Globe motors are good for lifting the robot but we use it not on the winch but as a lifter to get over the 6" side. We use the globe as it came and gear that down to 12:1 we only needed to turn the last sprocket 1/4 turn. so it takes 1.8 second to lift our robot 8 inches off the ground
http://www.valleytech.k12.ma.us/robo..._24wheels2.JPG
The winch we are using the Tyco motors and gear them down to 200:1. we are making our own gearbox and putting both Tyco motors into them.
We go up at a rate of 18" per second. pretty fast with power. This way if we have to go from the carpet we should be there quickly.