Coiled tubing drilling steering device

Abstract

The present application belongs to the technical field of oil and gas exploration, and discloses a coiled tubing drilling guiding device, which comprises an upper connecting assembly, a middle outer cylinder, a first motor assembly, a second motor assembly and a lower connecting assembly. The upper connecting assembly is connected with a measurement-while-drilling tool, and the lower connecting assembly is connected with a drilling tool. The first motor assembly and the second motor assembly are arranged in the cavity of the middle outer cylinder. The second motor assembly is connected with the output end of the first motor assembly. The axis of the cavity of the second outer cylinder of the second motor assembly does not coincide with the axis of the body of the second outer cylinder. The cavity of the second outer cylinder is provided with an eccentric sleeve. The eccentric sleeve is provided with an eccentric hole. The axis of the eccentric hole does not coincide with the axis of the body of the eccentric sleeve. A center rod is arranged in the eccentric hole. The end of the center rod, which is away from the eccentric sleeve, is fixedly connected with the lower connecting assembly. The coiled tubing drilling guiding device can generate the tool face angle and the bend angle required for orientation, so as to meet the requirements of directional drilling construction.

Description

Technical Field

[0001] This invention relates to the field of oil and gas exploration technology, and in particular to a coiled tubing drilling rig guidance device. Background Technology

[0002] Coiled tubing drilling technology has gradually become one of the distinctive technologies in oil drilling due to its advantages such as high automation, good mobility, simple and time-saving tripping, and safety and reliability. During the drilling process, the well trajectory needs to be controlled according to the drilling design to drill to the designed formation at a specific depth and inclination. This typically requires the use of straight drill pipes and angled bent drill pipes. In conventional drill pipe drilling, technicians control the well trajectory by switching between directional drilling and conventional drill pipe drilling operations based on directional drilling data. However, because the coiled tubing itself cannot rotate, rotary drilling is impossible. When the current angle of the bent drill pipe does not meet the well trajectory control requirements, the drill string must be passively tripped and replaced with a bent drill pipe of a different angle, in conjunction with a straight drill pipe, to meet the drilling requirements. Summary of the Invention

[0003] The purpose of this invention is to provide a continuous tubing drilling guidance device that can control the well trajectory with specific well inclination and azimuth.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] A coiled tubing drilling rig includes:

[0006] Upper connection component;

[0007] The upper connecting assembly is fixedly connected to the upper end of the middle outer cylinder;

[0008] A first motor assembly includes a first outer cylinder and a first motor, wherein the first outer cylinder is disposed within the cavity of the intermediate outer cylinder, and the first motor is disposed within the cavity of the first outer cylinder;

[0009] The second motor assembly includes a second outer cylinder and a second motor. The second outer cylinder is disposed within the cavity of the intermediate outer cylinder and is rotatably connected to the first outer cylinder and connected to the output end of the first motor. The second motor is disposed within the cavity of the second outer cylinder. The axis of the cavity of the second outer cylinder does not coincide with the axis of the body of the second outer cylinder. An eccentric sleeve is disposed within the cavity of the second outer cylinder. The eccentric sleeve is connected to the output end of the second motor. The eccentric sleeve is provided with an eccentric hole. The axis of the eccentric hole does not coincide with the axis of the body of the eccentric sleeve. A central rod is disposed within the eccentric hole.

[0010] The lower connecting component is located at one end of the middle outer cylinder away from the upper connecting component. One end of the central rod is located in the eccentric hole, and the other end is fixedly connected to the lower connecting component.

[0011] As an alternative, the distance between the axis of the cavity of the second outer cylinder and the axis of the body of the second outer cylinder is equal to the distance between the axis of the eccentric hole and the axis of the body of the eccentric sleeve.

[0012] As an alternative, the end of the central rod connected to the eccentric hole is configured as a sphere.

[0013] As an optional solution, the lower connecting assembly includes an intermediate joint, a connecting joint, a tension joint, and a connector. The intermediate joint is fixedly connected to the end of the intermediate outer cylinder opposite to the upper connecting assembly. The connecting joint is connected between the intermediate joint and the tension joint. The end of the central rod opposite to the eccentric sleeve is fixedly connected to the connector, and the connector rotatably abuts against the tension joint.

