Climbing aid, a climbing assembly, and a force sensor assembly

Abstract

According to the present invention there is provided a climbing aid (1) comprising, a cord (2) which can be selectively attached to a climber; a drum (3) around which the cord (2) is wound, wherein the drum (3) is selectively rotatable in first direction to unwind cord from the drum and in a second direction to wind the cord onto the drum; a drive system (4) which operably attached to the drum (3) and is selectively operable to rotate the drum (3) in its second direction, wherein the drive system comprises one or more motors (8a,8b) and a brake shaft (9), wherein the brake shaft (9) is operably connected between the one or more motors (8a,8b) and the drum (3) so that a torque force generated by the motors (8a,8b) can transmitted via the brake shaft (9) to the drum (3), to rotate the drum (3) in the second direction; a force sensor (15) which is configured measure a variable whose value is related to the level of pull force that is applied to a climber attached to the cord (2), wherein the pull force is generated by the torque force generated by the one or more motors (8a,8b); and a controller (20) which is configured to control the one or more motors (8a,8b) so that the pull force is maintained at a predefined force, or is maintained within a predefined force range. There is further provided a climbing assembly comprising the climbing aid (1) and a remote control (40). There is further provided a force sensor assembly which can be used for climbing.

Description

A Climbing Aid, a Climbing Assembly, and a Force Sensor AssemblyField of the invention

[0001] The present invention concerns a climbing aid and in particular a climbing aid, which can be attached to an anchor at a summit, and which comprises a cord which can be attached to a climber, a drum around which the cord is wound, and a drive system which is selectively operable to wind the cord onto the drum so that the climber's weight is supported as they climb towards the summit. There is further provided a climbing assembly comprising the climbing aid and a remote control which can be used to remotely control the pulling force provided by climbing aid. There is further provided a force sensor assembly which can be used for climbing.Background to the invention

[0002] Climbing has become a popular sport. Many people are unable to take part in the sport of climbing for many different reasons; for example some lack sufficient strength due to age or injury, others have a handicap which makes is difficult to climb safely, others lack sufficient experience.

[0003] Auto-belays are automatic electro-mechanical or mechanical climbing belay systems which are used to replace a human belayer; the auto-belay automatically retracts the climbing rope, taking up the slack as the climber climbs. While auto-belays offer security while climbing they do not provide a pull force which is sufficient support the weight of the climber and consequently do not support climbers that lack sufficient strength or have a handicap which makes is difficult to climb.

[0004] General therapeutic devices that support body weight are used in physiotherapy; however, such therapeutic devices are not suitable for, nor are they specifically adapted for, use as a climbing aid. Moreover, these therapeutic devices do not have safety features necessary for climbing.

[0005] There is a need in the art for a climbing aid which can be used to help people take part in the sport of climbing. In particular there is a need in the art for a climbing aid which can support, at least partially, the weight of a climber; and which provides a comfortable climbing experience for the climber; and which includes adequate safety features.Summary of the invention

[0006] An aim of the present invention to obviate or mitigate some of problems / disadvantages associated with existing climbing aids; and / or to fulfil one or more of the afore-mentioned needs in the art.

[0007] According to the present invention there is provided a climbing aid having the features of independent claim 1. Advantageously, the climbing aid can be attached to an anchor at a summit; a climber can attach themselves to an end of the cord and the drive system can drive the drum to wind the cord onto the drum. As the drive system drives the drum to wind the cord onto the drum the climber which is attached to the cord is pulled in a direction towards the summit / top of the climbing route; the pulling force supports the weight of the climber thereby making it easier for the climber to climb to the summit. The controller controls the motors so that the pulling force remains constant, or remains within a predefined range, as the climber climbs.

[0008] Other embodiments of the climbing aid include safety features; such as a safety feature to detect a fault in a freewheel of the climbing aid; a safety feature to ensure that the cord remains taut even if the drive motors fail; a safety feature to ensure that the speed at which the cord can unwind or wind onto the drum is limited.

[0009] It should be understood that only the features recited in independent claim 1 are essential to the invention; any other features described in the present application are optional features of the climbingaid. Optional, features of the climbing aid are outlined in the dependent claims.

[0010] According to a further aspect of the present invention there is provided a climbing assembly having the features recited in independent claim 19.

[0011] According to a further aspect of the present invention there is provided a force sensor assembly having the features recited in independent claim 20.Brief description of the drawings

[0012] Exemplary embodiments of the invention are disclosed in the detailed description and illustrated by the drawings in which:Figure 1 is a perspective view of a climbing aid according to an embodiment of the present invention;Figure 2 provides an exploded view of the climbing aid shown in figure 1; Figure 3a provides an exploded view of the force sensor and bracket(which form a force sensor assembly according to a further aspect of the present invention) which is used in the climbing aid of figures 1 and 2; figure 3b provides a front view of the force sensor and bracket 7.Detailed description of exemplary embodiments of the invention

[0013] Figure 1 is a perspective view of a climbing aid 1 according to an embodiment of the present invention; figure 2 provides an exploded view of the climbing aid 1 shown in figure 1.

