A full rotation steering drill-in sub

Abstract

The application provides a full-rotation guiding short section, which comprises a pushing drill collar, a control drill collar, a control disc and a control platform. The pushing drill collar comprises a pushing outer cylinder and a plurality of pushing devices which are uniformly distributed in the sidewall of the pushing outer cylinder. The control drill collar is connected to the upper end of the pushing drill collar and comprises a control outer cylinder with a central mud channel and the control platform which is installed in the central mud channel. The control disc is connected to the lower end of the control platform and corresponds to the radially inner side position of the pushing devices. The control platform can measure the attitude and tool face information in real time and control the rotation of the control disc according to the ground instruction and the measured data information, so that the high-pressure mud from the central mud channel is guided to the pushing devices corresponding to the pushing direction, and the corresponding pushing devices are extended to adjust the tool face by using the internal and external pressure difference.

Description

Technical Field

[0001] This invention belongs to the field of oil and gas drilling technology, specifically relating to a fully rotary steerable actuator. Background Technology

[0002] Rotary steering systems are widely used in the field of oil drilling technology, especially in the development and exploration of shale oil and gas. Their application can significantly accelerate drilling speed, improve drilling safety, and reduce drilling costs. Therefore, major oil companies and research institutions in China have all undertaken the research and development of rotary steering systems.

[0003] Currently, most domestically developed rotary steering systems are static push-type rotary steering systems with non-rotating sleeves. In these systems, the non-rotating sleeve rotates very slowly downhole, and when encountering softer formations, the push-wing ribs may become stuck, reducing drilling efficiency. Furthermore, the non-rotating sleeve has high friction with the wellbore, increasing the risk of stuck pipe. In addition, existing rotary steering systems utilize independent hydraulic modules to drive the extension and retraction of the ribs, resulting in high production and maintenance costs. Summary of the Invention

[0004] To address the technical problems described above, this invention aims to propose a fully rotary guide actuator sub. This fully rotary guide actuator sub can measure its own attitude and tool face information in real time, and determine the tool face position based on ground commands and the measured data. It can use the pressure difference of mud inside and outside the sub to drive the extension and retraction of the pusher device to adjust the tool face, which can significantly reduce costs and greatly improve drilling efficiency and safety.

[0005] To address this, the present invention provides a fully rotary guide actuator, comprising: a pusher drill collar, which includes a pusher outer cylinder and a plurality of pusher devices circumferentially distributed within the sidewalls of the pusher outer cylinder; a control drill collar connected to the upper end of the pusher drill collar, which includes a control outer cylinder having a central mud channel and a control platform installed within the central mud channel; and a control disc connected to the lower end of the control platform and corresponding to the radially inner position of the pusher devices; wherein the control platform is capable of measuring its own attitude and tool face information in real time, and controlling the rotation of the control disc according to ground commands and the measured data information, so that high-pressure mud from the central mud channel is directed to the pusher device corresponding to the pusher direction, thereby utilizing the internal and external pressure difference to extend the corresponding pusher device to adjust the tool face.

[0006] In one embodiment, the control platform is concentrically mounted within the central mud channel via two spaced-apart bearing assemblies. Each bearing assembly includes an outer bearing sleeve and an inner bearing sleeve rotatable relative to the outer bearing sleeve. The outer bearing sleeve is fixedly connected to the outer control cylinder, and the inner bearing sleeve is fixedly connected to the outer surface of the control platform.

[0007] In one embodiment, the inner wall of the control outer cylinder is provided with an upward-facing step, the bearing outer sleeve is fixedly installed on the inner wall of the control outer cylinder by a bearing retaining ring and the step, and the bearing inner sleeve is fixedly installed on the outer surface of the control platform by a bearing locking ring.

[0008] In one embodiment, the control platform includes: a pressure-resistant cylinder with its upper end closed; a first motor assembly for generating electricity and receiving ground commands; and a second motor assembly for controlling the control panel; wherein the first motor assembly and the second motor assembly are both disposed on the pressure-resistant cylinder, and the first motor assembly is axially spaced apart at the upper end of the second motor assembly.

