10046 results about "Winch" patented technology

The invention relates to the technical field of intelligent ship control, in particular to an intelligent ship moving control method and system based on a self-adaptive algorithm. The method comprises the following steps: acquiring hardware equipment data required by ship movement control; configuring a network topology structure of a computer network system, winch equipment and an encoder according to hardware equipment data, and constructing an electrical ring network; carrying out initialization setting and communication test on the electrical ring network, and establishing a data sharing mechanism between devices to obtain system initial configuration data; collecting the winding and unwinding length and tension parameters of a steel wire rope through a sensor of winch equipment based on initial configuration data of the system, and constructing a real-time monitoring model of the position and posture of the ship; and performing ship state monitoring by using the real-time monitoring model to generate ship real-time state data. According to the invention, the electrical ring network with a redundant backup mechanism is adopted, the communication real-time performance and reliability of the system are improved, and the stability of control signal transmission is ensured.

The invention relates to the technical field of maritime work cranes and discloses an anti-rolling and anti-seismic maritime work crane which is characterized in that a rack swing wall is arranged at the upper end of a rack column, a winch is arranged on the end side of the rack swing wall, and a main traction rope is arranged in the winch; the lower end of the main traction rope is fixedly connected with a top plate, and the lower side of the edge end of the top plate is fixedly connected with a fixing plate. According to the anti-shaking and anti-seismic maritime work crane, when the device drives a heavy object to move upwards and the heavy object shakes and deviates, an extrusion plate on the side can be extruded, at the moment, the distance between the extrusion plate and a side plate is changed, the moving distance of the heavy object can be judged through a distance sensor, and when the moving distance of the heavy object is large, data can be transmitted to a controller; and therefore, a worker is reminded that the heavy object deviates, potential safety hazards exist, the traction and pulling state of the auxiliary traction rope on the fixing plate is stressed outwards, the shaking performance of the single main traction rope during hoisting operation of the heavy object is reduced, and the stabilization effect is good.

The invention relates to the technical field of underground casing monitoring, and discloses an injection well immovable string casing damage rapid detection device based on efficient testing and adjusting, the injection well immovable string casing damage rapid detection device comprises a testing vehicle, a top sheave and a casing, one side in the testing vehicle is provided with a ground control system, and the other side in the testing vehicle is provided with a double-roller winch; a cable is wound on the outer side of the double-roller winch, an electromagnetic flaw detection testing instrument is installed at one end of the cable, an oil pipe is arranged in the casing pipe in a sleeved mode, a plurality of packers are sequentially installed between the outer side of the oil pipe and the inner wall of the casing pipe from top to bottom, and a plurality of water distributors are sequentially distributed in the oil pipe from top to bottom. A water injection well efficient testing and adjusting technology and an electromagnetic flaw detection technology are combined, an electromagnetic flaw detection testing instrument is tripped in through a testing vehicle, cable power supply and communication are tested, a ground control system carries out signal acquisition and processing on the electromagnetic flaw detection instrument, and rapid detection of casing damage of a water injection well immovable string is achieved.

A production device for high-quality corrosion-resistant steel core aluminum stranded wire, comprising a frame stranding machine (1), an electrolyte tank 1 (2), a roller (3) and an electrolyte tank 2 (4) arranged in sequence from top to bottom. The frame stranding machine (1) is arranged vertically to strand an aluminum conductor (6) on a steel core (5). The electrolyte tank 1 (2) contains a cylindrical electrode 1 (7) and an electrolyte. The cylindrical electrode 1 (7) has openings at both ends and is placed vertically with the steel core (5) as an axis. The stranding part is located in the cylindrical electrode 1 (7). The production device for high-quality corrosion-resistant steel core aluminum stranded wire of the present invention places the frame stranding machine vertically and surrounds the stranding part with the cylindrical electrode 1, so that the distance between the steel core and the aluminum conductor and the cylindrical electrode 1 at the stranding part is roughly equal, and the steel core and the aluminum conductor at the stranding part are immersed in the electrolyte at the same depth, so that the ceramic film layer formed on the surface of the steel core and the aluminum conductor is more uniform, which can greatly improve the overall corrosion resistance of the steel core aluminum stranded wire.