[0014] As an alternative, the connector includes an inner square joint and a lower joint. The inner circumferential surface of the inner square joint is provided with a first square structure, and the outer circumferential surface of the central rod is provided with a second square structure that matches the first square structure. The inner square joint snaps onto the central rod and rotates to abut against the tension joint. The lower joint is disposed on the central rod and abuts against the inner square joint.

[0015] As an alternative, the upper end face of the inner square joint is provided with a concave spherical surface, and the lower end face of the tension joint is provided with a convex spherical surface. When the inner square joint rotates and abuts against the tension joint, the concave spherical surface and the convex spherical surface fit together.

[0016] As an alternative, the lower connection assembly includes a universal joint assembly disposed within the connection joint, and a spherical segment is disposed on the center rod within the universal joint assembly.

[0017] As an optional solution, the universal joint assembly includes an upper sealing ball seat, a lower sealing ball seat, and a steel ball. The outer peripheral surface of the spherical segment is provided with a spherical groove. The spherical segment is sandwiched within the concave arc formed by the upper sealing ball seat and the lower sealing ball seat. The steel ball is disposed between the spherical groove and the concave arc.

[0018] As an alternative, the first motor assembly further includes a straightening connector disposed in the cavity of the intermediate outer cylinder, and the first outer cylinder is connected to the straightening connector.

[0019] As an alternative, the outer peripheral surface of the upper connecting component is provided with a circumferential scale.

[0020] The beneficial effects of this invention are:

[0021] This invention provides a coiled tubing drilling guidance device, comprising an upper connecting assembly, an intermediate outer cylinder, a first motor assembly, a second motor assembly, and a lower connecting assembly. The upper connecting assembly is connected to a measurement-while-drilling tool (MSD), and the lower connecting assembly is connected to the drilling tool. The first motor assembly includes a first motor and a first outer cylinder, and the second motor assembly includes a second motor and a second outer cylinder. The first outer cylinder is disposed within the cavity of the intermediate outer cylinder, the first motor is disposed within the first outer cylinder, and the second outer cylinder is disposed within the cavity of the intermediate outer cylinder and rotatably connected to it. The second motor is disposed within the cavity of the second outer cylinder and connected to the output end of the first motor. The axis of the cavity of the second outer cylinder does not coincide with the axis of the body of the second outer cylinder. An eccentric sleeve is provided within the cavity of the second outer cylinder, and the eccentric sleeve has an eccentric hole. The axis of the eccentric hole does not coincide with the axis of the eccentric sleeve. A central rod is disposed within the eccentric hole, and the end of the central rod facing away from the eccentric sleeve is fixedly connected to the lower connecting assembly. By lowering the coiled tubing drilling directional device to a predetermined well depth, and by measuring the angle difference between the drilling measurement tool and the coiled tubing drilling directional device in advance, during directional drilling operations, the required tool face angle and bending angle are calculated using a formula based on the required tool face angle and bending angle, combined with the angle difference angle. Driving the first and second motors to rotate allows the tool face angle and bending angle to be obtained, thus meeting the construction requirements. Attached Figure Description

[0022] Figure 1 This is the first part of the coiled tubing drilling guidance device provided in the embodiments of the present invention;

[0023] Figure 2 This is the second part of the coiled tubing drilling guidance device provided in the embodiments of the present invention;

[0024] Figure 3 This is the third part of the coiled tubing drilling guidance device provided in the embodiments of the present invention;

[0025] Figure 4 yes Figure 1 Cross-sectional view at point AA;

[0026] Figure 5 yes Figure 2 Cross-sectional view at point BB;

[0027] Figure 6 yes Figure 2 Cross-sectional view at point C;

[0028] Figure 7 yes Figure 3Cross-sectional view at point DD;

[0029] Figure 8 yes Figure 3 Cross-sectional view at EE;

[0030] Figure 9 This is a schematic diagram of the center rod provided in this embodiment.