[0009] In one embodiment, the first motor assembly includes: a first motor rotor sleeved outside the pressure-resistant cylinder, having a first permanent magnet inside; a first motor stator fixedly installed inside the pressure-resistant cylinder and corresponding to the first motor rotor, having a first coil inside; and a communication circuit installed inside the pressure-resistant cylinder for monitoring the rotational speed of the first motor rotor and decoding the rotational speed; wherein the first motor rotor is capable of rotating under the action of mud to generate alternating current in the first coil.

[0010] In one embodiment, the second motor assembly includes: a second motor rotor sleeved outside the pressure-resistant cylinder, with a second permanent magnet inside; a second motor stator fixedly installed inside the pressure-resistant cylinder and corresponding to the second motor rotor, with a second coil inside; and a control circuit and a measurement module installed inside the pressure-resistant cylinder for acquiring the attitude and tool surface information of the control platform; wherein, the second motor rotor can rotate under the action of mud, and simultaneously energize the second coil, thereby generating torque in the second motor stator, the second motor rotor rotating in the opposite direction to the first motor rotor, and the control circuit can control the direction and magnitude of the current in the second coil according to the decoding result of the communication circuit and the information acquired by the measurement module, so as to control the torque on the control platform.

[0011] In one embodiment, the first motor assembly further includes a rectifier circuit disposed within the pressure-resistant cylinder, the rectifier circuit being used to rectify the alternating current generated in the first coil into direct current to power the communication circuit, the control circuit, and the measurement module.

[0012] In one embodiment, the rectifier circuit and the communication circuit are mounted on the upper end of the first motor assembly via a first frame, and the control circuit and the measurement module are mounted between the first motor assembly and the second motor assembly via a second frame.

[0013] In one embodiment, the measurement module includes an accelerometer and a fluxgate sensor for measuring the attitude and tool face of the control platform, a gyroscope for measuring the rotation direction and rotational speed of the control platform, and a data acquisition circuit.

[0014] In one embodiment, the control panel is fixedly connected to the stator of the second motor via a control shaft, and a bearing assembly and a dynamic seal are provided between the control shaft and the pressure-resistant cylinder.

[0015] In one embodiment, a connecting block is fixedly connected to the lower end of the second motor stator, and the connecting block is connected to the control shaft via a pin, which can transmit torque.

[0016] In one embodiment, the pushing device includes: a pushing body installed in a pushing groove provided in the pushing outer cylinder, the bottom of the pushing groove having a first mud hole penetrating through its bottom; a clamping block fixedly installed at the outer port of the pushing groove for limiting the pushing body; and a plunger sealing capsule disposed between the pushing body and the pushing groove, the plunger sealing capsule dividing the pushing groove into an inner space communicating with the first mud hole and an outer space communicating with an external annulus; wherein the pushing outer cylinder also has a second mud hole staggered from the first mud hole and penetrating through the pushing outer cylinder, and the control disc is configured to allow the first mud hole to selectively communicate with the central mud channel or the second mud hole, thereby using a pressure difference to extend or retract the pushing body.

[0017] In one embodiment, the pushing body includes a pushing block, a pushing base, and a clamping ring fixedly connected between the pushing block and the pushing base. The pushing base is provided with a flow hole for connecting the first mud hole and the inner space.

[0018] In one embodiment, the inner capsule lip of the plunger sealing capsule is pressed between the push base and the pressure ring, and the outer capsule lip of the plunger sealing capsule is pressed between the pressure block and the push outer cylinder.

[0019] In one embodiment, wear-resistant blocks are embedded on the outer wall surfaces of both the push block and the push base, and a wear-resistant coating is embedded on the push surface of the push block.

[0020] In one embodiment, the control panel is provided with a plurality of circumferentially distributed and axially extending fan-shaped mud holes, a high-pressure hole extending radially and communicating with one of the fan-shaped mud holes, and a low-pressure loop extending circumferentially along the outer wall of the control panel.

[0021] The control panel can control the high-pressure hole to connect with the first mud hole, or connect the low-pressure loop to the first mud hole and the second mud hole, so that the inner space forms high pressure or is balanced with the outer annulus, thereby causing the push body to extend or retract.

