WO2020176158A1 - Methods to attach highly wear resistant materials to downhole wear components - Google Patents
Methods to attach highly wear resistant materials to downhole wear components Download PDFInfo
- Publication number
- WO2020176158A1 WO2020176158A1 PCT/US2019/068474 US2019068474W WO2020176158A1 WO 2020176158 A1 WO2020176158 A1 WO 2020176158A1 US 2019068474 W US2019068474 W US 2019068474W WO 2020176158 A1 WO2020176158 A1 WO 2020176158A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- bdc
- construct
- downhole tool
- encapsulation layer
- plug section
- 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.)
- Ceased
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/12—Both compacting and sintering
- B22F3/14—Both compacting and sintering simultaneously
- B22F3/15—Hot isostatic pressing
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C1/00—Making non-ferrous alloys
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C26/00—Alloys containing diamond or cubic or wurtzitic boron nitride, fullerenes or carbon nanotubes
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C29/00—Alloys based on carbides, oxides, nitrides, borides, or silicides, e.g. cermets, or other metal compounds, e.g. oxynitrides, sulfides
- C22C29/02—Alloys based on carbides, oxides, nitrides, borides, or silicides, e.g. cermets, or other metal compounds, e.g. oxynitrides, sulfides based on carbides or carbonitrides
- C22C29/06—Alloys based on carbides, oxides, nitrides, borides, or silicides, e.g. cermets, or other metal compounds, e.g. oxynitrides, sulfides based on carbides or carbonitrides based on carbides, but not containing other metal compounds
- C22C29/08—Alloys based on carbides, oxides, nitrides, borides, or silicides, e.g. cermets, or other metal compounds, e.g. oxynitrides, sulfides based on carbides or carbonitrides based on carbides, but not containing other metal compounds based on tungsten carbide
-
- 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
- E21B10/00—Drill bits
- E21B10/46—Drill bits characterised by wear resisting parts, e.g. diamond inserts
- E21B10/56—Button-type inserts
- E21B10/567—Button-type inserts with preformed cutting elements mounted on a distinct support, e.g. polycrystalline inserts
-
- 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
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/10—Wear protectors; Centralising devices, e.g. stabilisers
- E21B17/1085—Wear protectors; Blast joints; Hard facing
-
- 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
- E21B4/00—Drives for drilling, used in the borehole
- E21B4/003—Bearing, sealing, lubricating details
-
- 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
- E21B7/04—Directional drilling
- E21B7/06—Deflecting the direction of boreholes
- E21B7/062—Deflecting the direction of boreholes the tool shaft rotating inside a non-rotating guide travelling with the shaft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F5/00—Manufacture of workpieces or articles from metallic powder characterised by the special shape of the product
- B22F2005/001—Cutting tools, earth boring or grinding tool other than table ware
-
- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22C—ALLOYS
- C22C26/00—Alloys containing diamond or cubic or wurtzitic boron nitride, fullerenes or carbon nanotubes
- C22C2026/003—Cubic boron nitrides only
-
- 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
- E21B4/00—Drives for drilling, used in the borehole
- E21B4/02—Fluid rotary type drives
Definitions
- This disclosure relates to improving thermal stability of superhard bonded diamond cutting elements used for wear, drilling, drawing and other downhole tools where superhard properties are required. More specifically, this disclosure relates generally to systems and methods of hard-facing and brazing fully or partially encapsulated thermally stable bonded diamond to downhole tool components.
- BDCs bonded diamond compacts
- BDCs can be used in downhole tool components.
- BDCs are used in drill string mud motor bearings, push the bit pads and drill bit cutting elements.
- these prior BDC devices do not incorporate a thermally stable element in the region adjacent to the cutting surface, therefore prior BDC devices tend to have a mismatch in thermal expansion that can cause the interstitial metal to exert a high stress on the diamond lattice, which in turn can lead to fracture of the diamond- to-diamond bonds and shorten the operating life of the compact.
- prior BDC devices tend to incorporate a non-thermally stable element that readily dissolves carbon from the diamond surface at elevated temperatures, thereby, leading to the conversion of diamond to graphite, which in turn leads to the shortened operating life of the compact.