Provided is a controller with high versatility that can automatically store or raise a boom and can be commonly used for various boom devices. The controller generates a function based on a length of a boom and a distance from a derrick fulcrum of the boom to an engaging member stored in a memory, and a depression angle of the engaging member with respect to the fulcrum. Then, the controller substitutes a derrick angle of the boom detected by a derrick angle sensor into the generated function to calculate a displacement distance from a distal end of the boom to the engaging member. The controller rotates a winch while raising and lowering the boom between a lowered position and a raised position such that the calculated displacement distance is a distance corresponding to an unwinding length of a wire detected by a length sensor.

The present application relates to a pile driver and a pile driving method with less wear on drill rods, and relates to the technical field of building construction, and comprises a main frame, a winch is arranged on one side surface of the main frame, a steel cable is wound on the drum of the winch, a top frame is welded on the top of the drill rod bracket, one end of the steel cable extends upward through a pulley and is connected to a drive box through a lifting ring, a motor frame is arranged in the middle of the drive box, a drive motor is connected to the center of the motor frame through bolts, the bottom drive of the drive motor is connected to a reducer, and the bottom output end of the reducer is connected to a buffer mechanism through the drive box, and the buffer mechanism comprises a connecting tube, a rebound tube, a coupling joint, a strip groove, a slider, a damping rod, a support spring and an auxiliary spring; the present application significantly reduces the wear of the drill rod during the construction process by using a high-strength, wear-resistant alloy material to make the drill rod, performing special treatment, and arranging a buffer mechanism and a guide mechanism.

The invention relates to a water-drop-shaped captive balloon high-altitude wind power generation system. The water-drop-shaped captive balloon and kite cloth carried by the water-drop-shaped captive balloon are used for generating lift force to drive a ground power generator to generate power. The lift force generation mechanism is that the windward side and the wind resistance are increased by adjusting the pitch angles of the aerostat and the bearing kite cloth, and the wind resistance is converted into cable tension to drive power generation. A V-shaped pulley expansion mode is adopted to uniformly distribute tension of main and auxiliary cables, so that bag damage caused by non-uniform stress in a posture adjusting process is avoided; the captive balloon is provided with an attitude controller, communicates with a ground control system through wireless data transmission, adjusts the take-up and pay-off speed of a main cable and an auxiliary cable to control the pitching angle to achieve lift force control, and greatly improves the power generation efficiency. The main cable power output winch drives a generator to generate electricity through a one-way bearing, and the input end is connected with a motor through a clutch to achieve cable recovery. The backpack kite cloth can be controlled to open and close through a small winch to increase and decrease wind resistance; lift force and wind resistance control is optimized, the power generation efficiency is improved, safety is enhanced, operation is simplified, and maintenance is convenient.

Disclosed is a multifunctional stable winch hook guide rail system. The system includes: a storage buckle; a guiding groove, where the guiding groove is formed on a front face of the storage buckle, a movable opening is formed on a back face of an inner wall of the guiding groove, and a winch hook is arranged inside the guiding groove; a hanging opening, where the hanging opening is located at a top of the winch hook at a position close to one end thereof, a side of an inner wall of the hanging opening is fixedly connected to a connector, an outer surface of the connector, through an insertion pin, is rotatably connected to a movable buckle. The winch hook can be easily tightened and securely locked in the guiding groove. The winch hook has a uniform and clean appearance and is used for rescue and heavy-duty towing tasks.

