Rope traction type step ladder assisting device using through space in middle of stairwell and control method thereof

Abstract

This invention discloses a rope-traction stair-assisting device and its control method utilizing the central through space of a stairwell. The device includes: a load-bearing track beam fixedly installed at the top of the stairwell and extending longitudinally along the stairwell; a rope-exit pulley movably installed thereon; a power winch assembly installed on the rope-exit pulley; a main traction rope with one end connected to the power winch assembly and the other end suspended downwards through the central through space of the stairwell; a user-end handle connected to the suspended end of the main traction rope; a guide rope connected to the lower part of the handle and extending downwards, with continuous downward tension applied by a bottom tensioning device; call operation devices located on each floor; and a control unit. This device utilizes the central through space of the stairwell for rope traction assistance without occupying the width of the staircase; the guide rope guides the handle downwards along the narrow central through space, preventing lateral swinging and jamming; and the call operation devices on each floor allow the user to lower the handle to their side on their current floor.

Description

Technical Field

[0001] This application relates to the field of stair climbing assistance devices, and in particular to a rope-traction stair climbing assistance device that utilizes the through space in the middle of a stairwell. Background Technology

[0002] In existing buildings without elevators, such as multi-story residential buildings and old office buildings, elderly people, patients, and those who carry heavy objects commonly face difficulties climbing stairs. Climbing stairs involves physical exertion and joint damage, while descending stairs carries the risk of balance and impact injuries, severely reducing their quality of daily life and their willingness to live there.

[0003] To address the difficulties faced by the elderly, the injured, and those carrying heavy objects in climbing stairs in existing multi-story buildings, current main solutions include installing elevators, chairlifts, and wearable assistive devices. However, all of these have significant limitations: elevators (external installations occupy external space, are expensive, and have difficult approval processes, while embedded installations are limited by stair size) and chairlifts (occupy passageway width, affect passage, require extensive guide rail engineering, and have high safety requirements) are difficult to implement widely in old stairwells. Wearable assistive devices require individual purchase, have weight burdens and battery life issues, and are not suitable as public infrastructure for the entire building.

[0004] In the prior art, Chinese patent CN109969910A discloses a stair-climbing assistance device. This device also utilizes a rope installed through the space in the middle of the stairwell. An electric hoist installed above the stairwell applies an upward pulling force to the rope, and the user can obtain auxiliary pulling force by holding the handle at the end of the rope. This solution has lower engineering costs and installation difficulty, and to a certain extent overcomes many problems existing in traditional elevator installations and chairlift stair lifts. However, this device still has the following shortcomings: First, it lacks a calling mechanism that can automatically lower the handle to the target floor. The handle remains at the position where the previous user finished using it, and the next user must find and reach for the handle in the stairwell to use it, resulting in uneven usability across floors. Second, it lacks a guiding mechanism to prevent the handle from swinging and getting stuck laterally in the narrow space of the stairwell during the lowering process. When the rope and handle are freely suspended and pass through the narrow gaps enclosed by multiple stair railings, they are prone to swinging and colliding with the stair structure, which is not conducive to the reliable passage of the handle between floors. Third, electric hoists usually use a switch-type control method and a self-locking deceleration mechanism. The force output characteristics are rigid, full-force winding or complete stop, making it difficult to provide users with a constant and adjustable auxiliary pulling force. During the climb, users are prone to severe fluctuations or impacts in rope tension due to changes in walking speed and the natural extension and flexion of their arms, and there is room for further improvement in both comfort and safety. Therefore, a rope-traction stair-assisting device utilizing the space in the middle of the stairwell is proposed to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a rope-traction stair-assisting device that utilizes the through space in the middle of a stairwell, in order to solve the problems mentioned in the background art.

[0006] The embodiments of this application adopt the following technical solutions: A rope-driven stair assist device utilizing the through space in the middle of a stairwell, characterized by comprising: a support rail beam, fixedly installed at the top of the stairwell and extending longitudinally along the stairwell; a rope exit pulley, movably installed on the support rail beam; a traction mechanism, including a power winch assembly installed on the rope exit pulley and a main traction rope connected at one end to the power winch assembly, the other end of the main traction rope hanging downwards; a user-end handle, suspended from the hanging end of the main traction rope; and a lowering guide assembly, including a guide rope and a bottom tensioning device, the upper end of the guide rope being connected to... The lower part and lower end of the user-end handle are connected to a bottom tensioning device, which is located at the bottom of the stairwell and applies continuous downward tension to the guide rope to guide the user-end handle to move centrally along the through space in the middle of the stairwell and prevent lateral swinging and jamming when it descends. Multiple call operation devices are respectively located on each floor of the stairwell to send call commands containing target floor information. A control unit is signal-connected to the power winch assembly and the call operation devices, and responds to the call command to control the power winch assembly to release or reel in the main traction rope to move the user-end handle to the target floor.

[0007] Furthermore, the present invention also provides a control method for a rope-traction type stair-assist device utilizing a through space in the middle of a stairwell, comprising the following steps: Step S1: System standby After the system is powered on, the control unit enters standby mode, continuously listens for signal input from the call operation devices on each floor, and monitors the current floor position of the user's handle in real time.

[0008] Step S2: Summon and lower your hand When the call button on any floor is pressed, the control unit executes the following sub-steps: S2.1 Rope exit point positioning: Control the rope exit point trolley to move to the preset lowering position so that the rope exit point is located above the center line of the through space in the middle of the stairwell; S2.2 Rope Release: Control the power winch assembly to release the main traction rope in rope release mode; S2.3 Centered Guided Descent: Under the continuous downward tension of the descending guide component, the user-end handle 600 descends centrally along the middle of the stairwell space to prevent lateral swinging and jamming. S2.4 Reaching the target floor: The encoder accumulates the rotation angle and monitors the released rope length in real time. When the preset rope length value corresponding to the target floor is reached, the rope release is stopped and the brake is applied to complete the call-down descent.

[0009] Step S3: Upward Assist The user holds the user terminal handle and presses the enable control continuously to activate it, and the system enters the uplink assist mode: S3.1 Smooth Torque Transition: The control unit smoothly increases the output torque of the drive motor from zero to the target torque value within a set transition time. S3.2 Constant tension traction: The drive motor operates in torque mode, applying a stable upward auxiliary tension to the main traction rope; S3.3 Flexible Adaptive Gait: Utilizing the reverse transmission characteristics of a non-self-locking reducer, the rope length is automatically and finely adjusted as the user's arm extends or flexes, maintaining constant tension.

[0010] Step S4: Rope exit point tracking During the upward movement, the rope exit pulley moves along the load-bearing track beam to follow the longitudinal displacement of the user, so that the main traction rope maintains a near-vertical extension state in the middle of the stairwell through space. If the active following method is adopted, the rope deflection detection device detects the deflection angle in real time, and the control unit drives the trolley drive motor to actively follow. If a passive follow-up method is adopted, the pulley at the rope exit point will automatically and passively slide under the action of the horizontal component of the rope tension.