[0014] Referring to figures 1 and 2 it can be seen that the climbing aid 1 comprises a cord 2 which can be selectively attached to a climber; a drum 3 around which the cord 2 is wound, wherein the drum 3 is selectively rotatable in first direction to unwind cord from the drum 3 and is selectively rotatable in a second direction to wind the cord onto the drum; and a drive system 4 which is operably attached to the drum and is selectively operable to drive the drum 3 to rotate in its second direction to wind the cord 2 onto the drum 3. In this example the drum 3 is made up of two parts: a main drum portion 3a and an end plate portion 3b; however, it should be understood that the drum 3 may be a single unit.

[0015] It should be understood that the cord 2 may take any suitable form; in this example the cord 2 is a lanyard 2.

[0016] The climbing aid comprises a housing 5 within which the drum 3 is located. In this embodiment the housing 5 comprises a first plate 5a and a second plate 5b. The drum 3 is located between the first and second plates 5a, 5b. The first and second plates are attached to one another via bolts 47.

[0017] The climbing aid further comprises a bracket 7 which is attached to the housing 5 and which can be used to attach the climbing aid 1 to an anchor at a summit of a climbing wall for example. The anchor may be, for example, an artificial anchor, a camming device, a chockstone, an expansion bolt, a piton, a belay, a running belay, or a snow picket. The cord may be unwound from the drum 3 to extend from the summit of the climbing wall to a base of the climbing wall where it can be tired to a climber which intends to climb the climbing call towards the summit.

[0018] The drive system 4 comprises one or more motors 8a, 8b and a brake shaft 9. A first gearing 11 is connected between the one or more motors 8a, 8b and the brake shaft 9 so that the torque force generated by the one or more motors 8a, 8b is transmitted to the brake shaft 9 via the first gearing 11. In this example the drive system 4 comprises a first motor 8a and a second motor 8b. It should be understood that the drive system 4 may comprise any number of motors 8a, 8b.

[0019] The first motor 8a is operable to generate a torque force which when transmitted to the drum 3, will turn the drum 3 in its second direction to wind the cord 2 onto the drum 3; the first motor 8a has a first rotor 108a; the first rotor 108a of the first motor 8a will rotate in a first predefined direction to generate said torque force. When the first rotor 108a of the first motor 8a rotates in its first predefined direction the first motor 8a is said to be generating positive torque force. Likewise, the second motor 8b is also operable to generate a torque force which when transmitted to the drum 3, will turn the drum 3 in its second direction to wind the cord 2 onto the drum 3; the second motor 8b has a second rotor 108b; the second rotor 108b of the second motor 8b will rotate in a first predefined direction to generate said torque force. When the second rotor 108b of the second motor 8b rotates in its first predefined direction the second motor 8b is said to be generating positive torque force.

[0020] The first gearing 11 comprises a first cog 11 a which is operably connected to the first motor 8a, and a second cog 11 b which is operably connected to the second motor 8a, and a third cog 11c which is operably connected to the brake shaft 9; and a first belt 11 d which operably connects the first cog 11a and second cog 11 b with the third cog 11c, so that torque force generated by the motors 8a, 8b and applied to the first and second cogs 11a,11 b is transmitted to the third cog 11c via the first belt 11d.

[0021] A second gearing 12 is connected between the brake shaft 9 and the drum 3 so that torque provided by the brake shaft 9 is transmitted to the drum 3 via the second gearing 12.

[0022] The second gearing 12 comprises a first cog 12a and a second cog 12b which are arranged as a gear train. The first cog 12a of the second gearing 12 is operably connected to the brake shaft 9 and the second cog 12b of the second gearing 12 is operably connected to the drum 3 so that rotation of the brake shaft 9 causes rotation of the first cog 12a, and the rotation of the first cog 12a in turn causes rotation of the second cog 12b, and the rotation of the second cog 12b in turn causes rotation of the drum 3 in the second direction.

[0023] Accordingly, torque force generated by the motors 8a, 8b (i.e. positive torque force generate by the first and second motor 8a, 8b) can be transmitted via the first gearing 11, the brake shaft 9, and second gearing 12, to the drum 3, to rotate the drum 3 in the second direction.

[0024] The drive system 4 further comprises a freewheel 13 which is connected between the brake shaft 9 and the first gearing 11, so that the only torque provided by the one or more motors 8a, 8b in a first predefined direction (i.e. only the positive torque force) is transmitted to the brake shaft 9 via the first gearing 11, while torque provided by the one or more motors 8a, 8b in a second predefined direction, which is opposite to the first predefined direction, is not transmitted to the brake shaft 9 via the first gearing 11. In this example the freewheel 13 is a ball bearing freewheel 13. The freewheel 13 ensures that only torque generated by the motors 8a, 8b in a direction which turns the drum 3 in its second direction is transmitted to the drum 3; while torque generated by the motors 8a, 8b which would turn the drum 3 in its first direction is not transmitted to the drum 3.