- Common BDCs are formed by subjecting diamond or other superhard particles (such as cubic boron nitride (CBN) and the like) to high-temperatures and high pressure in the presence of a metallic catalyst to form a polycrystalline matrix of inter-bonded particles. This bonding process is typically referred to as "sintering.”
- the metallic catalyst typically remains in the polycrystalline diamond matrix.
- PCD polycrystalline diamond
- Well known polycrystalline diamond (PCD) elements typically consist of a facing table of polycrystalline diamond integrally bonded to a substrate of a less hard material, such as cemented tungsten carbide. This material is often referred to as a polycrystalline diamond compact (PDC).
- PDC is commonly used in downhole tools, such as downhole drill bit assemblies (including drag bits, also called fixed cutter bits; percussion bits; and rolling cone bits, also called rock bits), reamers, stabilizers and tool joints.
- Thermal stability in a PDC is desirable in hard rock drilling applications. High temperatures are generated at the leading edge of the PDC tool while cutting rock. These high temperatures can cause degradation of the tool via several mechanisms, two of which are graphitization of the polycrystalline diamond in contact with the interstitial metallic catalyst and thermal expansion of the interstitial metallic catalyst.
- graphitization mechanism carbon is readily dissolved from the diamond surface as the temperature of the cutting tip increases above about 450°C. This dissolving of the carbon is due to the increased saturation level of carbon in the metallic catalyst with increasing temperature. The dissolved carbon takes the form of graphite since the PDC tool operates outside of the thermodynamic stability region of diamond.
- this thermal expansion of the metallic catalyst is several times greater than that of diamond for a given increase in temperature.
- the mismatch in thermal expansion causes the interstitial metal to exert a high stress on the diamond lattice. These stresses can lead to a fracture of diamond-to-diamond bonds at or above about 700°C and a shortened operating life of the compact.
- FIG. 1 includes a perspective view and three orthographic views of an example BDC construct having a BDC element fully encapsulated by an encapsulation layer.
- FIG. 2 A is a cross-sectional view of a BDC construct exhibiting a generally cylindrical geometry.
- FIG. 2B is a perspective view of the BDC construct of FIG. 2 A.
- FIG. 3 is a perspective view of a push the bit pad incorporating BDC constructs in accordance with various embodiments.
- FIG. 4 is a schematic perspective view of mud motor bearing incorporating BDC constructs in accordance with various embodiments.
- FIG. 5 A is a cross-sectional view of a push the bit pad incorporating a tungsten carbide binder cloth, a matrix cloth, and BDC constructs in accordance with various embodiments.
- FIGS. 5B and 5C are perspective views of the push the bit pad and the matrix doth, respectively, of FIG. 5 A.
- FIG. 6 is a flowchart of a method for producing a w'ear resistant component of a downhole tool.
- FIG. 7 is a perspective view of BDC constructs illustrating different degrees of partial encapsulation in accordance with various embodiments.
- the combination of the encapsulation layer and the bonded compact yields a bonded compact construct that can more readily be attached to mud motor bearings, push the bit pad assemblies and drill bit assemblies.
- the bonded compact construct may be formed of a bonded diamond compact (BDC).
- BDC bonded diamond compact
- the bonded compact construct may be formed of a bonded cubic boron nitride compact.
- FIG. 1 includes a perspective view' and three orthographic views of an example
- the BDC construct 102 having a BDC element 104 fully encapsulated by an encapsulation layer 106.
- the BDC construct 102 includes a BDC element 104 having an outer surface 104a.
- a material composition of the BDC element 104 includes silicon carbide (SiC) bonded diamond or polycrystalline diamond.
- the encapsulation layer 106 fully encapsulates the outer surface 104a of the BDC element 104
- the encapsulation layer 106 includes tungsten carbide (WC) with a variety of other binder matrix (such as Cu, Ni, Zn, Sn etc.).
- the encapsulation layer 106 may include a mixture of boron nitride and diamond, a mixture of tungsten and carbon, a mixture of two dissimil ar metals, or a mixture of a polymer and a metal. In one or more embodiments, the encapsulation layer 106 may form an insulating layer or thermal barrier over the BDC element 104. In one or more embodiments, the encapsulation layer 106 may have a lower thermal conductivity or a higher specific heat compared to the BDC element 104.
