EP4162141B1 - Method and system for diagnosing an accumulator in a hydraulic circuit - Google Patents

Method and system for diagnosing an accumulator in a hydraulic circuit Download PDF

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Publication number
EP4162141B1
EP4162141B1 EP21727619.5A EP21727619A EP4162141B1 EP 4162141 B1 EP4162141 B1 EP 4162141B1 EP 21727619 A EP21727619 A EP 21727619A EP 4162141 B1 EP4162141 B1 EP 4162141B1
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EP
European Patent Office
Prior art keywords
pressure
hydraulic circuit
representation
flow variations
accumulator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Application number
EP21727619.5A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP4162141A1 (en
EP4162141C0 (en
Inventor
Martin Persson
Erik JAKOBSSON
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Epiroc Rock Drills AB
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Epiroc Rock Drills AB
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E21B44/02—Automatic control of the tool feed
    • E21B44/06—Automatic control of the tool feed in response to the flow or pressure of the motive fluid of the drive
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/005—Fault detection or monitoring
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B1/00—Percussion drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B1/00—Percussion drilling
    • E21B1/12—Percussion drilling with a reciprocating impulse member
    • E21B1/24—Percussion drilling with a reciprocating impulse member the impulse member being a piston driven directly by fluid pressure
    • E21B1/26—Percussion drilling with a reciprocating impulse member the impulse member being a piston driven directly by fluid pressure by liquid pressure
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/021—Installations or systems with accumulators used for damping
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
    • F15B20/005—Leakage; Spillage; Hose burst

