CN109577859B - Continuous tube high-voltage electric pulse-mechanical composite rock breaking drilling method - Google Patents

Continuous tube high-voltage electric pulse-mechanical composite rock breaking drilling method Download PDF

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CN109577859B
CN109577859B CN201810711656.2A CN201810711656A CN109577859B CN 109577859 B CN109577859 B CN 109577859B CN 201810711656 A CN201810711656 A CN 201810711656A CN 109577859 B CN109577859 B CN 109577859B
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drilling
electric pulse
rock
coiled tubing
rock breaking
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CN109577859A (en
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祝效华
罗云旭
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Southwest Petroleum University
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Southwest Petroleum University
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    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21BEARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00Special methods or apparatus for drilling
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21BEARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B10/00Drill bits
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21BEARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00Special methods or apparatus for drilling
    • E21B7/04Directional drilling

Abstract

The invention relates to a high-voltage electric pulse-mechanical composite rock breaking and drilling method for a continuous pipe with a cable. The system of the drilling method comprises the following components: ground power supply and control equipment, a coiled tubing roller, a deionization pump and a slurry purification system thereof, a cable, a hydraulic pipeline, a coiled tubing injection head, a derrick, a coiled tubing with a cable, a power amplification and electric pulse generator, a coiled tubing connector, a downhole power drilling tool, an electrode drill bit and the like. The drilling and rock breaking method combines the traditional continuous pipe drilling and high-voltage electric pulse drilling and rock breaking methods (including electric pulse rock breaking and hydraulic electric rock breaking), and can be used for drilling a vertical well and a directional well (including a horizontal well); the high-voltage electric pulse generating device is arranged in the lower drilling tool assembly, so that the energy conversion efficiency is improved; meanwhile, the device has the advantages of convenience in lowering the cable, high rock breaking efficiency, good well wall quality, low deep well drilling cost and the like.

Description

Continuous tube high-voltage electric pulse-mechanical composite rock breaking drilling method
Technical Field
The invention relates to a high-efficiency rock breaking and drilling method used in the drilling and exploitation process of petroleum and natural gas, in particular to a high-voltage electric pulse-mechanical composite rock breaking and drilling method used for a continuous pipe with a cable.
Background
The field of petroleum and natural gas exploration and development is continuously expanded, and the research of a high-efficiency rock breaking and drilling technology is imperative. When the traditional mechanical rotary drilling well is used for drilling high-temperature and high-pressure deep wells and ultra-deep wells, the defects of low drilling efficiency, high construction difficulty, high drilling cost and the like exist, and a new rock breaking technology needs to be relied on.
The current leading-edge drilling rock breaking modes mainly comprise: water jet rock breaking, particle jet rock breaking, laser drilling rock breaking, ultrasonic wave and heat energy rock breaking and the like. The requirement of particle flow rock breaking on the nozzle and the process requirement of equipment are high; the rock breaking of laser drilling is limited by laser power and is still in an experimental exploration stage at present; the application of ultrasonic rock breaking is very limited, and the rock is required to be brittle; the possibility that the water jet rock breaking, the laser drilling rock breaking and the ultrasonic rock breaking are used for drilling in the experimental verification stage is yet to be further verified.
High-voltage electric pulse rock breaking drilling utilizes electric pulse breaking, and electric pulse discharge rock breaking drilling is proved to be feasible by a plurality of countries. The method has the advantages of high rock breaking efficiency, good well wall quality, low deep well drilling cost and the like, and is a rock breaking mode which has potential and is close to industrialization so far. The pulsed discharge is classified into two types according to the medium in which it is located: namely electrical pulse rock breaking and liquid electrical rock breaking. The principle of electric pulse rock breaking is as follows: high voltage short pulse discharge voltage (voltage rise time)<500ns), the breakdown field strength of the rock is smaller than that of a liquid medium (such as water or oil with the conductivity of less than 300 mu S/cm), and a discharge plasma channel is formed inside the rock; plasma with a plasma chamberAfter the channel is formed, the energy in the high-voltage electric pulse power supply is released into the plasma channel and heats the channel (up to 10)4K) (ii) a The plasma channel expands when heated to generate shock stress wave (up to 10)9~1010Pa) and applying work to surrounding rocks to cause 'internal damage' to the interior of the rocks; when the effect of the shock stress wave on the rock exceeds the rock's own strength, the rock is destroyed. When the discharge plasma is generated in the liquid medium, a discharge pressure wave can be generated in the liquid medium; meanwhile, the liquid medium can generate bubbles, and the collapse of the bubbles can generate another part of pressure waves. The mechanical pressure waves of the two parts act on the rock, and when the mechanical pressure waves of the two parts exceed the strength of the rock, the rock is destroyed, and the rock is broken by the liquid electricity.
