WO2020244665A1 - Outil de forage de puits orientable rotatif à base de structure de transmission d'orientation de pression de trépan - Google Patents

Outil de forage de puits orientable rotatif à base de structure de transmission d'orientation de pression de trépan Download PDF

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Publication number
WO2020244665A1
WO2020244665A1 PCT/CN2020/094952 CN2020094952W WO2020244665A1 WO 2020244665 A1 WO2020244665 A1 WO 2020244665A1 CN 2020094952 W CN2020094952 W CN 2020094952W WO 2020244665 A1 WO2020244665 A1 WO 2020244665A1
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Prior art keywords
bit
weight
steering
transmission structure
drilling tool
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PCT/CN2020/094952
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English (en)
Chinese (zh)
Inventor
徐梓辰
万晓跃
Original Assignee
万晓跃
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Application filed by 万晓跃 filed Critical 万晓跃
Publication of WO2020244665A1 publication Critical patent/WO2020244665A1/fr

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    • 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
    • E21B17/1078—Stabilisers or centralisers for casing, tubing or drill pipes
    • 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
    • E21B47/00—Survey of boreholes or wells
    • E21B47/02—Determining slope or direction
    • E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
    • 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
    • E21B7/061—Deflecting the direction of boreholes the tool shaft advancing relative to a guide, e.g. a curved tube or a whipstock

