An underwater object retrieval device for selective deployment to retrieve underwater objects includes an inflation unit that is configured to inflate upon command. A coupler is configured for coupling to an object to be placed underwater. A tether line has a first end, which is coupled to the inflation unit, and a second end, which is coupled to the coupler. A line storage unit is coupled to the tether line proximate to the second end. The line storage unit is positioned to house the tether line, such that the tether line is extensible from the line storage unit. The inflation unit is positioned to inflate upon user directed command, such that the inflation unit is buoyant. The tether line is extended from the line storage unit, such that the inflation unit reaches the water surface. The tether line is configured for retrieving the object to the surface.

Described herein are methods and systems to dampen oscillations of a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the UAV's control system may dampen the oscillations by causing the UAV to switch to a forward flight mode in which movement of the UAV results in drag on the payload, thereby damping the oscillations. In another example, the control system may cause the UAV to reduce an extent flight stabilization along at least one dimension, thereby resulting in damping of the detected oscillations due to energy dissipation during movement of the UAV along the dimension. In this way, the control system could select and carry out one or more such techniques, and could do so during retraction and/or deployment of the tether.

Described herein are methods and systems to dampen oscillations of a payload coupled to a tether of a winch system arranged on an unmanned aerial vehicle (UAV). For example, the UAV's control system may dampen the oscillations by causing the UAV to switch to a forward flight mode in which movement of the UAV results in drag on the payload, thereby damping the oscillations. In another example, the control system may cause the UAV to reduce an extent flight stabilization along at least one dimension, thereby resulting in damping of the detected oscillations due to energy dissipation during movement of the UAV along the dimension. In this way, the control system could select and carry out one or more such techniques, and could do so during retraction and/or deployment of the tether.

A battery transfer device having a base, a plurality of multidirectional rollers coupled to the base, and a winch coupled to the base. Each of the rollers is configured to rotate about at least a first axis and a second axis that is positioned at an angle with respect to the first axis. The winch has a cable or rope configured for coupling to a battery, and the winch is operable to pull the battery across the rollers. Guides may be removably coupled to the base adjacent one or both sides of the base. A method of using the battery transfer device to remove a battery from a battery rack or install a battery in a battery rack.

A battery transfer device having a base, a plurality of multidirectional rollers coupled to the base, and a winch coupled to the base. Each of the rollers is configured to rotate about at least a first axis and a second axis that is positioned at an angle with respect to the first axis. The winch has a cable or rope configured for coupling to a battery, and the winch is operable to pull the battery across the rollers. Guides may be removably coupled to the base adjacent one or both sides of the base. A method of using the battery transfer device to remove a battery from a battery rack or install a battery in a battery rack.

A lifting apparatus for a highly-mounted device includes a main body installed at a predetermined height so that a drum for winding a wire rope and a first driving motor for giving a rotating force to the drum are installed thereto; a lifting body suspended from the wire rope and having a device coupling portion provided at a lower end thereof; an accommodation structure located at a lower portion of the main body and having an open lower portion so as to be coupled with the lifting body; a stopper installed at the accommodation structure and caught by a suspending protrusion provided to the lifting body to give an anti-falling function for the lifting body; and an upper contact point and a lower contact point respectively installed at the main body and the lifting body to make contact with each other when the lifting body is moved up.

A lifting apparatus for a highly-mounted device includes a main body installed at a predetermined height so that a drum for winding a wire rope and a first driving motor for giving a rotating force to the drum are installed thereto; a lifting body suspended from the wire rope and having a device coupling portion provided at a lower end thereof; an accommodation structure located at a lower portion of the main body and having an open lower portion so as to be coupled with the lifting body; a stopper installed at the accommodation structure and caught by a suspending protrusion provided to the lifting body to give an anti-falling function for the lifting body; and an upper contact point and a lower contact point respectively installed at the main body and the lifting body to make contact with each other when the lifting body is moved up.

Mounted support arms affixed to a fifth wheel pinbox and formed to receive booms provide a sturdy framework for a winch mounting plate. The winch actuates a hitch-hoisting cable which may be attached to a truck hitch to lift it from the bed of a truck and then lower it to a storage location. The hitch hoist may have two mounting arms, two booms, and a winch on a plate with width variability built into the bolting slot patterns. The booms extend from the mounting arms near the winch plate to form an obtuse angle between the booms and the arms. From the horizon, the angle may be viewed to be that of approximately forty-five degrees (45°). An axle is affixed near the end of the booms and holds a cable wheel which guides a cable and hook to raise and lower the hitch with the winch.

A system for servicing a pulverizer includes a pulverizer having a housing, a journal assembly pivotally connected to the housing, a grinding mechanism operatively connected to the journal assembly, and an opening within the housing adjacent to the journal assembly and providing an access point to an interior of the housing, and a hoist apparatus mounted to the housing. The hoist apparatus includes a frame assembly received about the opening in the housing, a sheave assembly including a plurality of sheaves supported by the frame assembly, a motor operatively connected to one of the plurality of sheaves, and a cable received by the sheave assembly. The motor is operable to at least one of retract the cable through the sheave assembly to rotate a component out of the pulverizer through the opening and controllably let out the cable to rotate the component into the pulverizer through the opening.

A system for servicing a pulverizer includes a pulverizer having a housing, a journal assembly pivotally connected to the housing, a grinding mechanism operatively connected to the journal assembly, and an opening within the housing adjacent to the journal assembly and providing an access point to an interior of the housing, and a hoist apparatus mounted to the housing. The hoist apparatus includes a frame assembly received about the opening in the housing, a sheave assembly including a plurality of sheaves supported by the frame assembly, a motor operatively connected to one of the plurality of sheaves, and a cable received by the sheave assembly. The motor is operable to at least one of retract the cable through the sheave assembly to rotate a component out of the pulverizer through the opening and controllably let out the cable to rotate the component into the pulverizer through the opening.