Currently, the plasma drilling technology is researched and developed in russia, the european union, japan, and the united states, and in other countries and regions. A high pressure pulsed plasma drilling method was proposed by Strathclyde university in the uk, 2007. The method realizes the circulation of the drilling fluid and can realize a shallow straight well. When the drilling depth is too large, the well wall is easy to collapse by drilling in the method, and the well track is easy to deflect. Aiming at the problems mentioned above, Yan Kjen et al at Zhejiang university in 2012 proposes a pulsed plasma drilling system. The drilling machine system keeps the rotation characteristic of the traditional drill column, so that the wall quality of a drilled vertical well can be well guaranteed, and meanwhile, the deeper drilling depth can be guaranteed. The demand for directional wells (including horizontal wells) is also increasing today in the drilling industry in pursuit of higher oil and gas recovery. This method is limited to a certain extent because it can only drill straight wells.
Disclosure of Invention
Based on the engineering background, the invention provides a high-voltage electric pulse-mechanical composite rock breaking drilling method for a continuous pipe with a cable. The high-voltage electric pulse rock breaking and drilling mode (including electric pulse rock breaking and liquid electric rock breaking) is combined with the coiled tubing drilling mode, so that the cable is convenient to lower; the traditional rotary drilling rock breaking and high-voltage electric pulse drilling rock breaking are combined, so that the rock breaking efficiency is greatly improved; the electrode drilling tool is combined with the underground power drilling tool, so that the electrode drilling tool is suitable for drilling various types of wells (vertical wells, directional wells and the like), and is more in line with the development trend of petroleum drilling; meanwhile, the high-voltage electric pulse generating device is arranged underground, and is packaged in a lower drilling tool assembly together with a drilling head, so that the energy conversion efficiency is improved, and unnecessary on-way power energy consumption loss is reduced; in addition, both formation water and drilling fluid used to balance bottom hole pressure and carry cuttings provide good fluid conditions for high-pressure electric pulse drilling techniques.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a high-voltage electric pulse-mechanical composite rock breaking and drilling method for a continuous pipe with a cable. The drilling system of the coiled tubing high-voltage electric pulse-mechanical composite rock breaking drilling method comprises the following steps: the device comprises a ground power supply and control device, a coiled tubing roller, a deionization pump and a slurry purification system thereof, a cable, a hydraulic pipeline, a coiled tubing injection head, a derrick, a coiled tubing with a cable, a power amplification and electric pulse generator, a coiled tubing connector, an underground power drilling tool and an electrode drill bit; the ground power supply and control equipment 1 is used for providing power supply for the whole electric pulse drilling machine and controlling the frequency of high-voltage pulse under the electrode well, and the pulse frequency can be 5-30 Hz; the deionizing pump and the mud purification system thereof provide deionizing drilling fluid and circulate the drilling fluid to carry out rock debris in the drilling process; the power amplification and electric pulse generator is used for generating instantaneous breakdown high voltage for breaking rocks, and the working voltage can be 10-50 kV; the coiled tubing connector is used for connecting a rotary lower drilling tool assembly and a non-rotary upper coiled tubing with a cable, and simultaneously transmitting electric power and drilling fluid pressure; the downhole power drilling tool utilizes the pressure of the drilling fluid to generate rotary motion and drive the drilling tool assembly at the lower part and the electrode drill bit to rotate; the electrode drill bit is used for breaking rock so that the borehole gradually extends towards the deep part of the stratum; the electrode drill bit 12 comprises high and low voltage pulse electrodes for electrically breaking rock and drill teeth for mechanically drilling and protecting a well wall; this method inherits most of the process of conventional coiled tubing drilling: if the underground power drilling tool is used for realizing the rotary rock breaking action of the drill bit, the functions of balancing the formation pressure, discharging rock debris and the like are realized by utilizing the circulation of the drilling fluid; the directional well operation is realized by controlling the bit weight and the rotating speed while designing the tooth arrangement of the drill bit.