- the thickness T1 may vary over the outer surface 104a In one or more embodiments, a portion of the encapsulation layer 106 adjacent an edge 104b may be thinner than portions of the encapsulation layer 106 adjacent edges 104c and 104d. In one or more embodiments, the encapsulation layer 106 may be thicker on one side of the BDC construct 102 compared to an opposing side of the BDC construct 102.
- FIG. 2A shows a cross-sectional view of a fully encapsulated high isostatic pressure processed BDC construct 202
- FIG. 2B shows a perspective view of the secti oned BDC construct 202 of FIG. 2A.
- the BDC construct 202 includes a BDC 204 having an outer surface 204a surrounded by an encapsulation layer 206 having an outer surface 206a.
- the BDC constructs 202 can include any of the features described for the BDC constructs 102.
- the encapsulation layer 206 can include any of the materials or other features described for the encapsulation layer 106.
- the encapsulation layer 206 may have a thickness T2, and the outer surface 206a may have an outer diameter D2.
- the thickness T2 of the encapsulation layer 206 along a longitudinal central axis may be nonuniform. In other embodiments, the thickness T2 along a radial axis may be nonuniform.
- FIG. 3 shows one application using BDC constructs 202.
- a push the bit pad 304 is hard-faced using fully or partially encapsulated BDC constructs 202.
- the push the bit pad 304 is shown having a plug section 306 including a first surface 306a.
- the plug section 306 includes cavities into which the BDC constructs 202 are received, as described in greater detail below.
- the BDC constructs 202 may be disposed on the first surface 306a and/or in the cavities.
- the plug section 306 may generally define a radially outer surface of a push the bit pad 304, and thus, faces the wellbore rvall when employed in a drilling operation.
- the first surface 306a may be disposed on the plug section 306 facing the wellbore wall during drilling.
- the BDC constructs 202 have a high packing density.
- the BDC constructs 202 may have a round shape.
- the BDC constructs 202 may cover substantially all of the first surface 306a.
- the encapsulation layer 106 on the BDC constructs 202 may promote attachment of the BDC constructs 202 to the first surface 306a.
- furnace brazing may be used to bind the BDC constructs 202 to the first surface 306a
- the first surface 506a may be recessed relative to the second surface 506b
- the plug section 506 may be disposed in a portion of the push the bit pad 504 adjacent the wellbore.
- the first and second surfaces 506a, 506b may be disposed on the plug section 506 facing the wellbore wall during drilling.
- the plug section 506 includes plugs 508 formed through first surface 506a.
- the plugs 508 may be formed using a variety of manufacturing methods, including without limitation molding, casting, machining, welding, and additive manufacturing.
- the plugs 508 may be created by recessing the first surface 506a.
- the plugs 508 may have a circular or polygonal shape.
- the plugs 508 include a first or bottom surface 508a and a second or side surface 508b.
- the BDC constmcts 202 are disposed in the plugs 508.
- the BDC constructs 202 and the plugs 508 each may have a circular shape. In one or more embodiments, the BDC constructs 202 and the plugs 508 may cover substantially all of the first surface 506a. In one or more embodiments, the encapsulation layer 106 on the BDC constructs 202 may promote attachment of the BDC constructs 202 to the first and second surfaces 508a, 508b of the plugs 508. In one or more embodiments, furnace brazing may be used to bind the BDC constructs 202 to the first and second surfaces 508a, 508b.
- the hard-facing process may be performed similarly to a conforma-clad process (cloth-based) to make batch processing of the hard-faced push the bit pad 504 more viable.
- a conforma-cl adding process both a WC-based material or binder and a metal matrix material each may be pre-formed as a cloth.
- the binder and the metal matrix material may be applied to wear surfaces with the metal matrix material disposed over the binder.
- the resulting construct may be furnace brazed in order to create fully metallurgica!ly bonded hard-facing layers consisting of hard WC particles surrounded by a relatively tough and wear resistant metal matrix.
- a binder cloth 510 may be disposed on the first surface 506a.
- the binder cloth 510 may include holes 510a that contact a side surface 202a of the BDC constructs 202.
- the holes 510a may match a shape of the BDC constructs 202 and/or the plugs 508.
- the binder cloth may be formed of tungsten carbide. After the binder cloth 510 is installed, a matrix cloth 512 may be disposed over the binder cloth 510.