[0025] It should be understood that the freewheel 13 could be located at any suitable location between the one or more motors 8a, 8b and the drum 3. For example, in another embodiment the freewheel 13 isintegrated in the one or more motors 8a, 8b; for example the first motor 8a may comprise a first freewheel which ensures that only torque generated the first motor 8a in a first predefined direction is transmitted to the first gearing 11 ; and the second motor 8b which may comprises a second freewheel which ensures that only torque generated the second motor 8b in a first predefined direction is transmitted to the first gearing 11. Said first predefined directions are respective directions which would result in the drum 3 being turned in its second direction. In yet another embodiment the freewheel 13 is connected between the brake shaft 9 and the second gearing 12, so that only torque provided by the brake shaft 9 in a first predefined direction (directions which would result in the drum 3 being turned in its second direction) is transmitted to the drum 3 via the second gearing 12, while torque provided by the brake shaft 9 in a second predefined direction, which is opposite to the first predefined direction, is not transmitted to the drum 3 via the second gearing 12.

[0026] The climbing aid 1 further comprises a force sensor 15 which is configured measure a pull force that is applied to a climber attached to the cord 2, wherein the pull force is generated by the torque force generated by the one or more motors 8a, 8b. It should be understood that the force sensor 15 may take any suitable form. The force sensor 15 is configured to measure any suitable variable whose value is related to the level of pull force that is applied to a climber attached to the cord 2.

[0027] Not only can the force sensor 15 take any suitable form, but it should be further understood that the force sensor 15 could measure the pull force directly or indirectly. Indirect measurement of the pull force is the measurement of any variable whose value is related to / proportional to the level of pull force. In other words, the force sensor used in the climbing aid of the present invention is not limited to measuring a force, rather the force sensor could measure any variable which is related to / proportional to the pull force. For example, the pull force could be measured by measuring the torque force generated by the one or more motors 8a, 8b (the torque force generated by the one or more motors 8a, 8b is proportional to the pull force that is applied to a climber attached to the cord 2), in which casethe force sensor 15 would be configured to measure the torque force generated by the one or more motors 8a, 8b. In another example the pull force could be measured by measuring the level of current input to the one or more motors 8a, 8b (wherein the level of current input to the one or more motors 8a, 8b is proportional to the torque force generated by the one or more motors 8a, 8b; and the torque force generated by the one or more motors 8a, 8b is in turn proportional to the pull force that is applied to a climber attached to the cord 2), in which case the force sensor 15 would be configured to measure the level of current input to the one or more motors 8a, 8b (for example the force sensor 15 may comprise an ammeter which measures the level of current being supplied to the one or more motors 8a, 8b). In another embodiment the pull force could be measured directly by measuring the tension in the cord 2, in which case the force sensor 15 would be configured as a sensor which is applied to the cord 2 and which can directly measure the tension in the cord (wherein the tension in the cord is proportional to the pull force).

[0028] In the exemplary embodiment shown in the figures the force sensor 15 comprises a strain gauge-based force sensor 15. The force sensor 15 may comprise a hanging scale 15. In this example the force sensor 15 is positioned inside an opening 17 which is defined in the bracket 7.

[0029] The climbing aid 1 further comprises a controller 20. The controller 20 is configured to control the one or more motors 8a, 8b so that the pull force which is applied to the climber tied to the cord 2, is maintained at a predefined force, or is maintained within a predefined force range (for example maintained within ±5% of a predefined force).

[0030] The controller 20 is configured to receive an input indicative of a level of assist, and to control the one or more motors 8a, 8b so that the one or more motors 8a, 8b generate a torque force which ensures that a pull force which corresponds to the inputted level of assist, is applied to the climber that is tied to the cord 2. In this embodiment the controller 20 is either wirelessly connected, or wire connected, to a remote control 40; thecontroller 20 receives said input indicative of a level of assist from the remote control 40. The remote control 40 has a dial or a touchscreen 41 which a climber can use to enter the level of assist they desire. A climber enters into the remote control 40 (using the dial 41 for example) the level of assist they desire; the remote control 40 then communicates the entered level of assist to the controller 20 as said input. The remote control 40 may comprises one or more buttons which need to be pressed to initiate the remote control 40 to communicate the entered level of assist to the controller 20 as said input. For example, the remote control 40 may comprises two buttons which must be pressed simultaneously, for a predefined time period, to initiate the remote control 40 to communicate the entered level of assist to the controller 20 as said input. Preferably when both buttons are pressed simultaneously a loading phase is activated; during the loading phase, the pull force ramps up towards a pull force corresponding to the inputted level of assist; if the pull force corresponding to the inputted level of assist is larger than the force required to lift the climber then before the pull force ramps to reach the pull force corresponding to the inputted level of assist, the pull force will lift the climber away from the two buttons so that climber can no longer simultaneously press the two buttons and the pull force stops ramping up (in this situation the pull force will not reach the pull force corresponding to the inputted level of assist). Accordingly, this procedure ensures that the pull force corresponding to the inputted level of assist is not large enough to lift the climber (i.e. ensures that the inputted level of assist is not larger than the body weight of the climber).