[0031] In the picture:

[0032] 10. Middle outer cylinder;

[0033] 21. First outer cylinder; 22. First motor; 23. Straightening joint; 24. Ultra-thin bearing; 25. Hollow slip ring;

[0034] 31. Second outer cylinder; 32. Second motor;

[0035] 40. Eccentric sleeve;

[0036] 50. Center rod;

[0037] 61. Intermediate joint; 62. Connecting joint; 63. Tension joint; 64. Inner square joint; 65. Lower joint; 66. Upper sealing ball seat; 67. Lower sealing ball seat; 68. Steel ball; 69. Annular ring;

[0038] 71. Copper needle; 72. Insulating sleeve; 73. Upper connector; 74. Straightening outer cylinder;

[0039] 80. Circuit pressure-resistant cylinder;

[0040] 90. Guide sleeve; 91. Straightening bearing. Detailed Implementation

[0041] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0042] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0044] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0045] Figures 1-8As shown, this embodiment of the invention provides a coiled tubing drilling guidance device, including an upper connecting assembly, an intermediate outer cylinder 10, a first motor assembly, a second motor assembly, and a lower connecting assembly. The upper and lower connecting assemblies are respectively connected to the upper and lower ends of the intermediate outer cylinder 10. The upper connecting assembly can be connected to a measurement-while-drilling tool, and the lower connecting assembly can be connected to the drilling tool. The intermediate outer cylinder 10 has a cylindrical structure with threads and sealing surfaces on both sides, and an internal cavity forming an annular drilling fluid channel with other components. The first motor assembly includes a first outer cylinder 21 and a first motor 22. The first outer cylinder 21 is fixedly disposed within the cavity of the intermediate outer cylinder 10, and the first motor 22 is fixedly disposed within the cavity of the intermediate outer cylinder 10 by a fixing pin. The second motor assembly includes a second outer cylinder 31 and a second motor 32. The second outer cylinder 31 is disposed within the cavity of the intermediate outer cylinder 10 and rotatably connected to the cavity of the first outer cylinder 21. It is connected to the output end of the first motor 22, which can drive the second motor assembly to rotate. Preferably, an ultra-thin bearing 24 and a sealing ring are provided at the connection between the second outer cylinder 31 and the first outer cylinder 21 to ensure flexible rotation and improve sealing. The second motor 32 is fixedly mounted on the second outer cylinder 31 by a fixing pin. Inside the cavity of the first outer cylinder 21; and the axis of the cavity of the second outer cylinder 31 does not coincide with the axis of the body of the second outer cylinder 31, that is, the cavity is eccentrically set, and the cavity of the second outer cylinder 31 is provided with an eccentric sleeve 40, the eccentric sleeve 40 is fixedly connected to the output end of the second motor 32, the eccentric sleeve 40 is provided with an eccentric hole, and the axis of the eccentric hole does not coincide with the axis of the body of the eccentric sleeve 40, that is, the eccentric hole is eccentrically set; preferably, an ultra-thin bearing 24 and a sealing ring are provided between the eccentric sleeve 40 and the second outer cylinder 31; it can be understood that the first outer cylinder 21's The axis of the main body, the axis of the cavity of the first outer cylinder 21, and the axis of the main body of the second outer cylinder 31 all coincide with the axis of the middle outer cylinder 10. It should be noted that the first motor 22 and the second motor 32 are equipped with reduction gears and high-precision angle sensors to ensure high torque and low speed power and rotation at a specified angle. A center rod 50 is provided in the eccentric hole. One end of the center rod 50 is set in the eccentric hole, and the other end is fixedly connected to the lower connecting assembly. The center rod 50 can drive the lower connecting assembly to swing, so as to realize the swing of the drill bit.

[0046] In this embodiment, the drilling tool includes a straight screw and a drill bit. The straight screw is fixedly mounted on the lower connecting assembly, and the drill bit is mounted on the straight screw. The straight screw can drive the drill bit to rotate.

[0047] The coiled tubing drilling steerable device can obtain the required tool face angle and bending angle of the coiled tubing drilling steerable device by using the rotation angle of the first motor 22 and the second motor 32, as well as the angle difference between the measurement while drilling tool and the coiled tubing drilling steerable device, in order to meet the drilling construction requirements.

