A motor control type variable diameter stabilizer

Abstract

The application relates to the technical field of well drilling, and is a motor control type variable-diameter stabilizer, which comprises a variable-diameter mechanism, a pressure driving mechanism, a non-magnetic drill collar, a control outer shell and a variable-diameter joint which are sequentially and threadedly connected together from top to bottom, the variable-diameter mechanism comprises a righting block which is slidingly installed in an installation sliding groove, the variable-diameter joint is provided with a limiting ring, a reset spring is arranged between the installation sliding block and the limiting ring, the variable-diameter joint is provided with a plurality of sinking grooves, a piston is arranged in each sinking groove, the variable-diameter joint is provided with a liquid storage channel, a communication hole which is in communication with the liquid storage channel is arranged on the inner side wall of each sinking groove, the control outer shell is internally provided with the pressure driving mechanism, the non-magnetic drill collar is internally provided with a control system, and the pressure driving mechanism is electrically connected with the control system. The application has the advantages of reasonable and compact structure, convenient use, safety, labor saving and high efficiency, and the righting block is controlled by forming a pressure difference at the variable-diameter joint and extending.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of drilling, and is a motor control type variable-diameter stabilizer. BACKGROUND

[0002] In directional well and horizontal well drilling, a bent housing motor is usually used in combination with a stabilizer to control the well trajectory. When the deviation angle or azimuth angle of the well changes abnormally when drilling through a special formation, the deviation angle needs to be reduced, the deviation angle needs to be stabilized, or the deviation angle needs to be increased by replacing the drilling assembly. The stabilizer used is a conventional stabilizer with a fixed structure. The stabilizer must be replaced by tripping in order to change the mechanical properties of the bottom hole assembly. Tripping not only increases the soaking time of the drilling fluid on the well wall, but also increases the construction time. The variable-diameter stabilizers used in China are all hydraulic variable-diameter stabilizers. The hydraulic variable-diameter stabilizers expand / contract the centralizer by consuming a large pressure drop in the pipeline and cannot effectively prevent the jamming of the mud. The use of the variable-diameter stabilizer can cause a high pressure drop in the pipeline, which can easily damage the pipeline. In addition, the centralizer can also damage the well wall, which can cause the well wall to collapse and cause serious downhole accidents. SUMMARY

[0003] The present application provides a motor control type variable-diameter stabilizer, which overcomes the shortcomings of the prior art. The motor control type variable-diameter stabilizer can effectively solve the problem that the existing hydraulic variable-diameter stabilizer needs to consume a large pressure drop in the pipeline to expand / contract the centralizer, which can easily cause a high pressure drop in the pipeline and damage the pipeline.

[0004] The technical scheme of the present application is realized by the following measures: a motor control type variable diameter stabilizer based on a variable diameter mechanism, a pressure driving mechanism and a non-magnetic drill collar, a control outer shell and a variable diameter joint which are screwed together from top to bottom, the variable diameter mechanism includes three centralizing blocks which are evenly distributed on the outer side of the variable diameter joint along the circumference of the variable diameter joint, the upper and lower ends of the centralizing blocks are fixedly connected with arc-shaped mounting sliding blocks, the outer side of the variable diameter joint corresponding to the position of the mounting sliding blocks is provided with mounting sliding grooves matched with the mounting sliding blocks, the mounting sliding blocks are slidingly installed in the mounting sliding grooves, the variable diameter joint corresponding to the position of the mounting sliding grooves is fixedly installed with a limiting ring which limits the mounting sliding blocks from sliding out of the mounting ring groove, a return spring is arranged between the mounting sliding block and the limiting ring corresponding thereto, the variable diameter joint corresponding to the middle position of the centralizing block is provided with a plurality of outwardly opening sunken grooves which are spaced apart along the axial direction of the variable diameter joint, a piston is slidingly and sealingly installed in each sunken groove, the outer end of the piston is in contact with the inner side of the centralizing block, the inner end of the piston is in contact with the inner side wall of the sunken groove, the variable diameter joint corresponding to the position of the sunken groove is provided with a liquid storage channel which is open at the upper end and closed at the lower end and is used for storing liquid, the inner side wall of each sunken groove is provided with a communication hole to make the inside of the sunken groove and the inside of the liquid storage channel communicate, the control outer shell corresponding to the position above the upper end of the liquid storage channel is provided with a pressure driving mechanism which is used for applying pressure to the liquid in the liquid storage channel, the non-magnetic drill collar corresponding to the position above the pressure driving mechanism is provided with a control system which is used for controlling the pressure driving mechanism, and the pressure driving mechanism is electrically connected with the control system.