Definitions

  • the present disclosure relates to percussive rock drilling, and, more specifically, to a method and system for diagnosing an accumulator in a hydraulic circuit.
  • the disclosure also relates to a drill rig, as well as a system that implements the method according to the disclosure.
  • Rock drilling rigs may be used in a number of areas of application.
  • rock drilling rigs may be utilised in tunnelling, surface mining, underground mining, rock reinforcement, raise boring, and be used e.g. for drilling blast holes, grout holes, holes for installing rock bolts, water wells and other wells, piling and foundations drilling etc.
  • drilling blast holes grout holes
  • rock bolts rock bolts
  • water wells and other wells piling and foundations drilling etc.
  • the actual breaking of the rock may be carried out according to various different technologies, and is oftentimes carried out by a drill tool contacting the rock, where the drill tool is connected to a drilling machine, in general by means of a drill string.
  • the drilling can be performed according to different drilling technologies, e.g. as rotational drilling where the drill tool is pushed towards the rock at high pressure to crush the rock by means of rotation force and applied pressure.
  • the drilling may also be of a percussive type, where a percussion piston repeatedly strikes the drill tool, directly, or via a drill string, to transfer percussive pulses, stress waves to the drill tool and further into the rock.
  • Percussive drilling may be combined with rotation in order to obtain a drilling where buttons, inserts, of the drill tool strikes fresh rock at each stroke, thereby increasing the efficiency of the drilling.
  • the representation of pressure and/or flow variations in the hydraulic circuit may be a waveform, i.e., curve shape, of the pressure or flow variation in the hydraulic circuit, where the waveform may be subjected to analysis e.g. in terms of derivatives and/or amplitudes to determine if the waveform deviates from a reference waveform.
  • the high-pressure supply path and, according to the present example, the low pressure return path as well, are provided with one or more accumulators.
  • the accumulators may be mounted directly on, or in the vicinity of, the percussion device. This is schematically illustrated in fig. 1 by accumulator 112.
  • the accumulators 112, 208 are used to dampen peak pressure surges that arise in the system, and may also maintain the pressure of the hydraulic fluid in the system in case the flow from the hydraulic pump 116 would be insufficient for proper operation at some instance.
  • the accumulator 208 may stabilise pressure and flow and avoid cavitation in the hydraulic fluid which may otherwise occur, and which may be harmful.
  • each of the accumulators 112, 208, 224 can be separately diagnosed to ensure proper operation and detect possible malfunctions. According to the disclosure, this is performed using pressure and/or flow variations of the hydraulic fluid. According to the present example, the accumulators 112, 208, 224 are diagnosed through the use of pressure variations. The pressure variations are determined through the use of one or more pressure sensors 231-233, where, according to the present example, a pressure sensor in each path (supply or return) comprising an accumulator is used. According to embodiments of the disclosure, a single pressure sensor, such as pressure sensor 231, may be utilised e.g. to diagnose the accumulators 112, 208.
  • the representation of the pressure variation may be of any suitable kind, e.g., an envelope representation.
  • Fig. 4 illustrates one example of an exemplary pressure variation as a function of time and determined using signals from the pressure sensor 231.
  • the amplitude of the pressure in the hydraulic circuit varies between a minimum pressure slightly above 200 bar up to a maximum of approximately 250 bars, where the variation between two maxima corresponds to a full stroke cycle of the percussion piston 105.
  • the graph of fig. 4 represents a situation where the accumulator 112 is operating properly.
  • the representation of pressure variations in the hydraulic circuit being determined in step 302 may, as discussed, be of various different kinds, and for example constitute a representation of the difference between the maximum and minimum pressure in the hydraulic circuit. This may be determined in any suitable manner.
  • Fig. 5 illustrates an exemplary development of the pressure variations, and corresponding envelopes 501, 502 in the hydraulic circuit when a fault occurs.
  • the accumulator 112 is working properly.
  • a fault occurs.
  • the accumulator 112 may otherwise suffer a pressure reduction.
  • the accumulator 112 may also be subject to other faults that prevents proper accumulator operation.
  • pressure variations are no longer supressed to the desired extent, but the pressure variations start to increase as gas pressure of the accumulator decrease.
  • the situation no longer deteriorates further, e.g. because the accumulator no longer is capable of providing the desired dampening function.
  • step 304 it may be determined whether the determined representation of pressure variations in the hydraulic circuit exceeds a value of the reference representation of the pressure variations by a predetermined extent.
  • this may be a determination of whether a minimum value of the difference between the upper and lower envelope exceeds a maximum allowed value of the difference between the upper and lower envelope, and when this is the case a signal indicating a fault can be generated. According to the example of fig. 5 , this occurs at time t 1 .
  • accumulators 208 and 224 these may be diagnosed in precisely the same manner, and in parallel to the diagnosing of the accumulator 112. Alternatively, the accumulators may be diagnosed in sequence. According to embodiments of the disclosure, pressure sensor 231 or pressure sensor 232 is used to diagnose both accumulators 112, 208.
  • the reference representation being used in step 304 may be determined empirically, e.g. for a particular configuration in regard of drill rig and percussion device, where values may be determined for each such combination being manufactured.
  • the reference value may also be determined for various percussion pressures, so that diagnosed may be performed also when different percussion pressures are used in the drilling. It is also contemplated that the reference values are calculated e.g. from a model representation of the hydraulic system.
  • the reference values may also be established by the system itself, e.g. by measuring pressure variations in a situation when the accumulator is working properly, and where such measurements may be stored as reference values for subsequent use in the diagnosis.
  • variations in pressure are used for diagnosing a state of the accumulator.
  • two pressure sensors at different locations in the hydraulic circuit are used to determine the pressure variations.
  • two pressure sensors may be utilised e.g. in the high pressure supply. This is indicated by an additional pressure sensor 230 in dashed lines in fig. 2 .
  • the signals from two pressure sensors, in combination with a known distance between the sensors, may then be utilised to determine maxima and minima in the hydraulic circuit, to ensure that a representative value is used in the diagnosing, and to avoid that measurements are performed for a pressure minima in a standing wave in the hydraulic circuit.
  • the pressure of any position in the hydraulic circuit may be determined, and is denoted the two-microphone method in the art. In general, however, a single pressure sensor is sufficient to perform the desired diagnosing.
  • flow variations are used in the diagnosing instead of pressure variations.
  • the flow may vary in a similar manner as the pressure, and the flow variations may be utilised instead of pressure variations.
  • the flow may be determined using a flow meter, but may also be determined e.g. using two pressure sensors with a known throttling of the flow between them in a manner known per se.
  • the variations of pressure or flow may also be determined in any other suitable manner.
  • the pressure or flow variations may be subjected to signal processing to determine the amplitude of one or more harmonics, where a change in the amplitude of the one or more harmonics may be utilised in diagnosing the accumulator state.
  • the present disclosure may be utilised for essentially any kind of drill rig where hydraulic percussive drilling is utilised.
  • the disclosure is also applicable for underground drill rigs as well drill rigs operating above ground.

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  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Earth Drilling (AREA)
  • Fluid-Pressure Circuits (AREA)
EP21727619.5A 2020-06-08 2021-05-12 Method and system for diagnosing an accumulator in a hydraulic circuit Active EP4162141B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE2050667A SE2050667A1 (en) 2020-06-08 2020-06-08 Method and System for Diagnosing an Accumulator in a Hydraulic Circuit
PCT/SE2021/050455 WO2021251862A1 (en) 2020-06-08 2021-05-12 Method and system for diagnosing an accumulator in a hydraulic circuit

Publications (3)

Publication Number Publication Date
EP4162141A1 EP4162141A1 (en) 2023-04-12
EP4162141B1 true EP4162141B1 (en) 2025-03-26
EP4162141C0 EP4162141C0 (en) 2025-03-26