[0048] Specifically, refer to Figure 1and Figure 4 The upper connecting assembly includes a copper pin 71, an insulating sleeve 72, an upper connector 73, and a centralizing outer cylinder 74. The upper end of the upper connector 73 has an API drill pipe thread for connecting to the measurement-while-drilling (MWD) tool, and the lower end connects to the intermediate outer cylinder 10 via a thread and is sealed with a sealing ring. The copper pin 71, insulating sleeve 72, and centralizing outer cylinder 74 constitute a signal output assembly, enabling signal transmission and sealing and docking with the MWD tool or other tools. (Continue to refer to...) Figure 4 The outer cylinder 74 is equipped with three support claws, and the upper connector 73 is provided with three grooves. The three support claws of the outer cylinder 74 are fixed in the three grooves of the upper connector 73.

[0049] Reference Figure 2 A hollow slip ring 25 is provided between the first outer cylinder 21 and the second outer cylinder 31. The two ends of the hollow slip ring 25 are fixedly connected to the first outer cylinder 21 and the second outer cylinder 31 by fixing pins respectively. The first outer cylinder 21 and the second outer cylinder 31 are provided with wire channels. The wires can be connected to the control circuit through the wire channels and the hollow slip ring 25.

[0050] The first motor assembly also includes a centering connector 23, as shown in the reference. Figure 5 The outer circumferential surface of the straightening connector 23 is provided with three straightening blocks, which are supported on the inner wall of the cavity of the middle outer cylinder 10. When connecting other components, the centering of other components can be guaranteed.

[0051] The lower end of the straightening outer cylinder 74 is threadedly connected to the circuit pressure-resistant cylinder 80 and sealed by a sealing ring. The circuit pressure-resistant cylinder 80 has a control circuit inside, and its lower end is threadedly connected to the straightening connector 23.

[0052] The lower end of the eccentric sleeve 40 is connected to the guide sleeve 90 by a thread. The guide sleeve 90 is provided with evenly distributed channels through which drilling fluid can enter. A centering bearing 91 is provided between the guide sleeve 90 and the intermediate outer cylinder 10, and a sealing ring is installed.

[0053] Preferably, the distance between the axis of the cavity of the second outer cylinder 31 and the axis of the body of the second outer cylinder 31 is equal to the distance between the axis of the eccentric hole and the axis of the body of the eccentric sleeve 40. (Refer to...) Figure 6 This structure enables the axis of the eccentric hole to coincide with the axis of the intermediate outer cylinder 10, so that the drill bit can drill perpendicular to the ground.

[0054] Continue to refer to Figure 2 The end of the center rod 50 that connects to the eccentric hole is spherical, and the spherical structure of the center rod 50 can effectively prevent it from getting stuck in the eccentric hole.

[0055] Reference Figure 2 and Figure 3The lower connecting assembly includes an intermediate joint 61, a connecting joint 62, a tension joint 63, and a connector. The intermediate joint 61 is threadedly connected to the intermediate outer cylinder 10. Both ends of the connecting joint 62 are threadedly connected to the intermediate joint 61 and the tension joint 63, respectively. The end of the central rod 50 facing away from the eccentric sleeve 40 is fixedly connected to the connector, and the connector rotatably abuts against the tension joint 63. This structure features a reasonable connection between its components and provides space for the movement of the central rod 50. Sealing surfaces are provided on both sides of the intermediate joint 61 and the connecting joint 62.

[0056] The connector includes an inner square connector 64 and a lower connector 65, see reference. Figure 8 The inner square connector 64 has a first square structure on its inner circumferential surface, and the outer circumferential surface of the center rod 50 has a second square structure that matches the first square structure. The inner square connector 64 is snapped onto the center rod 50 through the first and second square structures, and the inner square connector 64 rotatably abuts against the tension connector 63. The lower connector 65 is threaded to the lower end of the center rod 50 and abuts against the inner square connector 64 through a sealing surface. A sealing ring is provided between the lower connector 65 and the center rod 50. This structure makes the installation of the lower connector 65 more convenient.

[0057] In this embodiment, the first square structure and the second square structure are octagonal holes. The lower end of the lower connector 65 is provided with API oil drill pipe threads, which can be used to connect drilling tools and other equipment.