A device (4200) for an Unmanned Aerial Vehicle, UAV (100), said device (4200) comprising a first pivot point (4212) and a second pivot point (4214) being spaced apart from each other, said first pivot point (4212) is connectable a UAV (100) and said second pivot point (4214) is connectable the UAV (100), said device (4200) is configured to be tilted / rotated around said first pivot point (4212) by adjusting a length of a second cord (4204) and / or tilted / rotated around said second pivot point (4214) by adjusting a length of a first cord (4202), wherein said device (4200) has a first winch motor (4292) and a second winch motor (4294), said first and second winch motors (4292, 4294) are configured for adjusting the length of said first and second cords (4202, 4204) respectively. Also provided is a harvesting tool (105, 110) comprising a base structure (650), said base structure having attached to it at least one cutting means for delimbing a tree (114a, 114b), at least one means for communicating with a UAV and / or a remote base station, at least one cutting means for cutting a tree trunk (116), at least one attaching means to be attachable to the UAV (660), at least one holding means for holding a tree trunk (105,107a, 107b, 114a, 114b). Also provided is a method for controlling the relative rotation between a UAV and a device, where the device is attached to said UAV via at least two cords, said method comprising the steps of: a. determining a reference rotational position of said device relative to said UAV, b. detecting an angular rotation R in a horizontal plane of said device relative to said reference position, c. compensating said angular rotation in said horizontal plane of said device by rotating said UAV in said horizontal plane in the same direction and by the same angular rotation R as said device for prohibiting twisting of said cords.

The invention provides a high and steep slope hanging net anchoring device and a construction method thereof, the high and steep slope hanging net anchoring device comprises a winch and a device main body, and the winch is connected with the device main body through a pull rope on the winch; the device body comprises a frame body, moving wheels are arranged at the four corners of the frame body, a net roll in linkage with the moving wheels is arranged between the two moving wheels located on the rear row, and an anchoring mechanism is arranged at the top of the frame body and anchors the net roll from the front of the frame body. Through cooperative work of the winch and the device body, meanwhile, the net roll is arranged between the rear row of moving wheels, laying work of the net piece can be completed through lowering of the device body, the flatness is ensured, meanwhile, net piece tensile deformation caused by traditional manual dragging can be effectively avoided, and the laying efficiency is improved by pausing lowering in the laying process. The anchoring mechanism is used for completing anchoring work of the meshes, cooperative work of automatic mesh hanging and anchoring is achieved, then construction risks are reduced, and meanwhile construction efficiency is improved.

An energy storage and delivery system includes an elevator operable to move blocks from a lower elevation to a higher elevation to store energy and from a higher elevation to a lower elevation to generate electricity. A winch assembly is movably coupled to a cable that is coupled to the elevator. The winch assembly has planetary gear assemblies, brakes that selectively engage at least a portion of the planetary gear assemblies, and a spool coupled to the cable. A drive shaft extends between a motor-generator and the winch assembly. A brake is operable so that the spool rotates to reel-in the cable to raise the elevator to move a block from a lower elevation to a higher elevation to store energy or so that the spool rotates to reel-out the cable to lower the elevator to move a block from a higher elevation to a lower elevation to generate electricity.

The invention belongs to the technical field of automatic sailing of unmanned ships, and particularly relates to an automatic sailing temperature-salinity-depth profile observation system and method for mesoscale eddy prediction, the system is arranged on an unmanned ship and connected with an automatic retractable winch, and the system comprises a temperature-salinity-depth probe device arranged at the tail end of an A frame of the automatic retractable winch and used for retracting through the automatic retractable winch; lifting is realized, so that temperature, salinity and depth parameters of seawater with different profiles are measured, and key ocean data are provided for mesoscale eddy prediction; the data is transmitted to a mother ship / shore base end through a remote intelligent navigation control system; and the remote intelligent navigation control system is used for receiving various data and sending the data to the mother ship / shore base end, and controlling the driving process or task process of the automatic winding and unwinding winch, the temperature-salinity-depth probe device and the unmanned ship according to the instruction of the mother ship / shore base end. According to the invention, the laying and recovery of the temperature-salinity-depth profile measuring equipment can be controlled when the ship is sailing, and the laying and recovery of the sailing type temperature-salinity-depth profile measuring equipment can be carried out on the unmanned ship after upgrading and reconstruction.