Definitions

  • the invention relates to the technical field of drilling devices, in particular to a rotary steering drilling tool based on a weight-on-bit steering transmission structure.
  • the current push-type rotary steering drilling tools generally rely on the first centralizer to achieve centering close to the drill bit, and a flexible section is arranged behind the first centralizer to make the drilling tool flexible.
  • the flexible section can improve the manufacture of the rotary steering drilling tool Slope, but because it occupies a lot of length space, and will become a stuck factor when encountering downhole complexity, which causes the rotary steering drilling tool to not be well integrated with the downhole motor or causes the distance of other logging tools The drill bit is too far.
  • the existing method is to shorten the flexible joint and install the downhole motor behind the flexible joint to realize the joint operation with the rotary steering drilling tool and the downhole motor.
  • the shortening of the flexible joint will cause the tool build rate to decrease.
  • the centralizer of the rotary steering drilling tool needs to be arranged between the rotary steering biasing mechanism and the flexible joint.
  • the downhole motor drilling tool or other downhole power tools are installed behind the flexible section, which causes the torsion of the downhole power tool to drive the flexible section, centralizer and the rotating steering sub-section below.
  • a large amount of downhole motor torque loss will be caused.
  • the downhole is complicated, it may cause insufficient output torque or jam of the downhole motor.
  • any optimization based on the existing technology is difficult to fundamentally solve the problem.
  • Changing the order of the flexible section and the centralizer mechanically, and placing the centralizer on the downhole motor housing can only solve the safety problem to a certain extent, but the dynamic stability of the rotary steering is lost, and there is no near-bit fulcrum. , The build rate has dropped sharply and safety is reduced.
  • the purpose of the present invention is to provide a rotary steering drilling tool based on the weight-on-bit steering transmission structure, and realize the separate transmission of weight-on-bit and torque through a torque transmission shaft.
  • the weight-on-bit transmission and torque transmission are separated without affecting the normal function of the rotary steering, which facilitates the combination of downhole motors to realize rotary steering compound drilling and increases safety.
  • the weight-on-bit steering transmission structure itself does not require a large bending moment or even a bending moment during steering. Therefore, the thrust required by the pushing arm can be reduced during the rotary steering drilling process.
  • the present invention provides the following solutions:
  • the invention provides a rotary steering drilling tool based on a weight-on-bit steering transmission structure, which includes a weight-on-bit steering transmission structure, a torque transmission shaft, and a rotary steering mechanism;
  • the weight-on-bit steering transmission structure is a camber contact structure or a spherical hinge structure.
  • the torque transmission shaft includes a cardan shaft or a flexible shaft; in the rotary steerable drilling process, the upper drilling tool transmits the weight-on-bit through the weight-on-bit steering transmission structure to the rotary steering mechanism and further to the drill bit;
  • the tool transmits the torque to the rotary guide mechanism and further to the drill bit through the torque transmission shaft.
  • the upper drilling tool is a downhole motor
  • the downhole motor stator housing is arranged outside the downhole motor rotor
  • the lower end of the downhole motor stator housing is connected with a weight-on-bit steering transmission structure
  • the lower end of the downhole motor rotor is connected
  • a torque transmission shaft the weight-on-bit steering transmission structure is arranged on the outside of the torque transmission shaft;
  • the weight-on-bit steering transmission structure and the lower end of the torque transmission shaft are respectively connected to the rotation guide mechanism, and are respectively transmitted by the rotation guide mechanism Weight-on-bit and torque, or, when the weight-on-bit steering transmission structure is a spherical hinge structure, the upper part of the spherical joint ball head is connected to the downhole motor rotor through the torque transmission shaft, so that the motor rotor transmits the torque to the ball through the torque transmission shaft
  • the motor stator shell transfers the weight on bit to the ball joint ball head through the ball hinge shell
  • the drive shaft includes a lower drive shaft, a middle drive shaft, and an upper drive shaft.
  • the lower drive shaft and the middle drive shaft are threadedly connected, and the middle drive shaft and the upper drive shaft are manufactured in one piece.
  • the rotation guide biasing mechanism includes a non-rotating biasing unit, the non-rotating biasing unit includes 3 sets of hydraulically driven pushing systems, and the non-rotating biasing unit is also provided with a control circuit And rectifier circuit.
