Small I beam bolted across the joists to spread the load. Longer than the machine so you can drop things to the ground. Then find a trolley and hang your winch from it.
If you had more head room, I would say you could set up a rail system. Which you probably could still do if you set the rails along your joists, above the bottom of them, the width of the room. Attach some rollers to your I beam so the beam hangs and rolls on your rails. Then trolley for your winch. You'd have to get creative with the lighting, maybe attaching the fixtures out from the wall as opposed to hanging them.
