WO2017211005A1 - 一种攀梯助力器 - Google Patents

一种攀梯助力器 Download PDF

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Publication number
WO2017211005A1
WO2017211005A1 PCT/CN2016/095091 CN2016095091W WO2017211005A1 WO 2017211005 A1 WO2017211005 A1 WO 2017211005A1 CN 2016095091 W CN2016095091 W CN 2016095091W WO 2017211005 A1 WO2017211005 A1 WO 2017211005A1
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Prior art keywords
ladder
wire rope
motor
person
strain
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PCT/CN2016/095091
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English (en)
French (fr)
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杨越
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杨越
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Publication of WO2017211005A1 publication Critical patent/WO2017211005A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/42—Control devices non-automatic
    • B66D1/46—Control devices non-automatic electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C7/00—Component parts, supporting parts, or accessories
    • E06C7/12—Lifts or other hoisting devices on ladders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D2700/00—Capstans, winches or hoists
    • B66D2700/02—Hoists or accessories for hoists
    • B66D2700/021—Hauling devices

Definitions

  • the invention relates to a climbing booster.
  • the worm gear reducer is used.
  • the motor is directly mounted on the mounting flange of the reducer.
  • the active wire rope wheel is directly mounted on the output shaft of the reducer.
  • the inert steel wire rope wheel is mounted on one end face of the reducer.
  • the driving wheel and the inertia wheel are equipped with speed detecting devices, which can respectively detect and calculate the actual rotating speed of the driving wheel and the idle wheel, thereby obtaining the exact information of whether the wire is slipping on the driving wheel.
  • the upper end of the ladder uses only one steel wire rope to realize the steering.
  • the installation method is only to use a hook to hang on the upper end of the ladder.
  • the installation method is simple and convenient to install.
  • the wire rope can be gradually used to reach the use height by multiple installations.
  • the wire rope is stored by wire plate to meet the needs of different heights. When the wire rope is fixed, it can be fixed and tightened on the wire plate.
  • the method of installing the climbing booster according to the present invention on a ladder is to install by a clamp. For ladders of different ladder widths, only the installation clamp of the corresponding width is replaced.
  • Motor turn-stop control is realized by detecting strain resistance, and fast and accurate test data can be obtained.
  • the signal processing is based on the percentage of strain and the maximum and minimum judgment to prevent malfunction.
  • the specific control method is described in detail below.
  • the strain gauge adopts the double bridge installation method, that is, two strain gauges are installed on the same strain column, and one strain gauge is used on each strain gauge to form two bridge measurement circuits, and the two bridges are compared and tested. Inter-bridge resistance, when the difference is too large, will give an error signal, which greatly improves the reliability of the measurement.
  • the control system has a reference bridge that does not participate in the force, thereby offsetting the influence of temperature on the accuracy of the measurement system.
  • control method when tensioning the wire, it should be carried out with the system power on, set the display mode to the tension mode, and the voltage signal measured by the strain bridge will reach the parameter set by the program. The signal that the tension is completed. If the ladder is tightened, the tension information can be saved, that is, the power supply will be directly used in the next use, unless it is re-tensioned due to factors such as excessive temperature changes and re-installation.
  • set the display mode to the automatic working mode. The seat for the person to be seated will be fixed near the wire joint. The wire joint is required to be in the proper position near the lower end. This point will be automatically set as the working origin by the system.
  • the range of voltage measured by the control system will be small enough to record the average value of the bridge voltage measured at this time.
  • the person When a person sits on a seat on a wire rope, the person is required not to grasp other objects borrowing the force and stand still for a predetermined time, so that the voltage change value measured by the strain gauge is within a predetermined, sufficiently small range, and this is calculated.
  • the segment satisfies the voltage average of the range of variation. Calculate the difference between the 3rd and 4th points as a seed number.
  • a person wants to ascend he or she is required to use a certain range of relatively stable forces on the ladder with his hands or feet.
  • This force is converted into a change in the strain gauge voltage.
  • this voltage change duration reaches the set value, the motor starts.
  • the rotational speed of the motor will have a certain relationship with this force, so that the person can control the speed of the ascending speed.
  • the control system will stop the motor.
  • the motor When a person arrives at the work site, as long as a sufficient portion of the weight is applied to the ladder, or the ladder is not forced, the motor will no longer rotate, thereby achieving the purpose of stopping where needed.
  • the upward climb will be one-way, that is, it can only rise upwards and cannot fall downwards.