[0031] Most preferably the remote control 40 is located near the base of the climbing wall while the climbing aid 1 is located at the summit; accordingly, the level of pull force which is applied to the climber tied to the cord 2 can be controlled from the base of the climbing wall. Training results and / or physiological parameters of the climber (such as heart rate of the climber for example) may be also displayed on the touchscreen 41 of the remote control 40.

[0032] The climbing aid further comprises a guide member 22 having a through-hole 23 defined therein through which the cord 2 passes. In a preferred embodiment the cord 2 further comprises a stopper member which is located proximate to an end of the cord 2; and wherein the stopper member has a dimension larger than the dimension of the through-hole 23 so that the stopper member cannot pass through the through-hole 23. Preferably, the controller 20 is further configured to control the one or more motors 8a, 8b to stop generating a torque force once the stopper member abuts the guide member 22.

[0033] The climbing aid 1 further comprises a pully 34 which is arranged adjacent to the drum 3; specifically, the pully 34 is positioned between the drum 3 and the guide member 22. The pully is arranged to deflect the cord 2 so that the cord 2 passes through the through-hole 3 in an orientation which is substantially orthogonal to plane of the through-hole 3. The cord passes over said pully when it is being wound onto or unwound from the drum 3.

[0034] The climbing aid 1 further comprises a centrifugal brake 25 which is operably connected to the drum 3 via the brake shaft 9. The centrifugal brake 25 is configured to limit the speed at which the drum 3 can rotate in its first direction to below a predefined threshold speed. This ensures that the speed at which the cord 2 is unwound from the drum 3 will not exceed said predefined threshold speed. The centrifugal brake 25 is a safety feature which will limit the speed at which a climber tied to the cord 2 will be lowered from the summit back to the ground. Preferably the centrifugal brake 25 is further configured to limit the speed at which the drum 3 can rotate in its second direction to below a predefined threshold speed. This ensures that the speed at which the cord 2 is wound onto the drum 3 will not exceed said predefined threshold speed. The centrifugal brake 25 is also safety feature which will limit the speed at which a climber tied to the cord 2 is lifted towards the summit.

[0035] Additionally, the climbing aid 1 further comprising a spring 26 which is configured to bias the drum 3 to rotate in its second direction. The spring 26 may take any suitable form. In this embodiment the spring 26 comprises a power spring 26. Preferably a first end 26a of the power spring 26 is attached to fixed portion 28 of the climbing aid 1 and a second opposite end (not visible in the figures) of the power spring 26 is attached to the drum 3 so that turning the drum 3 in its first direction increases the potential energy in the spring 26; said potential energy is a torque force in said spring 26 which biases the drum 3 to rotate in its second direction. The spring 26 will ensure that if the one or motors 8a, 8b fail and are consequently unable to produce torque to rotate the drum 3 in the second direction, the potential energy in said spring 26 (which is a torque force applied to the drum) will still bias the drum 3 in its second direction thereby ensuring that the cord 2 is maintained taut (i.e. does not slacken) as the climber is climbing. The spring 26 is a safety feature: by maintaining the cord taut there is less risk of the climber becoming entangled in the cord as they climb.

[0036] The climbing aid 1 further comprises one or more encoders 30 mounted on the brake shaft 9 which are configured to output a signal which is indicative of at least the direction of rotation of the brake shaft 9. The climbing aid 1 also has one or more encoders 31 which are mounted on the motors 8a, 8b which are configured to output a signal which is indicative of the direction of the torque force generated by the one or more motors 8a, 8b.

[0037] In this embodiment the climbing aid 1 has a first encoder 31a which is mounted on the first motor 8a which is configured to output a signal which is indicative of the direction of rotation of the first rotor 108a of the first motor 8a; and a second encoder 31b which is mounted on the second motor 8b which is configured to output a signal which is indicative of the direction of rotation of the second rotor 108b of the second motor 8b. The first encoder 31a can be used to detect if the first rotor 108a rotates in a second direction which is opposite to said first predefined direction (the first predefined direction being the direction in which thefirst motor 8a generates a torque force which when transmitted to the drum 3, will turn the drum 3 in its second direction to wind the cord 2 onto the drum 3). If the first rotor 108b would ever rotate in the second direction, due to a fault in the first motor 8a for example, then the first motor 8a is said to be generating negative torque force, which would cause the drum 3 to rotate in its first direction and thus the cord to unwind from the drum 3. Likewise, the second encoder 31 b can be used to detect if the second rotor 108b rotates in a second direction which is opposite to the a first predefined direction (the first predefined direction being the direction in which the second motor 8b generates a torque force which when transmitted to the drum 3, will turn the drum 3 in its second direction to wind the cord 2 onto the drum 3). If the second rotor 108b would ever rotate in the second direction, due to a fault in the second motor 8b for example, then the second motor 8b is said to be generating negative torque force, which would cause the drum 3 to rotate in its first direction and thus the cord to unwind from the drum 3.