[0022] Compared with the prior art, the advantages of this application are:

[0023] The fully rotary steerable sub according to the present invention can measure the attitude, tool face information, and rotational speed of the control platform in real time. The control platform can determine whether the tool face is in the pushing direction based on ground commands and data from the measurement module via the control circuit. Then, by controlling the magnitude and direction of the current in the coils of the second motor stator, the torque generated by the second motor assembly is controlled, ensuring that the tool face of the control platform is within ±10° of the pushing direction. The pushing device in this fully rotary steerable sub rotates with the sub, and its extension and retraction are driven by the pressure difference of the mud inside and outside the sub, significantly reducing costs and greatly improving drilling efficiency and safety. Furthermore, the fully rotary steerable sub is easy to operate, convenient to maintain, safe and reliable, and easy to promote and apply. Attached Figure Description

[0024] The present invention will now be described with reference to the accompanying drawings.

[0025] Figure 1 The structure of the fully rotary guide actuator section according to the present invention is schematically shown.

[0026] Figure 2 The structure of the control platform in the fully rotary guide actuator section according to the present invention is schematically shown.

[0027] Figure 3 yes Figure 1 A magnified view of region A in the middle.

[0028] Figure 4 The structure of the control disk in the fully rotary guide actuator section according to the invention is schematically shown.

[0029] Figure 5 This is a schematic diagram of the control flow of the fully rotary guide actuator according to the present invention.

[0030] In this application, all drawings are schematic and are used only to illustrate the principles of the invention, and are not drawn to scale. Detailed Implementation

[0031] The invention will now be described with reference to the accompanying drawings.

[0032] For ease of understanding, in this application, the end closest to the wellhead is defined as the upper end, upstream end, or similar terms, for example... Figure 1 The left end is defined as the end furthest from the wellhead, while the end furthest from the wellhead is defined as the lower end, downstream end, or similar terms, for example... Figure 1 The right end of the packer. Meanwhile, the direction along the length of the metal packer is referred to as the longitudinal direction, axial direction, or similar terminology, while the direction perpendicular to it is referred to as the transverse direction, radial direction, or similar terminology.

[0033] Figure 1 The structure of the fully rotary guide actuator 100 according to the present invention is schematically shown. Figure 1 As shown, the fully rotary steerable actuator 100 includes a push drill collar 101, a control drill collar 102, and a control disk 402. The push drill collar 101 includes a push outer cylinder and multiple push devices 200 circumferentially distributed within the side walls of the push outer cylinder. The push devices 200 can extend or retract to adjust the working face. The control drill collar 102 is connected to the upper end of the push drill collar 101. The control drill collar 102 includes a control outer cylinder with a central mud channel 104 and a control platform 300 installed within the central mud channel 104, with the control platform 300 coaxially distributed with the control drill collar 102. The control disk 402 is connected to the lower end of the control platform 300 and corresponds to a radially inner position of the push devices 200. The control platform 300 can measure its own attitude and tool face information in real time, and control the control disk 402 to rotate according to ground commands and the measured data information. This causes the high-pressure mud from the central mud channel 104 to be directed to the pushing device 200 corresponding to the pushing direction, thereby using the internal and external pressure difference to extend the corresponding pushing device 200 to adjust the tool face. This ensures that the tool face of the control platform 300 is within ±10° of the pushing direction.

[0034] It should be noted that the pushing direction and the orientation direction are at a 180° angle, and the orientation direction is given by the ground.

[0035] In one embodiment, the outer cylinder of the push-pull drill collar 101 and the outer cylinder of the control drill collar 102 are fixedly connected together by API standard threads, and there is no relative movement between them. The lower end of the push-pull drill collar 101 is provided with an API standard snap for connecting a drill bit (not shown). The upper end of the control drill collar 102 is provided with an API standard snap for connecting other drill collars.

[0036] According to the present invention, the control platform 300 is concentrically mounted inside the central mud channel 104 via two bearing assemblies spaced apart from each other. Figure 1 As shown, the bearing assembly includes a bearing outer sleeve 501 and a bearing inner sleeve 502 rotatable relative to the bearing outer sleeve 501. The bearing outer sleeve 501 is fixedly connected to the control outer cylinder, and the bearing inner sleeve 502 is fixedly connected to the outer surface of the control platform 300. The inner wall of the control outer cylinder has an upward-facing step 105. The bearing outer sleeve 501 is fixedly installed on the inner wall of the control outer cylinder by a bearing retainer 503 and the step 105, so that the bearing outer sleeve 501 moves synchronously with the control outer cylinder. Two steps 105 are axially spaced apart for installing two bearing outer sleeves 501 respectively. The bearing inner sleeve 502 is fixedly installed on the pressure-resistant cylinder 301 of the control platform 300 by a bearing locking ring 504 (see...). Figure 2 On the outer surface of the control platform 300, the inner bearing sleeve 502 can move with the pressure-resistant cylinder 301, which will be described below. Thus, the control platform 300 can rotate freely under the action of the two bearing assemblies, but cannot move along the axial and radial directions of the control drill collar 102.