  • a non-contact energy transmission device is provided between the middle drive shaft and the non-rotating bias unit, and the non-contact energy transmission device includes an energy transmission mechanism and an energy receiving mechanism, and the energy transmission mechanism is connected to the middle drive shaft.
  • the energy receiving mechanism is fixedly connected with the non-rotating bias unit.
  • an energy supply module is provided in the upper drive shaft, and the energy supply module can provide an alternating current for the energy transmitting mechanism.
  • the hydraulic system includes a hydraulic pump connected with an electric motor, a hydraulic power accommodating cavity and a liquid return storage cavity, the electric motor and the hydraulic pump are arranged in the hydraulic power accommodating cavity, and the piston cylinder In communication with the outlet of the hydraulic pump, the piston can move toward or away from the axis of the drive shaft under the action of the hydraulic pump to push the rib against the well wall.
  • a posture measurement module is provided on the rotary steering mechanism, which is used to measure the gravity tool face angle and the near-bit well inclination angle of the non-rotating bias unit. Further, the attitude measurement module is arranged in the side wall of the non-rotating bias unit.
  • the WOB steering transmission structure is a curved surface contact structure or a spherical hinge structure.
  • the WOB steering transmission mechanism is not directly connected to the downhole motor.
  • the lower end of the torque transmission shaft is coaxially connected with the drill tool at the lower end of the weight-on-bit steering transmission structure
  • the upper end of the torque transmission shaft is coaxially connected with the upper end of the weight-on-bit steering transmission structure for transmitting bending moment.
  • the WOB steering transmission structure is a spherical hinge.
  • the centralizer is arranged at the lower end of the stator housing assembly of the downhole motor, which greatly reduces the output torque of the downhole motor drilling tool when the downhole is complex, and cancels the flexible joint under the downhole motor, and replaces it with a weight-on-bit steering transmission structure, which is blocking Therefore, the bending moment of the rear drilling tool is transmitted forward without affecting the deflection of the rotary guide.
  • the invention achieves the purpose of improving the safety of compound drilling without affecting the normal function of the rotary steering.
  • window sidetracking operations are required. In response to this situation, the rigidity of the traditional flexible section itself will become an obstacle to the rotary steering sidetracking. Therefore, the present invention cleverly uses the weight-on-bit steering transmission structure to make the rotary steering
  • the bias mechanism can easily generate a corner.
  • Figure 1 is a schematic diagram of the structure of the present invention
  • Figure 2 is a schematic diagram of the layout of the present invention.
  • Fig. 3 is a schematic partial cross-sectional view of the present invention.
  • FIG. 4 is a schematic cross-sectional view of another structure (universal joint torque transmission shaft) of the present invention.
  • FIG. 5 is a schematic cross-sectional view of another structure (flexible joint torque transmission shaft) of the present invention.
  • 1 is the non-rotating offset unit
  • 101 is the WOB steering transmission structure
  • 102 is the torque transmission shaft
  • 111 is the centralizer
  • 21 is the upper drive shaft
  • 22 is the middle drive shaft
  • 23 is the lower drive shaft
  • 25 is the primary side Drill collar short section
  • 10 is a wing rib
  • 11 is a liquid return storage cavity
  • 12 is a piston cylinder
  • 13 is a rib cover
  • 14 is a piston
  • 15 is an electrical connector
  • 4 is a hydraulic power module
  • 41 is a hydraulic pump
  • 42 Is the motor
  • 51 is the energy transmitting mechanism
  • 52 is the energy receiving mechanism
  • 54 is the control circuit
  • 55 is the attitude measurement module
  • 81 is the second thrust bearing
  • 82 is the second centralizing bearing
  • 83 is the first centralizing bearing
  • 84 is
  • 118 is the energy supply module
  • 119 is the drive shaft circuit frame
  • 176 is the runner converter
  • 132 is the down
  • the purpose of the present invention is to provide a rotary steering drilling tool based on the weight-on-bit steering transmission structure, and realize the separate transmission of weight-on-bit and torque through a torque transmission shaft.
  • the weight on bit and other axial force transmission and torque transmission are separated without affecting the normal function of the rotary steering, which facilitates the combination of downhole motors to realize rotary steering compound drilling and increases safety .