The invention discloses a blast furnace top feeding winch control system which comprises four multi-transmission high-performance motion control frequency converters, and wire inlet structures of the transmission high-performance motion control frequency converters specifically comprise a system wire inlet structure A, a system wire inlet structure B and a system wire inlet structure C, the A system wire inlet structure comprises an A system wire inlet cabinet, an A system first rectifier cabinet, an A system second rectifier cabinet, an A system first inverter cabinet, an A system second inverter cabinet and an A system resistor cabinet; and B, a system wire inlet structure. A winch control system is optimized, a PLC alternating-current variable-frequency speed regulation mode is adopted, the speed dynamic response is high, the overload capacity is large, operation is safe and reliable, and the PLC self-control technology, the position encoder measurement technology, the large-scale variable-frequency speed regulation dragging technology and the intelligent master controller are organically combined and applied; and the faults of galloping, sliding, derailing and the like of the skip car in operation are reduced through double closed-loop control and multi-section speed control of a current loop and a speed loop of the motor.

The invention provides an automatic speed changing assembly which comprises a planetary gear speed reducing mechanism, a first-stage speed changing mechanism and a second-stage speed changing mechanism. An inner rotation driving member; the outer element is movably connected with the inner rotation driving part, so that the outer element can be driven to rotate under the driving of the inner rotation driving part, and the outer element is allowed to axially move between a first position and a second position relative to the inner rotation driving part; the driving disc is movably connected with the outer element, so that the driving disc can be driven to rotate under the driving of the outer element, and the driving disc is configured to be capable of changing between a first state in which the driving disc is combined with the power output element and a second state in which the driving disc is separated from the power output element; the first stage sun gear is configured to disengage from the outer element in a first position of the outer element and to engage with the outer element in a second position of the outer element. According to the automatic speed changing assembly and the electric capstan with the automatic speed changing assembly, the automatic speed changing function can be achieved, and reliability is good.

The invention provides a quadrant switching smooth control method, device and equipment for an electro-hydrostatic system, and relates to the technical field of electro-hydraulic compound drive control. According to the method, sensor state information is acquired, a discretization state-space equation is established, a cost function is designed, improved sequential quadratic programming is called to solve the optimal control quantity, instructions are smoothly processed through a linear tracking differentiator, a reference value is calculated through a current distribution strategy and pressure feed-forward compensation, and cooperative impact resistance control is achieved through a PI controller and SVPWM. The response speed and stability of the electro-hydraulic compound system in the quadrant switching process can be remarkably improved, the problems of impact and torque overshoot are effectively restrained, the service life of equipment is prolonged, and the electro-hydraulic compound system is suitable for high-performance requirement scenes under complex working conditions such as electric loaders, excavators and winches.

The invention relates to an underwater robot take-up and pay-off device and a take-up and pay-off wave compensation method. The device comprises a cable storage winch, a wave compensation component, an A frame, a swing stopper, load equipment, an umbilical cable and a controller, and the umbilical cable is connected with the cable storage winch and the load equipment. The wave compensation component comprises a base, a swing support, a first driving component, a first guide wheel, a sliding base, a second driving component, a first force measuring shaft pin and a first encoder, the swing support is connected with the base, the sliding base slides along the swing support, and the first guide wheel is installed on the sliding base. The A frame is connected with a ship body and provided with a motion reference unit; the oscillation stopping device comprises a second guide wheel, a second force measuring shaft pin and a second encoder and is installed on the A frame. The load device is provided with an inertial measurement unit. Through the controller, based on intelligent switching of tension control and wave compensation modes, the first driving part achieves passive compensation, the second driving part adjusts the tension of the umbilical cable according to the heaving motion, and safe and efficient operation of equipment is ensured.