  • the maximum height to the rise is configurable to prevent the wire joint from crossing the upper steering wheel.
  • the maximum torque of the motor is limited. This torque will cause the motor to block when trying to pass the wire rope over the upper steering wheel.
  • the control system will automatically set the length of the motor to the maximum height. After sending a person to the working position, if you want to pull another person to work position, you must manually return the wire joint to the work. As the origin, the system will re-execute a workflow.
  • the transmitter When the system is calculating the force, the transmitter will have a lower limit and an upper limit to prevent the person or object that is too light or too heavy to use the automatic function to rise or fall. During the descent, people or objects that are allowed to pull a certain weight range are lowered. However, this process only works with ground personnel and is done in manual control mode. Overweight will not be allowed, and the motor will not obey the manual control command and give an error signal.
  • the invention can provide the lifting force of the user about 75% of the body weight, and can stay at any position, so that the climber can greatly save physical strength, save time, and at the same time, can provide the carrying ability of certain tools. Due to the full consideration of safety, the possibility of accidents is greatly reduced.
  • FIG. 1 is a perspective view of a climbing booster in an embodiment of the present invention.
  • FIG 2 is a side view of a climbing booster in an embodiment of the present invention.
  • the climbing booster will be described in detail below with reference to Figures 1-2.
  • the climbing ladder booster includes: a worm gear reducer 1; the motor 2 is directly mounted on the mounting flange of the worm gear reducer 1; the active wire rope wheel 3 is mounted on the output shaft of the worm gear reducer 1, and the active wire rope wheel 3 There are two rope grooves on the outer diameter, which can make the wire rope pass twice; the idler wheel mount 4 is mounted on the outer casing of the worm gear reducer 1; the idler wheel 5 is mounted on the idler wheel mount 4; the bottom plate 6 Connected to the worm gear reducer through four strain columns; four strain columns for connecting the worm gear reducer 1 and the bottom plate 6; the strain gauges 8 are glued to the four strain columns, and used a slight deformation in the axial direction of the induction strain column; a strain column mounting bolt for positioning between the four strain columns and the bottom plate 6; and a mounting block 10 for fixing the booster active end to the lower end crossbar of the ladder For ladders with different ladder widths, the corresponding mounting clamps should be used; the upper steering wheel 11
  • the idler speed measuring device can be mounted on the idler mount by using the photoelectric switch type. When the idler rotates through a certain angle, the idler speed measuring device outputs a pulse signal; the motor speed control inverter is installed at Inside the casing, it is used to read the speed signal sent by the controller and control the speed of the motor; the controller can be controlled by a single chip microcomputer, a PLC, etc.; the power switch is installed on the outer casing panel for controlling the opening and closing of the motor; a manual lifting button mounted on the outer casing panel for manually controlling the wire rope lifting; a display mounted on the outer casing panel for displaying work information; and, in addition, a wire rope tensioner and a wire smoothing device With special tools, the wire rope is stored in wire plate 21 to meet the needs of different heights.
  • the control method of the climbing booster is: when the steel wire is tensioned, the system power is turned on, the display mode is set to the tension mode, and the voltage signal measured by the strain bridge reaches the parameter set by the program. The signal that the tension is completed is given. If the ladder is tightened, the tension information can be saved, that is, the power supply will be directly used in the next use, unless it is re-tensioned due to factors such as excessive temperature changes and re-installation. To use, set the display mode to the automatic working mode. The seat for the person to be seated will be fixed near the wire joint. The wire joint is required to be in the proper position near the lower end. This point will be automatically set as the working origin by the system.
  • the range of voltage measured by the control system will be small enough to record the average value of the bridge voltage measured at this time.
  • the person When a person sits on a seat on a wire rope, the person is required not to grasp other objects borrowing the force and stand still for a predetermined time, so that the voltage change value measured by the strain gauge is within a predetermined, sufficiently small range, and this is calculated.
  • the segment satisfies the voltage average of the range of variation. Calculate the difference between the 3rd and 4th points as a seed number.
  • a person wants to ascend he or she is required to use a certain range of relatively stable forces on the ladder with his hands or feet.
  • This force is converted into a change in the strain gauge voltage.
  • this voltage change duration reaches the set value, the motor starts.
  • the rotational speed of the motor will have a certain relationship with this force, so that the person can control the speed of the ascending speed.
  • the control system will stop the motor.