[0038] The one or more encoders 30 on the brake shaft 9 and the one or more encoders 31,31 a, 31 b on the motors 8a, 8b, are operably connected to the controller 20 so that the controller 20 can receive the signals output from each of the encoders 30,3131 a, 31b. The controller 20 is configured to detect a fault in the freewheel 13 based on the signals output from each of the encoders 30,31. Specifically, the controller 20 detects a fault in the freewheel 13 if the output signal from the first and / or second encoders 31a,31 b on the motors 8a, 8b indicate that the first rotor 108a of the first motor 8a is rotating in said second direction (so that the first motor 8a is generating a negative torque force) and / or that the second rotor of the second motor 8b is rotating in the second direction (so that the second motor 8b is generating a negative torque force), and the output signal from the one or more encoders 30 on the brake shaft 9 indicate that the brake shaft 9 is rotating. The controller 20 also detects a fault in the freewheel 13 if the output signal from the one or more encoders 31 a, 31b indicate that the first rotor 108a of the first motor 8a is rotating in its first predefined direction (so that the first motor 8a is generating a positive torque force) and / or that the second rotor of the second motor 8b isrotating in its first predefined direction (so that the second motor 8b is generating a positive torque force) and the output signal from the one or more encoders 30 on the brake shaft 9 indicate that the brake shaft is not moving.

[0039] Figure 3a provides an exploded view of the force sensor 15 and bracket 7, which is used in the climbing aid 1; figure 3b provides a front view of the force sensor 15 and the bracket 7. The force sensor 15 and bracket 7 form a force sensor assembly 300 according to a further aspect of the present invention.

[0040] As mentioned, the force sensor 15 is configured measure a pull force that is applied to a climber attached to the cord 2, wherein the pull force is generated by the torque force generated by the one or more motors 8a, 8b. It should be understood that in the climbing assembly of the present invention the force sensor 15 may take any suitable form; the force sensor 15 is configured to measure any suitable variable whose value is related to the level of pull force that is applied to a climber attached to the cord 2 (in other words the force sensor does not limited to measuring a force, rather the force sensor could be configured to measure any variable which is related to / proportional to the pull force).

[0041] The exemplary force sensor 15 shown in figures 3a, 3b is a strain gauge-based force sensor 15. The force sensor 15 comprises a strain gauge 15a and a connection portion 15b. In this example the strain gauge 15a has a meandering form. The strain gauge 15a and the connection portion 15b are positioned within the opening 17 which is defined in the bracket 7.

[0042] The strain gauge 15a has a first end 16a and a second opposite end 16b; the first end 16a is connected (using fasteners, such as screws 34a, 34b for example) to the bracket 7 and the second opposite end 16b is connected (using fasteners, such as screws 35a, 35b for example) to the connection portion 15b. There is a gap 19 between the connection portion 15b and the bracket 17. The gap 19 may have any suitable size; in thisembodiment the gap 19 has a size between 0.05 - 2mm; preferably the gap 19 is 0.1 mm. The bracket 17 further comprise through-holes 37 defined therein which can be used to secure the bracket 17 to the housing 5 of the climbing aid 1; specifically fasteners (such as screws or bolts for example) can be threaded through the through-holes 37 to fix the bracket 17 to the housing 5; in an embodiment the same bolts 47 which hold the first and second plates 5a, 5b of the housing 5 together also sandwich the bracket 17 between two spacers 49, to attach the bracket 17 to the housing 5.

[0043] During use the connection portion 15b is secured to a fixed anchor at a summit. When a climber's weight is supported by the climbing aid 1 the climber's weight will result in a pulling force being applied to the bracket 7 in a direction away from the fixed anchor; since the connection portion 15b is secured to the fixed anchor the pulling force being applied to the bracket 7 in a direction away from the fixed anchor results in a counter force which causes the connection portion 15b to be pulled at least partially across the gap 19 and the strain gauge 15a will be stretched; the stretched strain gauge 15a will output a force measurement which is equivalent to the pulling force applied to the climber.

[0044] If the pulling force, resulting from the climber's weight, being applied to the bracket 7 in a direction away from the fixed anchor is large enough, then the connection portion 15b will move across the whole of the gap 19 to abut the bracket 7; in this instance the strain gauge 15a will be stretched to a maximum and the stretched strain gauge 15a will output a maximum force measurement.

[0045] The bracket 7 has subsidiary openings 17a, 17b; these subsidiary openings 17a, 17b can also be used to secure the climbing aid 1 to a fixed anchor at a summit. Most preferably the connection portion 15b is secured to the fixed anchor at the summit with a first anchoring cord (such as a rope) and the bracket 7 is secured to the fixed anchor via the subsidiary openings 17a, 17b via a second anchoring cord and / or third anchoring cord (such as a second and / or third rope); there is preferably no slack in the firstanchoring cord, but there is slack in the second and / or third anchoring cord when the connection portion 15b and bracket 7 are secured to the fixed anchor; the slack in the second and / or third anchoring cords will allow for the connection portion 15b to move across the gap 19 and thereby allow the strain gauge 15a to be able to measure the a force measurement which is equivalent to the pulling force applied to the climber. Most preferably the amount of slack in the second and / or third anchoring cords will be equivalent to the about the size of the gap 19 (e.g. between 0.05 - 2mm; preferably 0.1 mm). The second and / or third anchoring cords that secure the bracket 7 to the fixed anchor via the subsidiary openings 17a, 17b provide additional security to reduce the reduce the risk of the climbing aid falling away from the summit; for example in case the weight of the climber is large enough to stretch the strain gauge 15a to a maximum, the slack in the second and / or third anchoring cords will be taken up and then all of the first, second and third anchoring cords, and both the bracket 7 and the connection portion 15b, will support the weight of the climber.