[0037] According to the present invention, such as Figure 2 As shown, the control platform 300 includes a pressure-resistant cylinder 301 with its upper end closed, a first motor assembly for generating electricity and receiving ground commands, and a second motor assembly for controlling the rotation state of the control panel 402. Both the first motor assembly and the second motor assembly are mounted on the pressure-resistant cylinder 301, and the first motor assembly is axially spaced apart at the upper end of the second motor assembly.

[0038] like Figure 2 As shown, the first motor assembly includes a first motor rotor 3021 and a first motor stator 3022. The first motor rotor 3021 is sleeved on the outside of the pressure-resistant cylinder 301, and a first permanent magnet is provided inside the first motor rotor 3021. The first motor stator 3022 is fixedly installed inside the pressure-resistant cylinder 301 and corresponds to the first motor rotor 3021. A first coil is provided inside the first motor stator 3022. The first motor rotor 3021 can rotate under the action of mud, and alternating current is generated in the first coil of the first motor stator 3022 based on the principle of electromagnetic induction. The function of the first motor assembly is to generate electricity and receive commands transmitted from the ground.

[0039] The first motor assembly also includes a rectifier circuit 3053 and a communication circuit 3054 installed inside the pressure-resistant cylinder 301. The communication circuit 3054 is used to monitor and decode the rotational speed of the first motor rotor 3021. The rectifier circuit 3053 is used to rectify the alternating current generated in the first coil into direct current to power the communication circuit 3054, as well as the control circuit 3051 and the measurement module 3052 (see description below) in the second motor assembly.

[0040] like Figure 2 As shown, the second motor assembly includes a second motor rotor 3031 and a second motor stator 3032. The second motor rotor 3031 is sleeved on the outside of the pressure-resistant cylinder 301, and a second permanent magnet is provided inside the second motor rotor 3031. The second motor stator 3032 is fixedly installed inside the pressure-resistant cylinder 301 and corresponds to the second motor rotor 3031. A second coil is provided inside the second motor stator 3032. The second motor assembly is used to rotate or prevent the control shaft 401 from rotating.

[0041] The second motor stator 3032 also includes a control circuit 3051 installed inside the pressure-resistant cylinder 301 and a measurement module 3052 for acquiring attitude and tool surface information of the control platform 300. The second motor rotor 3031 can rotate under the action of mud, and simultaneously energizes the second coil, thereby generating torque in the second motor stator 3032 based on electromagnetic induction. The control circuit 3051 can receive the decoding results of the communication circuit 3054 and the information acquired by the measurement module 3052, and control the direction and magnitude of the current in the second coil according to the decoding results and the acquired information, so as to control the torque generated by the second motor stator 3032, thereby controlling the torque on the control platform 300.

[0042] The second motor rotor 3021 rotates in the opposite direction to the first motor rotor 3031. For example, under the action of mud, the first motor rotor 3021 rotates clockwise, while the second motor rotor 3031 rotates counterclockwise. When the first motor rotor 3021 rotates, the control platform 300 is subjected to a clockwise torque, and when the second motor rotor 3031 rotates, the control platform 300 is subjected to a counterclockwise torque. The two torques are opposite in direction and different in magnitude, and the control platform 300 will rotate under the action of the torques.

[0043] According to one embodiment of the present invention, such as Figure 2 As shown, the rectifier circuit 3053 and the communication circuit 3054 are mounted on the upper end of the first motor assembly via the first frame 3042, and the control circuit 3051 and the measurement module 3052 are mounted between the first motor assembly and the second motor assembly via the second frame 3041.

[0044] The measurement module 3052 includes an accelerometer, a gyroscope, a fluxgate sensor, and a data acquisition circuit. The accelerometer and fluxgate sensor are used to measure the attitude and tool face of the control platform 300, while the gyroscope is used to measure the rotation direction and speed of the control platform 300.