[0011] Step S5: Security Monitoring The control unit samples the real-time tension and retraction speed at fixed intervals to determine whether the preset safety conditions are met. If the tension suddenly drops or rises, or the speed becomes abnormal, immediately control the drive motor to enter the braking lock state and issue a safety warning signal.

[0012] Step S6: Rope Length Monitoring and Floor Positioning The control unit calculates the length of the wound rope in real time by accumulating the rotation angle through the encoder, and determines the user's current floor by combining the height data of each floor, which can be displayed on the call operation device.

[0013] Step S7: Stop and Reset Once the user reaches the target floor, they release the enable control. The control unit smoothly reduces the output torque to zero, then enters braking mode, and the system returns to standby mode.

[0014] Step S8: Downward descent If the user adjusts the assist level to the slow descent setting and activates the enable control, the control unit controls the drive motor to operate with controlled reverse damping torque, applying continuous resistance to the rope release rate and providing the user with slow descent protection.

[0015] Compared with the prior art, the present invention has the following beneficial effects: Firstly, this invention utilizes the existing unused space in the middle of the stairwell. The main traction rope and the user-end handle move up and down within this space without encroaching on the passage width of the staircase or affecting the normal passage of other residents who are not using this device. The load-bearing track beam and the power winch assembly are installed in the top area of ​​the stairwell, which also does not affect the passage space of the staircase.

[0016] Secondly, the lowering guide assembly provides a continuous downward and central pulling force to the user-end handle during the lowering process through the guide rope and the bottom tensioning device. This effectively solves the key problem of lateral swinging and jamming when the rope is freely lowered in the narrow passage of the stairwell, allowing the handle to reliably pass through the narrow gaps between the stair structures and smoothly reach the target floor. During the ascent, the user-end handle is pulled up by the main traction rope while naturally dragging the guide rope upwards. The bottom tensioning device continuously releases the length of the guide rope without significantly hindering the ascent process.

[0017] Third, each floor is equipped with a call button. Users can press the call button on their floor to move the handle to that floor without having to search for the handle in the stairwell. The operation experience is similar to the call buttons on each floor of an elevator, which greatly improves the ease of use as a public assistance facility.

[0018] Fourth, the design of the rope exit pulley that can slide along the supporting track beam allows the rope exit point to move with the user's horizontal displacement in the longitudinal direction of the stairwell, keeping the main traction rope in a near-vertical or slightly forward-leaning posture in the middle of the stairwell's through space, making the direction of the auxiliary pulling force transmission closer to the vertical direction or diagonally upward, thereby improving efficiency.

[0019] Fifth, the enable control on the user-end handle adopts a continuous press activation method. The user only receives upward auxiliary pulling force when actively gripping and pressing. Releasing the handle stops the traction or enters the braking state, realizing an inherently safe control logic and preventing the risk of the rope losing control and rebounding after the handle is released. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 Here is a schematic diagram of the overall installation layout of the present invention; Figure 2 Here is a schematic diagram of the structure of the rope outlet pulley and power winch assembly of the present invention; Figure 3 This is a schematic diagram showing the through space in the middle of the stairwell and the installation positions of the calling operation device on each floor. Figure 4 Here is a detailed structural diagram of the user terminal handle of this invention.

[0021] In the diagram: 101. Staircase flight; 102. Staircase semi-platform; 103. Central through space of the stairwell; 104. Staircase railing; 200. Load-bearing track beam; 300. Rope exit pulley; 301. Rope guide structure; 303. Pivoting swing arm; 304. Angle sensor; 400. Power winch assembly; 401. Drive motor; 402. Non-self-locking reducer; 500. Main traction rope; 600. User-end handle; 601. Grip; 602. Enabling control; 603. Assist gear adjustment; 700. Lowering guide assembly; 701. Guide rope; 702. Bottom tensioning device; 800. Call operation device; 801. Lowering control; 900. Control unit; 1001. Pulley drive motor; 1002. Drive wheel; 1003. Driven wheel; 1004. Transmission component. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0024] Please see Figure 1-4 This invention provides a technical solution for a rope-traction stair-assisting device that utilizes the through space in the middle of a stairwell: like Figure 1 As shown, a rope-traction stair-assist device utilizing the through space in the middle of a stairwell is installed in a turnaround stairwell of a residential building. Each floor of the stairwell has two opposing parallel stair sections 101 and a stair half-platform 102 connecting the adjacent stair sections. The inner side between the two stair sections 101 forms a through space 103 in the middle of the stairwell, which runs along the building height direction. This space is enclosed by the stair railings 104 on each floor, and is approximately 15 to 25 centimeters wide, running from the first floor to the top of the sixth floor.

[0025] The rope-assisted staircase assist device includes: The supporting track beam 200 is a set of steel frame structures, with its two ends fixed to the walls or beams on both sides of the top floor of the stairwell by expansion bolts or chemical anchors, spanning directly above the central through space 103 of the stairwell. The lower side of the supporting track beam 200 is equipped with a straight guide rail or profile track, extending longitudinally along the stairwell, that is, horizontally along the direction of the two stair flight 101, its length covering the entire projected area of ​​the central through space 103 of the stairwell in that direction.

[0026] The rope exit pulley 300 is slidably mounted on the support track beam 200 via pulleys or sliders, and can move freely or reciprocally along the entire length of the support track beam 200.

[0027] It should be noted that the load-bearing track beam 200 is not limited to horizontal installation. In some stairwell structures, the load-bearing track beam 200 can also be installed at a certain angle of inclination, depending on the actual position of the building beams and columns and the specific structure of the stairwell, as long as it extends along the longitudinal direction of the stairwell and allows the rope exit pulley 300 to slide in that direction. The load-bearing track beam 200 can be installed in various ways and postures in different building structures. In buildings with ample space at the top of the stairwell, the load-bearing track beam 200 can be installed on the beam below the top ceiling or above the top stair half-platform 102, in an approximately horizontal posture. In buildings with limited space at the top or irregular beam and column layouts, the load-bearing track beam 200 can also be installed at a certain angle of inclination, following the available fixed point positions. In some buildings, the load-bearing track beam 200 can be installed on the side wall of the stairwell instead of spanning the top. Regardless of the installation posture, as long as the load-bearing track beam 200 extends along the longitudinal direction of the stairwell and the rope exit pulley 300 can slide freely on it, the technical requirements of this invention are met. Therefore, there are no restrictions on the horizontal or inclined installation posture of the load-bearing track beam frame.

[0028] The traction mechanism includes a power winch assembly 400 and a main traction rope 500. The power winch assembly 400 is mounted on the rope exit pulley 300, and its drum is connected to one end of the main traction rope 500 and is used to wind up or unwind the main traction rope 500. In use, it generates an upward traction force on the user by winding up the main traction rope 500.