  • the present invention provides a rotary steering drilling tool based on the weight-on-bit steering transmission structure, as shown in Figure 1, Figure 2, Figure 3, Figure 4 and Figure 5, including a rotary steering mechanism, a non-rotating bias unit 1, and weight-on-bit steering Transmission structure 101, torque transmission shaft 102, centralizer 111, upper drive shaft 21, middle drive shaft 22, lower drive shaft 23, primary side drill collar sub 25, liquid return storage cavity 11, wing rib 10, piston cylinder 12, Piston 14, rib cover 13, electrical connector 15, hydraulic power module 4, electric motor 42, hydraulic pump 41, energy transmitting mechanism 51, energy receiving mechanism 52, attitude measurement module 55, control circuit 54, second thrust bearing 81 , The second centralizing bearing 82, the first centralizing bearing 83, the first thrust bearing 84, the energy supply module 118, the drive shaft circuit frame 119, the runner converter 176, the downhole motor rotor 132, the downhole motor stator housing 133, the flexible section 134 and drill 140.
  • the rotation guide mechanism includes a non-rotating bias unit 1 and a drive shaft.
  • the drive shaft includes a lower drive shaft 23, a middle drive shaft 22, and an upper drive shaft 21.
  • the lower drive shaft 23 and the middle drive shaft 22 are threaded to transmit torque and Part of the WOB, the middle drive shaft 22 and the upper drive shaft 21 are manufactured in an integrated manner.
  • the non-rotating bias unit 1 contains 3 sets of hydraulically driven push and lean systems (3-4 sets are acceptable).
  • the non-rotating bias unit 1 is also provided with an attitude measurement module 55, a control circuit 54, and a rectifier circuit.
  • the rectifier circuit is 3 sets of hydraulic systems and other circuits arranged on the non-rotating bias unit 1 provide power.
  • a non-contact energy transmission device (slip ring can also be used here) is provided between the middle drive shaft 22 and the non-rotating bias unit 1.
  • the non-contact energy transmission device is divided into an energy transmitting mechanism 51 and an energy receiving mechanism 52.
  • the transmitting mechanism 51 is fixedly connected to the middle drive shaft 22, the energy receiving mechanism 52 is fixedly connected to the non-rotating bias unit 1, and an energy supply module 118 is also provided in the upper drive shaft 21.
  • the energy supply module 118 is responsible for the energy transmitting mechanism 51
  • An alternating current is provided to transfer energy between the energy transmitting mechanism 51 and the energy receiving mechanism 52 through electromagnetic induction.
  • the rotary steering system contains a battery or a downhole turbine generator.
  • the downhole turbine generator is used as a downhole power supply to supply power to the energy supply module 118.
  • the energy transferred by the non-contact energy transfer device is used to drive the hydraulic system. Further details belong to the prior art. I won't repeat them here.
  • the weight and torque required for the drill bit to break the rock are transmitted from the upper drilling tool through the weight-on-bit steering transmission structure 101 and the torque transmission shaft 102 to the drill bit 140 from top to bottom, that is, from the top as shown in Figure 2 B
  • the drilling tool is transferred to the lower drilling tool through the weight-on-bit transfer structure 101 and finally the drill bit 140 is driven to break the rock.
  • the top-down drill tool assembly is threaded, and the drill bit 140 is also threaded to the bottom drill tool.
  • the drilling tool is a drive shaft, and the drill bit 140 and the lower drive shaft 23 are screwed together.
  • the rotary steering mechanism changes the wellbore trajectory by relying on the deflection control mechanism.
  • the deflection control mechanism includes at least one set of drive components, and the drive components include at least three sets of the non-rotating biasing unit 1 arranged at radial intervals along the non-rotating biasing unit 1
  • the piston cylinder 12, the piston 14 and the wing rib 10 are provided.
  • a hydraulic power module 4 is provided on the cylinder wall of the non-rotating bias unit 1 with a static bias rotation guide.
  • the hydraulic power module 4 includes a hydraulic pump connected with an electric motor 42 41. It also includes a hydraulic power housing cavity and a liquid return storage cavity 11. The electric motor 42 and the hydraulic pump 41 are arranged in the hydraulic power housing cavity.
  • the motor drives the hydraulic pump to generate hydraulic pressure to drive the piston 14, the piston cylinder 12 and the hydraulic pump 41
  • the piston 14 can move toward or away from the axis of the drive shaft under the action of the hydraulic pump 41 to push the rib 10 against the well wall to achieve guidance.
  • a rib cover 13 is provided outside the rib 10. The guiding direction is the direction of the resultant thrust of all ribs 10.
  • the weight-on-bit steering transmission structure is arranged between the drive shaft and the downhole motor stator housing 133.
  • the weight-on-bit steering transmission structure 101 is a spherical hinge structure.
  • the lower end of the downhole motor stator housing 133 is the housing of the spherical hinge.
  • Ball joint ball head, the upper part of the ball joint ball head is connected with the downhole motor rotor 132 through the torque transmission shaft 102, and the lower part of the ball joint ball head is connected with the drive shaft of the rotary steering unit.
  • the drilling torque is transmitted by the downhole motor rotor 132 through the torque
  • the shaft 102 is transmitted to the drive shaft of the guide unit through the ball joint ball head, and is further transmitted to the drill bit 140.