The invention discloses a dual-mode dynamic cooperative control method and system based on pulling of a mooring line. The method comprises the steps that displacement electric signals are collected through double potentiometers; a Z-axis PWM signal is generated based on the displacement electric signal through a PWM signal generator; an XY-axis PWM signal is generated through the included angle difference between an XY rocker on the unmanned aerial vehicle and the mooring line; the Z-axis PWM signal is divided into two paths, one path is transmitted to a capstan electronic speed controller, and the other path is transmitted to the unmanned aerial vehicle and is combined with the X-axis PWM signal and the Y-axis PWM signal to form a three-dimensional control signal; setting a remote control signal and a winch potentiometer signal as well as a three-dimensional control signal and a winch manual signal as a first linkage group and a second linkage group respectively; when the first linkage group is switched on and the second linkage group is switched off, the unmanned aerial vehicle enters a first control mode; and when the second linkage group is switched on and the first linkage group is switched off, the unmanned aerial vehicle enters a second control mode. The method is used for solving the technical problems of single control mode, insufficient man-machine collaboration, poor environmental interference adaptability and limited control precision existing in traditional mooring unmanned aerial vehicle control.

The invention relates to a floating platform for mechanically cleaning marine organisms. The floating platform integrates a floating body platform, a crane, a net bag cleaning device, a flat net cleaning device, a garbage collecting net bag, a power device and the like. The net bag cleaning device and the flat net cleaning device are used for cleaning sundries of the intercepting net bag and the plane intercepting net respectively, the sundries are rapidly and effectively conveyed to the garbage collecting net bag in a suction mode, and follow-up unified treatment and transportation are facilitated. The platform is provided with a hydraulic winch and a cable, and movement flexibility and stability are enhanced. The hydraulic winch quickly adjusts the position of the platform by winding and unwinding the cable to adapt to different operation scenes, and the underwater anchor block provides a reliable anchoring point for the cable to prevent the platform from drifting. Besides, the platform is provided with a pipe reeling device, the releasing length of an operation pipeline can be accurately controlled, smooth extension and orderly retraction of the pipeline are ensured, adaptability and flexibility are enhanced, and the floating platform for mechanically cleaning the marine organisms has the advantages of being efficient, stable and flexible and can effectively meet various complex environments and cleaning requirements.

The invention relates to the technical field of dirt cleaning, in particular to a cable self-cleaning assembly for a ship winch, which is mounted on a rack of the ship winch and comprises two mounting frames, a connecting rod is fixed between the two mounting frames and penetrates through a moving seat, a lead screw is screwed on the surface of the moving seat, and two ends of the lead screw are rotatably connected to the two mounting frames respectively. Two supporting plates are fixed to the top face of the movable base, a connecting plate is fixed between the top faces of the two supporting plates, two fixing plates are inserted into the surface of the connecting plate, and a wire guide roller is rotationally connected between the fixing plates and the movable base; the ship stranded wire correcting device has the beneficial effects that the position of the movable seat can be conveniently adjusted by rotating the screw rod, so that the distance between the wire guide rollers is adjusted, and ship stranded wires are corrected. And meanwhile, the cable can be automatically cleaned in the winding process through the design of the protective sleeve and the steel wire brush, the cable can be automatically oiled through the combination of the oil storage tank and the sponge core, manual intervention is not needed in the whole process, and the working efficiency is greatly improved.

The utility model relates to the technical field of marine scientific investigation equipment, in particular to a winch emergency lowering and pressure compensation system which comprises a reversing valve, a winch assembly, a brake assembly and an emergency function assembly. The brake part is controlled by a brake assembly to brake the power motor, and two cavities of the power motor are communicated with the reversing valve to form a working loop. The emergency function assembly comprises an energy accumulator, a first stop valve, a hydraulic control valve and a speed regulating valve, the first stop valve, the hydraulic control valve and the speed regulating valve are sequentially communicated, the first stop valve and the speed regulating valve are correspondingly communicated with two cavities of the power motor to form an emergency lowering loop, and the energy accumulator is communicated with one cavity of the power motor through an energy storage oil way. The energy accumulator is further communicated with the two cavities of the power motor through a compensation oil way, the working loop and the compensation oil way are each provided with a control oil way for providing a control oil source for the brake assembly, and a second stop valve is arranged on the control oil way of the compensation oil way.

