← All case studiesDrive technology & automation

Underground inspection

An automated winch system that measures the rope's slip and cancels it out - for probes up to 300 m into the duct.

CustomerTALPA, Switzerland

ScopeDrive sizing · Slip compensation · X1 firmware · Data streaming

Topics

Mechanical engineering
Electronics

Looking down a duct shaft with pipes, hoses and standing water

Starting point

The problem

A probe was to be pulled underground through ducts up to 300 m long. The motion profile: pull a set distance, stand still, pull again.

Space at the far end of the duct was limited, so the winch could only act as a pulling station, not as a rope reel. That is exactly why the rope could slip on the shaft.

The maximum force had to be adjustable, and position, speed and required force readable in real time.

On top of that came the requirements arising from the conditions underground.

Solution

Our approach

We used a special motor with an integrated winch. It fitted the available space, simplified the design and saved parts such as the toothed belt - which brought the cost of the overall system down. It did have to be wound specifically for 48 V; we were able to source prototypes quickly.
We solved the slip with an additional encoder that measures the rope passing through. Motor commutation (FOC) still runs off the integrated encoder, but in position control mode the external encoder supplies the actual position - which compensates for the slip.
Our X1 controller with adapted firmware serves as the motor control. We supported the team on site with the mechanical integration of the drive technology.
The measurement data is streamed to a control PC at 50 Hz.

Result

What came out of it

A previously manual process is now automated, which raises efficiency on site.
The data stream gives the customer the data points they care about on rope forces, and improves the quality of their measurements.
The special motor with its integrated winch simplified the design and lowered the cost of the overall system.

Customer

TALPA, Switzerland

TALPA is a Swiss startup that inspects underground ducts. A probe is pulled through the duct to take the measurements.

More projects

Electric drives & control softwareElectric fitness equipmentElectric weights that adjust the applied force precisely at every angle - instead of steel plates working against gravity.Fault analysis & retrofitMobile service liftRandom motor controller failures traced back to their root cause - energy fed back during emergency descent - and fixed in the field with a brake chopper retrofit.Medical electronicsVital scannerA compact ECG device with two electrodes instead of three, a sampling rate of 1,067 Hz and 0.7 µA standby current.Drive technology & mechanical engineering4-axis linear system with 15,000 NA complete redesign of an existing machine around the X1 controller - mechanical and electrical engineering from one team.Access control & paymentAkrodyn SunControlAge verification, ID checking and payment for unstaffed tanning salons - as a retrofit for installations up to 30 years old.Computer vision & softwareCamera-based game controlSkeleton tracking for up to 8 people at once, in real time and on the CPU alone.Drive technology & power electronicsEtherCAT motor controllerCustom motor controller built on Akrodyn technology with EtherCAT, Safety PLe and certification to CE, UL and CSA for global use in industrial machinery.Drive technology & embedded firmwareMotor controller for robotics actuatorsCompact circular motor controller PCBs with field-oriented control and CAN-FD for a family of dynamic robotics actuators in three form factors, including full CAN protocol documentation and an end-of-line test plan.

Engineering sparring

Got an idea or a project? Let's get started.

One hour, free of charge, by video or at our place in Zurich. We look at where the technical risks are, what can be shortened and what the next sensible step would be. No pitch, no slide deck. You leave with more clarity than you arrived with — even if we never work together.

Book an engineering sparring

Or get in touch directly: info@akrodyn.com · +41 44 599 20 60

You speak straight to the engineer who will work on your project afterwards.