- the matrix cloth 512 may include holes 512a that contact the side surface 202a of the BDC constructs 202. In one or more embodiments, the holes 512a may match the shape of the BDC constructs 202, the plugs 508 and/or the holes 510a. In one or more embodiments, the matrix cloth may be formed of a metal. After the matrix cloth 512 is installed, the push the bit pad 504 may be inserted into a furnace. High temperatures in the furnace may chemically bind together the BDC constructs 202, the push the bit pad 504, the binder cloth 510, and the matrix cloth 512 as shown in perspective view in FIG. 5B. FIG. 5C shows an embodiment of the matrix cloth 512.
- a laser beam may be focused to a particular spot size on the first surface 506a.
- a hard metal powder e.g. a WC powder
- the laser beam and the nozzles may be moved across the first surface 506a in any particular pattern intersecting the constructs 202 in the plugs 508 The energy of the laser binds the powder to itself, the constructs 202 and the first surface 506a of the pad 504.
- a rope hardfacing process a rope constructed with a metallic wire as a core and an exterior skin material comprising a hardfacing mixture of tungsten carbide particles, alloying and binder materials.
- the first surface 506a and the BDC constructs 202 may be hardfaced by progressively melting the rope and allowing the melted material to solidify.
- An Qxyacetylene torch may be used to heat the rope, pad 504 and constructs 202.
- the hardfacing materials may be supplied in the form of an elongate rod.
- the hardfacing materials may be deposited onto the pad 504 by brazing or welding.
- the rod may be used as an electrode in an are welding process in which an electric arc is induced between the rod and the pad 504 to provide heat to melt and bind the hardfacing materials to the pad
- an induction coil may be employed to provide an electormagnetic field without contacting the pad 504
- the electromagnetic field may heat ferrous material in binder matrix applied to the first surface 506a and the constructs 202.
- a mold may be formed around the pad 504, and a hardfacing powder may be placed into a cavity defined between the pad and a mold. Thereafter, a molten hinder may be permitted to flow into the mold to bind the hardfacing powder to the first surface 506a and the constructs 202.
- a spray and fuse process maybe employed as described below.
- the WC-based material and matrix material may be sprayed on the wear surface of the downhole tool component. Spraying may enable steps 612 and 614 to be combined whereby the WC-based material and the matrix material can be simultaneously applied.
- the above mentioned is referred to as the spray and fuse process.
- a combustion powder spray gun is used to deposit a wide variety of powders or other materials onto a substrate, first surface 506a (FIG. 5A).
- the powders may include compositions of Ni, Cr, Co, Bo, Fe, W, WC and diamond powders in varying blends with one another and with a binder matrix powder such as Cu, Ni, Zn, Sn, etc.
- the fully enveloped bonded diamond material is brazed to the drill bit, mud motor bearing, or push the bit pad.
- the encapsulation material is shaped using a laser.
- An encapsulation material is thicker on one side of the bonded di amond compact side compared to an opposing side of the bonded diamond compact.
- An encapsulation material thickness along the longitudinal central axis, extending radially outward from the longitudinal central axis, is nonuniform.
- An encapsulation material thickness along the radial axis is nonuniform.
- An encapsulation material outer surface is notched.
- the method may include the steps of sintering a diamond matrix powder forming a bonded diamond compact; fully or partially encapsulating the bonded diamond compact with a metallic material, binding the encapsulation material to the bonded diamond compact using a high isostatic pressure forming a diamond construct, inserting the diamond construct into a plug section on the outer of the downhole tool component; and hard-facing and/or brazing the downhole tool component.
- any one or more of the above-described method embodiments may include any one or more of the following, alone or in combination:
- Attaching the diamond construct comprises brazing the diamond construct to the downhole tool component.
- Varying the encapsulation material thickness to adjust a thermal barrier Varying the encapsulation material thickness to adjust a thermal barrier.
- Shaping the encapsulation material once the diamond construct is formed Shaping the encapsulation material using electrostatic discharge.