[0029] The main traction rope 500 is one of the following: steel wire rope, synthetic fiber rope, or steel wire core synthetic fiber coated rope. Its diameter is usually three to eight millimeters, taking into account both load-bearing strength and flexible bending performance.

[0030] The main traction rope 500 bears a large tensile load (typically a continuous auxiliary pull of tens to over one hundred Newtons plus the dynamic impact load from the user's arm), therefore, a high-strength, fatigue-resistant, and appropriately sized rope material is required. Steel wire rope has high strength and high abrasion resistance, but poor flexibility; its bending radius should not be too small when looping. High-strength synthetic fiber ropes (such as ultra-high molecular weight polyethylene ropes and aramid ropes) have extremely high specific strength and excellent flexibility, but relatively low abrasion resistance. Steel wire core synthetic fiber coated ropes combine the strength of steel wire ropes with the flexibility and feel of synthetic fibers. The specific material selection is determined comprehensively based on actual operating conditions and economic considerations.

[0031] The user-end handle 600 is suspended at the end (drooping end) of the main traction rope 500 and can reach the height range of each floor's stair landing or stair half landing 102 in the stairwell.

[0032] Multiple summoning devices 800 are installed on the stair landings of each floor in the stairwell.

[0033] The control unit 900, the core control device of the system, is installed near the power winch assembly 400 at the top of the stairwell or in a control box on the wall of the stairwell. It is connected to the power winch assembly 400, the user handle 600, and the call operation devices 800 on each floor.

[0034] Each floor's call operation device 800 is equipped with a lowering control element 801 (i.e., a call button). When a user presses this call button on any floor, they send a handle call command to the control unit 900, requesting the user-end handle 600 to be lowered to that floor. At this time, the power winch assembly 400 adjusts the height of the user-end handle 600 at the end of the main traction rope 500 by winding or unwinding the rope to match the user's floor. The call operation device 800 is connected to the control unit 900 via wired or wireless means. The call operation device 800 can also be equipped with status indicator lights or a digital display to indicate the current handle position, system readiness status, and fault alarm information.

[0035] In one specific embodiment of this device, the call operation device 800 is installed on the wall of the stair landing on each floor of the stairwell, at a height of approximately one to one and a half meters above the ground, for easy operation by standing personnel. Each floor's call operation device 800 panel is equipped with a downward control element 801 (call button). When the user presses this button, a handle call command containing floor identification information is sent to the control unit 900.

[0036] In one specific embodiment of this device, such as Figure 2As shown, the drum of the power winch assembly 400 is rotatably connected to the inner wall of the rope outlet pulley 300, and it also includes a drive motor 401 and a non-self-locking reducer 402 installed on the outer wall of the rope outlet pulley 300.

[0037] The core transmission link of the power winch assembly 400 is as follows: the output shaft of the drive motor 401 is connected to the input end of the non-self-locking reducer 402, and the output end of the non-self-locking reducer 402 is connected to the shaft of the drum. The reduction ratio of the non-self-locking reducer 402 is selected and matched according to the rated speed of the drive motor 401 and the target rope speed of the drum, with a preferred reduction ratio range of 5:1 to 20:1.

[0038] The core reason for choosing a non-self-locking reducer 402 is to adapt to the dynamic extension and retraction of the user's arm when climbing stairs while holding the user-end handle 600. During the process of climbing stairs step by step, the user's arm does not remain in a fixed posture, but rather undergoes a cyclical length change of straightening, bending, bending, and straightening with each step. Taking the hand position as a reference point, during the arm bending phase, the user's hand is shortened upwards relative to their shoulder. If the main traction rope 500 is continuously wound by the drive motor 401 and cannot be released in the opposite direction, the rope will exert an upward impact force on the user's arm, causing an abrupt feel and potentially affecting climbing balance. During the arm straightening phase, the user's hand is extended downwards relative to their shoulder, requiring the rope to be able to compensate for this extension in real time.

[0039] The non-self-locking reducer 402's reverse efficiency is greater than zero, allowing torque applied from the drum side to reverse-drive the reducer, thus rotating the rotor of the drive motor 401. When the instantaneous reverse pull generated by the user's arm extension and flexion is applied to the drum through the main traction rope 500, the drum can rotate instantaneously in the reverse direction. This reverse pull, via the non-self-locking reducer 402, slightly reverses the rotor of the drive motor 401, releasing the corresponding length of rope. This reverse release can also occur when the drive motor 401 is in the winding direction torque output state, because the non-self-locking reducer 402 allows the instantaneous reverse force at the load end to drive the input end to rotate after overcoming the reverse transmission loss of the reducer. The current loop control of the drive motor 401 continuously maintains the set winding direction torque (i.e., torque mode) during this process, but this torque value is limited and insufficient to completely prevent the reverse micro-rotation caused by the instantaneous reverse pull of the user's arm. Thus, the system exhibits a certain degree of flexibility and compliance; the auxiliary pull felt by the user during climbing is smooth and elastic, rather than a rigid tug.

[0040] In contrast, if a self-locking reducer (such as a worm gear reducer) is used, the reverse force at the load end cannot drive the reducer to reverse the transmission. The rope length irreversibly increases and does not decrease in the output direction of the drive motor 401 (it only retracts and does not unwind in the winding direction). The rope will become slack every time the user's arm bends and shortens, and will generate sudden tension when straightened because the rope cannot be released in the reverse direction. The climbing experience will be extremely uncomfortable.

[0041] In one specific embodiment of this device, such as Figure 4 As shown, the user-end handle 600 is the direct interaction component between the user and the device. The main body of the user-end handle 600 is a vertical grip or a T-shaped handle, and its upper end is connected to the end of the main traction rope 500 through a rope connector (such as a shackle, crimp terminal, or rope clamp).

[0042] The user-side handle 600 includes: A grip portion 601 is located in the middle of the user-end handle 600, and its surface is covered with anti-slip rubber or foam material to provide a comfortable and secure grip.

[0043] An enabling control 602 is located on the grip 601 at a position naturally reached by the user's fingers. In one specific embodiment of this device, it is a continuously pressable button (in other embodiments, it can also be in the form of a trigger). It remains active only when the user continuously applies a pressing action, and automatically returns to the inactive state immediately after the user releases their finger or releases the handle. This design implements an intrinsically safe logic similar to a "dead man's switch"—any accidental release will immediately cause the drive motor 401 to stop its traction output or engage braking, preventing the handle from uncontrollably bouncing back upwards under the tension of the rope after it is released.

[0044] An assist level adjustment component 603 is located in the non-grip area of ​​the user-end handle 600 (such as the upper end or side of the handle). In one specific embodiment of this device, it is a multi-position toggle switch or knob, allowing the user to select different levels of assist pull force according to their physical strength and the weight they are carrying upstairs. Different levels correspond to different target output torque values ​​of the drive motor 401. The control unit 900 adjusts the target current of the servo motor's current loop based on the input signal from the assist level adjustment component 603 to change the output torque. In this device, the assist level adjustment component 603 not only includes multiple assist levels corresponding to different upward assist pull force levels, but also at least one descent level corresponding to the downward descent mode. The user can put the system into the downward descent mode by switching the assist level adjustment component 603 to the descent level, without the need for any additional independent operating components.