  • the motor When a person arrives at the work site, as long as a sufficient portion of the weight is applied to the ladder, or the ladder is not forced, the motor will no longer rotate, thereby achieving the purpose of stopping where needed.
  • the upward climb will be one-way, that is, it can only rise upwards and cannot fall downwards.
  • the maximum height to the rise is configurable to prevent the wire joint from crossing the upper steering wheel.
  • the maximum torque of the motor is limited. This torque will cause the motor to block when trying to pass the wire rope over the upper steering wheel.
  • the control system will automatically set the length of the motor to the maximum height. After sending a person to the working position, if you want to pull another person to work position, be sure to manually retreat the wire joint. Go back to the work origin and the system will re-execute a workflow.
  • the transmitter When the system is calculating the force, the transmitter will have a lower limit and an upper limit to prevent the person or object that is too light or too heavy to use the automatic function to rise or fall. During the descent, people or objects that are allowed to pull a certain weight range are lowered. However, this process only works with ground personnel and is done in manual control mode. Overweight will not be allowed, and the motor will not obey the manual control command and give an error signal.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ladders (AREA)

Abstract

一种攀梯助力器，包括电机（2）、减速器（1）、主动钢丝绳轮（3）、惰轮（5）、底板（6）、应变柱（7）、应变片（8）、安装夹块（10）、梯子上部换向轮（11）、外壳。该攀梯助力器可提供使用者体重约75％的提升力，并可在任意位置停留，从而使攀梯者大大节省体力，同时能提供一定工具的携带能力。

Description

一种攀梯助力器 技术领域
本发明涉及一种攀梯助力器。
背景技术
现代工业中有许多工作要用到攀梯作业。特别是高空作业时，为达到作业点，工人必先经过很长的攀登工作，而这个过程就是危险性最大，体力消耗最多的。这让高空作业无法达到效率高，可靠性高的要求。而现有的助力器，控制方式要么采用无线控制方式由操作工人自主控制，要么就靠地面人员人工与高空作业人员互动控制，这些控制方法存在可靠性差，操作麻烦，能利用到此种设备的作业人员少、误动作可能性高的缺点。而且，大部分此类助力器要求安装在固定长度的梯子上，无法做到不同梯子可互换安装，可变长度梯子也可使用的要求。