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- General Life Sciences & Earth Sciences (AREA)
- Fluid Mechanics (AREA)
- Environmental & Geological Engineering (AREA)
- Geochemistry & Mineralogy (AREA)
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- Materials Engineering (AREA)
- Metallurgy (AREA)
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- Manufacturing & Machinery (AREA)
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Abstract
Description
Claims
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB2109836.3A GB2594205B (en) | 2019-02-28 | 2019-12-24 | Methods to attach highly wear resistant materials to downhole wear components |
| DE112019006935.7T DE112019006935B4 (en) | 2019-02-28 | 2019-12-24 | Method for attaching highly wear-resistant materials to borehole wear components |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201962812064P | 2019-02-28 | 2019-02-28 | |
| US62/812,064 | 2019-02-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2020176158A1 true WO2020176158A1 (en) | 2020-09-03 |
Family
ID=72237062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/US2019/068474 Ceased WO2020176158A1 (en) | 2019-02-28 | 2019-12-24 | Methods to attach highly wear resistant materials to downhole wear components |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US11136835B2 (en) |
| DE (1) | DE112019006935B4 (en) |
| GB (1) | GB2594205B (en) |
| WO (1) | WO2020176158A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116391070B (en) * | 2020-09-25 | 2025-10-28 | Xr储备有限责任公司 | Sucker rod couplings and tool joints with polycrystalline diamond elements |
| BE1028839B1 (en) * | 2020-11-30 | 2022-06-28 | Diarotech Sa | New coating technique for wear parts |
| WO2023201255A1 (en) | 2022-04-13 | 2023-10-19 | Pi Tech Innovations Llc | Polycrystalline diamond-on-metal bearings for use in low temperature and cryogenic conditions |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1958688A1 (en) * | 2007-02-06 | 2008-08-20 | Smith International, Inc. | Polycrystalline diamond constructions having improved thermal stability |
| US8056650B2 (en) * | 2005-05-26 | 2011-11-15 | Smith International, Inc. | Thermally stable ultra-hard material compact construction |
| US8069935B1 (en) * | 2006-12-13 | 2011-12-06 | Us Synthetic Corporation | Superabrasive element, and superabrasive compact and drill bit including same |
| US20120067652A1 (en) * | 2010-09-17 | 2012-03-22 | Varel Europe S.A.S. | High Toughness Thermally Stable Polycrystalline Diamond |
| US8517125B2 (en) * | 2007-05-18 | 2013-08-27 | Smith International, Inc. | Impregnated material with variable erosion properties for rock drilling |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8602113B2 (en) * | 2008-08-20 | 2013-12-10 | Exxonmobil Research And Engineering Company | Coated oil and gas well production devices |
| US10041304B2 (en) * | 2015-03-10 | 2018-08-07 | Halliburton Energy Services, Inc. | Polycrystalline diamond compacts and methods of manufacture |
-
2019
- 2019-12-24 US US16/726,456 patent/US11136835B2/en active Active
- 2019-12-24 GB GB2109836.3A patent/GB2594205B/en active Active
- 2019-12-24 WO PCT/US2019/068474 patent/WO2020176158A1/en not_active Ceased
- 2019-12-24 DE DE112019006935.7T patent/DE112019006935B4/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8056650B2 (en) * | 2005-05-26 | 2011-11-15 | Smith International, Inc. | Thermally stable ultra-hard material compact construction |
| US8069935B1 (en) * | 2006-12-13 | 2011-12-06 | Us Synthetic Corporation | Superabrasive element, and superabrasive compact and drill bit including same |
| EP1958688A1 (en) * | 2007-02-06 | 2008-08-20 | Smith International, Inc. | Polycrystalline diamond constructions having improved thermal stability |
| US8517125B2 (en) * | 2007-05-18 | 2013-08-27 | Smith International, Inc. | Impregnated material with variable erosion properties for rock drilling |
| US20120067652A1 (en) * | 2010-09-17 | 2012-03-22 | Varel Europe S.A.S. | High Toughness Thermally Stable Polycrystalline Diamond |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2594205A (en) | 2021-10-20 |
| US20200277825A1 (en) | 2020-09-03 |
| GB202109836D0 (en) | 2021-08-18 |
| DE112019006935B4 (en) | 2026-02-19 |
| GB2594205B (en) | 2023-05-17 |
| DE112019006935T5 (en) | 2021-11-25 |
| US11136835B2 (en) | 2021-10-05 |
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