[0005] The following is a further optimization or / and improvement of the above-mentioned technical scheme of the application:

[0006] The pressure driving mechanism can include a central pipe arranged inside the control outer shell, a lower end of the central pipe being screwed to an inner part of an upper end of the variable-diameter joint, a sliding sleeve being sleeved outside the central pipe, an upper sealing ring table and a lower sealing ring table being respectively arranged at upper and lower ends of the sliding sleeve, the upper sealing ring table being slidingly and sealingly arranged inside the control outer shell, a cylinder sleeve being fixedly arranged on an inner wall of the control outer shell at a position corresponding to the lower sealing ring table, the lower sealing ring table being slidingly and sealingly arranged inside the cylinder sleeve, an inner surface of the cylinder sleeve, an outer surface of the central pipe, a bottom surface of the lower sealing ring table and a top surface of the variable-diameter joint surrounding to form a liquid storage cavity in communication with the liquid storage channel, a first communication hole being arranged on the control outer shell in communication between the inside and outside, a variable-diameter short joint being screwed on the central pipe at a position above the upper sealing ring table, a flow divider being arranged inside the control outer shell at a position above the variable-diameter short joint, the flow divider being in a conical frustum structure with a large upper part and a small lower part, the flow divider being sealingly arranged inside the control outer shell at an upper part thereof, a lower end of the flow divider being screwed to an inner part of an upper end of the variable-diameter short joint, an outer surface of a lower part of the flow divider, an outer surface of the variable-diameter short joint, an inner surface of the control outer shell and a top surface of the upper sealing ring table forming a pressure solution cavity, a through hole being arranged in the flow divider in communication between the upper and lower parts, a control valve rod being slidingly and sealingly arranged in the through hole, a first liquid inlet hole being arranged on the flow divider in communication between the inside and outside, a second communication hole being arranged on the control outer shell in communication between the inside and outside at a position corresponding to the first liquid inlet hole, a second liquid inlet hole being arranged on the flow divider in communication between the inside and outside at a position below the first liquid inlet hole, the second liquid inlet hole being in communication with the pressure solution cavity, an outer ring groove being arranged on the control valve rod at a position between the first liquid inlet hole and the second liquid inlet hole for connecting the first liquid inlet hole and the second liquid inlet hole, a driving device being arranged inside the non-magnetic drill collar at a position above the flow divider for driving the control valve rod to move up and down, the control valve rod being in transmission connection with the driving device, the driving device being in electrical connection with the control system.

[0007] The non-magnetic drill collar at the position above the flow divider can be provided with a protective sleeve, a tail vertebra being sealingly arranged at an upper end of the protective sleeve, the tail vertebra being fixedly arranged inside the non-magnetic drill collar by a fixing screw, a lower end of the protective sleeve being screwed to an upper part of the flow divider, the driving device including a micro motor and a storage battery arranged inside the protective sleeve, the micro motor being in electrical connection with the control system and the storage battery, an output shaft of the micro motor being fixedly connected with a transmission screw nut, a screw nut being arranged outside the transmission screw nut, a connecting sleeve being sleeved outside the transmission screw nut at a position below the screw nut, an upper end of the connecting sleeve being fixedly connected with the screw nut, a lower end of the connecting sleeve being fixedly connected with an extension rod, a lower end of the extension rod being fixedly connected with the control valve rod, a floating ring being slidingly and sealingly arranged inside the protective sleeve at a position below the connecting sleeve, the extension rod penetrating through the floating ring and a sealing ring being arranged between the extension rod and the floating ring for sealing a gap therebetween.