The whole continuous pipe high-voltage electric pulse-mechanical composite rock breaking drilling method comprises two working modes of electric pulse rock breaking and liquid electric rock breaking; when the electric pulse method is adopted to break the rock, the main power of the broken rock is instantaneous high temperature and stress wave generated in the rock by the high-voltage electric pulse; when the hydraulic-electric method is adopted for rock breaking, liquid stress waves generated by hydraulic-electric rock breaking play a role in pre-breaking the rock; the mechanical rotation movement is matched with the electrode drill bit 12 to continuously expose new rocks, so that the contact between the electrode drill bit and the rocks is fully increased, and broken rock fragments are guaranteed to be transported out of the bottom of the well as soon as possible; the mechanical rotation movement is matched with the gauge protection and the regulating teeth on the drilling tool, so that the well diameter can be ensured, the well wall can be regulated, and the quality of the well wall can be ensured.
When a vertical well is drilled, the drilling direction is corrected by using mechanical rotary drilling motion, so that the deviation of a well bore is prevented; when the directional well is drilled, the mechanical rotary drilling motion is matched with the guiding tool to control the track direction of the well. The ground power supply is placed on the ground, and the power amplification and electric pulse generator is placed underground and packaged in the lower drilling tool assembly together with the electrode drill bit. The lower drilling tool assembly consisting of the power amplification and electric pulse generator, the continuous pipe connector, the underground power drilling tool and the electrode drill bit 12 can be combined with a measurement while drilling and guiding tool to realize the drilling of the directional well and the real-time measurement and recording of the well deviation direction. The coiled tubing connector is used for connecting a drill string with a rotating lower part and a non-rotating cabled coiled tubing string with a non-rotating upper part, and can simultaneously transmit electric power and drilling fluid pressure.
Compared with the prior drilling technology, the invention has the following characteristics and advantages:
1) the high-voltage electric pulse drilling mode is combined with the coiled tubing drilling mode, the working condition is appropriate, and the cable is convenient to lower;
2) the traditional rotary drilling rock breaking and high-voltage electric pulse drilling rock breaking are combined, the technical inheritance is good, and the drilling efficiency is improved by 2-3 times;
3) the electrode drilling tool is combined with the underground power drilling tool, so that the electrode drilling tool is suitable for drilling various types of wells (vertical wells, directional wells and the like), and is more in line with the development trend of petroleum drilling;
4) the high-voltage electric pulse generating device is arranged underground, and is packaged in a lower drilling tool assembly along with a drilling head, so that the energy conversion efficiency is improved, and unnecessary on-way power energy consumption loss is reduced;
5) both formation water and drilling fluid used to balance bottom hole pressure and carry cuttings provide good fluid conditions for high-pressure electric pulse drilling techniques.
Drawings
FIG. 1 is a schematic diagram of a vertical well drilled by a plasma electric pulse stress wave-mechanical composite rock breaking drilling method;
FIG. 2 is a schematic diagram of a directional well drilled by a plasma electric pulse stress wave-mechanical composite rock breaking drilling method;
FIG. 3 is a schematic diagram of power transmission and impedance of a plasma electric pulse stress wave-mechanical composite rock breaking drilling system;
FIG. 4 is a schematic diagram of the operation of a high voltage pulse electrode drill bit;
FIG. 5 is a schematic diagram of the principle of electric pulse rock breaking and hydraulic electric rock breaking;
in fig. 1 to 2: 1. a ground power supply and control device; 2. a coiled tubing drum; 3. a deionization pump and a slurry purification system thereof; 4. a cable; 5. a hydraulic line; 6. a coiled tubing injection head; 7. a derrick; 8. a coiled tubing with a cable; 9. a power amplification and electrical pulse generator; 10. a coiled tubing connector; 11. a downhole power drill; 12. an electrode drill.