[0045] Signals enabling the control unit 602 and the power assist adjustment unit 603 are transmitted to the control unit 900 via wired or wireless means. In the wired solution, the signal lead extends from the user-end handle 600, runs downwards along the guide rope 701, turns near the bottom tensioning device 702 in the stairwell area, and then runs upwards along the stairwell wall back to the control unit 900. The reason for choosing to run along the guide rope 701 instead of the main traction rope 500 is that the working tension on the guide rope 701 is extremely small (only two to ten Newtons), and the mechanical damage to the signal lead is far less than that on the main traction rope 500, which bears tens to hundreds of Newtons of tension, thus significantly extending the service life of the signal lead. In the wireless solution, the user-end handle 600 integrates a low-power wireless communication module (such as a low-power Bluetooth module) and a small battery, and the status of the control unit 602 and the power assist adjustment unit 603 is transmitted wirelessly to the wireless receiver of the control unit 900. The wireless solution eliminates the wiring and bending resistance issues of the signal lead, but increases the requirements for battery maintenance and wireless communication reliability. Both options can achieve the function of this device; the specific choice should be determined based on the actual engineering conditions.

[0046] The wired signal connection between the call operation device 800 on each floor and the control unit 900 is achieved by laying cables along the outer wall of the stairwell. The signal cables start from the call operation device 800 on each floor, run along the wall and converge at the location of the control unit 900, without passing through the central through space 103 of the stairwell, so as to avoid entanglement and interference with the main traction rope 500 and guide rope 701 system in the central through space.

[0047] The control unit 900 is connected via signal cables to the drive motor 401 (and its servo driver), the enable control 602 and power assist adjustment 603 on the user handle 600, and the call operation devices 800 on each floor. The signal lead on the user handle 600 can run along the guide rope 701, through the bottom, and back along the wall, or communicate with the control unit 900 wirelessly. The signal cables of the call operation devices 800 on each floor are laid along the outer walls of the stairwell.

[0048] like Figure 2 As shown, drive motor 401 is a servo motor, which integrates a high-resolution encoder (such as a photoelectric incremental encoder or absolute encoder). The servo motor is connected to control unit 900 through a matching servo driver. The intrinsic feedback capability of the servo system allows this device to acquire key operating parameters without the need for an external independent tension sensor or rope length measurement sensor.

[0049] First, the rope length and floor position are calculated. The control unit 900 reads the cumulative rotation angle data (i.e., the total number of revolutions or pulses the motor has made) from the servo motor encoder, and combines this with the reduction ratio of the non-self-locking reducer 402 and the effective winding radius of the drum to calculate in real time the total length of the main traction rope 500 released from the drum. Since the floor heights of each floor in the stairwell are known building parameters (which can be entered during the initial system installation and calibration), the control unit 900 can determine the approximate floor position of the user-end handle 600. This information is used to control the rope release termination timing during the handle call and lowering process—when the released rope length reaches the preset value corresponding to the target floor, the control unit 900 stops releasing the rope and applies the brake. This information can also be used to display the current handle position on the status indicator of the call operation device 800.

[0050] Second, real-time tension acquisition. During operation, the current loop of the servo driver detects and adjusts the current flowing through the motor windings in real time. Since motor torque is directly proportional to current, the control unit 900 can calculate the real-time output torque of the drive motor 401 by reading the real-time current feedback value from the current loop. Then, it can convert this torque into the real-time tension value of the main traction rope 500 using the relationship between the reduction ratio and the drum radius. This tension value represents the magnitude of the real-time auxiliary pulling force applied to the user.

[0051] Third, real-time speed acquisition. The servo drive's speed loop detects and adjusts the motor's speed in real time. The control unit 900 can obtain the drum's real-time speed by reading the speed loop's real-time speed feedback value, and then calculate the real-time winding and unwinding speed of the main traction rope 500.

[0052] Based on the above three intrinsic feedback capabilities of the servo system, the control unit 900 can realize constant torque mode operation control and safety monitoring functions.

[0053] The torque control mode is implemented as follows: The control unit 900 converts the auxiliary pull level selected by the user through the assist level adjustment component 603 into a target pull value. Then, based on the current effective winding radius of the drum (calculated by the encoder's accumulated rotation data to estimate the number of rope layers and radius changes), the target pull value is converted into the corresponding target current value of the servo motor, and the current loop of the servo driver is set to operate at this target current. As the number of rope layers wound on the drum changes, leading to a change in the effective winding radius, the control unit 900 dynamically adjusts the target current value to compensate for the impact of radius changes on the pull, keeping the auxiliary pull applied to the user at the end of the rope close to the target value. Regardless of changes in the user's climbing speed, the auxiliary pull remains basically stable. Changes in climbing speed only cause adaptive changes in the motor speed, without affecting the output. This mode is extremely user-friendly—the user feels as if supported by a hand that always applies a stable upward pull, and the climbing rhythm can be freely adjusted without worrying about fluctuations in the auxiliary force.

[0054] The safety monitoring function is implemented as follows: During the upward assist operation, the control unit 900 continuously samples the tension and winding / unwinding speed values ​​at fixed intervals. The control unit 900 has several preset safety conditions. When the real-time monitoring data does not meet the preset safety conditions, corresponding protective actions are triggered. Typical safety conditions include: a sudden drop in tension to zero or an extremely low value (possibly indicating rope breakage or the user releasing the handle but the enable control 602 failing to reset due to a malfunction). In this case, the control unit 900 immediately controls the drive motor 401 to enter a brake-locked state to stop winding and prevent rope breakage and rebound; a sudden abnormal increase in tension exceeding the set upper limit (possibly indicating the user-end handle 600 is stuck by an obstacle while the motor is still winding), also triggering brake-lock; a sudden abnormal increase in winding / unwinding speed (possibly indicating an abnormality in the transmission link), triggering brake-lock; and a continuously abnormally unchanged winding / unwinding speed or a mismatch with tension changes (possibly indicating the rope slipping on the drum), triggering brake-lock. When any of the above safety conditions are triggered, the control unit 900 also simultaneously issues a safety warning signal, which can be used to alert the user and surrounding personnel through a buzzer alarm and a flashing status indicator light on the call operation device 800.

[0055] When a user grips the user-end handle 600 and activates the enable control 602 for the first time, if the drive motor 401 immediately outputs the full target torque, the main traction rope 500 will apply a sudden upward impact force to the user's arm, which may cause the user to lose balance or feel discomfort. For this reason, the control unit 900 is equipped with a torque smoothing transition function.