  • the weight on bit is transferred from the shell of the ball joint to the ball head of the ball joint, and from the ball joint of the ball joint to the rotary guide drive shaft, and further to the drill bit.
  • a weight-on-bit steering transmission structure 101 is provided behind the rotary steering biasing mechanism.
  • the weight-on-bit steering transmission structure 101 can be any number and combination of arc surface contact structures or spherical hinge structures, and the arc surface can be any reliable arc surface.
  • the weight-on-bit transmission structure 101 can transmit torque itself or rely on other internal torque transmission structures to transmit torque.
  • the torque transmission structure can be any torque transmission structure such as flexible joints and cardan shafts.
  • the weight-on-bit steering transmission structure 101 is used to transmit the weight-on-bit, and the weight-on-bit is transmitted to the drill bit 140 through the lower drilling tool for rock breaking.
  • the rotation angle direction of the weight-on-bit steering transmission structure 101 is not directly controlled by the control mechanism.
  • the rotary steering drilling tool generates a controllable direction of the well trajectory under the action of the rotary steering biasing mechanism under the weight-on-bit steering transmission structure 101.
  • the direction of the turning angle of the steering transmission structure 101 only changes with the change of the deflection direction of the wellbore trajectory.
  • the turning angle is the deflection of the drilling tool in the front of the weight-on-bit steering transmission structure 101 relative to the drilling tool at the rear of the weight-on-bit steering transmission structure 101 to the direction where the inclination angle increases; Deflection in the direction of decreasing oblique angle; or deflection of the drilling tool at the front of the weight-on-bit steering transmission structure 101 relative to the weight-on-bit steering transmission structure 101 to the direction where the azimuth angle increases; or the drilling tool at the front of the weight-on-bit steering transmission structure 101 steers with respect to the weight-on-bit
  • the flexible section is a section of drilling tool whose diameter is significantly smaller than the guide section, and its function is to transmit weight on bit and torque.
  • the flexible section is prone to deformation or buckling under the action of weight on bit or torque) .
  • the weight-on-bit steering transmission structure 101 is in a rotating state, and the rotating state is autorotating along the well axis.
  • the weight-on-bit steering transmission structure 101 is provided with a flow channel through which drilling fluid can flow.
  • the flow channel is arranged inside the weight-on-bit steering transmission structure 101 and penetrates the weight-on-bit steering transmission structure 101 up and down.
  • the methods of setting inside include but are not limited to The flow channel in the weight-on-bit steering transmission structure is arranged at the center of the weight-on-bit steering transmission structure 101.
  • the electric energy required by the rotary steering biasing mechanism is provided by the power supply module on the upper part of the weight-on-bit steering transmission structure 101.
  • the power supply module can transmit power to the rotary steering biasing unit through the torque transmission structure through cables or infinite energy transmission technology.
  • a centralizer 111 is provided within 1 meter below the weight-on-bit steering transmission structure or within 2 meters above the weight-on-bit steering transmission structure 101 to make the weight-on-bit steering transmission structure 101 relatively stable during the rotation of the drill string, and reduce the internal position of the weight-on-bit steering transmission structure 101.
  • the alternating stress withstand.
  • the rotation angle of the weight-on-bit steering transmission structure 101 is restricted by the structural restriction, so that the rotation angle of the weight-on-bit steering transmission structure is controlled within the maximum amplitude a°, and the value range of a is between 0-4.
  • the cable is installed inside or outside the weight-on-bit steering transmission structure 101 so that the upper and lower portions of the weight-on-bit steering transmission structure 101 can realize the transmission of electric energy. Because the weight-on-bit steering transfer structure 101 produces a certain turning angle of the drilling tool, in order to more accurately control the wellbore trajectory, an attitude measurement module is installed in front of the weight-on-bit steering transfer structure 101 to obtain a more accurate near-bit attitude.
  • the centralizer 111 is set near the lower end of the downhole power drill tool shell assembly, that is, the centralizer 111 is set at a position within 1.5 meters above the lower end surface of the downhole power drill tool shell assembly, and the rotor assembly becomes the receiver of the downhole power drill tool.
  • the part that is driven and rotated by the power, the shell always becomes the part of the downhole power drilling tool that is connected to the upper drill string and keeps synchronous rotation.
  • the centralizer 111 is set within 0.5 meters above the lower end surface of the downhole power drilling tool shell assembly. s position.