[0046] During use the connection portion 15b the force sensor 15 is secured to a fixed anchor at a summit of a climbing wall, preferably by a first anchoring cord. The bracket 7 is also secured to the fixed anchor at a summit of the climbing wall, via the subsidiary openings 17a, 17b, preferably by second and / or third anchoring cords. Preferably there will be no slack in the first anchoring cord; but there is slack equivalent to the about the size of the gap 19 in the second and / or third anchoring cords.

[0047] A cord 2 is unwound from the drum 3 to extend to the base of the climbing wall where the climber is located. Specifically, the cord 2 can be pulled causing the drum 3 to rotate in its first direction and unwinding the cord from the drum 3.

[0048] As the drum 3 rotates in the first direction the potential energy in the spring 26, which biases the drum 3 to rotate in its second direction is increased proportionally.

[0049] The climber is then secured to and end of the cord 2.

[0050] The climber then enters into the remote control 40 located near the base of the climbing wall, a level of assist they desire; the remote control 40 communicates the entered level of assist to the controller 20 as said input. The controller 20 receive an input indicative of a level of assist from the remote control 40.

[0051] The controller 20 then operates the one or more motors 8a, 8b so that the one or more motors 8a, 8b generate a torque force which rotates the drum 3 in its second direction, to wind the cord 2 onto the drum 3, and thereby apply a pull force, in the direction of the summit, to the climber tied to the cord 2. The controller 20 operates the one or more motors 8a, 8b so that the one or more motors 8a, 8b generate a torque force which results a pull force which corresponds to the inputted level of assist. The controller 20 will preferably operate the one or more motors 8a, 8b so that the torque force generated by the one or more motors 8a, 8b increases gradually; this ensures that the pulling force which is applied to the climber is increased gradually. Most preferably, the climber will press both buttons on the remote control 40 simultaneously to activate a loading phase; during the loading phase, the pull force ramps up towards a pull force corresponding to the inputted level of assist. If the pull force corresponding to the inputted level of assist is larger than the force required to lift the climber then before the pull force ramps to reach the pull force corresponding to the inputted level of assist, the pull force will lift the climber away from the two buttons so that climber can no longer simultaneously press the two buttons and the pull force stops ramping up (in this situation the pull force will not reach the pull force corresponding to the inputted level of assist), thereby ensuring that the pull force corresponding to the inputted level of assist is not large enough to lift the climber.

[0052] The centrifugal brake 25 will limit the speed at which a climber tied to the cord 2 is pulled towards the summit. In particular If the pullforce corresponding to the inputted level of assist is larger than the force required to lift the climber then the centrifugal brake 25 will limit the speed at which the climber is pulled towards the summit. Specifically, the centrifugal brake 25 limits the speed at which the drum 3 rotates in its second direction to below a predefined threshold speed.

[0053] Once the pull force which corresponds to the inputted level of assist is applied to the climber the climber can then begin to climb towards the summit. At least some of the climber's weight is supported by the pulling force making it easier for the climber to climb towards the summit. As the climber climbs towards the summit the one or more motors 8a, 8b will continue to generate a torque force which rotates the drum 3 in its second direction, to wind the cord 2 onto the drum 3, and thereby apply a pull force, in the direction of the summit, to the climber tied to the cord 2. The pully 34 and the guide member 22 will reduce the risk of the cord becoming stuck or entangled as the cord 2 is wound onto the drum 3.

[0054] The force sensor 15 will measure the pulling force applied to the climber and the controller 20 will control the one or more motors 8a, 8b so that the one or more motors 8a, 8b generate a torque force which ensures that a pull force which corresponds to the inputted level of assist, is maintained applied to the climber as they climb. Specifically, the climber's weight will result in a pulling force being applied to the bracket 7 in a direction away from the fixed anchor; since the connection portion 15b is secured to the fixed anchor the pulling force being applied to the bracket 7 in a direction away from the fixed anchor results in a counter force which causes the connection portion 15b to move at least partially across the gap 19 and the strain gauge 15a will stretch; the stretched strain gauge 15a will output a force measurement which is equivalent to the pulling force applied to the climber. Said force measurement is communicated from the force sensor 15 to the controller 20 which then adjusts the one or more motors 8a, 8b to ensure that a pull force which corresponds to the inputted level of assist, is maintained applied to the climber as they climb. For example if the force measurement indicates that the pull force applied to the climber is below the pull force which corresponds to the inputted levelof assist then the controller 20 will operate the motors 8a, 8b to increase the torque force they generate; if the force measurement indicates that the pull force applied to the climber is below the pull force which corresponds to the inputted level of assist then the controller 20 will operate the motors 8a, 8b to decrease their torque force they generate.