发明内容
本发明的目的在于提供一种改进的攀梯助力器，并且能实现如下五个方面的功能：
1、它能有效地实现配合攀梯人员的攀升动作，最大限度的降低攀梯人员的体力消耗；
2、结构简单，安装方便，基本实现免维修；
3、实现不同长度的梯子也可共用同一型号的本产品；
4、实现在非梯子登高作业环境下使用；
5、对于超高作业环境，可实现分段安装钢丝。
为了上述目标，本发明的解决方案是：
1、采用蜗轮蜗杆减速器，电机直接安装在减速器的安装法兰上，主动钢丝绳轮直接安装在减速器的输出轴上，惰性钢丝绳轮装在减速器的一个端面上。
2、主动钢丝绳轮上有两个钢丝绳槽，惰性钢丝绳轮上有一个钢丝绳槽，钢丝绳绕过这些绳轮时按照：外面-主动轮-惰轮-主动轮-外面的顺序，实现钢丝绳在主动轮上不打滑的目标。
3、主动轮与惰性轮上均装有速度检测装置，可分别检测和计算主动轮和惰性轮的实际转速，从而得到钢丝是否在主动轮上是否打滑的确切信息。
4、梯子上端只采用一个钢丝绳轮实现转向，其安装方法只是用一个吊钩吊在梯子上端，安装方法简单，装取方便。
5、当作业高度太高时，钢丝绳可采用多次安装的办法逐步达到使用高度。
6、钢丝绳采用钢丝盘存储，以应对不同高度的需要，钢丝绳固定时，可在钢丝盘上固定及拉紧。
7、将本发明涉及的攀梯助力器安装在梯子上的方法是用压块安装，对于不同梯档宽度的梯子，只要更换相应宽度的安装夹块。
8、电机转停控制采用检测应变电阻的办法实现，可得到快速准确的检测数据。
9、对信号的处理采用应变的百分比和最大最小判断，防止出现误动作，具体控制方法下面进行详述。
10、应变片采用双桥式安装方式，即在同一个应变柱上安装两个应变片，每一个应变柱上取用一个应变片组成两个桥式测量电路，对比测试这两个桥上的桥间电阻，相差太大时会给出报错信号，从而极大的改善测量的可靠性。
11、所有对力敏感的部分都装入机壳内，从而避免外界对测量精度的产生影响。
12、控制系统中设有不参与受力的参考电桥，从而抵消温度对测量系统的精度影响。
针对控制方法的详细说明：当张紧钢丝时，要在系统电源打开的情况下进行，将显示模式设到张紧模式，应变电桥测量到的电压信号达到程序设置的参数时才会给出张紧完成的信号。张紧好了的梯子，张紧信息可保存，即中间断掉电源也会在下次使用时可直接使用，除非因温度变化过大、重新安装等因素的影响才要重新张紧。要使用时，将显示模式设到自动工作模式，坐人的坐椅将固定到钢丝接头附近，要求钢丝接头要在靠近下端的适当位置，此点将被系统自动设为工作原点。当钢丝张紧到适当的松紧程度并且当没有人坐到固定在钢丝绳上的坐椅时，控制系统测得的电压变化范围将会足够小，记录下此时测量得到的电桥电压值平均值。当人坐到钢丝绳上的坐椅时，要求此人不得抓住其它借力的物体，并静止预定的时间，让应变片测得的电压变化值在预定的，足够小的范围内，计算这段满足变化范围的电压平均值。计算第3点与第4点值的差值，做为一个种子数。当人要往上升时，要求人用手或脚在梯子上用一定范围内的，比较稳定的力。这个力会转化为应变片电压的变化，当这个电压变化持续时间达到设定值时，电机启动。当人对梯子施加的力在设定范围内时，电机的转速将与这个力成一定的变化关系，因此人可以控制上升速度的快慢。当人对外施加的力过小或过大，控制系统都将让电机停机。当人到达作业点时，只要将体重的足够部分施加到梯子上，或不对梯子用力，电机将不再转动，从而达到在需要的地方停下的目的。工作模式时，向上爬升将时单向的，即只能向上升，不能向下降。向上升的最大高度是可设置的，可以防止钢丝接头越过上面的转向轮。电机的力矩最大是有限的，这个力矩将在试图将钢丝绳越过上转向轮时，让电机将堵转，此时控制系统将自动将此堵转前拉人走过的长度设为最大高度。送上一个人到工作位置后，若还要再拉一个人到工作位置，一定要将钢丝接头手动退回到工 作原点，然后系统会重新执行一个工作流程。系统在进行力的计算时，顺器发针会有一个下限值和上限，以防止负载太轻或太重的人或物体使用自动功能上升或下降。下降过程中允许吊拉一定重量范围的人或物体下降。但这个过程只有与地面人员协作，用手动控制模式进行。超重将是不允许的，此时电机将不服从手动控制指令，并给出报错信号。
本发明可提供使用者体重约75％的提升力，并可在任意位置停留，从而使攀梯者大大节省体力，节省时间，同时，能提供一定工具的携带能力。由于充分考虑了安全性，也大大减少了意外发生的可能。