[0058] The lower connecting assembly also includes a universal joint assembly, which is located within the connecting joint 62. A spherical segment is provided on the center rod 50, and the spherical segment is located within the universal joint assembly. In this structure, after the drill bit is subjected to the reverse force of the soil layer, it transmits the force to the center rod 50. The center rod 50 transmits the force to the connecting joint 62 through the universal joint assembly. The connecting joint 62 transmits the force to the intermediate outer cylinder 10 through the intermediate joint 61, so that the first motor 22 and the second motor 32 can maintain their rotation angle for a long time.

[0059] Specifically, refer to Figure 2 and Figure 7 The universal joint assembly includes an upper sealing ball seat 66, a lower sealing ball seat 67, and a steel ball 68. A spherical groove is provided on the outer circumferential surface of the center rod 50 at the position of the spherical segment. The spherical segment is sandwiched within the concave arc formed by the upper sealing ball seat 66 and the lower sealing ball seat 67, and the steel ball 68 is sandwiched between the spherical groove and the concave arc. This structure allows the spherical segment of the center rod 50 to rotate universally within the concave arc.

[0060] Furthermore, the upper end face of the inner square joint 64 is provided with a concave spherical surface, and the lower end face of the tension joint 63 is provided with a convex spherical surface. When the inner square joint 64 rotates and abuts against the tension joint 63, the concave spherical surface and the convex spherical surface fit together. This structure rotates flexibly and has high sealing performance.

[0061] A sealing ring is provided between the upper sealing ball seat 66 and the connecting joint 62, and between the lower sealing ball seat 67 and the connecting joint 62. The upper sealing ball seat 66 is provided with a first concave arc, and the lower sealing ball seat 67 is provided with a second concave arc. The first concave arc and the second concave arc form a concave arc, and respectively rotate to abut against the upper and lower ends of the spherical segment to improve the sealing performance.

[0062] The lower connecting assembly also includes an annular ring 69, the two ends of which abut against the tension joint 63 and the lower sealing ball seat 67 respectively, for adjusting the tightness of the universal joint assembly and eliminating the influence of workpiece machining errors.

[0063] Preferably, the outer circumferential surface of the upper connector 73 is provided with a circumferential scale to mark the initial spatial angle of the second outer cylinder 31 and the eccentric sleeve 40, and to facilitate the measurement of the angular difference angle between the drilling guidance device of the connecting pipe and other tools (such as measurement while drilling tools).

[0064] It is understandable that the middle outer cylinder 10, the upper connecting component, and the lower connecting component are coaxial.

[0065] For example, using the intermediate outer cylinder 10 as a reference component, during specific directional drilling, technicians can determine the required tool face angle of the intermediate outer cylinder 10 based on the desired position from the ground to the soil layer. And the bending angle γ. (Refer to...) Figure 9 Let l be the distance between the center of the sphere of the central rod 50 and the center of the spherical groove of the central rod 50, and let m be the distance between the axis of the eccentric hole of the eccentric sleeve 40 and the axis of the body of the eccentric sleeve 40.

[0066] During directional drilling, technicians can adjust the rotation angle α1 of the first motor 22 and the rotation angle α2 of the second motor 32, according to the formula... and We can then determine the rotation angle α1 of the first motor 22 and the rotation angle α2 of the second motor 32. Based on these rotation angles α1 and α2, we can calculate the deflection angle α of the eccentric hole axis of the eccentric sleeve 40: α = α1 + 1 / 2α2. According to the formula... The angular difference angle δ between the intermediate outer cylinder 10 and the measurement-while-drilling tool (MSWM) can be determined. By observing the measurement values ​​of the MSWM, the angular difference angle δ between the intermediate outer cylinder 10 and the MSWM can be calculated. Therefore, by operating the computer software and issuing control commands, technicians can drive the first motor 22 and the second motor 32 to rotate. Different rotation angles α1 and α2 can yield different tool face angles. The bending angle γ and the combined angle difference angle δ meet the construction requirements.

[0067] This coiled tubing drilling directional device, by rotating the first motor 22 and the second motor 32 by angles α1 and α2, and combining this with the angular difference angle δ between the measurement-while-drilling tool and the intermediate outer casing 10, can determine any desired tool face angle. And the bending angle γ.