[0008] The control system can comprise a pulse decoding circuit, a single-chip microcomputer and a motor control circuit arranged inside the protective sleeve and electrically connected with the battery respectively, the pulse decoding circuit and the motor control circuit are electrically connected with the single-chip microcomputer respectively, and the micro motor is electrically connected with the motor control circuit.

[0009] The sink groove can be a circular hole, the piston is a stepped shaft, and the piston comprises a first circular table portion in sliding fit with the sink groove, a second circular table portion fixedly connected to the outer end of the first circular table portion, and a multi-dimensional rubber shock-absorbing ring sleeved on the outer side of the second circular table portion for sealing the gap between the outer side of the second circular table portion and the sink groove.

[0010] The lower part of the cylinder sleeve can be provided with a limiting hole, a limiting screw is screwed on the control shell at the position corresponding to the limiting hole, and the inner end of the limiting screw is located in the limiting hole.

[0011] The variable-diameter short circuit and the flow divider can be fixedly installed inside the control outer shell through fixing screws.

[0012] Sealing rings can be arranged between the upper sealing ring table and the control outer shell and between the lower sealing ring table and the cylinder sleeve to seal the gaps therebetween.

[0013] The present application has reasonable and compact structure, and is convenient to use, the motor is remotely controlled, so that the pressure difference is formed at the control shell and the variable-diameter joint, the liquid in the liquid storage channel is compressed by the sliding sleeve driven by the pressure difference, and the piston is moved outward to push the righting block outward, the working mode of the traditional hydraulic variable-diameter stabilizer is changed, the righting column is pushed out or contracted by consuming a large pressure drop in the pipeline, the problem of pipeline damage caused by excessively high pressure drop in the pipeline is avoided, and the present application has the characteristics of safety, labor saving and high efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0014] FIG. 1 is a schematic structural diagram of the upper part of the main view of the present application. Figure 1 FIG. 2 is a schematic structural diagram of the lower part of the main view of the present application.

[0015] Figure 2 FIG. 3 is an enlarged structural schematic diagram of position A in FIG. 2.

[0016] FIG. 4 is an enlarged structural schematic diagram of position B in FIG. 2. Figure 3 Figure 2 FIG. 5 is an enlarged structural schematic diagram of position C in FIG. 2.

[0017] ​​The codes in the drawings are as follows: 1 is a variable diameter joint, 2 is a control outer shell, 3 is a non-magnetic drill collar, 4 is a centralizer, 5 is a limiting ring, 6 is a return spring, 7 is a piston, 8 is a liquid storage channel, 9 is a central tube, 10 is a sliding sleeve, 11 is an upper sealing ring table, 12 is a lower sealing ring table, 13 is a cylinder sleeve, 14 is a first communication hole, 15 is a variable diameter short joint, 16 is a flow divider, 17 is a control valve rod, 18 is a first liquid inlet hole, 19 is a second communication hole, 20 is a second liquid inlet hole, 21 is a protective sleeve, 22 is a tail vertebra, 23 is a storage battery, 24 is a micro motor, 25 is a transmission screw, 26 is a screw nut, 27 is a connecting sleeve, 28 is an extension rod, 29 is a floating ring, 30 is a multi-dimensional rubber shock absorbing ring, 31 is a limiting screw, 32 is a fixing screw, 33 is a sealing ring, 34 is a pulse decoding circuit, 35 is a single-chip microcomputer, and 36 is a motor control circuit. DETAILED DESCRIPTION

[0018] The present application is not limited by the following examples, and the specific implementation can be determined according to the technical solutions of the present application and the actual situation.

