Disclosed is a traction force control method for a traction apparatus that applies a desired traction force to a body to be pulled via a traction mechanism that includes a fixture and a wire, the method including: a first traction control step for winding up a slack portion of the wire by driving means to eliminate slack in the wire connected to the body to be pulled a second traction control step of converting a traction force set by an operation portion to a traction amount and, by defining a predetermined amount among the traction amount that is set based on the converted value as a target value, winding up the wire continuously by the driving means to the target value and a third traction control step of detecting the traction force that is applied to the body to be pulled by a traction force sensor to calculate a drive stop time of the driving means by defining the traction amount set by the operation portion as a final target value based on a detected output of the traction force sensor and stopping driving of the driving means at a point of reaching the drive stop time, wherein a zero point adjustment for adjusting the output of the traction force sensor such that the output of the traction force sensor that detects the traction force applied to the body to be pulled becomes zero when the traction force applied to the body to be pulled is zero is performed at least at the time of initiating traction control.本發明係一種牽引裝置的牽引力控制方法,係透過含有固定具、鋼絲等的牽引機構對被牽引體施加期望的牽引力之牽引裝置的牽引力控制方法,其特徵為包含:第一牽引控制過程,藉由驅動手段捲起前述鋼絲的鬆弛部分,以消除連結在被牽引體的前述鋼絲之鬆弛;第二牽引控制過程,將藉由操作部所設定的牽引力換算成牽引量,以基於該換算值所設定的牽引量當中的規定量作為目標值,藉由前述驅動手段連續地捲起前述鋼絲迄至該目標值為止;及第三牽引控制過程,藉由牽引力感測器檢測施加於前述被牽引體的牽引力,以基於該牽引力感測器的檢測輸出且藉前述操作部所設定的牽引量作為最終目標值,算出前述驅動手段的驅動停止時間,在到達該驅動停止時間之時間點讓前述驅動手段之驅動停止,且至少在牽引控制開始時進行用以調整牽引力感測器的輸出之歸零調整,俾使在施加於前述被牽引體的牽引力為零時,用以檢測施加於前述被牽引體的牽引力之牽引力感測器的輸出會成為零。1...牽引裝置2...被牽引體3...固定具4...固定部5...固定具10...鋼絲11、12...滑輪13...捲筒14...減速機構15...電動機(驅動手段)16...旋轉數檢測器17...測力器(牽引力感測器)20...直流放大器21...加算器22...PWM變換器23...電動機驅動電路24...操作部25...控制