In fig. 3: 1-A, a ground power supply and a control device; 8-2. equivalent resistance R of transmission cable1(ii) a 9-a. a power amplifier; 9-B, an electric pulse generator storage capacitor C; 9-c. an electrical pulse generator converter; 9-D. internal impedance R of electric pulse generator2(ii) a 12-a. electrode bit coaxial cable; 12-B. breakdown of the equivalent impedance of the formation R3(electrical pulse rock breaking) or fluid impedance (hydroelectrical rock breaking).
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the invention may be practiced otherwise than as specifically described herein. Therefore, the scope of the invention is not limited by the specific embodiments disclosed below.
The continuous pipe high-voltage electric pulse-mechanical combined rock breaking drilling method of some embodiments of the invention is described in the following with reference to the accompanying drawings.
The invention provides a coiled tubing high-voltage electric pulse-mechanical composite rock breaking drilling method, which is shown in figures 1 and 2, wherein figure 1 is a schematic diagram of a vertical well drilled by the drilling rock breaking method; FIG. 2 is a schematic diagram of a directional well drilled by the drilling and rock breaking method; the drilling system includes: the device comprises a ground power supply and control device 1, a coiled tubing roller 2, a deionization pump and a slurry purification system thereof 3, a cable 4, a hydraulic pipeline 5, a coiled tubing injection head 6, a derrick 7, a coiled tubing with cable 8, a power amplification and electric pulse generator 9, a coiled tubing connector 10, an underground power drilling tool 11 and an electrode drill bit 12; the ground power supply and control equipment 1 is used for providing power supply for the whole electric pulse drilling machine and controlling the frequency of high-voltage pulse under the electrode well, and the pulse frequency can be 5-30 Hz; the deionization pump and the mud purification system 3 thereof provide deionization drilling fluid and circulate the drilling fluid to carry out rock debris in the drilling process; the power amplification and electric pulse generator 9 is used for generating instantaneous breakdown high voltage for breaking rocks, and the working voltage can be 10-50 kV; the coiled tubing connector 10 is used for connecting a rotary lower drilling tool assembly with the upper non-rotary coiled tubing 8 with the cable, and simultaneously transmitting electric power and drilling fluid pressure; the downhole power drilling tool 11 generates rotary motion by using the pressure of drilling fluid and drives the drilling tool assembly at the lower part and the electrode drill bit 12 to rotate; the electrode bit 12 is used to break up rock so that the borehole gradually extends deep into the formation.
In the whole plasma electric pulse stress wave-mechanical composite drilling and rock breaking method, the ground power supply and control equipment 1 is placed on the ground, and the power amplification and electric pulse generator 9 is placed underground and packaged in a lower drilling tool assembly together with the electrode drill bit 12; the power transmission and impedance diagram of the whole system is shown in fig. 3, so that the energy conversion efficiency is improved, and unnecessary on-way power consumption loss is reduced. The lower drilling tool assembly consisting of the power amplification and electric pulse generator 9, the coiled tubing connector 10, the downhole power drilling tool 11 and the electrode drill bit 12 can be combined with a measurement while drilling and guiding tool to realize drilling of a directional well and real-time measurement and recording of well deviation directions, as shown in fig. 2. The coiled tubing connector 10 is used to connect a lower rotating drill string to an upper non-rotating, wireline coiled tubing string, and is capable of simultaneously transferring power and drilling fluid pressure.