[0056] When the enabling control 602 is activated for the first time, the control unit 900 does not immediately switch the current loop setpoint to the target current value. Instead, it starts from zero current (zero torque) and gradually increases the current loop setpoint in a linear ramp or S-curve over a transition period (e.g., 0.5 to 2 seconds) until the target current value is reached. During this transition, the user feels the assist force smoothly increase from zero to the setpoint, resulting in a natural and comfortable feel, and has ample time to adjust their posture to adapt to the assist force.

[0057] When the enable control 602 is released (not activated), the control unit 900 also smoothly reduces the current loop setting from the target current to zero and then enters the braking state to prevent the user from bearing the full weight of himself instantly due to the sudden disappearance of the assist force.

[0058] In one specific embodiment of this device, such as Figure 2 As shown, the bottom of the rope exit pulley 300 is provided with a rope guide structure 301. After the main traction rope 500 hangs down from the rope guide structure 301, it enters the through space 103 in the middle of the stairwell and extends downward through the narrow gaps enclosed by the stair railings 104 of each floor.

[0059] Specifically, the guide rope structure 301 is a freely rotating guide rope wheel. After the main traction rope 500 is led out from the drum, it is guided along the direction of the bearing track beam 200 to the rope exit pulley 300. After passing through the guide rope structure 301, it turns downward and extends downward into the through space 103 in the middle of the stairwell.

[0060] like Figure 1 As shown, the rope-traction staircase assist device also includes a lowering guide assembly 700, which includes a guide rope 701 and a bottom tensioning device 702.

[0061] The guide rope 701 is a flexible thin rope, typically two to four millimeters in diameter. Its upper end is connected to the lower part of the user-end handle 600, and the lower end of the user-end handle 600 is connected to the upper end of the guide rope 701 via a rope connector. It extends downwards along the central through-space 103 of the stairwell to the bottom area of ​​the stairwell. The bottom tensioning device 702 is located at the bottom area of ​​the first floor or basement level of the stairwell. In one specific embodiment of this device, it is a spring retractor that applies a continuous downward tension to the guide rope 701. The preferred tension value is in the range of two to ten Newtons, which is sufficient to pull the user-end handle 600 towards the centerline of the central through-space 103 of the stairwell when the main traction rope 500 is released, thereby achieving centered guidance without causing significant resistance to the user during the ascent.

[0062] The guide rope 701 bears only the small tension (two to ten Newtons) applied by the bottom tensioning device 702 and does not bear any part of the user's weight. Therefore, a thin-diameter, lightweight synthetic fiber rope, nylon rope, or braided rope can be selected.

[0063] In addition to a spring retractor, the bottom tensioning device 702 can also employ a counterweight tensioning device or a motor retractor. The counterweight tensioning device uses a small counterweight suspended from the end of the guide rope 701. The guide rope 701 passes through the bottom guide pulley and connects to the counterweight; the weight of the counterweight provides a constant tension on the guide rope 701. The motor retractor uses a small DC motor to apply a recovery torque to the guide rope 701. All three methods share the characteristic of applying a continuous downward tension to the guide rope 701 while smoothly releasing the stored length of the guide rope 701 when the user-end handle 600 moves upward.

[0064] When a user on a certain floor presses the lowering control 801 on the call operation device 800 for that floor, the control unit 900 first determines the current floor position of the user's handle 600 (based on the rope length information calculated from the cumulative rotation data of the servo motor encoder), and then controls the power winch assembly 400 to operate in rope-releasing mode, driving the motor 401 to reverse or release the brake to release the main traction rope 500 from the drum.

[0065] During the release of the main traction rope 500, the user-end handle 600 moves downward under the combined action of its own weight and the continuous downward tension of the lowering guide assembly 700. At this time, the guide rope 701 remains taut under the pull of the bottom tensioning device 702, and this tension is always applied to the lower part of the user-end handle 600 along the longitudinal direction (i.e., approximately vertical direction) of the central through space 103 of the stairwell. Since the user-end handle 600 is suspended above by the main traction rope 500 and pulled downward by the guide rope 701 below, the user-end handle 600 is like a ball on a vertical tension line during the descent, constrained near the center line of the central through space 103 of the stairwell, effectively preventing the user-end handle 600 and the main traction rope 500 from lateral swaying due to airflow disturbance, building vibration, or the elasticity of the rope itself during the descent. This prevention of lateral sway is crucial to ensuring that the user-end handle 600 and the rope can pass smoothly through the narrow gaps enclosed by the stair railings 104 on each floor. Without the central constraint of the lowering guide component 700, the swing amplitude of the user-end handle 600 after descending several floors could reach tens of centimeters or even more, which could easily collide with the stair railings 104 or get stuck in the stair section structure.

[0066] The control unit 900 continuously monitors the rope length during the rope release process. When the released rope length reaches the preset value corresponding to the target floor height, it controls the drum to stop releasing the rope and brakes, and the user-end handle 600 stops at a height that is easily accessible to the user of the target floor.

[0067] When the user grips the user-end handle 600 and activates the enable control 602, the power winch assembly 400 enters the upward assist mode. The drive motor 401 applies a winding torque to the drum, and the main traction rope 500 pulls the user-end handle 600 upward. During this ascent, as the user-end handle 600 is pulled upward, the guide rope 701 connected to its lower part is also dragged upward. The bottom tensioning device 702 recovers the redundant length of the guide rope 701 with continuous downward tension—as the user-end handle 600 rises, the length of the suspended section of the guide rope 701 in the stairwell's central through-space 103 shortens, and the bottom tensioning device 702 stores the shortened rope length in the retractor. During this process, the downward tension applied by the guide rope 701 to the user-end handle 600 is only the set tension value of the bottom tensioning device 702 (two to ten Newtons), which is extremely small compared to the upward auxiliary pulling force provided by the power winch assembly 400 (usually tens to over one hundred Newtons), and will not cause significant additional burden to the user's ascent. Since the main traction rope 500 is always in a wound and taut state during the ascent, and the direction of movement of the rope and the user-end handle 600 is upward, the downward through-passage characteristic of the stairwell's central through-space 103 no longer poses a risk of lateral swaying. Therefore, the function of the lowering guide assembly 700 during the ascent phase is only passive following rather than active guidance.

[0068] The longitudinal movement of the rope-driven stair-assist device's rope-deploying pulley 300 on the supporting track beam 200 can be achieved in three different ways: active following, passive servoing, and a combination of both. These three methods correspond to different structural configurations and usage scenarios, and all can enable the rope-deploying pulley 300 to follow the user's longitudinal displacement along the stairwell.

[0069] Example 1 like Figure 2 As shown, in this embodiment, the position of the rope exit point pulley 300 is driven actively. The track beam 200 is equipped with a pulley drive mechanism, which includes a pulley drive motor 1001, a drive wheel 1002, a driven wheel 1003, and a transmission component 1004.