A trailer configured to transport a load includes a bed including an upper surface configured to support the load, a first rotation pin configured to move along a slot in the bed, a second rotation pin coupled to the bed, and a winch assembly positioned in the slot and coupled to the first rotation pin by a first rope. The winch assembly is configured to pull the first rotation pin toward the second rotation pin.

The invention relates to the technical field of cable production, in particular to a stranding machine with a ship frame type cradle structure, which comprises a case, a rotation control mechanism and a take-up stand, and is characterized in that the rotation control mechanism is rotatably arranged in the case, the rotation control mechanism comprises two symmetrically arranged stranding bows, the stranding bows of the rotation control mechanism are used for allowing wires to pass through and stranding the wires, and the take-up stand is used for taking up the wires; the take-up frame is rotationally connected into the rotary control mechanism, a spool is rotationally arranged on the take-up frame, the take-up frame is provided with a wire arranging mechanism, the wire arranging mechanism comprises a first guide wheel, a second guide wheel, a third guide wheel, a fourth guide wheel and a wire arranging device which are arranged on the left side of the take-up frame, and the fourth guide wheel is arranged on the wire arranging device. The four guide wheels of the take-up stand are distributed along the diameter of the long axis of the stranding bow, and the take-up stand and the spool are distributed along the diameter of the long axis of the stranding bow, so that the diameter of the short axis of the stranding bow can be effectively shortened, the rotation radius of the stranding machine is shortened, overlarge centrifugal force is avoided, and finally vibration of a machine body and noise are reduced.

The utility model discloses a full-rotation hoisting pile driver for an offshore ship. The full-rotation hoisting pile driver comprises a full-rotation hoisting device and a pile driving device, the full-rotation lifting device comprises a base, a rotation bearing, a rotation chassis, a propeller strut and an arm support. The base is connected with the rotary chassis through the rotary bearing; the propeller strut is arranged on the rotary chassis; the lower end of the arm frame is movably connected with the propeller strut, and the propeller strut is wound with the arm frame through a steel wire rope; the piling device comprises a pile frame, a fork frame and a winding mechanism; the pile frame is connected with the upper end of the arm frame through a sliding shoe; one end of the fork frame is movably connected with the pile frame, and the other end of the fork frame is movably connected with the propeller strut; and the platform on the pile frame is connected with the corresponding winch in the machine room through the winding mechanism. According to the utility model, the full-circle slewing crane and the piling system are effectively combined, so that the piling requirements of straight piles and inclined piles can be met without frequent ship moving and positioning.

The invention belongs to the technical field of geothermal energy development and utilization, and particularly relates to a separated ultra-deep geothermal water extraction and utilization device which comprises a base, an adjustable supporting mechanism is arranged on the base, a winch is arranged on the adjustable supporting mechanism, a sliding rod piece is arranged in a closed mine, and the winch is used for conveying the sliding rod piece to the bottom of the closed mine. A clamping mechanism used for fixing the sliding rod piece is arranged on one side of the base. The sliding rod piece is vertically arranged, a plurality of supporting plate assemblies are connected to the sliding rod piece in a sliding mode, the other ends of the supporting plate assemblies are fixedly connected to a rope on the winch, a water pumping device is arranged on the lowest supporting plate assembly, transfer water pumping devices are arranged on the rest supporting plate assemblies, and the water pumping device is communicated with the transfer water pumping devices. The device is high in reliability, can be repeatedly used, is low in cost input, and can solve the problem that hot water is difficult to extract when a mine is closed in an ultra-deep manner.