The working principle of the high voltage electrode drill bit 12 (including the electrode part and the tooth drilling part) is shown in fig. 4, and the electric pulse rock breaking and mechanical composite rock breaking methods are combined. First, the low voltage ground electrode and the high voltage center electrode are in contact with the downhole rock, respectively, as shown in fig. 4 (a). Then, the current is transmitted to the power amplification and electric pulse generator 9 through the ground power supply 1, the cable 4 and the continuous pipe with cable 8, and the instantaneous high voltage generated by the power amplification and electric pulse generator 9 reaches two ends of the low-voltage grounding electrode and the high-voltage central electrode through the continuous pipe joint 10. High voltage short pulse discharge voltage (voltage rise time)<300ns), the breakdown field strength of the rock is smaller than that of the deionized drilling fluid (the conductivity is smaller than 300 mu S/cm), and a discharge plasma channel is formed in the rock, as shown in figure 4 (b). After the plasma channel is formed, the energy in the high-voltage electric pulse power supply is released into the plasma channel and heats the channel (up to 10)4K) (ii) a The plasma channel expands when heated to generate shock stress wave (up to 10)9~1010Pa) and applying work to surrounding rocks to cause 'internal damage' to the interior of the rocks; when the impact stress wave acts on the rock beyond its own strength, the rock is destroyed, as shown in fig. 4 (c). Meanwhile, the damaged rock is discharged out of the well bottom under the pressure of the drilling fluid through the mechanical rotation auxiliary motion of the drilling tool, so that the newly formed rock surface of the well bottom is fully contacted with the low-voltage grounding electrode and the high-voltage central electrode, and a new round of rock breaking work is completed.
The high-voltage electrode drill bit 12 (comprising the electrode part and the drilling tooth part) can also complete the drilling and rock breaking actions by combining a hydraulic-electric rock breaking method and a mechanical composite rock breaking method. When discharge plasma of high and low voltage electrodes on the electrode bit 12 is generated in the liquid medium, a discharge pressure wave is generated in the liquid medium; meanwhile, the liquid medium can generate bubbles, and the collapse of the bubbles can generate another part of pressure waves. The mechanical pressure waves of the two parts act on the rock, and when the mechanical pressure waves of the two parts exceed the strength of the rock, the rock is partially destroyed. Then, the rock is crushed by the rotary cutting action of the tooth portion of the electrode bit 12. The cuttings are finally discharged out of the bottom of the well by the circulating action of the high-pressure drilling fluid. The schematic diagram for distinguishing the electric pulse rock breaking principle from the liquid electric rock breaking principle is shown in fig. 5.
It is worth noting that: when the electric pulse rock breaking method and the mechanical method are combined, certain requirements are made on the conductivity of the drilling fluid. Therefore, the drilling fluid deionization pump 3 must be present at the surface to ensure that the conductivity of the drilling fluid is below a certain threshold (less than 300 μ S/cm); when the electrohydraulic rock breaking method and the mechanical method are combined, the drilling fluid deionization pump 3 is not necessary.
For the power of drilling and breaking rock, when an electric pulse rock breaking method and a mechanical method are combined to break rock, the main power of breaking rock is instantaneous high temperature and stress waves generated in the rock by high-voltage electric pulses; when the hydraulic-electric rock breaking method and the mechanical method are combined to break rock, liquid stress waves generated by hydraulic-electric rock breaking play a role in pre-breaking the rock. The mechanical rotation movement cooperates with the electrode bit 12 to continuously expose new rock, which fully increases the contact between the electrode bit and the rock and ensures that the broken rock fragments are transported out of the bottom of the well as quickly as possible. The mechanical rotation movement is matched with the gauge protection and the regulating teeth on the drilling tool, so that the size of the well diameter can be ensured, the well wall can be regulated, the quality of the well wall can be ensured, and the well wall can be reinforced. When a vertical well is drilled, the rotary motion can effectively correct the drilling direction and prevent the well bore from being inclined; when the directional well is drilled, the mechanical rotary drilling well can more effectively control the track direction of the well hole by matching with a steering tool.