[0019] In the present application, in order to facilitate the description, the relative position relationship of each component is described according to the layout mode of the drawings attached to the specification, such as: the position relationship of front, back, up, down, left, right, etc. is determined according to the layout direction of the drawings attached to the specification. Figure 2

[0020] The present application will be further described below in combination with examples and drawings:

[0021] As shown in the drawings, Figure 1 , 2 ​The motor control type variable diameter stabilizer includes a variable diameter mechanism, a pressure driving mechanism, and a non-magnetic drill collar 3, a control outer shell 2, and a variable diameter joint 1 which are sequentially screwed together from top to bottom, the variable diameter mechanism includes three centralizing blocks 4 which are evenly distributed on the outer side of the variable diameter joint 1 in the circumferential direction of the variable diameter joint 1, the upper and lower ends of the centralizing block 4 are fixedly connected with arc-shaped mounting sliding blocks, the outer side of the variable diameter joint 1 corresponding to the position of the mounting sliding block is provided with a mounting sliding groove matched with the mounting sliding block, the mounting sliding block is slidingly mounted in the mounting sliding groove, the variable diameter joint 1 corresponding to the position of the mounting sliding groove is fixedly mounted with a limiting ring 5 for limiting the sliding block from sliding out of the mounting ring groove, a reset spring 6 is arranged between the mounting sliding block and the limiting ring 5 corresponding thereto, the variable diameter joint 1 corresponding to the middle position of the centralizing block 4 is provided with a plurality of outwardly open grooves which are spaced apart in the axial direction of the variable diameter joint 1, a piston 7 is slidingly and sealingly mounted in each groove, the outer end of the piston 7 is in contact with the inner side of the centralizing block 4, the inner end of the piston 7 is in contact with the inner side wall of the groove, the variable diameter joint 1 corresponding to the position of the groove is provided with a liquid storage channel 8 which is open at the upper end and closed at the lower end and is used for storing liquid, the inner side wall of each groove is provided with a communication hole to make the inside of the groove and the inside of the liquid storage channel 8 communicate, the inside of the control outer shell 2 corresponding to the position above the upper port of the liquid storage channel 8 is provided with a pressure driving mechanism for applying pressure to the liquid in the liquid storage channel 8, the inside of the non-magnetic drill collar 3 corresponding to the position above the pressure driving mechanism is provided with a control system for controlling the pressure driving mechanism, and the pressure driving mechanism is electrically connected with the control system. In the initial state, the inner end of the piston 7 is in contact with the inner wall of the groove, and the inner side of the centralizing block 4 is in contact with the outer side of the variable diameter joint 1 under the action of the reset spring 6, in use, the pressure driving mechanism is remotely controlled to apply pressure to the liquid in the liquid storage channel 8, and then the pressure liquid enters the groove from the communication hole to push the piston 7 to move outward, and then the piston 7 pushes the centralizing block 4 outward to achieve the purpose of variable diameter, after the variable diameter is completed, only the pressure driving mechanism needs to be controlled to restore the liquid in the liquid storage channel 8 to the initial pressure, and the centralizing block 4 returns to the initial state under the action of the reset spring 6. The structure is reasonable and compact, and the use is convenient, it only needs to remotely control the pressure driving mechanism, compress the liquid in the liquid storage channel 8 to make the piston 7 move outward to push the centralizing block 4 outward, which changes the working mode of the traditional hydraulic variable diameter stabilizer which needs to consume a large pressure drop in the pipeline to realize the expansion or contraction of the centralizing column, avoids the problem of pipeline damage caused by too high pressure drop in the pipeline, and has the characteristics of safety, labor saving, and high efficiency.

[0022] The motor control type variable diameter stabilizer can be further optimized or / and improved according to actual needs:

[0023] As shown in the accompanying drawings Figure 2As shown, the pressure driving mechanism comprises a central pipe 9 arranged inside the control outer shell 2, the lower end of the central pipe 9 is screwed to the inner part of the upper end of the variable diameter joint 1, the outer side of the central pipe 9 is sleeved with a sliding sleeve 10, the upper and lower ends of the sliding sleeve 10 are respectively provided with an upper sealing ring table 11 and a lower sealing ring table 12, the upper sealing ring table 11 is slidingly and sealingly installed inside the control outer shell 2, a cylinder sleeve 13 is fixedly installed on the inner wall of the control outer shell 2 corresponding to the position of the lower sealing ring table 12, the lower sealing ring table 12 is slidingly and sealingly installed inside the cylinder sleeve 13, the inner surface of the cylinder sleeve 13, the outer surface of the central pipe 9, the bottom surface of the lower sealing ring table 12 and the top surface of the variable diameter joint 1 form a liquid storage cavity in communication with the liquid storage channel 8, the control outer shell 2 is provided with a first communication hole 14 penetrating from the inside to the outside corresponding to the position between the upper sealing ring table 11 and the lower sealing ring table 12, a variable diameter short circuit 15 is screwed on the central pipe 9 corresponding to the position above the upper sealing ring table 11, a flow divider 16 is arranged inside the control outer shell 2 corresponding to the position above the variable diameter short circuit 15, the flow divider 16 has a taper structure with a large upper part and a small lower part, the upper part of the flow divider 16 is sealingly installed inside the control outer shell 2, the lower end of the flow divider 16 is screwed to the inner part of the upper end of the variable diameter short circuit 15, the lower part of the outer surface of the flow divider 16, the outer surface of the variable diameter short circuit 15, the inner surface of the control outer shell 2 and the top surface of the upper sealing ring table 11 form a pressure solution cavity, a through hole penetrating from the upper part to the lower part is arranged in the middle of the flow divider 16, a control valve rod 17 is slidingly and sealingly installed in the through hole, the flow divider 16 is provided with a first liquid inlet hole 18 penetrating from the inside to the outside, the control outer shell 2 is provided with a second communication hole 19 penetrating from the inside to the outside corresponding to the position of the first liquid inlet hole 18, the flow divider 16 is provided with a second liquid inlet hole 20 penetrating from the inside to the outside corresponding to the position below the first liquid inlet hole 18, the second liquid inlet hole 20 is in communication with the pressure solution cavity, the middle part of the control valve rod 17 is provided with an outer ring groove for connecting the first liquid inlet hole 18 and the second liquid inlet hole 20 corresponding to the position between the first liquid inlet hole 18 and the second liquid inlet hole 20, the inner part of the non-magnetic drill collar 3 corresponding to the position above the flow divider 16 is provided with a driving device for driving the control valve rod 17 to move up and down, the control valve rod 17 is in transmission connection with the driving device, and the driving device is in electrical connection with the control system.

[0024] In use, the liquid storage cavity and the liquid storage channel 8 are filled with liquid. In the initial state, the first liquid inlet hole 18 and the second liquid inlet hole 20 are located in the outer ring groove on the valve rod, so that the first liquid inlet hole 18 and the second liquid inlet hole 20 are connected. The mud with pressure in the pipeline enters the pressure solution cavity through the second communication hole 19, the first liquid inlet hole 18 and the second liquid inlet hole 20 and acts on the top surface of the upper sealing ring table 11. The mud with pressure enters the cavity formed by the upper sealing ring table 11, the lower sealing ring table 12, the outer side wall of the sliding sleeve 10 and the inner side wall of the control housing through the first communication hole 14 and simultaneously acts on the bottom surface of the upper sealing ring table 11 and the top surface of the lower sealing ring table 12. At this time, the pressure values of the top surface and the bottom surface of the upper sealing ring table 11 are the same, and the sliding sleeve 10 does not displace. After the first liquid inlet hole 18 is blocked by the upward movement of the valve rod driven by the control system, a pressure difference is formed on the upper and lower sides of the lower sealing table. The sliding sleeve 10 moves downward and exerts pressure on the liquid in the liquid storage cavity and the liquid storage channel 8, so that the piston 7 and the centralizer 4 move outward to realize the variable diameter action. The movement of the valve rod 17 is controlled by the driving mechanism, a pressure difference is generated on the sliding sleeve 10, and the piston 7 and the centralizer 4 are extended, thereby enhancing the reliability of the control and reducing the pressure drop required for the extension of the centralizer 4, thereby protecting the pipeline.