[0068] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A coiled tubing drilling rig guidance device, characterized in that, include: Upper connection component; The upper connecting assembly is fixedly connected to the upper end of the middle outer cylinder (10); The first motor assembly includes a first outer cylinder (21) and a first motor (22), wherein the first outer cylinder (21) is disposed in the cavity of the intermediate outer cylinder (10), and the first motor (22) is disposed in the cavity of the first outer cylinder (21); The second motor assembly includes a second outer cylinder (31) and a second motor (32). The second outer cylinder (31) is disposed in the cavity of the intermediate outer cylinder (10) and is rotatably connected to the first outer cylinder (21) and connected to the output end of the first motor (22). The second motor (32) is disposed in the cavity of the second outer cylinder (31). The axis of the cavity of the second outer cylinder (31) does not coincide with the axis of the body of the second outer cylinder (31). An eccentric sleeve (40) is disposed in the cavity of the second outer cylinder (31). The eccentric sleeve (40) is connected to the output end of the second motor (32). The eccentric sleeve (40) is disposed in an eccentric hole. The axis of the eccentric hole does not coincide with the axis of the body of the eccentric sleeve (40). A center rod (50) is disposed in the eccentric hole. The lower connecting component is disposed at one end of the middle outer cylinder (10) away from the upper connecting component, and one end of the central rod (50) is disposed in the eccentric hole, and the other end is fixedly connected to the lower connecting component; The lower connecting assembly includes an intermediate joint (61), a connecting joint (62), a tension joint (63), and a connector. The intermediate joint (61) is fixedly connected to the end of the intermediate outer cylinder (10) away from the upper connecting assembly. The connecting joint (62) is connected between the intermediate joint (61) and the tension joint (63). The end of the center rod (50) away from the eccentric sleeve (40) is fixedly connected to the connector. The connector rotates and abuts against the tension joint (63).

2. The coiled tubing drilling guidance device according to claim 1, characterized in that, The distance between the axis of the cavity of the second outer cylinder (31) and the axis of the body of the second outer cylinder (31) is equal to the distance between the axis of the eccentric hole and the axis of the body of the eccentric sleeve (40).

3. The coiled tubing drilling guide device according to claim 1, characterized in that, The end of the central rod (50) connected to the eccentric hole is spherical.

4. The coiled tubing drilling rig guide device according to claim 1, characterized in that, The connector includes an inner square connector (64) and a lower connector (65). The inner circumferential surface of the inner square connector (64) is provided with a first square structure, and the outer circumferential surface of the central rod (50) is provided with a second square structure that matches the first square structure. The inner square connector (64) engages with the central rod (50) and rotates against the tension connector (63). The lower connector (65) is disposed on the central rod (50) and abuts against the inner square connector (64).

5. The coiled tubing drilling guide device according to claim 4, characterized in that, The upper end face of the inner square joint (64) is provided with a concave spherical surface, and the lower end face of the tension joint (63) is provided with a convex spherical surface. When the inner square joint (64) rotates and abuts against the tension joint (63), the concave spherical surface and the convex spherical surface fit together.

6. The coiled tubing drilling rig guide device according to claim 1, characterized in that, The lower connecting assembly includes a universal joint assembly, which is disposed within the connecting joint (62). A spherical segment is disposed on the center rod (50), which is disposed within the universal joint assembly.

7. The coiled tubing drilling guide device according to claim 6, characterized in that, The universal joint assembly includes an upper sealing ball seat (66), a lower sealing ball seat (67), and a steel ball (68). The outer peripheral surface of the spherical segment is provided with a spherical groove. The spherical segment is sandwiched in the concave arc formed by the upper sealing ball seat (66) and the lower sealing ball seat (67). The steel ball (68) is disposed between the spherical groove and the concave arc.

8. The coiled tubing drilling rig guide device according to claim 1, characterized in that, The first motor assembly also includes a straightening connector (23), which is disposed in the cavity of the intermediate outer cylinder (10), and the first outer cylinder (21) is connected to the straightening connector (23).

9. The coiled tubing drilling rig according to any one of claims 1-8, characterized in that, The outer circumferential surface of the upper connecting component is provided with circumferential scale.

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