[0055] If case of a failure occurring the motors 8a, 8b which results in a reduction of the torque force which the motors generate to rotate the drum 3 in its second direction, or, in the case of a failure occurring the motors 8a, 8b which results in the motors generating no torque force at all, the potential energy in said spring 26 (which is a torque force applied to the drum) will still bias the drum 3 in its second direction thereby ensuring that the cord 2 is maintained taut (i.e. does not slacken) as the climber is climbing. As a result, even if the motors 8a, 8b fail the climber's cord is under tension. By maintaining the cord taut there is less risk of the climber becoming entangled in the cord as they climb.

[0056] The one or more encoders 30 on the brake shaft 9 and the one or more encoders 31 on the motors 8a, 8b, are used to detect if a fault occurs in the freewheel 13. Specifically, the signals output from the encoders 30,31 are sent to the controller 20. The controller 20 detects a fault in the freewheel 13 if the output signal from the first and / or second encoders 31a, 31 b on the motors 8a, 8b indicate that the first rotor 108a of the first motor 8a is rotating in said second direction (so that the first motor 8a is generating a negative torque force) and / or that the second rotor of the second motor 8b is rotating in the second direction (so that the second motor 8b is generating a negative torque force), and the output signal from the one or more encoders 30 on the brake shaft 9 indicate that the brake shaft 9 is rotating. The controller 20 also detects a fault in the freewheel 13 if the output signal from the one or more encoders 31 a, 31 b indicate that the first rotor 108a of the first motor 8a is rotating in its first predefined direction (so that the first motor 8a is generating a positive torque force) and / or that the second rotor of the second motor 8b is rotating in its first predefined direction (so that the second motor 8b is generating a positive torque force) and the output signal from the one ormore encoders 30 on the brake shaft 9 indicate that the brake shaft is not moving.

[0057] If at any time the climber wishes to return to the base of the climbing wall (e.g. after the climber has reached the summit, or at any time during the climb) the centrifugal brake 25 is a further safety feature which will limit the speed at which a climber tied to the cord 2 will be lowered from the summit to the ground. Specifically, the centrifugal brake 25 limits the speed at which the drum 3 rotates in its first direction to below a predefined threshold speed; this ensures that the speed at which the cord 2 is unwound from the drum 3 will not exceed said predefined threshold speed.

[0058] Various modifications and variations to the described embodiments of the invention will be apparent to those skilled in the art without departing from the scope of the invention as defined in the appended claims. Although the invention has been described in connection with specific preferred embodiments, it should be understood that the invention as claimed should not be unduly limited to such specific embodiment.

Claims

Claims1. A climbing aid (1) comprising, a cord (2) which can be selectively attached to a climber; a drum (3) around which the cord (2) is wound, wherein the drum (3) is selectively rotatable in first direction to unwind cord from the drum and in a second direction to wind the cord onto the drum; a drive system (4) which operably attached to the drum (3) and is selectively operable to rotate the drum (3) in its second direction, wherein the drive system comprises one or more motors (8a, 8b) and a brake shaft (9), wherein the brake shaft (9) is operably connected between the one or more motors (8a, 8b) and the drum (3) so that a torque force generated by the motors (8a, 8b) can transmitted via the brake shaft (9) to the drum (3), to rotate the drum (3) in the second direction; a force sensor (15) which is configured measure a variable whose value is related to the level of pull force that is applied to a climber attached to the cord (2), wherein the pull force is generated by the torque force generated by the one or more motors (8a, 8b); and a controller (20) which is configured to control the one or more motors (8a, 8b) so that the pull force is maintained at a predefined force, or is maintained within a predefined force range.

2. A climbing aid according to claim 1 wherein the controller is configured to receive an input indicative of a level of assist, and wherein the controller is configured to control the one or more motors so that the one or more motors generate a torque force which ensures that a pull force which corresponds to the inputted level of assist, is applied to the climber.

3. A climbing aid according to claim 1 or 2, wherein climbing aid further comprise a guide member having a through-hole through which the cord passes, and wherein the cord further comprises a stopper member which has a dimension larger than the through-hole so that the stopper member cannot pass through the through-hole; and wherein the controller isfurther configured to control the one or more motors to stop generating a torque force once the stop member abuts the guide member.

4. A climbing aid according to any one of claims 1-3, wherein a first gearing is connected between the one or more motors and a brake shaft so that the torque force generated by the one or more motors is transmitted to the brake shaft via the first gearing; and wherein a second gearing is connected between the brake shaft and the drum so that torque provided by the brake shaft is transmitted to the drum via the second gearing.

5. A climbing aid according to claim 4, wherein the drive system further comprises a freewheel which is connected between the brake shaft and the first gearing, so that the only torque provided by the one or more motors in a first predefined direction is transmitted to the brake shaft via the first gearing, and torque provided by the one or more motors in a second predefined direction which is opposite to the first predefined direction is not transmitted to the brake shaft via the first gearing,.