[0070] Specifically, the transmission component 1004 is a synchronous belt. The driving pulley 1002 and the driven pulley 1003 are respectively installed at both ends of the supporting track beam 200, and the synchronous belt is wound around the driving pulley 1002 and the driven pulley 1003 to form a closed loop. The car body of the rope exit point trolley 300 is fixedly connected to the transmission component 1004. When the trolley drive motor 1001 drives the driving pulley 1002 to rotate, the transmission component 1004 drives the rope exit point trolley 300 to move linearly along the supporting track beam 200. In other embodiments, the transmission component 1004 can also use a chain instead of a synchronous belt, and the driving pulley 1002 and the driven pulley 1003 can be replaced with sprockets accordingly. The working principle is the same as the synchronous belt scheme. Alternatively, the trolley drive mechanism can also employ a rack and pinion transmission method, where a rack is installed along the load-bearing track beam 200, and the trolley drive motor 1001 drives the rope-exiting trolley 300 to move linearly through gear meshing with the rack; or a wire rope traction method can be used, where the trolley drive motor 1001 drives the wire rope to pull the rope-exiting trolley 300 along the load-bearing track beam 200. All of these transmission methods can achieve the function of driving the rope-exiting trolley 300 to move linearly back and forth along the load-bearing track beam 200. The specific choice is determined comprehensively based on installation space, accuracy requirements, and economic considerations.

[0071] In this embodiment, a rope deflection detection device is installed on the rope exit point pulley 300 to determine the target movement direction and amount of movement of the rope exit point pulley 300. This device includes a pivoting arm 303 pivotally mounted via bearings and an angle sensor 304 (such as a potentiometer-type angle sensor or a magnetic encoder) located at the pivot axis of the pivoting arm 303. Before the main traction rope 500 descends from the guide rope structure 301, it passes through or around the guide hole or guide wheel at the end of the pivoting arm 303. When the main traction rope 500 deviates from the vertical direction, the rope applies a horizontal component force to the end of the pivoting arm 303, causing the pivoting arm 303 to deflect around the pivot axis by a certain angle. The angle sensor 304 detects this deflection angle and direction and transmits the signal to the control unit 900. Based on this, the control unit 900 drives the pulley drive motor 1001 to move the rope exit point pulley 300 in the direction that eliminates the rope deflection until the rope returns to a near-vertical state.

[0072] This active drive following method is suitable for situations where the load-bearing track beam 200 is long or the track friction is large during installation. It can ensure that the rope exit point pulley 300 accurately and timely follows the user's longitudinal displacement in the stairwell.

[0073] Example 2 In this embodiment, the position of the rope exit point pulley 300 is passively followed, eliminating the need for a pulley drive motor and transmission components. The rope exit point pulley 300 is mounted on the supporting track beam 200 via a low-friction pulley or a linear bearing slider, resulting in extremely low sliding friction between the rope exit point pulley 300 and the supporting track beam 200.

[0074] As the user climbs the stairs holding the user-end handle 600, their position continuously changes longitudinally in the stairwell. Because the user's position is offset from directly below the rope exit pulley 300, the main traction rope 500 deflects at an angle relative to the vertical direction. The horizontal component of the rope tension acts on the vehicle body of the rope exit pulley 300 through the guide rope structure 301, driving the rope exit pulley 300 to passively slide along the supporting track beam 200 in the direction of decreasing deflection angle. As long as the sliding friction is low enough, the horizontal component of the force caused by the rope deflection angle can drive the rope exit pulley 300 to automatically follow the user's longitudinal displacement, keeping the rope in a near-vertical extension state.

[0075] The advantages of this passive follow-up method are simple structure, no need for additional motors and sensors, high reliability, and low cost. It is suitable for occasions where the length of the load-bearing track beam is relatively short and the track processing and installation accuracy are high.

[0076] Example 3 In this embodiment, the rope exit point pulley 300 has both a passive follow-up structure and an active follow-up structure. The two structures are independent of each other and do not interfere with each other. Users or systems can choose to use one of the two methods according to the actual working conditions, or use each other as a backup.

[0077] Specifically, the rope exit pulley 300 is equipped with the following on its body: Passive follow-up component: includes low-friction slider / pulley and guide rope structure 301, which is configured the same as in embodiment 2.

[0078] Active following component: includes trolley drive motor 1001, transmission component 1004 and rope deflection detection device (pivoting arm 303 and angle sensor 304), the configuration of which is the same as in embodiment one.

[0079] The rope exit pulley 300 can move passively via the external force transmitted by the guide rope structure 301, or it can move actively via the pulley drive mechanism. It can also dynamically switch between or work in coordination between the two modes. This design greatly improves the device's adaptability to different building structures and user habits.

[0080] In the passive following state of the composite mode, preferably, the trolley drive motor 1001 is in a de-energized state. Its transmission system can be disengaged from the trolley via a clutch, or the low resistance characteristics of the motor itself can be utilized (such as using a servo motor and disconnecting the driver enable signal) to reduce the resistance during passive movement. Under acceptable resistance conditions, the motor can also remain unenergized, but in this case, it should be ensured that the driver does not output current to avoid generating additional electromagnetic damping.

[0081] During operation, when a user presses the lowering control 801 (call button) on the panel of the call operation device 800 for one of the floors, a call command containing floor identification information is sent to the control unit 900. The lowering control process after receiving the call command is as follows: First, the control unit 900 determines the current system status. If the system is currently in the upward assist mode (i.e., a user is using it), the control unit 900 will not respond to the call command temporarily, but will display a "in use" prompt signal on the status indicator of the call operation device 800. The call command will be automatically executed after the current user finishes using it. If the system is currently in an idle standby state, the control unit 900 will begin to execute the lowering operation.

[0082] During the lowering operation, the control unit 900 first controls the rope exit trolley 300 to move to the preset lowering position. The preset lowering position refers to a specific location along the length of the supporting track beam 200, such that the path of the rope lowered from this position lies on or as close as possible to the centerline of the through space 103 in the middle of the stairwell. This preset position is determined and stored in the control unit 900 during system installation and calibration. In the case of an active following scheme (Embodiment 1), the control unit 900 drives the rope exit trolley 300 to move to the preset position via the trolley drive motor 1001. In the case of a passive following scheme (Embodiment 2), a controllable electromagnetic locking device or mechanical limiting device can be installed at the preset position on the supporting track beam 200, so that the rope exit trolley 300 is positioned at the preset position when not in operation.

[0083] After the rope release point trolley 300 reaches its designated position, the control unit 900 controls the power winch assembly 400 to operate in rope-releasing mode. In rope-releasing mode, the drive motor 401 rotates in the reverse direction at a controlled, slow speed to release the main traction rope 500, or releases the brake to allow the drum to freely release the rope under the combined action of the weight of the user-end handle 600 and the downward tension of the guide rope 701. Simultaneously, the drive motor 401 applies a moderate reverse damping torque to control the rope-releasing speed to not exceed a safety threshold. The control unit 900 monitors the released rope length in real time through an encoder that accumulates the rotation angle. When the rope length reaches a preset value corresponding to the target floor height, the control unit stops and brakes the drum.