[0025] As shown in the accompanying drawings Figure 1 , 2As shown, the non-magnetic drill collar 3 at the position above the flow divider 16 is internally provided with a protective sleeve 21, the upper end of the protective sleeve 21 is sealingly installed with a tail vertebra 22, the tail vertebra 22 is fixedly installed in the interior of the non-magnetic drill collar 3 through a fixing screw 32, the lower end of the protective sleeve 21 is screwed on the upper end of the flow divider 16, the driving device comprises a micro motor 24 and a storage battery 23 arranged in the interior of the protective sleeve 21, the micro motor 24 is electrically connected with the control system and the storage battery 23, a transmission screw 25 is fixedly connected on the output shaft of the micro motor 24, a screw nut 26 is installed on the outer side of the transmission screw 25, a connecting sleeve 27 is sleeved on the outer side of the transmission screw 25 corresponding to the position below the screw nut 26, the upper end of the connecting sleeve 27 is fixedly connected with the screw nut 26, an extension rod 28 is fixedly connected with the lower end of the connecting sleeve 27, the lower end of the extension rod 28 is fixedly connected with the control valve rod 17, a floating ring 29 is slidingly and sealingly installed in the protective sleeve 21 corresponding to the position below the connecting sleeve 27, the extension rod 28 passes through the floating ring 29 and a sealing ring is arranged between the extension rod 28 and the floating ring 29 for sealing the gap therebetween. According to the need, the control system comprises a pulse decoding circuit 34, a single-chip microcomputer 35 and a motor control circuit 36 arranged in the interior of the protective sleeve 21 and electrically connected with the storage battery 23 respectively, the pulse decoding circuit 34 and the motor control circuit 36 are electrically connected with the single-chip microcomputer 35 respectively, and the micro motor 24 is electrically connected with the motor control circuit 36. The pulse decoding circuit 34 and the motor control circuit 36 are both prior art known technologies, when used, pulse signals are generated in the pipeline through ground operation, the pulse signals are converted into electrical signals by the pulse decoding circuit 34 and then transmitted to the single-chip microcomputer 35, the rotation of the micro motor 24 is controlled by the single-chip microcomputer 35 and the motor control circuit 36, when the micro motor 24 rotates, the transmission screw 25 is driven to rotate, and then the screw nut 26, the extension rod 28 and the control valve rod 17 are driven to move up and down to realize the control of the control valve rod 17 on the opening and closing of the first liquid inlet hole 18 and the second liquid inlet hole 20.

[0026] As shown in the accompanying drawings, Figure 1 , 3 As shown, the sink is a circular hole, the piston 7 is a stepped shaft, the piston 7 comprises a first circular table part which is in sliding fit with the sink, the outer end of the first circular table part is fixedly connected with a second circular table part, a multi-dimensional rubber shock-absorbing ring 30 is sleeved on the outer side of the second circular table part for sealing the gap between the outer side of the second circular table part and the sink, and the outer end of the second circular table part is in contact with the inner wall of the centralizing block 4. According to the need, the multi-dimensional rubber shock-absorbing ring 30 is a prior art known technology, by adding the multi-dimensional rubber shock-absorbing ring 30 on the piston 7, the mud and sand can be prevented from entering the sink, and the piston 7 can be prevented from being stuck.

[0027] As shown in the accompanying drawings, Figure 1As shown, the lower part of the cylinder sleeve 13 is provided with a limiting hole, and a limiting screw 31 is screwed on the control shell at the position corresponding to the limiting hole, with the inner end of the limiting screw 31 located in the limiting hole. By setting the limiting hole and the limiting screw 31, the cylinder sleeve 13 can be positioned to prevent rotation, and the limiting screw 31 can be disassembled to add liquid to the liquid storage cavity and the liquid storage channel 8 through the limiting hole.

[0028] As shown in the accompanying drawings, Figure 1 As shown in the accompanying drawings,

[0029] As shown in the accompanying drawings, Figure 1 As shown in the accompanying drawings,

[0030] The above technical features constitute the best embodiment of the present application, which has strong adaptability and optimal implementation effect. Non-essential technical features can be added or reduced according to actual needs to meet different needs.

