A pulley assembly and an installation for moving objects incorporating such a pulley assembly are disclosed. The pulley includes first and second plates disposed about a median plane. One or more sheaves are disposed between the plates. The or each sheave is carried for rotation about a respective sheave axis that is perpendicular to the median plane. A bollard extends between the plates to provides an interconnection between the plates. The bollard is shaped, whereby its dimension in a direction along a major dimension line, which dimension line that extends radially from one of the sheave axes, is greater than its dimension in a direction perpendicular to that dimension line.

A pulley assembly and an installation for moving objects incorporating such a pulley assembly are disclosed. The pulley includes first and second plates disposed about a median plane. One or more sheaves are disposed between the plates. The or each sheave is carried for rotation about a respective sheave axis that is perpendicular to the median plane. A bollard extends between the plates to provides an interconnection between the plates. The bollard is shaped, whereby its dimension in a direction along a major dimension line, which dimension line that extends radially from one of the sheave axes, is greater than its dimension in a direction perpendicular to that dimension line.

A load transport system having a load carrier and at least one load receiving device which for receiving the load is fastened to the load carrier, and at least three positioning cables and at least three suspension devices, each suspension device has at least one positioning cable winch for winding and unwinding one of the positioning cables. The load carrier is suspended from the suspension devices by the positioning cables. The load carrier and the load receiving device fastened thereto are relocatable by activating the positioning cable winches, and the load carrier has at least one multi-cable suspension to which at least two of the positioning cables are connected via cable connectors. Each of the cable connectors is mounted on the multi-cable suspension to be pivotable about at least two pivot axes aligned to be mutually orthogonal, and all pivot axes of the cable connectors intersect in a common intersection point of this multi-cable suspension.

A load transport system having a load carrier and at least one load receiving device which for receiving the load is fastened to the load carrier, and at least three positioning cables and at least three suspension devices, each suspension device has at least one positioning cable winch for winding and unwinding one of the positioning cables. The load carrier is suspended from the suspension devices by the positioning cables. The load carrier and the load receiving device fastened thereto are relocatable by activating the positioning cable winches, and the load carrier has at least one multi-cable suspension to which at least two of the positioning cables are connected via cable connectors. Each of the cable connectors is mounted on the multi-cable suspension to be pivotable about at least two pivot axes aligned to be mutually orthogonal, and all pivot axes of the cable connectors intersect in a common intersection point of this multi-cable suspension.

A skyline cable logging system in which a skyline carriage runs on a skyline cable (106) between a yarding hauler (101) and a remote mobile tailhold (113) has the remotely controllable mobile tailhold powered and with winch tails which are connected to multiple anchor points (110). With the skyline tensioned so that the mobile tailhold is aerial the winch tails can be varied to traverse the skyline end between anchor points (110). The anchor points (110) can be relocated one at a time to allow the skyline to traverse a large area.

Modular, propelled cable-driven robotic platform systems and methods of operation are disclosed. The system includes a robotic platform suspended by a system of overhead cables, motorized cable reels and pulleys. The robotic platform is configured to be equipped with tool modules for performing respective tasks. Additionally, the tool modules each have a multirotor propulsion system. A master control computer coordinates operation of the motorized cable and propulsion systems as a function of sensor data captured by navigation sensors on-board the platform so as to maneuver the robotic platform inside an industrial plant. The system is configured to maneuver around pipings and avoid obstacles in the plant in order to maximize the effective workspace that the robotic platform can reach to perform operations including inspection or repair.

Modular, propelled cable-driven robotic platform systems and methods of operation are disclosed. The system includes a robotic platform suspended by a system of overhead cables, motorized cable reels and pulleys. The robotic platform is configured to be equipped with tool modules for performing respective tasks. Additionally, the tool modules each have a multirotor propulsion system. A master control computer coordinates operation of the motorized cable and propulsion systems as a function of sensor data captured by navigation sensors on-board the platform so as to maneuver the robotic platform inside an industrial plant. The system is configured to maneuver around pipings and avoid obstacles in the plant in order to maximize the effective workspace that the robotic platform can reach to perform operations including inspection or repair.