Claims (6)

1. A coiled tubing high-voltage electric pulse-mechanical combined rock breaking drilling method is characterized in that a drilling system of the high-voltage electric pulse-mechanical combined rock breaking drilling method comprises: the device comprises a ground power supply and control device (1), a coiled tubing roller (2), a deionization pump and a slurry purification system (3) thereof, a cable (4), a hydraulic pipeline (5), a coiled tubing injection head (6), a derrick (7), a coiled tubing with cable (8), a power amplification and electric pulse generator (9), a coiled tubing connector (10), an underground power drilling tool (11) and an electrode drill bit (12); the ground power supply and control equipment (1) is used for providing power for the whole electric pulse drilling machine and controlling the frequency of high-voltage pulses under the electrode well, and the pulse frequency can be 5-30 Hz; the deionization pump and the mud purification system (3) thereof provide deionization drilling fluid and circulate the drilling fluid to carry out rock debris in the drilling process; the power amplification and electric pulse generator (9) is used for generating instantaneous breakdown high voltage for breaking rocks, and the working voltage can be 10-50 kV; the coiled tubing connector (10) is used for connecting a rotary lower drilling tool assembly with the upper non-rotary coiled tubing (8) with the cable and transmitting electric power and drilling fluid pressure; the downhole power drilling tool (11) generates rotary motion by using the pressure of drilling fluid and drives a drilling tool assembly at the lower part and the electrode drill bit (12) to rotate; the electrode drill bit (12) is used for breaking rock so that the borehole gradually extends towards the deep part of the stratum; the electrode drill bit (12) comprises high-voltage and low-voltage pulse electrodes for electrically breaking rock and drill teeth for mechanically drilling and protecting a well wall; the method inherits the following process of traditional coiled tubing drilling: the rotary rock breaking action of the drill bit is realized by using the underground power drilling tool, and the functions of balancing the formation pressure and discharging rock debris are realized by using the circulation of the drilling fluid; the directional well operation is realized by controlling the bit weight and the rotating speed while designing the tooth arrangement of the drill bit.
2. The coiled tubing high-voltage electric pulse-mechanical composite rock breaking drilling method according to claim 1, comprising two working modes of electric pulse and hydraulic electric rock breaking; when the electric pulse method is adopted to break the rock, the main power of the broken rock is instantaneous high temperature and stress wave generated in the rock by the high-voltage electric pulse; when the hydraulic-electric method is adopted for rock breaking, liquid stress waves generated by hydraulic-electric rock breaking play a role in pre-breaking the rock; the mechanical rotation movement is matched with the electrode drill bit (12) to continuously expose new rocks, so that the contact between the electrode drill bit and the rocks is fully increased, and broken rock fragments are guaranteed to be transported out of the bottom of the well as soon as possible; the mechanical rotation movement is matched with the gauge protection and the regulating teeth on the drilling tool, so that the well diameter can be ensured, the well wall can be regulated, and the quality of the well wall can be ensured.
3. The coiled tubing high-voltage electric pulse-mechanical composite rock breaking drilling method according to claim 1, wherein when a vertical well is drilled, the drilling direction is corrected by using mechanical rotary drilling motion, so that the deviation of a borehole is prevented; when the directional well is drilled, the mechanical rotary drilling motion is matched with the guiding tool to control the track direction of the well.
4. The coiled tubing high voltage electric pulse-mechanical composite rock breaking drilling method as claimed in claim 1, wherein the surface power supply and control equipment (1) is placed at the surface, and the power amplification and electric pulse generator (9) is placed downhole and packaged in a lower drilling assembly together with the electrode bit (12).
5. The coiled tubing high-voltage electric pulse-mechanical composite rock breaking drilling method as claimed in claim 1, wherein a lower drilling tool assembly consisting of the power amplification and electric pulse generator (9), the coiled tubing connector (10), the downhole power drilling tool (11) and the electrode drill bit (12) can be combined with a measurement while drilling and guiding tool to realize drilling of a directional well and real-time measurement and recording of well deviation orientation.
6. The coiled tubing high voltage electric pulse-mechanical composite rock breaking drilling method as claimed in claim 1, wherein the coiled tubing connector (10) is used to connect a lower rotating drill string with an upper non-rotating, cabled coiled tubing string, which can transmit power and drilling fluid pressure simultaneously.
CN201810711656.2A 2018-07-03 2018-07-03 Continuous tube high-voltage electric pulse-mechanical composite rock breaking drilling method Active CN109577859B (en)

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CN112855015A (en) * 2021-01-27 2021-05-28 张庆豫 High-voltage electric pulse assisted rock breaking and drilling system and method
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