[0045] like Figure 2As shown, the control panel 402 is fixedly connected to the second motor stator 3032 in the second motor assembly via a control shaft 401. A connecting block 306 is fixedly connected to the lower end of the second motor stator 3032 for connecting the control shaft 401. A pin 3061 is provided between the connecting block 306 and the control shaft 401, allowing the control shaft 401 to rotate together with the connecting block 306. Furthermore, a bearing assembly 307 and a dynamic seal 308 are provided between the control shaft 401 and the pressure-resistant cylinder 301. The bearing assembly 307 supports the control shaft 401, and the dynamic seal 308 prevents mud from flowing into the pressure-resistant cylinder 301 from the central mud channel 104.

[0046] According to the present invention, such as Figure 1 and Figure 3 As shown, the pushing device 200 includes a pushing body, a clamping block 203, and a plunger sealing capsule 205. A pushing groove 107 is provided on the outer wall of the pushing outer cylinder. A first mud hole 106 penetrating through the bottom of the pushing groove 107 communicates with the central mud channel 104. The clamping block 203 is fixedly installed at the outer port of the pushing groove 107 to limit the pushing body. The plunger sealing capsule 205 is disposed between the pushing body and the pushing groove 107, thereby dividing the pushing groove 107 into an inner space 1071 and an outer space 1072 by the plunger sealing capsule 205 and the pushing base 202. The inner space 1071 communicates with the first mud hole 106, allowing mud from the central mud channel 104 to flow into the inner space 1071 through the first mud hole 106. The outer space 1072 is connected to the outer annulus of the pusher collar 101, allowing mud in the annulus to seep into the outer space 1072. Preferably, the plunger sealing capsule 205 is made of high-temperature resistant rubber material to provide a seal. The pusher outer cylinder is also provided with a second mud hole 103, staggered from the first mud hole 106 and penetrating the pusher outer cylinder. The control disc 402 is configured to allow the first mud hole 106 to selectively connect with either the central mud channel 104 or the second mud hole 103, thereby using the pressure difference to extend or retract the pusher body.

[0047] Multiple pushing devices 200 are provided, and the multiple pushing devices 200 are evenly distributed around the pushing drill collar 101. Multiple pushing grooves 107 are provided on the outer wall of the pushing outer cylinder of the pushing drill collar 101, and each pushing device 200 is installed in the corresponding pushing groove 107.

[0048] like Figure 3As shown, the push-in body includes a push-in block 201, a push-in base 202, and a clamping ring 204 fixedly connected between the push-in block 201 and the push-in base 202. The push-in base 202 is provided with a flow hole 2022 for connecting the first mud hole 106 and the inner space. The inner capsule lip 2052 of the plunger sealing capsule 205 is sealed and pressed between the push-in base 202 and the clamping ring 204, and the outer capsule lip 2051 of the plunger sealing capsule 205 is sealed and pressed between the clamping block 203 and the push-in outer cylinder.

[0049] In one embodiment, the clamping ring 204 is fixedly connected to the push base 202 by bolts 2062. Both the push block 201 and the clamping ring 204 have threaded grooves. The push block 201 is tightened into the groove of the clamping ring 204, and a pin 2063 prevents loosening between the push block 201 and the clamping ring 204. The push block 201, the push base 202, and the clamping ring 204 are fixedly connected together and move radially along the push drill collar 101. The clamping block 203 is fixedly connected to the push drill collar 101 by bolts 2061.

[0050] Wear-resistant blocks 207 are embedded on the outer wall surfaces of both the push block 201 and the push base 202 to enhance their wear resistance. At the same time, a wear-resistant coating (not shown) is embedded on the push surface 2011 of the push block 201 to enhance its wear resistance.

[0051] Several base pads 2021 are provided between the bottom surface of the push base 202 and the bottom surface of the push groove 104 to support the push base 202, ensuring that the lower surface of the push base 202 does not contact the push drill collar 101. This facilitates communication between the first mud hole 106 and the flow hole 2022, allowing mud to enter the inner space 1071 through the first mud hole 106 and the flow hole 2022. When high-pressure mud flows into the inner space 1071 from the first mud hole 106, the hydraulic pressure in the inner space 1071 is high, while the hydraulic pressure in the outer space 1072 is low. Under the pressure difference, the push base 202 drives the push block 201 to push against the well wall. When there is no high-pressure mud in the first mud hole 106, the pressure in the inner space 1071 and the outer space 1072 is balanced, the push block 201 contacts the well wall, and retracts under the action of the well wall.