The invention provides a crane hook target motion trail control system and a control method thereof.The crane hook target motion trail control system comprises a pressure control system, a winch system, a power source system and a sensing system.The pressure control system is used for monitoring the state of a clutch, controlling the winch speed of the winch clutch and feeding back pressure data in real time; one end of the winch system is connected with the pressure control system, and the other end of the winch system is connected with the power source system; the power source system is connected with the winch system and is used for providing power for the operation of the crane hook; the sensing system is connected with the controller through a signal transmission line and used for detecting pressure and rotating speed data in the operation process of the lifting hook and transmitting the pressure and rotating speed data to the controller for analysis. According to the invention, speed trajectory path planning and preventive real-time control can be carried out when the crawler crane does a free hook falling working condition, so that stable braking can be realized when the lifting hook lifts different weights of loads, and a winding drum can be effectively braked.

A wind turbine installation system and a method for installation of an offshore or onshore wind turbine including a tower is provided. The system includes at least one winch and a winch control system, the winch has a winch motor and a bi-directional rotational spool with a strap, wherein the winch is placed on an installation vessel or on the ground, wherein said the strap is provided with attachment for attachment to a tower, a nacelle or a fundament of the wind turbine and for applying a controlled pull on the tower, nacelle or fundament. A control system is controllably connected to the winch motor for controlling spool rotation in order to induce counter movements to the registered oscillations occurring in the tower and thereby stabilize the tower.

A cable descending type unmanned aerial vehicle distribution and delivery device comprises an unmanned aerial vehicle body, an outer protection box is installed at the bottom of the unmanned aerial vehicle body, the bottom of the outer protection box is open, an electric cable descending winch is installed at the top of the outer protection box, the electric cable descending winch is provided with two ropes, and a cable descending box is arranged in the outer protection box; four supporting legs are installed on the lower portion of the cable descending box, and the outer protection box and the cable descending box can be placed on the ground through the four supporting legs. In conclusion, the invention belongs to the technical field of unmanned aerial vehicle cargo distribution, and provides a new thought and direction for the development of the logistics unmanned aerial vehicle technology.

The invention relates to a loading adjustment method, device and equipment of a railway intelligent loading system, and relates to the technical field of loading, the method, device and equipment combine a time sequence prediction model and PID control for the first time, update historical parameter data in real time, update a PID controller in real time, adjust the rotating speed of a winch so as to adjust the traction speed of a carriage, and improve the traction speed of the carriage. When it is predicted that the coal in the chute is reduced, the winch is controlled to decrease the rotating speed, the traction speed of the carriage is decreased, and thus the coal in the chute waits to be supplemented; when it is predicted that the coal in the chute is increased, it shows that the coal in the coal chute is supplemented, the winch is controlled to increase the rotating speed, and the carriage traction speed is increased; through real-time control, when the coal material is reduced, the traction speed of the carriage is reduced in advance, the phenomenon of frequent material shortage is avoided, secondary material supplementing is not needed, the loading continuity is improved, and the loading efficiency is guaranteed.

A unmanned aerial vehicle (UAV) includes a fuselage including a top, a bottom, a cavity that forms a cargo bay between the top and the bottom, and a lower access opening in the bottom for lowering a payload from the cargo bay. A movable stage is coupled to the fuselage and adjustable between an upper position in which the stage is above the cargo bay and a lower position in which the stage is at the bottom of the fuselage, the stage including an opening extending through the stage. The UAV also includes a winch disposed in the fuselage and a tether coupled to the winch. The winch is configured to be secured to the payload and is movable through the opening in the stage so as to raise or lower the payload.

An operating system of an arrow launching device utilizes the combination of a speed-limited winch together with a nock-release and passive fall away arrow rest within torsion-driven compact arrow launching devices that employ counter-acting block and tackle propulsion. The system enables a novel method of cocking, firing and de-cocking that improves safety, enhances reliability and increases efficiency.