Family

ID=76076417

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21727619.5A Active EP4162141B1 (en) 2020-06-08 2021-05-12 Method and system for diagnosing an accumulator in a hydraulic circuit

Country Status (8)

Country Link
EP (1) EP4162141B1 (https=)
JP (1) JP2023529438A (https=)
KR (1) KR20230020390A (https=)
CN (1) CN115698458A (https=)
AU (1) AU2021289190A1 (https=)
CA (1) CA3180154A1 (https=)
SE (1) SE2050667A1 (https=)
WO (1) WO2021251862A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4493783A1 (en) * 2022-03-15 2025-01-22 Epiroc Rock Drills Aktiebolag A damping arrangement and a hydraulic rock drilling machine
KR20260030897A (ko) * 2023-08-01 2026-03-06 이구루코교 가부시기가이샤 유체 기기 상태 감시 장치
CN119467445A (zh) * 2024-11-29 2025-02-18 中机试验装备股份有限公司 一种充油蓄能器无损在线失效判断方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4967553A (en) 1988-06-28 1990-11-06 Eimco-Secoma, Societe Anonyme System for monitoring a hydraulic accumulator
JP2544726Y2 (ja) 1991-02-28 1997-08-20 株式会社小松製作所 衝撃リッパの異常検出装置
US20040244493A1 (en) 2001-10-18 2004-12-09 Markku Keskiniva Method and apparatus for monitoring operation of percussion device
US20070007039A1 (en) 2002-11-05 2007-01-11 Sandvik Tamrock Oy Arrangement for controlling rock drilling
WO2008127171A1 (en) 2007-04-11 2008-10-23 Atlas Copco Rock Drills Ab Method and device for controlling at least one drilling parameter for rock drilling
US20140060932A1 (en) 2012-08-31 2014-03-06 Caterpillar Global Mining Llc Media pressure cavitation protection system for rock drills

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU581800B2 (en) * 1986-02-03 1989-03-02 Boart International Limited Down hole drill having both percussion and rotation devices at the lower end of the drill string
JPH1060953A (ja) * 1996-08-23 1998-03-03 Hitachi Constr Mach Co Ltd 油圧機器保護装置
SE529416C2 (sv) * 2005-12-22 2007-08-07 Atlas Copco Rock Drills Ab Dämpanordning jämte borrmaskin inkluderande en dylik dämpanordning
SE536711C2 (sv) * 2012-10-29 2014-06-10 Atlas Copco Rock Drills Ab Dämpningsanordning för slagverk, slagverk, bergborrmaskin och förfarande för dämpning vid en bergborrmaskin
DE102014108849B9 (de) * 2014-06-25 2022-12-22 Construction Tools Gmbh Drucküberwachungsvorrichtung
DE102014108848A1 (de) * 2014-06-25 2015-12-31 Construction Tools Gmbh Vorrichtung zur Drucküberwachung
US9556887B2 (en) * 2014-11-06 2017-01-31 Caterpillar Inc. System and method for estimating health and remaining useful life of a hydraulic element
GB2546790A (en) * 2016-01-29 2017-08-02 Ge Oil & Gas Uk Ltd Hydraulic accumulator monitoring system
EP3260647B1 (en) * 2016-06-22 2019-08-07 Sandvik Mining and Construction Oy Rock drill

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4967553A (en) 1988-06-28 1990-11-06 Eimco-Secoma, Societe Anonyme System for monitoring a hydraulic accumulator
JP2544726Y2 (ja) 1991-02-28 1997-08-20 株式会社小松製作所 衝撃リッパの異常検出装置
US20040244493A1 (en) 2001-10-18 2004-12-09 Markku Keskiniva Method and apparatus for monitoring operation of percussion device
US20070007039A1 (en) 2002-11-05 2007-01-11 Sandvik Tamrock Oy Arrangement for controlling rock drilling
WO2008127171A1 (en) 2007-04-11 2008-10-23 Atlas Copco Rock Drills Ab Method and device for controlling at least one drilling parameter for rock drilling
US20140060932A1 (en) 2012-08-31 2014-03-06 Caterpillar Global Mining Llc Media pressure cavitation protection system for rock drills

Also Published As

Publication number Publication date
KR20230020390A (ko) 2023-02-10
JP2023529438A (ja) 2023-07-10
CA3180154A1 (en) 2021-12-16
EP4162141A1 (en) 2023-04-12
AU2021289190A1 (en) 2022-10-13
EP4162141C0 (en) 2025-03-26
SE2050667A1 (en) 2021-12-09
CN115698458A (zh) 2023-02-03
WO2021251862A1 (en) 2021-12-16

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