[0052] like Figure 4As shown, the control panel 402 has multiple circumferentially distributed and axially extending fan-shaped mud holes 405, a high-pressure hole 403 extending radially and communicating with one of the fan-shaped mud holes 405, and a low-pressure loop 404 formed on the outer wall surface 4021 of the control panel 402. The fan-shaped mud holes 405 are used for the vertical flow of mud in the central mud channel 104. The low-pressure loop 404 extends circumferentially along the outer wall surface 4021 of the control panel 402 and is C-shaped. The low-pressure loop 404 is separated from the high-pressure hole 403 by an edge 406. The edge 406 wraps around the low-pressure loop 404 and fits tightly against the inner wall 1031 of the mud channel 104, separating the low-pressure loop 404 from the mud channel 104 and preventing mud inside the mud channel 104 from entering the low-pressure loop 404. The control panel 402 can control the high pressure hole 403 to connect with the first mud hole 106, or connect the low pressure loop 404 to the first mud hole 106 and the second mud hole 103, so that the inner space 1071 forms high pressure or is balanced with the outer annulus, thereby causing the push body to extend or retract.

[0053] For example Figure 4 As shown, the control shaft 401 and the control disk 402 are fixed together. They can be the same part or two parts fixed together by means of threads or other connections. The control shaft 401 and the control disk 402 move together. Since the control shaft 401 is fixedly connected to the lower end of the control platform 300, the control disk 402 moves with the control platform 300 and is rotated by the control platform 300.

[0054] When the mud in the central mud channel 104 passes through the semi-circular mud hole 405, and the control panel 402 aligns the high-pressure hole 403 with the first mud hole 106, some mud flows into the inner space 1071 through the high-pressure hole 403 and the first mud hole 106. At this time, the mud in the inner space 1071 is under high pressure. When the low-pressure loop 404 is connected to the first mud hole 106, it connects the outer annulus of the drill collar 101, the second mud hole 103, the low-pressure loop 404, the first mud hole 106, and the inner space 1071. The mud pressure in the inner space 1071 is equal to that in the outer annulus.

[0055] like Figure 1 and Figure 4 As shown, the control shaft 401 and the control disk 402 are fixed together. They can be the same part or two parts fixed together by means of threads or other connections. The control shaft 401 and the control disk 402 move together. The control shaft 401 is fixed on the control platform 300 and moves with the control platform 300.

[0056] The working process of the fully rotary steerable actuator 100 according to the present invention is described in detail below. During directional drilling, the rotational speed of the first motor rotor 3021 changes with the change in mud discharge rate by changing the mud discharge rate on the surface. The communication circuit 3054 monitors the change in rotational speed of the first motor rotor 3021, decodes the change in rotational speed, and transmits the decoded information to the control circuit 3051.

[0057] like Figure 5 As shown, after the control circuit 3051 receives the decoded ground orientation command, the measurement module 3052 collects the attitude and tool surface information of the control platform 300. The acquisition circuit in the measurement module 3052 processes the collected data and sends it to the control circuit 3051. The control circuit 3051 controls the direction and magnitude of the current in the rotor 3031 of the second motor so that the tool surface of the control platform 300 is in the pushing direction.

[0058] The acquisition circuit in the measurement module 3052 sends the acquired rotational speed of the control platform 300 to the control circuit 3051. The control circuit 3051 controls the direction and magnitude of the current in the rotor 3031 of the second motor, making the torque direction opposite to the rotation direction of the control platform 300. The measurement module 3052 acquires the attitude and tool face of the control platform 300 in real time, and determines whether the tool face of the control platform 300 is within ±10° of the pushing direction. If the tool face of the control platform 300 is within ±10° of the pushing direction, the torque is further controlled to make the torque opposite to the rotation direction of the control platform 300. If the tool face of the control platform 300 is outside the ±10° range of the pushing direction, the torque is controlled to rotate the tool face of the control platform 300 to the pushing direction.