[0084] Throughout the lowering process, the lowering guide component 700 plays a crucial central guiding role. Under the continuous downward tension of the bottom tensioning device 702, the guide rope 701 restrains the user-end handle 600 and the main traction rope 500 near the center line of the through space 103 in the middle of the stairwell, preventing lateral swinging and jamming.

[0085] In addition to providing upward assistance, this device also provides downward descent protection. When a user needs to descend from a higher floor to a lower floor, the user adjusts the assistance level adjustment 603 to the descent level, and the system enters the downward descent mode. In some embodiments, the downward descent mode can also be triggered by a specific combination of operations on the call operation device 800.

[0086] In the descent mode, the control unit 900 controls the drive motor 401 to operate with controlled reverse damping torque. When the user holds the user-end handle 600 and activates the enable control 602 to descend the stairs, each step lowers the user's body height, requiring the main traction rope 500 to release a corresponding length of rope. Without descent mode, rope release relies entirely on the reverse transmission of the non-self-locking reducer 402 and gravity, which can cause the user to experience a sudden loss of support. In descent mode, the drive motor 401 applies continuous reverse resistance to the rope release rate, which is equivalent to applying a continuous upward supporting force to the user's arms, making the descent smoother and reducing the impact on the knee joint with each step. This function is particularly beneficial for elderly people with knee osteoarthritis.

[0087] See Figure 1 and Figure 3 This device can be installed as a complete rope-traction stair assist system utilizing the central through space of a stairwell in a zigzag stairwell building structure. The system includes the zigzag stairwell building structure and the aforementioned stair assist device installed within it. The main traction rope 500 descends from the exit point pulley 300 into the central through space 103 of the stairwell. The user-end handle 600 can reach the height range of each stair landing in the zigzag stairwell, thus providing users on each floor with comprehensive stair travel assistance, including on-demand calling, upward assistance, and downward slow descent.

[0088] The system can also be configured with a network communication module as needed, enabling the control unit 900 to communicate with the remote operation and maintenance system through the Internet of Things platform, and upload operating data and fault information for remote monitoring and maintenance scheduling.

[0089] Example 4 A control method for a rope-traction staircase assist device utilizing a through space in the middle of a stairwell includes the following steps: Step S1: System standby After the system is powered on, the control unit 900 enters standby mode, continuously listens for signal input from the call operation devices 800 on each floor, and monitors the current floor position of the user terminal handle 600 in real time.

[0090] Step S2: Summon and lower your hand When the call button 800 on any floor is pressed, the control unit 900 executes the following sub-steps: S2.1 Rope exit point positioning: Control the rope exit point trolley 300 to move to the preset lowering position, so that the rope exit point is located above the center line of the through space 103 in the middle of the stairwell; S2.2 Rope Release: Control the power winch assembly 400 to release the main traction rope 500 in rope release mode; S2.3 Centered Guided Descent: Under the continuous downward tension of the lowering guide component 700, the user-end handle 600 descends centrally along the through space 103 in the middle of the stairwell to prevent lateral swinging and jamming. S2.4 Reaching the target floor: The encoder accumulates the rotation angle and monitors the released rope length in real time. When the preset rope length value corresponding to the target floor is reached, the rope release is stopped and the brake is applied to complete the call-down descent.

[0091] Step S3: Upward Assist The user holds the user terminal handle 600 and continuously presses the enable control 602 to activate it, and the system enters the uplink assist mode: S3.1 Smooth Torque Transition: Within a set transition time, the control unit 900 smoothly increases the output torque of the drive motor 401 from zero to the target torque value; S3.2 Constant torque traction: The drive motor 401 operates in constant torque mode, applying a stable upward auxiliary pulling force to the main traction rope 500; S3.3 Flexible Adaptive Gait: Utilizing the reverse transmission characteristics of the non-self-locking reducer 402, the rope length is automatically and slightly adjusted as the user's arm extends or flexes, maintaining constant tension.

[0092] Step S4: Rope exit point tracking During the upward movement, the rope exit pulley 300 moves along the bearing track beam 200 following the longitudinal displacement of the user, so that the main traction rope 500 maintains a near-vertical extension state within the through space 103 in the middle of the stairwell. If the active following method is adopted, the rope deflection detection device detects the deflection angle in real time, and the control unit 900 drives the trolley drive motor 1001 to actively follow. If a passive follow-up method is adopted, the rope exit point pulley 300 will automatically and passively slide under the action of the horizontal component of the rope tension.

[0093] Step S5: Security Monitoring The control unit 900 samples the real-time tension and retraction speed at fixed intervals to determine whether the preset safety conditions are met. If the tension suddenly drops or rises or the speed is abnormal, it immediately controls the drive motor 401 to enter the braking lock state and issues a safety warning signal.

[0094] Step S6: Rope Length Monitoring and Floor Positioning The control unit 900 calculates the length of the wound rope in real time by accumulating the rotation angle through the encoder, and determines the user's current floor by combining the height data of each floor, which can be displayed on the call operation device 800.

[0095] Step S7: Stop and Reset When the user reaches the target floor, they release the enable control 602. The control unit 900 smoothly reduces the output torque to zero and then enters the braking state. The system then returns to the standby state.

[0096] Step S8: Downward descent If the user adjusts the assist level 603 to the slow descent level and activates the enable control 602, the control unit 900 controls the drive motor 401 to operate with controlled reverse damping torque, applying continuous resistance to the rope release rate and providing the user with slow descent protection.

[0097] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0098] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A rope-traction stair-assisting device utilizing the through space in the middle of a stairwell, characterized in that, include: The load-bearing track beam (200) is fixedly installed at the top of the stairwell and extends longitudinally along the stairwell; The rope exit pulley (300) is movably mounted on the load-bearing track beam (200); The traction mechanism includes a power winch assembly (400) mounted on the rope outlet pulley (300) and a main traction rope (500) with one end connected to the power winch assembly (400), the other end of which hangs downward. The user-end handle (600) is suspended from the hanging end of the main traction rope (500); The lowering guide assembly (700) includes a guide rope (701) and a bottom tensioning device (702). The upper end of the guide rope (701) is connected to the lower part of the user-end handle (600), and the lower end of the guide rope (701) is connected to the bottom tensioning device (702). The bottom tensioning device (702) is located at the bottom of the stairwell and applies a continuous downward tension to the guide rope (701) to guide the user-end handle (600) to move centrally along the through space in the middle of the stairwell when it descends, and to prevent lateral swinging and jamming. Multiple summoning devices (800) are respectively installed on each floor of the stairwell to send summoning commands containing target floor information; The control unit (900) is signal-connected to the power winch assembly (400) and the call operation device (800), respectively, and responds to the call command and controls the power winch assembly (400) to release or reel in the main traction rope (500) to move the user-end handle (600) to the target floor.