6. A climbing aid according to claim 5, wherein the freewheel is a ball bearing freewheel.

7. A climbing aid according to any one of claim 5 or 6 further comprising one or more encoders mounted on the brake shaft which are configured to output a signal which is indicative of at least the direction of rotation of the brake shaft and one or more encoders mounted on the motors which are configured to output a signal which is indicative of the direction of the torque force generated by the one or more motors; and wherein the one or more encoders on the brake shaft and the one or more encoders on the motors, are operably connected to the controller so that the controller can receive the signals output from said one or more encoders; and wherein the controller is configured to detect a fault in the freewheel based on the signals output from said one or more encoders.

8. A climbing aid according to claim 7 wherein the controller detects a fault in the freewheel if the output signal from the one or more encoders on the motors indicate that rotors of the one or more motors are rotating in a direction that will generate torque that will cause the drum to rotate in its first direction, and the output signal from the one or more encoders on the brake shaft indicate that the brake shaft is rotating; and / or wherein the controller detects a fault in the freewheel if the output signal from the one or more encoders on the motors indicate that the rotors of the one or more motors are rotating to generate torque that will cause the drum to rotate in its second direction to generate torque that will cause the drum to rotate in its second direction, and the output signal from the one or more encoders on the brake shaft indicate that the brake shaft is not moving.

9. A climbing aid according to any one of the preceding claims further comprising a centrifugal brake which is operably connected to the drum; wherein the centrifugal brake is configured to limit the speed at which the drum can rotate in its first direction to below a predefined threshold speed and / or wherein the centrifugal brake is configured to limit the speed at which the drum can rotate in its second direction to below a predefined threshold speed.

10. A climbing aid according to any one of the preceding claims further comprising a spring which is configured to bias the drum to rotate in its second direction, so that in the event the one or more motors fail a the cord is maintained taut by a torque force applied by the spring to the drum.11.A climbing aid according to claim 10 wherein the spring is a power spring a first end of which is attached to fixed portion of the climbing aid and a second opposite end of which is attached to the drum so that turning the drum in its first direction increases potential torque force in said spring which biases the drum to rotate in its second direction.

12. A climbing aid according to any one of the preceding claims further comprising a pul ly which is arranged adjacent to the drum, and wherein the pul ly is arranged to deflect the cord, wherein the cord is arranged to abut said pul ly and the pul ly is rotated by the cord when the cord is being wound or unwound from the drum.

13. A climbing aid according to any one of the preceding claims further comprising a housing within which the drum is located; and a bracket which is attached to the housing which can be used to attach the climbing aid to an anchor at a summit; and14. A climbing aid according to claim 13 wherein the force sensor is positioned inside an opening which is defined in the bracket.

15. A climbing aid according to claim 13 or 14 wherein the housing comprises a first plate and a second plate and wherein the drum is located between the first and second plates.

16. A climbing aid according to any one of the preceding claims wherein the force sensor comprises a strain gauge-based force sensor.

17. A climbing aid according to any one of claims 1-15 wherein the force sensor is configured to measure the torque force generated by the one or more motors 8a, 8b, wherein the torque force generated by the one or more motors 8a, 8b is proportional to the pull force.

18. A climbing aid according to any one claims 1-15 wherein the force sensor is configured to measure the level of current input to the one or more motors 8a, 8b, wherein the level of current input to the one or more motors 8a, 8b is proportional to the torque force generated by the one or more motors 8a, 8b, and the torque force generated by the one or more motors 8a, 8b is in turn proportional to the pull force.

19. A climbing assembly comprising a climbing aid (1) according to any one of the preceding claims; and a remote control (40) which can be used to input a level of assist; and wherein the remote control is connected to the controller (20) so that the remote control (40) can send an input a level of assist to the controller (20).

20. A force sensor assembly (300) suitable for use in climbing, comprising, a bracket (7) having an opening (17) defined therein; and a force sensor (15) positioned within the opening (17), the force sensor(15) comprises a strain gauge 15a and a connection portion 15b, wherein the strain gauge (15a) has a first end (16a) which is connected the bracket (7) and a second opposite end (16b) which is connected to the connection portion 15b; and wherein there is a gap (19) between the connection portion (15b) and the bracket (17), and wherein the strain gauge (15a) can be stretched across the gap (19) when a pulling force is applied to the connection portion (15b).21.A force sensor assembly according to claim 20 wherein the connecting portion of the force sensor can be secured to an anchor; and wherein the bracket further comprise one or more subsidiary openings defined therein which can be used to secure the bracket to an anchor.

22. A force sensor assembly according to claim 21 further comprising a first anchoring cord which secures the connecting portion of the force sensor to an anchor; and at least a second anchoring cord which secure the bracket to an anchor via the one or more subsidiary openings; wherein there is slack in second anchoring cord and no slack in the first anchoring cord.

23. A force sensor assembly according to claim 22 wherein the amount of slack in the first anchoring cord is equal to the size of said gap.

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