[0059] The high-pressure hole 403 on the control panel 402 is on the same plane as the tool face of the control platform 300. That is, when the tool face of the control platform 300 is in the pushing direction, the high-pressure hole 403 is also in the pushing direction. During directional drilling, the tool face of the control platform 300 and the high-pressure hole 403 are stably in the pushing direction. The pushing device 200 rotates with the pushing drill collar 101. When the first mud hole 106 is connected to the high-pressure hole 403, the high-pressure mud in the central mud channel 104 flows into the inner space 1071 through the high-pressure hole 403, the first mud hole 106, and the flow hole 2022 in sequence. At this time, the mud in the inner space 1071 is under high pressure, which causes the pushing block 201 to be pushed out. As the pusher device 200 continues to rotate with the pusher drill collar 101, the first mud hole 106 separates from the high-pressure hole 403 and connects with the low-pressure loop 404. This means the first mud hole 106 and the second mud hole 103 are connected. At this time, the mud in the annulus outside the pusher drill collar 101 is connected to the mud in the inner space 1071, and the pressure is equal. Therefore, the pusher block 201 retracts under the action of the well wall. Thus, the pusher block 201 continuously impacts the well wall in the pushing direction, achieving directional control.

[0060] The fully rotary steerable sub 100 of the present invention can measure the attitude, tool face information, and rotational speed of the control platform 300 in real time. The control platform 300 can determine whether the tool face position is in the pushing direction based on ground commands and data from the measurement module 3052 via the control circuit 3051. Then, by controlling the magnitude and direction of the current in the coil within the second motor stator 3032, the torque generated by the second motor assembly is controlled, ensuring that the tool face of the control platform 300 is within ±10° of the pushing direction. The pushing device 200 in the fully rotary steerable sub 100 rotates with the sub, utilizing the pressure difference of the mud inside and outside the sub to drive the extension and retraction of the pushing device 200, significantly reducing costs and greatly improving drilling efficiency and safety. Furthermore, the fully rotary steerable sub 100 is easy to operate, convenient to maintain, safe and reliable, and easy to promote and apply.

[0061] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0062] Furthermore, in the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0063] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fully rotary guide actuator, comprising: The push-back drill collar (101) includes a push-back outer cylinder and a plurality of push-back devices (200) evenly distributed circumferentially within the side wall of the push-back outer cylinder. The control drill collar (102) connected to the upper end of the push drill collar includes a control outer cylinder with a central mud channel (104) and a control platform (300) installed in the central mud channel. The control platform includes a pressure-resistant cylinder (301) with the upper end closed, a first motor assembly for generating electricity and receiving ground commands, and a second motor assembly for controlling the control panel. The first motor assembly and the second motor assembly are both disposed on the pressure-resistant cylinder, and the first motor assembly is axially spaced apart at the upper end of the second motor assembly. A control panel (402) is connected to the lower end of the control platform and is located radially inside the pushing device. The control platform can measure its own posture and tool surface information in real time, and control the rotation of the control disk according to ground commands and the measured data information, so that the high-pressure mud from the central mud channel is directed to the pushing device corresponding to the pushing direction, and then the internal and external pressure difference is used to make the corresponding pushing device extend to adjust the tool surface.

2. The fully rotary guide actuator section according to claim 1, characterized in that, The control platform is concentrically mounted within the central mud channel via two spaced-apart bearing assemblies. The bearing assembly includes a bearing outer sleeve (501) and a bearing inner sleeve (502) that is rotatable relative to the bearing outer sleeve. The bearing outer sleeve is fixedly connected to the control outer cylinder, and the bearing inner sleeve is fixedly connected to the outer surface of the control platform.

3. The fully rotary guide actuator section according to claim 2, characterized in that, The inner wall of the control outer cylinder is provided with an upward-facing step (105), and the bearing outer sleeve is fixedly installed on the inner wall of the control outer cylinder by means of a bearing retainer (503) and the step. The bearing inner sleeve is fixedly installed on the outer surface of the control platform by a bearing locking ring (504).

4. The fully rotary guide actuator section according to any one of claims 1-3, characterized in that, The first motor assembly includes: The first motor rotor (3021) sleeved on the outside of the pressure-resistant cylinder has a first permanent magnet inside; A first motor stator (3022) fixedly installed inside the pressure-resistant cylinder and corresponding to the first motor rotor, wherein a first coil is provided inside; and The communication circuit (3054) installed inside the pressure-resistant cylinder is used to monitor the rotational speed of the first motor rotor and decode the rotational speed; The first motor rotor is able to rotate under the action of mud to generate alternating current in the first coil.