2. The rope-traction stair-assisting device utilizing the through space in the middle of a stairwell as described in claim 1, characterized in that: The movement of the rope exit pulley (300) along the bearing track beam (200) is a passive follow-up mode. The rope exit pulley (300) is installed on the bearing track beam (200) by a low-friction slider or pulley. When the user climbs, the horizontal component force generated by the deflection angle of the main traction rope (500) drives the rope exit pulley (300) to slide passively through the rope guide structure (301) set at the bottom of the rope exit pulley (300).

3. The rope-traction stair-assisting device utilizing the through space in the middle of a stairwell as described in claim 1, characterized in that: The rope exit trolley (300) moves along the bearing track beam (200) in an active following mode. The bearing track beam (200) is provided with a trolley drive mechanism, which includes a trolley drive motor (1001) and a transmission component (1004). The rope exit trolley (300) is fixedly connected to the transmission component (1004). The trolley drive motor (1001) drives the transmission component (1004) to move the rope exit trolley (300) linearly along the bearing track beam (200).

4. The rope-traction stair-assisting device utilizing the through space in the middle of a stairwell as described in claim 3, characterized in that: The rope deflection detection device is installed on the rope exit pulley (300). The rope deflection detection device includes a pivot arm (303) mounted pivotally and an angle sensor (304) located at the pivot axis of the pivot arm (303). The main traction rope (500) passes through or wraps around the end of the pivot arm (303) before hanging down from the guide rope structure (301). When the main traction rope (500) deviates from the vertical direction, the angle sensor (304) detects the deflection angle and direction and transmits the signal to the control unit (900). The control unit (900) drives the pulley drive motor (1001) to move the rope exit pulley (300) in the direction of eliminating the rope deflection.

5. The rope-traction stair-assisting device utilizing the through space in the middle of a stairwell as described in claim 1, characterized in that: The power winch assembly (400) includes a drive motor (401) and a non-self-locking reducer (402). The output shaft of the drive motor (401) is connected to the input end of the non-self-locking reducer (402), and the output end of the non-self-locking reducer (402) is connected to the shaft of the drum. The non-self-locking reducer (402) has a reverse efficiency greater than zero, allowing the torque applied from the drum side to reverse drive the reducer and thus rotate the rotor of the drive motor (401).

6. The rope-traction stair-assisting device utilizing the through space in the middle of a stairwell as described in claim 5, characterized in that: The drive motor (401) is a servo motor with an integrated encoder. The control unit (900) calculates the release length of the main traction rope (500) by reading the cumulative rotation angle data of the encoder, thereby determining the current floor position of the user-end handle (600) and controlling the timing of rope release termination.

7. The rope-traction stair-assisting device utilizing the through space in the middle of a stairwell as described in claim 6, characterized in that: The user-end handle (600) has an enable control (602) on its grip portion (601). The enable control (602) is a continuously pressable button that remains active only when the user presses it continuously. The non-grip area of ​​the user-end handle (600) has an assist level adjustment (603), which is a multi-position switch or knob corresponding to different levels of assist pulling force. The enable control (602) and the assist level adjustment (603) are respectively connected to the control unit (900). The control unit (900) controls the drive motor (401) in torque mode, determines the target pulling force value according to the position signal of the assist level adjustment (603), and dynamically adjusts the output torque of the motor according to the current winding radius of the drum to maintain stable assist pulling force.

8. The rope-traction stair-assisting device utilizing the through space in the middle of a stairwell as described in claim 5, characterized in that: The user-end handle (600) is provided with an assist gear adjustment component (603), which is a multi-gear operation component. Its gears include at least one assist gear corresponding to upward assist and at least one descent gear corresponding to downward descent. When the assist gear adjustment component (603) is in the descent gear, the control unit (900) controls the drive motor (401) of the power winch assembly (400) to operate with controlled reverse damping torque to apply continuous resistance to the rope release rate.

9. The rope-traction stair-assisting device utilizing the through space in the middle of a stairwell as described in claim 1, characterized in that: The user-end handle (600) is provided with an enable control (602), which is a continuous press type and remains active only when the user presses it continuously; the control unit (900) is provided with a torque smooth transition function. When the enable control (602) is activated for the first time, the output torque of the drive motor (401) of the power winch assembly (400) is gradually increased from zero torque over a transition period until the target value is reached; when the enable control (602) is released, the output torque is reduced to zero in a smooth transition manner and then the braking state is entered.

10. The control method for a rope-traction stair-assisting device utilizing a through space in the middle of a stairwell according to any one of claims 1 to 9, characterized in that, Includes the following steps: Step S1: The system is on standby. The control unit (900) enters standby mode, continuously listens for the signal input of the call operation device (800) on each floor, and monitors the current floor position of the user terminal handle (600) in real time. Step S2: Handle Call and Lowering. When the call operation device (800) on any floor is pressed, the control unit (900) performs the following sub-steps: Rope Point Positioning. The rope point trolley (300) is controlled to move to the preset lowering position so that the rope point is located above the center line of the central through space (103) in the stairwell; Rope Release. The power winch assembly (400) is controlled to release the main traction rope (500) in rope release mode; Centered Guided Descending. Under the continuous downward tension of the lowering guide assembly (700), the user-end handle (600) descends centrally along the central through space (103) in the stairwell. Upon reaching the target floor, the encoder accumulates the rotation angle and monitors the released rope length in real time. When the preset rope length value corresponding to the target floor is reached, the rope release is stopped and the brake is applied. Step S3: Upward assistance. The user holds the user-end handle (600) and continuously presses the enable control (602) to activate it. The control unit (900) performs a smooth torque transition, gradually increasing the output torque of the drive motor (401) from zero to the target torque value within the set transition time. Then, it operates in torque mode to apply a stable upward auxiliary pulling force to the main traction rope (500). At the same time, the reverse transmission characteristics of the non-self-locking reducer (402) are used to automatically fine-tune the rope length when the user's arm extends or flexes. Step S4: Rope exit point follow-up. During the upward movement, the rope exit point pulley (300) moves along the bearing track beam (200) to follow the longitudinal displacement of the user, so that the main traction rope (500) maintains a near-vertical extension state in the middle through space (103) of the stairwell. Step S5: Safety monitoring. The control unit (900) samples the real-time tension and release speed at a fixed period to determine whether the preset safety conditions are met. If not, it immediately controls the drive motor (401) to enter the braking lock state and issues a safety warning signal. Step S6: Rope length monitoring and floor positioning. The control unit (900) calculates the length of the wound rope in real time by accumulating the rotation angle through the encoder, and determines the current floor of the user by combining the height data of each floor. Step S7: Stop and reset. When the user reaches the target floor, release the enable control (602). The control unit (900) reduces the output torque to zero in a smooth transition and then enters the braking state. The system returns to the standby state. Step S8: Descending slowly. If the user adjusts the assist level adjustment (603) to the slow descent position and activates the enable control (602), the control unit (900) controls the drive motor (401) to operate with controlled reverse damping torque to apply continuous resistance to the rope release rate.

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