附图说明
图1是本发明实施例中的攀梯助力器立体图。
图2是本发明实施例中的攀梯助力器侧视图。
具体实施方式
下面结合附图1-2对攀梯助力器进行详细说明。
攀梯助力器包括：蜗轮蜗杆减速器1；电机2，直接安装在涡轮蜗杆减速器1的安装法兰上；主动钢丝绳轮3，安装在涡轮蜗杆减速器1的输出轴上，主动钢丝绳轮3的外径上有两个绳槽，可以让钢丝绳两次绕过；惰轮安装座4，安装在涡轮蜗杆减速器1的外壳上；惰轮5，安装在惰轮安装座4上；底板6，通过四个应变柱与所述蜗轮蜗杆减速器连接；四个应变柱，用于连接涡轮蜗杆减速器1与底板6；应变片8，通过胶水粘接在所述四个应变柱上，用于感应应变柱在轴向上的微量形变；应变柱安装螺栓，用于四个应变柱与底板6之间的定位；安装夹块10，用于将助力器主动端固定在梯子的下端横杆，对于梯档宽度不同的梯子，要使用相应的所述安装夹块；梯子上部换向轮11，可用普通带吊钩的钢丝绳轮，用于钢丝在竖梯的上部换向；钢丝绳12，长度可根据竖梯的长度需要取用，钢丝绳的缠绕方法为：A、先将所述钢丝绳穿过装于所述梯子上部换向轮；B、再在所述主动钢丝绳轮上的一个槽内绕大半圈；C、再绕过所述惰轮的绳槽；D、然后绕过所述主动钢丝绳轮上的另一个槽；E、将所述钢丝绳的两端连接起来，要求张紧时，钢丝绳的张紧强度在规定值范围内；外壳，安装于底板上， 将电机、减速器、钢丝绳轮封闭在外壳内；主动轮测速装置，可使用光电开关式，安装在蜗轮蜗杆减速器输出轴上，当涡轮蜗杆减速器每转过一定的角度，主动轮测速装置输出一个脉冲信号；惰轮测速装置，可使用光电开关式，安装在惰轮安装座上，当惰轮转过一定的角度时，惰轮测速装置输出一个脉冲信号；电机转速控制变频器，安装在外壳内，用于读取控制器发出的速度信号并控制电机的转速；控制器，可用单片机、PLC等控制方法；电源开关，安装在所述外壳面板上，用于控制电机的开与关；手动升降按钮，安装在所述外壳面板上，用于手工控制钢丝绳升降；显示器，安装在所述外壳面板上，用于显示工作信息；此外，还包括钢丝绳张紧器以及钢丝理顺器等额外配得专用工具，钢丝绳采用钢丝盘21存储，以应对不同高度的需要。
对该攀梯助力器的控制方法是：当张紧钢丝时，要在系统电源打开的情况下进行，将显示模式设到张紧模式，应变电桥测量到的电压信号达到程序设置的参数时才会给出张紧完成的信号。张紧好了的梯子，张紧信息可保存，即中间断掉电源也会在下次使用时可直接使用，除非因温度变化过大、重新安装等因素的影响才要重新张紧。要使用时，将显示模式设到自动工作模式，坐人的坐椅将固定到钢丝接头附近，要求钢丝接头要在靠近下端的适当位置，此点将被系统自动设为工作原点。当钢丝张紧到适当的松紧程度并且当没有人坐到固定在钢丝绳上的坐椅时，控制系统测得的电压变化范围将会足够小，记录下此时测量得到的电桥电压值平均值。当人坐到钢丝绳上的坐椅时，要求此人不得抓住其它借力的物体，并静止预定的时间，让应变片测得的电压变化值在预定的，足够小的范围内，计算这段满足变化范围的电压平均值。计算第3点与第4点值的差值，做为一个种子数。当人要往上升时，要求人用手或脚在梯子上用一定范围内的，比较稳定的力。这个力会转化为应变片电压的变化，当这个电压变化持续时间达到设定值时，电机启动。当人对梯子施加的力在设定范围内时，电机的转速将与这个力成一定的变化关系，因此人可以控制上升速度的快慢。当人对外施加的力过小或过大，控制系统都将让电机停机。当人到达作业点时，只要将体重的足够部分施加到梯子上，或不对梯子用力，电机将不再转动，从而达到在需要的地方停下的目的。工作模式时，向上爬升将时单向的，即只能向上升，不能向下降。向上升的最大高度是可设置的，可以防止钢丝接头越过上面的转向轮。电机的力矩最大是有限的，这个力矩将在试图将钢丝绳越过上转向轮时，让电机将堵转，此时控制系统将自动将此堵转前拉人走过的长度设为最大高度。送上一个人到工作位置后，若还要再拉一个人到工作位置，一定要将钢丝接头手动退 回到工作原点，然后系统会重新执行一个工作流程。系统在进行力的计算时，顺器发针会有一个下限值和上限，以防止负载太轻或太重的人或物体使用自动功能上升或下降。下降过程中允许吊拉一定重量范围的人或物体下降。但这个过程只有与地面人员协作，用手动控制模式进行。超重将是不允许的，此时电机将不服从手动控制指令，并给出报错信号。

Claims (9)

  1. 一种攀梯助力器，其特征在于，包括：
    蜗轮蜗杆减速器(1)；
    电机(2)，直接安装在所述涡轮蜗杆减速器(1)的安装法兰上；