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  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
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  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
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  • Earth Drilling (AREA)

Abstract

La présente invention concerne un outil de forage de puits orientable rotatif à base de structure de transmission d'orientation de pression de trépan, ladite invention appartenant au domaine technique des dispositifs de forage de puits. L'outil de forage orientable rotatif comprend une structure de transmission d'orientation de pression de trépan (101), un arbre de transmission de couple (102) et un mécanisme d'orientation rotatif. La structure de transmission d'orientation de pression de trépan (101) est une structure de contact de surface cambrée ou une structure de joint sphérique et est utilisée pour supporter une pression de trépan. L'arbre de transmission de couple (102) comprend un arbre universel ou un arbre flexible et est utilisé pour transmettre un couple. Pendant le processus de forage de puits orientable rotatif, un outil de forage supérieur transmet une pression de trépan au mécanisme d'orientation rotatif par l'intermédiaire de la structure de transmission orientation de pression de trépan (101) et transmet en outre la pression de trépan à un trépan (140) ; et l'outil de forage supérieur transmet un couple au mécanisme d'orientation rotatif par l'intermédiaire de l'arbre de transmission de couple (102) et transmet en outre le couple au trépan. Sans affecter la fonction d'orientation rotative normale, l'outil de forage de puits orientable rotatif à base de structure de transmission d'orientation de pression de trépan obtient la séparation de la transmission de pression de trépan à partir d'une transmission de couple, de telle sorte que l'outil de forage orientable rotatif puisse être uni à un moteur en profondeur de forage pour mettre en œuvre un forage de puits orientable rotatif.
PCT/CN2020/094952 2019-06-06 2020-06-08 Outil de forage de puits orientable rotatif à base de structure de transmission d'orientation de pression de trépan WO2020244665A1 (fr)

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CN201910490984 2019-06-06
CN201910490984.9 2019-06-06

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WO2020244665A1 true WO2020244665A1 (fr) 2020-12-10

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CN111173452B (zh) * 2020-02-21 2024-04-19 万晓跃 一种夹心筒结构的静态偏置旋转导向钻井工具
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CN115126422B (zh) * 2021-03-25 2024-05-31 北京全地科技有限公司 一种带有自适应支撑结构的旋转导向钻井工具
CN115182682A (zh) * 2021-04-02 2022-10-14 万晓跃 一种高可靠性柔性钻杆
WO2023001119A1 (fr) * 2021-07-19 2023-01-26 徐术 Dispositif de forage radial directionnel arrière

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CN1299915A (zh) * 1998-02-05 2001-06-20 施卢默格控股有限公司 自动控制的旋转可控钻井系统及钻井方法
US20140345944A1 (en) * 2013-05-22 2014-11-27 Naizhen Liu Rotary steerable drilling tool with a linear motor
WO2017087490A1 (fr) * 2015-11-18 2017-05-26 Tony Ross Section de palier pour un moteur à boue à vitesse variable pour forage directionnel
CN107060643A (zh) * 2016-12-16 2017-08-18 中国科学院地质与地球物理研究所 一种高造斜率混合式旋转导向系统及其控制方法
CN108005579A (zh) * 2017-11-14 2018-05-08 中国科学院地质与地球物理研究所 一种基于径向驱动力的旋转导向装置
CN109025820A (zh) * 2018-06-26 2018-12-18 中国科学院地质与地球物理研究所 一种全旋转液压内推靠式高造斜率旋转导向工具
CN208396654U (zh) * 2018-05-09 2019-01-18 华南师范大学 一种钻头导向式新型钻井工具

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Publication number Priority date Publication date Assignee Title
CN1299915A (zh) * 1998-02-05 2001-06-20 施卢默格控股有限公司 自动控制的旋转可控钻井系统及钻井方法
US20140345944A1 (en) * 2013-05-22 2014-11-27 Naizhen Liu Rotary steerable drilling tool with a linear motor
WO2017087490A1 (fr) * 2015-11-18 2017-05-26 Tony Ross Section de palier pour un moteur à boue à vitesse variable pour forage directionnel
CN107060643A (zh) * 2016-12-16 2017-08-18 中国科学院地质与地球物理研究所 一种高造斜率混合式旋转导向系统及其控制方法
CN108005579A (zh) * 2017-11-14 2018-05-08 中国科学院地质与地球物理研究所 一种基于径向驱动力的旋转导向装置
CN208396654U (zh) * 2018-05-09 2019-01-18 华南师范大学 一种钻头导向式新型钻井工具
CN109025820A (zh) * 2018-06-26 2018-12-18 中国科学院地质与地球物理研究所 一种全旋转液压内推靠式高造斜率旋转导向工具

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