Claims

1. A motor control-based variable diameter stabilizer, characterized by The variable diameter mechanism, pressure driving mechanism and non-magnetic drill collar, control outer shell and variable diameter joint are screwed together from top to bottom, the variable diameter mechanism includes three centralizing blocks which are uniformly distributed on the outer side of the variable diameter joint along the circumference of the variable diameter joint, the upper and lower ends of the centralizing blocks are fixedly connected with arc-shaped mounting sliding blocks, the outer side of the variable diameter joint corresponding to the positions of the mounting sliding blocks is provided with mounting sliding grooves matched with the mounting sliding blocks, the mounting sliding blocks are slidingly mounted in the mounting sliding grooves, the variable diameter joint corresponding to the positions of the mounting sliding grooves is fixedly mounted with limiting rings for limiting the mounting sliding blocks from sliding out of the mounting sliding grooves, the mounting sliding blocks and the limiting rings corresponding thereto are provided with return springs, the variable diameter joint corresponding to the middle positions of the centralizing blocks is provided with a plurality of outwardly opening sunken grooves which are spaced apart along the axial direction of the variable diameter joint, a piston is slidingly and sealingly mounted in each sunken groove, the outer end of the piston is in contact with the inner side of the centralizing block, the inner end of the piston is in contact with the inner side wall of the sunken groove, the variable diameter joint corresponding to the positions of the sunken grooves is provided with a liquid storage channel which is open at the upper end and closed at the lower end and is used for storing liquid, the inner side wall of each sunken groove is provided with a communication hole to make the inside of the sunken groove and the inside of the liquid storage channel communicate with each other, the inside of the control outer shell corresponding to the position above the upper end of the liquid storage channel is provided with a pressure driving mechanism for applying pressure to the liquid in the liquid storage channel, the inside of the non-magnetic drill collar corresponding to the position above the pressure driving mechanism is provided with a control system for controlling the pressure driving mechanism, the pressure driving mechanism is electrically connected with the control system, the pressure driving mechanism includes a central pipe arranged in the inside of the control outer shell, the lower end of the central pipe is screwed to the inside of the upper end of the variable diameter joint, a sliding sleeve is sleeved on the outer side of the central pipe, the upper and lower ends of the sliding sleeve are respectively provided with upper and lower sealing ring tables, the upper sealing ring table is slidingly and sealingly mounted in the inside of the control outer shell, a cylinder sleeve is fixedly mounted on the inner wall of the control outer shell corresponding to the position of the lower sealing ring table, the lower sealing ring table is slidingly and sealingly mounted in the inside of the cylinder sleeve, the inner surface of the cylinder sleeve, the outer surface of the central pipe, the bottom surface of the lower sealing ring table and the top surface of the variable diameter joint surround a liquid storage cavity which communicates with the liquid storage channel, the control outer shell corresponding to the position between the upper and lower sealing ring tables is provided with a first communication hole which penetrates through the inside and outside of the control outer shell, the central pipe corresponding to the position above the upper sealing ring table is screwed with a variable diameter short joint, the inside of the control outer shell corresponding to the position above the variable diameter short joint is provided with a flow divider, the flow divider has a taper table structure which is large at the upper part and small at the lower part, the upper part of the flow divider is sealingly mounted in the inside of the control outer shell, the lower end of the flow divider is screwed to the inside of the upper end of the variable diameter short joint, the lower part of the flow divider, the outer surface of the variable diameter short joint, the inner surface of the control outer shell and the top surface of the upper sealing ring table form a pressure solution cavity, the flow divider is provided with a through hole which penetrates through the upper and lower parts of the flow divider, a control valve rod is slidingly and sealingly mounted in the through hole, the flow divider is provided with a first liquid inlet hole which penetrates through the inside and outside of the flow divider, the control outer shell corresponding to the position of the first liquid inlet hole is provided with a second communication hole which penetrates through the inside and outside of the control outer shell, the flow divider corresponding to the position below the first liquid inlet hole is provided with a second liquid inlet hole which penetrates through the inside and outside of the flow divider, the second liquid inlet hole communicates with the pressure solution cavity, the control valve rod corresponding to the position between the first and second liquid inlet holes is provided with an outer ring groove for connecting the first and second liquid inlet holes.The non-magnetic drill collar inside corresponding to the position above the shunt is provided with a driving device for driving the control valve rod to move up and down, the control valve rod is in transmission connection with the driving device, and the driving device is in electric connection with the control system.