    主动钢丝绳轮(3)，安装在所述涡轮蜗杆减速器(1)的输出轴上，所述主动钢丝绳轮(3)的外径上有两个绳槽，可以让钢丝绳两次绕过；
    惰轮安装座(4)，安装在所述涡轮蜗杆减速器(1)的外壳上；
    惰轮(5)，安装在所述惰轮安装座(4)上；
    底板(6)，通过四个应变柱(7)与所述蜗轮蜗杆减速器(1)连接；
    四个应变柱(7)，用于连接所述涡轮蜗杆减速器(1)与所述底板(6)；
    应变片(8)，通过胶水粘接在所述四个应变柱(7)上，用于感应所述应变柱(7)在轴向上的微量形变；
    应变柱安装螺栓(9)，用于所述四个应变柱(7)与所述底板(6)之间的定位；
    安装夹块(10)，用于将助力器主动端固定在梯子的下端横杆，对于梯档宽度不同的梯子，要使用相应的所述安装夹块；
    梯子上部换向轮(11)，用于钢丝在竖梯的上部换向；
    钢丝绳(12)，长度可根据竖梯的长度需要取用；
    外壳，安装于所述底板上，将电机、减速器、钢丝绳轮封闭在所述外壳内；
    主动轮测速装置，安装在所述蜗轮蜗杆减速器输出轴上，当所述涡轮蜗杆减速器每转过一定的角度，所述主动轮测速装置输出一个脉冲信号；
    惰轮测速装置，安装在所述惰轮安装座上，当所述惰轮转过一定的角度时，所述惰轮测速装置输出一个脉冲信号；
    电机转速控制变频器，安装在所述外壳内，用于读取控制器发出的速度信号并控制电机的转速；
    控制器；
    电源开关，安装在所述外壳面板上，用于控制所述电机的开与关；
    手动升降按钮，安装在所述外壳面板上，用于手工控制钢丝绳升降；
    显示器，安装在所述外壳面板上，用于显示工作信息；
  2. 如权利要求1所述的攀梯助力器，其特征在于，还包括钢丝绳张紧器以及钢丝理顺器。
  3. 如权利要求1所述的攀梯助力器，其特征在于，所述钢丝绳采用钢丝盘(21)存储，以应对不同高度的需要。
  4. 如权利要求1所述的攀梯助力器，其特征在于，所述主动轮测速装置为光电开关式。
  5. 如权利要求1所述的攀梯助力器，其特征在于，所述惰轮测速装置为光电开关式。
  6. 如权利要求1-5所述的攀梯助力器，其特征在于，所述控制器的控制方法使用单片机和/或PLC。
  7. 如权利要求1所述的攀梯助力器，其特征在于，所述梯子上部换向轮使用普通带吊钩的钢丝绳轮。
  8. 如权利要求1-7所述的攀梯助力器，其特征在于，所述钢丝绳的缠绕方法为：
    A、先将所述钢丝绳穿过装于所述梯子上部换向轮；
    B、再在所述主动钢丝绳轮上的一个槽内绕大半圈；
    C、再绕过所述惰轮的绳槽；
    D、然后绕过所述主动钢丝绳轮上的另一个槽；
    E、将所述钢丝绳的两端连接起来，要求张紧时，钢丝绳的张紧强度在规定值范围内。
  9. 一种如上述任意一个权利要求所述攀梯助力器的控制方法，其特征在于，当张紧钢丝并打开系统电源的情况下，将显示模式设到张紧模式，应变电桥测量到的电压信号达到程序设置的参数时才会给出张紧完成的信号，张紧好了的梯子，张紧信息可保存，使用时，将显示模式设到自动工作模式，坐人的坐椅将固定到钢丝接头附近，系统将此点自动设为工作原点，当钢丝张紧到适当的松紧程度并且当没有人坐到固定在钢丝绳上的坐椅时，控制系统测得的电压变化范围将会足够小，记录下此时测量得到的电桥电压值平均值；当人坐到钢丝绳上的坐椅时，要求此人不得抓住其它借力的物体，并静止预定的时间，让应变片测得的电压变化值在预定的，足够小的范围内，计算这段满足变化范围的电压平均值，计算第3点与第4点值的差值，做为一个种子数；当人要往上升时，要求人用手或脚在梯子上用一定范围内的比较稳定的力，并将此力会转化为应变片电压的变化，当这个电压变化持续时间达到设定值时，电机启动；当人对梯子施加的力在设定范围内时，电机的转速将与这个力成一定的变化关系，人控制上升速度的快慢；当人对外施加的力过小或过大，控制系统都将让电机停机；当人到达作业点时，只要将体重的足够部分施加到梯子上，或不对梯子用力，电机将不再转动，从 而达到在需要的地方停下的目的；工作模式时，向上爬升将时单向的，向上升的最大高度可设置；送上一个人到工作位置后，若还要再拉一个人到工作位置，一定要将钢丝接头手动退回到工作原点，然后系统会重新执行一个工作流程；超重将是不允许的，此时电机将不服从手动控制指令，并给出报错信号。
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