5. The fully rotary guide actuator section according to claim 4, characterized in that, The second motor assembly includes: The second motor rotor (3031) is sleeved on the outside of the pressure-resistant cylinder, and a second permanent magnet is provided inside it; A second motor stator (3032) fixedly installed inside the pressure-resistant cylinder and corresponding to the second motor rotor, wherein a second coil is provided inside; and The control circuit (3051) and the measurement module (3052) installed inside the pressure-resistant cylinder are used to collect the attitude and tool surface information of the control platform. The second motor rotor can rotate under the action of mud, and at the same time, the second coil is energized, thereby generating torque in the second motor stator. The rotation direction of the second motor rotor is opposite to that of the first motor rotor. The control circuit can control the direction and magnitude of the current in the second coil according to the decoding result of the communication circuit and the information collected by the measurement module, so as to control the torque on the control platform.

6. The fully rotary guide actuator section according to claim 5, characterized in that, The first motor assembly further includes a rectifier circuit (3053) disposed within the pressure-resistant cylinder. The rectifier circuit is used to rectify the alternating current generated in the first coil into direct current to power the communication circuit, the control circuit, and the measurement module.

7. The fully rotary guide actuator section according to claim 6, characterized in that, The rectifier circuit and the communication circuit are mounted on the upper end of the first motor assembly via a first frame (3042), and the control circuit and the measurement module are mounted between the first motor assembly and the second motor assembly via a second frame (3041).

8. The fully rotary guide actuator section according to claim 7, characterized in that, The measurement module includes an accelerometer and fluxgate sensor for measuring the attitude and tool face of the control platform, a gyroscope for measuring the rotation direction and speed of the control platform, and a data acquisition circuit.

9. The fully rotary guide actuator section according to claim 5, characterized in that, The control panel is fixedly connected to the stator of the second motor via a control shaft (401), and a bearing assembly (307) and a dynamic seal (308) are provided between the control shaft and the pressure-resistant cylinder.

10. The fully rotary guide actuator section according to claim 9, characterized in that, A connecting block (306) is fixedly connected to the lower end of the second motor stator. The connecting block is connected to the control shaft through a pin (3061). The pin can transmit torque.

11. The fully rotary guide actuator section according to claim 1, characterized in that, The pushing device includes: The push body is installed in the push groove (107) provided in the push outer cylinder, and the bottom of the push groove is provided with a first mud hole (106) penetrating through the bottom. A clamping block (203) fixedly installed at the outer port of the push-in groove is used to limit the push-in body; and A plunger sealing capsule (205) is disposed between the push body and the push groove, the plunger sealing capsule dividing the push groove into an inner space (1071) communicating with the first mud hole and an outer space (1072) communicating with the outer annulus. The outer cylinder of the pusher is also provided with a second mud hole (103) that is staggered from the first mud hole and penetrates the outer cylinder of the pusher. The control panel is configured to enable the first mud hole to selectively communicate with the central mud channel or the second mud hole, thereby using the pressure difference to extend or retract the pusher body.

12. The fully rotary guide actuator section according to claim 11, characterized in that, The push body includes a push block (201), a push base (202), and a clamping ring (204) fixedly connected between the push block and the push base. The push base is provided with a flow hole (2022) for connecting the first mud hole and the inner space.

13. The fully rotary guide actuator section according to claim 12, characterized in that, The inner capsule lip (2052) of the plunger sealing capsule is sealed and pressed between the push base and the pressing ring, and the outer capsule lip (2051) of the plunger sealing capsule is sealed and pressed between the pressing block and the push outer cylinder.

14. The fully rotary guide actuator section according to claim 12, characterized in that, Wear-resistant blocks (207) are embedded on the outer wall surfaces of both the push block and the push base, and a wear-resistant coating is embedded on the push surface (2011) of the push block.

15. The fully rotary guide actuator section according to claim 11, characterized in that, The control panel is provided with a plurality of circumferentially distributed and axially extended fan-shaped mud holes (405), a high-pressure hole (403) extending radially and communicating with one of the fan-shaped mud holes, and a low-pressure loop (404) extending circumferentially along the outer wall of the control panel. The control panel can control the high-pressure hole to connect with the first mud hole, or connect the low-pressure loop to the first mud hole and the second mud hole, so that the inner space forms high pressure or is balanced with the outer annulus, thereby causing the push body to extend or retract.

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