs to be charged. The range extender mechanism 30 can output energy according to the rated output power, a part of which is output to the rotary drive member 10, so that the rotary drive member 10 drives the traction wheel assembly 40 to rotate, and the other part is output to the battery module 20 to charge the battery module 20. The above control method can ensure the battery life of the battery module 20 and prevent the cable traction machine from failing to work due to insufficient power of the battery module 20.

[0056] By adopting the control method of the traction machine, the controller can selectively control the battery module 20 and / or the range extension mechanism 30 to provide energy for the rotary drive member 10 according to the remaining power of the battery module 20 and the driving load of the rotary drive member 10, so as to provide the endurance of the traction machine and enable the traction machine to work normally under all working conditions. In addition, under low-load working conditions, the range extension mechanism 30 can charge the battery module 20, so that the power of the battery module 20 is kept in a relatively sufficient state, further extending the endurance of the traction machine and ensuring the normal operation of the cable traction machine.

[0057] In one embodiment, Figure 2As shown, the traction machine also includes: a frame 50, on which a rotating drive member 10, a battery module 20, a range extender mechanism 30 and a traction wheel assembly 40 are installed; a wire drum mechanism 60, which is installed on the frame 50 and spaced apart from the traction wheel assembly 40, and the wire drum mechanism 60 is used to release or store the traction rope; a rope pressing assembly 70, which is installed between the wire drum mechanism 60 and the traction wheel assembly 40 and is used to press the traction rope. The wire drum mechanism 60 can be used to store or release the traction rope, and the rope pressing assembly 70 can press the traction rope. When the traction machine is braking, it can prevent the traction rope from being loosened due to force, thereby causing a construction accident. The use of the above-mentioned traction machine can facilitate the construction operation of the traction machine and facilitate the suspension of traction operations when braking.

[0058] In one embodiment, a traction construction method is provided, wherein the structure of the traction machine is as follows: Figure 2 As shown, when the traction machine performs traction operation, first put the cable traction machine and the traction rope in place, adjust the angle of the flip frame 61, install the wire drum 62 on the wire drum mechanism 60 on the flip frame 61, adjust the flip frame 61 back to its original position, and complete the installation of the wire drum 62. Wrap the traction rope around the traction wheel assembly 40 and fix the rope end of the traction rope on the wire drum 62, start the rotating drive member 10 and the wire drum 62 driving device, so that the rotating drive member 10 and the wire drum 62 driving device rotate synchronously, and the traction rope is wound around the wire drum 62. When one wire drum 62 is wound, the rotating drive member 10 and the wire drum 62 driving device are controlled to stop, and the traction rope is compressed by the rope pressing assembly 70. Replace the wire drum 62 and perform the traction work again until the traction work is completed.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] Although the embodiments of the present invention have been shown and 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 control method for a traction machine, characterized in that: The traction machine comprises a rotary drive member (10), a battery module (20), a range extender mechanism (30), and a traction wheel assembly (40) drivingly connected to the rotary drive member (10), and the control method comprises the following steps: Acquiring the current working condition of the traction machine; When the traction machine is in a traction condition, obtaining the remaining power of the battery module (20) and the driving load of the rotating drive member (10); switching the driving mode of the traction machine according to the remaining power and the driving load; The battery module (20) and / or the range extender mechanism (30) are controlled according to the driving mode to supply energy to the rotary drive member (10), so that the rotary drive member (10) drives the traction wheel assembly (40) to rotate.

2. The control method of the traction machine according to claim 1, characterized in that: The step of switching the driving mode of the traction machine according to the remaining power and the driving load comprises the following steps: When the remaining power of the battery module (20) is greater than a first preset power threshold and the driving load is less than a first preset load threshold, determining that the traction machine enters a pure electric mode; In the pure electric mode, the battery module (20) is controlled to independently provide energy for the rotary drive member (10).

3. The control method of the traction machine according to claim 1, characterized in that: The step of switching the driving mode of the traction machine according to the remaining power and the driving load further comprises the following steps: When the remaining power of the battery module (20) is greater than a second preset power threshold and the driving load is greater than a first preset load threshold, determining that the traction machine enters a hybrid mode; In the hybrid mode, the battery module (20) and the range extender mechanism (30) are controlled to simultaneously provide energy for the rotary drive member (10).

4. The control method of the traction machine according to claim 1, characterized in that: The step of switching the driving mode of the traction machine according to the remaining power and the driving load further comprises the following steps: When the remaining power of the battery module (20) is less than a first preset power threshold and the driving load is equal to a second preset load threshold, determining that the traction machine enters a pure extended-range mode, wherein the first preset power threshold is greater than the second preset power threshold; In the pure range-extending mode, the range-extending mechanism (30) is controlled to provide energy to the rotary drive member (10) alone.

5. The control method of the traction machine according to claim 1, characterized in that: The step of switching the driving mode of the traction machine according to the remaining power and the driving load further comprises the following steps: When the remaining power of the battery module (20) is less than a first preset power threshold and the driving load is less than a second preset load threshold, determining that the traction machine enters an extended-range charging mode; In the extended-range charging mode, the extended-range mechanism (30) is controlled to provide energy to the rotary drive member (10) and to charge the battery module (20).

6. The control method of the traction machine according to claim 1, characterized in that: The step of switching the driving mode of the traction machine according to the remaining power and the driving load further comprises the following steps: When the remaining power of the battery module (20) is less than a first preset power threshold and the driving load is equal to zero, determining that the traction machine enters a pure charging mode; In the pure charging mode, the range extender mechanism (30) is controlled to charge the battery module (20).

7. The control method of a traction machine according to any one of claims 1 to 6, characterized in that: The control method further comprises the following steps: When the traction machine is in a wire feeding condition, the output power of the range extending mechanism (30) is adjusted to the wire releasing power, so that the range extending mechanism (30) alone supplies energy to the rotary drive member (10); or The battery module (20) is controlled to supply energy to the rotary drive member (10).

8. The control method of a traction machine according to any one of claims 1 to 6, characterized in that: The control method further comprises the following steps: When the traction machine is in a wire feeding condition, obtaining the remaining power of the battery module (20); When the remaining power of the battery module (20) is less than a first preset power threshold, the range-extending mechanism (30) is controlled to provide energy to the rotary drive member (10) and to charge the battery module (20).

9. A traction machine, characterized in that: include: A rotating drive member (10); A battery module (20); Range extension mechanism (30); and A traction wheel assembly (40) is drivingly connected to the rotating drive member (10); A controller is configured to execute the control method of the traction machine according to any one of claims 1 to 8.

10. The traction machine according to claim 9, characterized in that: The tractor also includes: a frame (50) on which the rotary drive member (10), the battery module (20), the range-extending mechanism (30) and the traction wheel assembly (40) are installed; A wire drum mechanism (60) is installed on the frame (50) and is spaced apart from the traction wheel assembly (40), and the wire drum mechanism (60) is used to release or store the traction rope; A rope pressing assembly (70) is installed between the wire drum mechanism (60) and the traction wheel assembly (40) and is used to press the traction rope.

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