2. The motor control-based variable-stiffness actuator according to claim 1, characterized by The non-magnetic drill collar is internally provided with a protective sleeve corresponding to the position above the flow divider, a tail vertebra is sealingly mounted at the upper end of the protective sleeve, the tail vertebra is fixedly installed in the non-magnetic drill collar through a fixing screw, the lower end of the protective sleeve is screwed to the upper part of the flow divider, the driving device comprises a micro motor and a storage battery arranged in the protective sleeve, the micro motor is electrically connected with the control system and the storage battery, a transmission screw is fixedly connected to the output shaft of the micro motor, a screw nut is mounted on the outer side of the transmission screw, a connecting sleeve is sleeved on the outer side of the transmission screw corresponding to the position below the screw nut, the upper end of the connecting sleeve is fixedly connected with the screw nut, an elongated rod is fixedly connected to the lower end of the connecting sleeve, the lower end of the elongated rod is fixedly connected with the control valve rod, a floating ring is slidingly and sealingly installed in the protective sleeve corresponding to the position below the connecting sleeve, the elongated rod passes through the floating ring and a sealing ring is arranged between the elongated rod and the floating ring for sealing the gap therebetween.

3. The motor control-based variable-stiffness actuator according to claim 2, characterized in that The control system comprises a pulse decoding circuit, a single-chip microcomputer and a motor control circuit which are arranged in the protective sleeve and are electrically connected with the storage battery respectively, the pulse decoding circuit and the motor control circuit are electrically connected with the single-chip microcomputer respectively, and the micro motor is electrically connected with the motor control circuit.

4. The motor control-based variable-stiffness actuator according to claim 1 or 2 or 3, characterized by The sink is a circular hole, and the piston is a stepped shaft, the piston comprises a first circular table portion which is slidingly fitted with the sink, a second circular table portion is fixedly connected to the outer end of the first circular table portion, a multi-dimensional rubber shock-absorbing ring is sleeved on the outer side of the second circular table portion for sealing the gap between the outer side of the second circular table portion and the sink, and the outer end of the second circular table portion is in contact with the inner wall of the centralizing block.

5. The motor control-based variable-stiffness actuator according to claim 1 or 2 or 3, characterized by The lower part of the cylinder sleeve is provided with a limiting hole, and a limiting screw is screwed on the control shell corresponding to the position of the limiting hole, and the inner end of the limiting screw is located in the limiting hole.

6. The motor control-based variable-stiffness actuator according to claim 4, characterized in that The lower part of the cylinder sleeve is provided with a limiting hole, and a limiting screw is screwed on the control shell corresponding to the position of the limiting hole, and the inner end of the limiting screw is located in the limiting hole.

7. The motor control-based variable-stiffness actuator according to claim 1 or 2 or 3 or 6, characterized by The variable-diameter short circuit and the flow divider are fixedly installed in the control outer shell through fixing screws.

8. The motor control-based variable-stiffness actuator of claim 4, wherein The variable-diameter short circuit and the flow divider are fixedly installed in the control outer shell through fixing screws.

9. The motor control based variable stiffness stabilizer according to claim 1 or 2 or 3 or 6 or 8, characterized by Sealing rings are arranged between the upper sealing ring table and the control outer shell and between the lower sealing ring table and the cylinder sleeve to seal the gaps therebetween.

10. The motor control-based variable-stiffness actuator of claim 4, wherein Sealing rings are arranged between the upper sealing ring table and the control outer shell and between the lower sealing ring table and the cylinder sleeve to seal the gaps therebetween.

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